├── mk ├── PX4 │ ├── .gitignore │ ├── ROMFS │ │ ├── tones │ │ │ └── startup │ │ ├── bootloader │ │ │ └── README.txt │ │ └── init.d │ │ │ ├── rc.aerofc-v1 │ │ │ ├── rcS_no_microSD │ │ │ └── rc.error │ ├── config_px4fmu-v1_APM.mk │ ├── config_px4fmu-v4_APM.mk │ ├── config_px4fmu-v2_APM.mk │ ├── config_px4fmu-v4pro_APM.mk │ └── config_px4fmu-v3_APM.mk ├── configure.mk ├── board_px4.mk ├── board_vrbrain.mk ├── VRBRAIN │ ├── config_vrbrain-v51_APM.mk │ ├── config_vrubrain-v52_APM.mk │ ├── config_vrbrain-v52_APM.mk │ ├── config_vrbrain-v54_APM.mk │ ├── config_vrcore-v10_APM.mk │ ├── config_vrbrain-v52E_APM.mk │ ├── config_vrubrain-v51_APM.mk │ └── ROMFS │ │ └── init.d │ │ └── rc.error ├── board_linux.mk ├── upload_firmware.mk └── make.inc ├── Tools ├── ardupilotwaf │ ├── __init__.py │ ├── px4 │ │ └── cmake │ │ │ └── configs │ │ │ ├── nuttx_px4fmu-v4_apm.cmake │ │ │ ├── nuttx_px4fmu-v1_apm.cmake │ │ │ ├── nuttx_px4fmu-v2_apm.cmake │ │ │ ├── nuttx_px4fmu-v4pro_apm.cmake │ │ │ └── nuttx_px4fmu-v3_apm.cmake │ └── static_linking.py ├── autotest │ ├── jsb_sim │ │ ├── __init__.py │ │ └── fgout_template.xml │ ├── param_metadata │ │ ├── __init__.py │ │ └── emit.py │ ├── pysim │ │ ├── __init__.py │ │ └── testwind.py │ ├── __init__.py │ ├── README │ ├── default_params │ │ ├── copter-coax.parm │ │ ├── copter-hexa.parm │ │ ├── copter-octa.parm │ │ ├── copter-octaquad.parm │ │ ├── copter-dodecahexa.parm │ │ ├── copter-heli-dual.parm │ │ ├── plane-vtail.parm │ │ ├── plane-elevons.parm │ │ ├── plane-dspoilers.parm │ │ ├── copter-rangefinder.parm │ │ ├── copter-beacon.parm │ │ ├── rover-skid.parm │ │ ├── copter-optflow.parm │ │ ├── gazebo-iris.parm │ │ ├── copter-tri.parm │ │ ├── quadplane-tilthvec.parm │ │ └── copter-y6.parm │ ├── web-firmware │ │ └── images │ │ │ ├── bg.png │ │ │ ├── sub.png │ │ │ ├── PX4IO.png │ │ │ ├── ap_rc.png │ │ │ ├── copter.png │ │ │ ├── logo.png │ │ │ ├── plane.png │ │ │ ├── rover.png │ │ │ ├── tools.png │ │ │ ├── planner.png │ │ │ ├── 3DR_Radio.jpg │ │ │ ├── companion.png │ │ │ └── antenna-tracker.png │ ├── aircraft │ │ ├── Rascal │ │ │ ├── README.Rascal │ │ │ ├── Models │ │ │ │ ├── Rascal.rgb │ │ │ │ ├── Trajectory-Marker.xml │ │ │ │ └── Trajectory-Marker.ac │ │ │ ├── Rascal110-splash.rgb │ │ │ ├── Engines │ │ │ │ └── Zenoah_G-26A.xml │ │ │ ├── reset_CMAC.xml │ │ │ └── reset_template.xml │ │ └── arducopter │ │ │ ├── Models │ │ │ ├── quad.3ds │ │ │ ├── quad.skp │ │ │ ├── Untitled.skp │ │ │ ├── Y6_test.skp │ │ │ ├── Y6_test2.skp │ │ │ ├── plus_quad.skb │ │ │ ├── plus_quad.skp │ │ │ ├── plus_quad2.skb │ │ │ ├── plus_quad2.skp │ │ │ ├── _propeller0_.skb │ │ │ ├── _propeller0_.skp │ │ │ ├── shareware_output.3ds │ │ │ └── AutoSave_plus_quad.skp │ │ │ ├── Engines │ │ │ └── a2830-12.xml │ │ │ ├── README │ │ │ └── initfile.xml │ ├── junit.xml │ ├── win_sitl │ │ ├── jsbsim_install.sh │ │ ├── jsbsimAPM_install.sh │ │ ├── RunPlane.bat │ │ ├── RunRover.bat │ │ └── RunCopter.bat │ ├── copter_glitch_mission.txt │ ├── ArduRover-Missions │ │ └── rtl.txt │ ├── copter_terrain_mission.txt │ ├── ArduPlane-Missions │ │ └── Dalby-OBC2016-fence.txt │ └── sub_mission.txt ├── mavproxy_modules │ └── lib │ │ └── __init__.py ├── APM_radio_test │ └── Makefile ├── ArduPPM │ ├── Libraries │ │ └── readme.txt │ ├── Binaries │ │ └── Hash.txt │ ├── ATMega328p │ │ └── readme.txt │ ├── ATMega32U2 │ │ ├── Drivers │ │ │ ├── amd64 │ │ │ │ └── libusb0.sys │ │ │ ├── atmel_usb_dfu.inf │ │ │ ├── ia64 │ │ │ │ └── libusb0.sys │ │ │ └── x86 │ │ │ │ └── libusb0.sys │ │ ├── LUFA │ │ │ └── ManPages │ │ │ │ └── ChangeLog.txt │ │ ├── Bootloaders │ │ │ └── arduino-usbdfu │ │ │ │ ├── makefile │ │ │ │ └── readme.txt │ │ └── Projects │ │ │ └── arduino-usbserial │ │ │ └── makefile │ └── WorkBasket │ │ ├── Jeti_Duplex │ │ └── Jeti_telemetry_protocol.pdf │ │ └── readme.txt ├── Hello │ ├── Makefile │ ├── wscript │ └── Hello.cpp ├── Failsafe │ └── Makefile ├── IO_Firmware │ └── fmuv2_IO.bin ├── bootloaders │ ├── px4io_bl.bin │ ├── px4io_bl.elf │ ├── px4fmu_bl.bin │ ├── revo405_bl.bin │ ├── revo405_bl.elf │ ├── aerofcv1_bl.bin │ ├── px4fmuv2_bl.bin │ ├── px4fmuv2_bl.elf │ ├── px4fmuv4_bl.bin │ ├── px4fmuv4pro_bl.bin │ ├── skyviperf412_bl.bin │ ├── skyviperf412_bl.elf │ └── skyviper_v2450_bl.bin ├── APM2_2560_bootloader │ └── Makefile ├── Linux_HAL_Essentials │ ├── pwmpru1 │ ├── rcinpru0 │ ├── devicetree │ │ ├── pxf │ │ │ ├── BB-PXF-01-00A0.dtbo │ │ │ ├── BB-BONE-PRU-05-00A0.dtbo │ │ │ ├── BB-SPI0-PXF-01-00A0.dtbo │ │ │ ├── BB-SPI1-PXF-01-00A0.dtbo │ │ │ └── Makefile │ │ └── bbbmini │ │ │ └── README.md │ └── pru │ │ ├── rangefinderpru │ │ ├── rangefinderprutext.bin │ │ ├── HexUtil_PRU.cmd │ │ └── README.md │ │ ├── aiopru │ │ └── Makefile │ │ ├── pwmpru │ │ └── linux_types.h │ │ └── rcinpru │ │ └── linux_types.h ├── SerialProxy │ ├── SerialProxy.suo │ └── SerialProxy │ │ ├── app.config │ │ ├── bin │ │ └── Release │ │ │ ├── SerialProxy.pdb │ │ │ └── SerialProxy.exe.config │ │ ├── SerialProxy.csproj.user │ │ ├── Properties │ │ └── Settings.settings │ │ └── Program.cs ├── Xplane │ └── serproxy-0.1.3-3 │ │ └── serproxy ├── CodeStyle │ ├── ardupilot-astyle.sh │ └── astylerc ├── Frame_params │ ├── Parrot_Disco │ │ ├── README.md │ │ ├── rcS_mode_default │ │ └── start_ardupilot.sh │ ├── XPlane │ │ └── NACA_64_xxx_Airfoils_from_TR824.zip │ └── SToRM32-MAVLink.param ├── CPUInfo │ ├── wscript │ └── Makefile ├── CHDK-Scripts │ └── README.md ├── ArdupilotMegaPlanner │ └── readme.md ├── Replay │ ├── VehicleType.h │ ├── Makefile │ ├── Parameters.h │ ├── wscript │ └── plotit.sh ├── LogAnalyzer │ └── VehicleType.py ├── scripts │ ├── format.sh │ ├── build_docs.sh │ ├── build_examples.sh │ └── build_all_px4.sh └── vagrant │ ├── README.md │ └── screenrc ├── APMrover2 ├── Makefile ├── Makefile.waf ├── AP_MotorsUGV.cpp ├── compat.cpp ├── APM_Config.h ├── mode_hold.cpp ├── version.h └── mode_manual.cpp ├── ArduCopter ├── leds.cpp ├── Makefile ├── Makefile.waf ├── compat.cpp ├── UserVariables.h ├── version.h └── mode_guided_nogps.cpp ├── ArduSub ├── AP_State.cpp ├── Makefile ├── Makefile.waf ├── UserVariables.h └── version.h ├── AntennaTracker ├── Makefile ├── radio.cpp ├── APM_Config.h ├── capabilities.cpp ├── wscript └── version.h ├── ArduPlane ├── Makefile ├── Makefile.waf ├── APM_Config.h ├── GCS_Plane.cpp └── version.h ├── libraries ├── AP_HAL │ ├── examples │ │ ├── AnalogIn │ │ │ ├── nobuild.txt │ │ │ └── wscript │ │ ├── Printf │ │ │ └── wscript │ │ ├── RCInput │ │ │ └── wscript │ │ ├── RCOutput │ │ │ └── wscript │ │ ├── RCOutput2 │ │ │ └── wscript │ │ ├── RingBuffer │ │ │ └── wscript │ │ ├── Storage │ │ │ └── wscript │ │ ├── UART_test │ │ │ └── wscript │ │ └── RCInputToRCOutput │ │ │ └── wscript │ ├── utility │ │ ├── tests │ │ │ └── wscript │ │ ├── print_vprintf.h │ │ └── dsm.h │ ├── HAL.cpp │ ├── Semaphores.h │ ├── Storage.h │ ├── system.h │ └── board │ │ └── empty.h ├── AP_AHRS │ ├── examples │ │ └── AHRS_Test │ │ │ ├── norelax.inoflag │ │ │ └── wscript │ └── AP_AHRS_DCM.cpp ├── AP_HAL_F4Light │ ├── hardware │ │ ├── hal │ │ │ ├── sys │ │ │ │ └── ioctl.h │ │ │ ├── nvic.h │ │ │ └── nvic.c │ │ ├── sd │ │ │ ├── FatFs │ │ │ │ └── ffconf.h │ │ │ └── README.md │ │ ├── osd │ │ │ ├── osd_core │ │ │ │ ├── Defs.h │ │ │ │ ├── Func.h │ │ │ │ ├── Vars.h │ │ │ │ ├── misc.h │ │ │ │ ├── Panels.h │ │ │ │ ├── Params.h │ │ │ │ ├── eeprom.h │ │ │ │ ├── protocols │ │ │ │ ├── version.h │ │ │ │ ├── OSD_Max7456.h │ │ │ │ ├── OSD_Max7456.cpp │ │ │ │ └── protocols.h │ │ │ └── osd_namespace.h │ │ ├── STM32_USB_Driver │ │ │ ├── 1_read_me.md │ │ │ ├── min_max.h │ │ │ └── atomic.h │ │ └── massstorage │ │ │ ├── mass_storage.h │ │ │ └── usbMassStorage.h │ ├── sbus.h │ ├── sbus.cpp │ ├── boards │ │ ├── f4light_Airbot │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ ├── support │ │ │ │ ├── EEPROM_Read.sh │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── bl │ │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ │ └── 1_read_me.md │ │ ├── f4light_AirbotV2 │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── DOWNLOAD-STLINK.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── bl │ │ │ │ ├── UPLOAD-STLINK_res.sh │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ │ │ └── Rebuild.sh │ │ ├── f4light_MiniF4_OSD │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ ├── support │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ └── Rebuild.sh │ │ │ └── 1_read_me.md │ │ ├── f4light_OmnibusV3 │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── bl │ │ │ │ ├── UPLOAD-STLINK_res.sh │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ │ │ └── Rebuild.sh │ │ ├── f4light_Revolution │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── GO_DFU.sh │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU-plane.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── Rebuild.sh │ │ │ │ └── bl │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ ├── f4light_cl_racing │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── Rebuild.sh │ │ │ │ ├── bl │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ └── UPLOAD-DFU.sh │ │ │ │ └── UPLOAD-DFU.sh │ │ ├── f4light_MatekF405-wing │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── DOWNLOAD-STLINK.sh │ │ │ │ ├── bl │ │ │ │ ├── UPLOAD-STLINK_res.sh │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ │ │ └── Rebuild.sh │ │ ├── f4light_MatekF405_CTR │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── DOWNLOAD-STLINK.sh │ │ │ │ ├── Rebuild.sh │ │ │ │ └── bl │ │ │ │ └── UPLOAD-plane-STLINK.sh │ │ ├── f4light_Revolution_EE128 │ │ │ ├── ld │ │ │ │ ├── flash.ld │ │ │ │ ├── flash-10000.ld │ │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ │ ├── GO_DFU.sh │ │ │ │ ├── DEBUG-STLINK.sh │ │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ │ ├── UPLOAD-STLINK.sh │ │ │ │ ├── UPLOAD-DFU.sh │ │ │ │ ├── UPLOAD-DFU-plane.sh │ │ │ │ └── Rebuild.sh │ │ └── f4light_Revolution_SD │ │ │ ├── ld │ │ │ ├── flash.ld │ │ │ ├── flash-10000.ld │ │ │ └── flash_8000000.ld │ │ │ └── support │ │ │ ├── GO_DFU.sh │ │ │ ├── DEBUG-STLINK.sh │ │ │ ├── UPLOAD-DFU-plane.sh │ │ │ ├── UPLOAD-plane-STLINK.sh │ │ │ ├── UPLOAD-STLINK.sh │ │ │ ├── UPLOAD-DFU.sh │ │ │ ├── Rebuild.sh │ │ │ └── bl │ │ │ └── UPLOAD-plane-STLINK.sh │ ├── support │ │ ├── EEPROM_Write.sh │ │ ├── EEPROM_Write_DFU.sh │ │ ├── EEPROM_Read.sh │ │ ├── EEPROM_Read_DFU.sh │ │ ├── PULL_MASTER.sh │ │ ├── UPDATE_OSD.sh │ │ ├── gdb │ │ │ └── gpio │ │ │ │ └── gpio.gdb │ │ └── scripts │ │ │ └── openocd-wrapper.sh │ ├── 0_TODO │ ├── wirish │ │ ├── rules.mk │ │ ├── cxxabi-compat.cpp │ │ └── defs.h │ ├── c++.h │ └── AP_HAL_F4Light_Private.h ├── AP_Math │ ├── examples │ │ ├── matrix_alg │ │ │ └── nocore.inoflag │ │ ├── eulers │ │ │ └── wscript │ │ ├── location │ │ │ └── wscript │ │ ├── polygon │ │ │ └── wscript │ │ └── rotations │ │ │ └── wscript │ ├── vector2.h │ ├── vector3.h │ ├── spline5.h │ ├── tests │ │ ├── wscript │ │ └── test_vector2.cpp │ ├── benchmarks │ │ └── wscript │ └── tools │ │ └── geodesic_grid │ │ └── README.md ├── AP_AdvancedFailsafe │ └── Failsafe_Board │ │ ├── nobuild.txt │ │ └── Makefile ├── AP_Motors │ ├── examples │ │ └── AP_Motors_test │ │ │ ├── nobuild.txt │ │ │ └── wscript │ └── AP_Motors.h ├── AP_NavEKF │ └── Models │ │ ├── GimbalEstimatorExample │ │ ├── calcF.c │ │ ├── calcF.cpp │ │ ├── calcTms.c │ │ └── calcTms.m │ │ ├── testData │ │ ├── fltTest.mat │ │ └── gndTest.mat │ │ ├── AttErrVecMathExample │ │ └── with_initial_alignment.fig │ │ └── Common │ │ ├── NormQuat.m │ │ ├── QuatMult.m │ │ ├── RotToQuat.m │ │ ├── QuatDivide.m │ │ ├── QuatToEul.m │ │ └── Quat2Tbn.m ├── AP_Notify │ ├── examples │ │ ├── AP_Notify_test │ │ │ ├── nobuild.txt │ │ │ └── wscript │ │ └── ToshibaLED_test │ │ │ └── wscript │ ├── Display_Backend.h │ └── UAVCAN_RGB_LED.h ├── DataFlash │ └── examples │ │ ├── DataFlash_test │ │ ├── nobuild.txt │ │ └── wscript │ │ └── DataFlash_AllTypes │ │ ├── output.BIN │ │ └── wscript ├── AP_L1_Control │ └── keywords.txt ├── AP_OpticalFlow │ ├── examples │ │ └── AP_OpticalFlow_test │ │ │ ├── nobuild.txt │ │ │ └── wscript │ └── AP_OpticalFlow.h ├── AP_HAL_Linux │ ├── examples │ │ └── BusTest │ │ │ ├── Makefile │ │ │ ├── wscript │ │ │ └── make.inc │ ├── tests │ │ └── wscript │ ├── benchmarks │ │ └── wscript │ ├── GPIO_Bebop.h │ ├── GPIO_Disco.h │ ├── sbus.h │ ├── RCInput_UDP_Protocol.h │ ├── GPIO_Navio.h │ ├── HAL_Linux_Class.h │ ├── GPIO_Edge.h │ ├── Semaphores.h │ ├── Util_RPI.h │ ├── RCInput_Navio2.h │ ├── RCInput_UDP.h │ ├── ToneAlarm_Disco.h │ ├── GPIO_Bebop.cpp │ └── GPIO_Disco.cpp ├── AP_ADC │ └── keywords.txt ├── AP_Common │ ├── missing │ │ ├── ap_version.h │ │ ├── sys │ │ │ └── epoll.h │ │ ├── cstddef │ │ ├── fcntl.h │ │ ├── utility │ │ ├── endian.h │ │ └── type_traits │ ├── keywords.txt │ ├── examples │ │ └── AP_Common │ │ │ └── wscript │ └── AP_FWVersion.h ├── AP_GPS │ ├── AP_GPS_SBF.h │ ├── tests │ │ └── wscript │ └── examples │ │ ├── GPS_AUTO_test │ │ └── wscript │ │ └── GPS_UBLOX_passthrough │ │ └── wscript ├── AP_HAL_AVR │ └── README.md ├── AP_HAL_FLYMAPLE │ └── README.md ├── AP_HAL_ChibiOS │ ├── hwdef │ │ ├── common │ │ │ ├── cstdio │ │ │ └── hrt.h │ │ ├── fmuv2 │ │ │ └── hwdef.dat │ │ └── fmuv4-beta │ │ │ └── hwdef.dat │ └── AP_HAL_ChibiOS_Private.h ├── AP_Baro │ ├── examples │ │ ├── ICM20789 │ │ │ └── wscript │ │ └── BARO_generic │ │ │ └── wscript │ └── AP_Baro_HIL.h ├── AP_Beacon │ └── examples │ │ └── AP_Marvelmind_test │ │ ├── sample.dump │ │ ├── wscript │ │ └── inject_marvelmind_dump.sh ├── AP_HAL_PX4 │ ├── examples │ │ └── simple │ │ │ ├── wscript │ │ │ └── simple.cpp │ ├── AP_HAL_PX4.h │ ├── AP_HAL_PX4_Namespace.h │ ├── Semaphores.h │ └── HAL_PX4_Class.h ├── Filter │ ├── examples │ │ ├── Derivative │ │ │ └── wscript │ │ ├── Filter │ │ │ └── wscript │ │ ├── LowPassFilter │ │ │ └── wscript │ │ └── LowPassFilter2p │ │ │ └── wscript │ ├── keywords.txt │ └── Filter.h ├── AC_PID │ ├── examples │ │ └── AC_PID_test │ │ │ └── wscript │ └── keywords.txt ├── APM_Control │ └── APM_Control.h ├── AP_Airspeed │ └── examples │ │ └── Airspeed │ │ └── wscript ├── AP_Module │ └── examples │ │ └── ModuleTest │ │ └── wscript ├── AP_RPM │ └── examples │ │ └── RPM_generic │ │ └── wscript ├── GCS_MAVLink │ ├── examples │ │ └── routing │ │ │ └── wscript │ └── .gitignore ├── RC_Channel │ └── examples │ │ ├── RC_Channel │ │ └── wscript │ │ └── RC_UART │ │ └── wscript ├── AP_Compass │ ├── examples │ │ └── AP_Compass_test │ │ │ └── wscript │ ├── keywords.txt │ └── AP_Compass_HIL.h ├── AP_FlashStorage │ └── examples │ │ └── FlashTest │ │ └── wscript ├── AP_Mission │ └── examples │ │ └── AP_Mission_test │ │ └── wscript ├── AP_Mount │ └── examples │ │ └── trivial_AP_Mount │ │ └── wscript ├── AP_RangeFinder │ ├── examples │ │ └── RFIND_test │ │ │ └── wscript │ └── AP_RangeFinder.h ├── AP_Scheduler │ └── examples │ │ └── Scheduler_test │ │ └── wscript ├── AP_SmartRTL │ └── examples │ │ └── SmartRTL_test │ │ └── wscript ├── StorageManager │ └── examples │ │ └── StorageTest │ │ └── wscript ├── AP_InertialSensor │ ├── examples │ │ ├── INS_generic │ │ │ └── wscript │ │ └── VibTest │ │ │ └── wscript │ └── AP_InertialSensor_HIL.h ├── AP_Parachute │ └── examples │ │ └── AP_Parachute_test │ │ └── wscript ├── AP_Declination │ └── examples │ │ └── AP_Declination_test │ │ └── wscript ├── AP_HAL_VRBRAIN │ ├── AP_HAL_VRBRAIN.h │ └── Semaphores.h ├── AP_HAL_SITL │ ├── AP_HAL_SITL.h │ ├── AP_HAL_SITL_Private.h │ ├── AP_HAL_SITL_Namespace.h │ ├── Storage.h │ ├── HAL_SITL_Class.h │ └── Semaphores.h ├── AP_HAL_Empty │ ├── PrivateMember.cpp │ ├── Util.h │ ├── Storage.h │ ├── Semaphores.h │ ├── PrivateMember.h │ ├── HAL_Empty_Class.h │ ├── Storage.cpp │ ├── RCInput.h │ ├── AP_HAL_Empty_Private.h │ ├── AP_HAL_Empty_Namespace.h │ └── RCOutput.h ├── AP_LeakDetector │ ├── AP_LeakDetector_Backend.cpp │ ├── AP_LeakDetector_Digital.h │ ├── AP_LeakDetector_Analog.h │ └── AP_LeakDetector_Backend.h ├── AP_Gripper │ └── AP_Gripper_Backend.cpp ├── AC_InputManager │ └── AC_InputManager.cpp ├── AP_IRLock │ └── AP_IRLock.h ├── AP_VisualOdom │ └── AP_VisualOdom_MAV.h ├── AC_Fence │ └── keywords.txt ├── AC_WPNav │ └── keywords.txt ├── AP_ROMFS │ └── AP_ROMFS.h └── AC_PrecLand │ └── PosVelEKF.h ├── .gitattributes ├── .dir-locals.el ├── docs ├── setup.sh ├── build-libs.sh ├── README ├── config │ ├── ardusub │ ├── arduplane │ ├── libraries │ ├── apmrover2 │ └── arducopter ├── build-ardusub.sh ├── build-apmrover2.sh ├── build-arduplane.sh └── build-arducopter.sh ├── .pydevproject ├── tests └── AP_gtest.h └── .github └── ISSUE_TEMPLATE.md /mk/PX4/.gitignore: -------------------------------------------------------------------------------- 1 | !*.d 2 | -------------------------------------------------------------------------------- /Tools/ardupilotwaf/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /Tools/autotest/jsb_sim/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /Tools/mavproxy_modules/lib/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /APMrover2/Makefile: -------------------------------------------------------------------------------- 1 | include ../mk/apm.mk 2 | -------------------------------------------------------------------------------- /ArduCopter/leds.cpp: -------------------------------------------------------------------------------- 1 | #include "Copter.h" 2 | -------------------------------------------------------------------------------- /ArduSub/AP_State.cpp: -------------------------------------------------------------------------------- 1 | #include "Sub.h" 2 | -------------------------------------------------------------------------------- /Tools/autotest/param_metadata/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /AntennaTracker/Makefile: -------------------------------------------------------------------------------- 1 | include ../mk/apm.mk 2 | -------------------------------------------------------------------------------- /ArduPlane/Makefile: -------------------------------------------------------------------------------- 1 | include ../mk/apm.mk 2 | 3 | -------------------------------------------------------------------------------- /ArduSub/Makefile: -------------------------------------------------------------------------------- 1 | include ../mk/apm.mk 2 | 3 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/AnalogIn/nobuild.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ArduCopter/Makefile: -------------------------------------------------------------------------------- 1 | include ../mk/apm.mk 2 | 3 | -------------------------------------------------------------------------------- /Tools/autotest/pysim/__init__.py: -------------------------------------------------------------------------------- 1 | """pysim tools""" -------------------------------------------------------------------------------- /libraries/AP_AHRS/examples/AHRS_Test/norelax.inoflag: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/hal/sys/ioctl.h: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/sbus.h: -------------------------------------------------------------------------------- 1 | ../AP_HAL_Linux/sbus.h -------------------------------------------------------------------------------- /libraries/AP_Math/examples/matrix_alg/nocore.inoflag: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /Tools/APM_radio_test/Makefile: -------------------------------------------------------------------------------- 1 | include ../../mk/apm.mk 2 | -------------------------------------------------------------------------------- /Tools/autotest/__init__.py: -------------------------------------------------------------------------------- 1 | """Autotests tools suite""" 2 | -------------------------------------------------------------------------------- /libraries/AP_AdvancedFailsafe/Failsafe_Board/nobuild.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/sbus.cpp: -------------------------------------------------------------------------------- 1 | ../AP_HAL_Linux/sbus.cpp -------------------------------------------------------------------------------- /libraries/AP_Motors/examples/AP_Motors_test/nobuild.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/GimbalEstimatorExample/calcF.c: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/AP_Notify/examples/AP_Notify_test/nobuild.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/DataFlash/examples/DataFlash_test/nobuild.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/sd/FatFs/ffconf.h: -------------------------------------------------------------------------------- 1 | ../ffconf.h -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/GimbalEstimatorExample/calcF.cpp: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /Tools/autotest/README: -------------------------------------------------------------------------------- 1 | This is an automated test suite for APM 2 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-coax.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 9 2 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-hexa.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 2 2 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-octa.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 3 2 | -------------------------------------------------------------------------------- /libraries/AP_L1_Control/keywords.txt: -------------------------------------------------------------------------------- 1 | AP_L1_Control KEYWORD1 -------------------------------------------------------------------------------- /libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/nobuild.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /ArduSub/Makefile.waf: -------------------------------------------------------------------------------- 1 | all: 2 | @$(MAKE) -C ../ -f Makefile.waf sub 3 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-octaquad.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 4 2 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/EEPROM_Read.sh: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /mk/PX4/ROMFS/tones/startup: -------------------------------------------------------------------------------- 1 | MFT240L8O4aO5dcO4aO5dcO4aO5dcL16dcdcdcdc 2 | -------------------------------------------------------------------------------- /APMrover2/Makefile.waf: -------------------------------------------------------------------------------- 1 | all: 2 | @$(MAKE) -C ../ -f Makefile.waf rover 3 | -------------------------------------------------------------------------------- /ArduCopter/Makefile.waf: -------------------------------------------------------------------------------- 1 | all: 2 | @$(MAKE) -C ../ -f Makefile.waf copter 3 | -------------------------------------------------------------------------------- /ArduPlane/Makefile.waf: -------------------------------------------------------------------------------- 1 | all: 2 | @$(MAKE) -C ../ -f Makefile.waf plane 3 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-dodecahexa.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 12 2 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /Tools/ArduPPM/Libraries/readme.txt: -------------------------------------------------------------------------------- 1 | 2 | libraries used by all ArduPPM code bases -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash.ld: -------------------------------------------------------------------------------- 1 | flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/examples/BusTest/Makefile: -------------------------------------------------------------------------------- 1 | include ../../../../mk/apm.mk 2 | -------------------------------------------------------------------------------- /mk/configure.mk: -------------------------------------------------------------------------------- 1 | configure: 2 | @echo "make configure is no longer required" 3 | -------------------------------------------------------------------------------- /libraries/AP_ADC/keywords.txt: -------------------------------------------------------------------------------- 1 | APM_ADC KEYWORD1 2 | Init KEYWORD2 3 | Ch KEYWORD2 4 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/GimbalEstimatorExample/calcTms.c: -------------------------------------------------------------------------------- 1 | t0 = _symans_32_297; 2 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/ap_version.h: -------------------------------------------------------------------------------- 1 | /* Placeholder header for make build system */ 2 | -------------------------------------------------------------------------------- /Tools/Hello/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # Trivial makefile for building APM 3 | # 4 | include ../../mk/apm.mk 5 | -------------------------------------------------------------------------------- /mk/PX4/ROMFS/bootloader/README.txt: -------------------------------------------------------------------------------- 1 | bootloaders for PX4 build are now in Tools/bootloaders/ 2 | 3 | -------------------------------------------------------------------------------- /APMrover2/AP_MotorsUGV.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/APMrover2/AP_MotorsUGV.cpp -------------------------------------------------------------------------------- /Tools/Failsafe/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # Trivial makefile for building APM 3 | # 4 | include ../../mk/apm.mk 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/Defs.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/Defs.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/Func.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/Func.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/Vars.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/Vars.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/misc.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/misc.h -------------------------------------------------------------------------------- /libraries/AP_Math/vector2.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_Math/vector2.h -------------------------------------------------------------------------------- /libraries/AP_Math/vector3.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_Math/vector3.h -------------------------------------------------------------------------------- /Tools/IO_Firmware/fmuv2_IO.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/IO_Firmware/fmuv2_IO.bin -------------------------------------------------------------------------------- /Tools/bootloaders/px4io_bl.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/px4io_bl.bin -------------------------------------------------------------------------------- /Tools/bootloaders/px4io_bl.elf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/px4io_bl.elf -------------------------------------------------------------------------------- /libraries/AP_Common/keywords.txt: -------------------------------------------------------------------------------- 1 | Menu KEYWORD1 2 | run KEYWORD2 3 | Location KEYWORD2 4 | 5 | -------------------------------------------------------------------------------- /libraries/AP_GPS/AP_GPS_SBF.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_GPS/AP_GPS_SBF.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/Panels.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/Panels.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/Params.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/Params.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/eeprom.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/eeprom.h -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/protocols: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/protocols -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/version.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/version.h -------------------------------------------------------------------------------- /mk/board_px4.mk: -------------------------------------------------------------------------------- 1 | TOOLCHAIN = NATIVE 2 | include $(MK_DIR)/find_tools.mk 3 | include $(MK_DIR)/px4_targets.mk 4 | -------------------------------------------------------------------------------- /Tools/ArduPPM/Binaries/Hash.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/ArduPPM/Binaries/Hash.txt -------------------------------------------------------------------------------- /Tools/bootloaders/px4fmu_bl.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/px4fmu_bl.bin -------------------------------------------------------------------------------- /Tools/bootloaders/revo405_bl.bin: 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https://raw.githubusercontent.com/intel/ardupilot/master/Tools/APM2_2560_bootloader/Makefile -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pwmpru1: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/pwmpru1 -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/rcinpru0: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/rcinpru0 -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy.suo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/SerialProxy/SerialProxy.suo 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/px4fmuv4_bl.bin -------------------------------------------------------------------------------- /libraries/AP_AHRS/AP_AHRS_DCM.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_AHRS/AP_AHRS_DCM.cpp -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/OSD_Max7456.h: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/OSD_Max7456.h -------------------------------------------------------------------------------- /libraries/AP_Math/spline5.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | 4 | void splinterp5(const float x[5], float out[4][4]); 5 | 6 | 7 | -------------------------------------------------------------------------------- /mk/board_vrbrain.mk: -------------------------------------------------------------------------------- 1 | TOOLCHAIN = NATIVE 2 | include $(MK_DIR)/find_tools.mk 3 | include $(MK_DIR)/vrbrain_targets.mk 4 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-heli-dual.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 11 2 | ATC_PIRO_COMP 0 # should this line be removed? 3 | -------------------------------------------------------------------------------- /Tools/bootloaders/px4fmuv4pro_bl.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/px4fmuv4pro_bl.bin -------------------------------------------------------------------------------- /Tools/bootloaders/skyviperf412_bl.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/skyviperf412_bl.bin -------------------------------------------------------------------------------- /Tools/bootloaders/skyviperf412_bl.elf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/skyviperf412_bl.elf -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/OSD_Max7456.cpp: -------------------------------------------------------------------------------- 1 | ../../../support/minimosd-extra/MinimOsd_Extra/OSD_Max7456.cpp -------------------------------------------------------------------------------- /APMrover2/compat.cpp: -------------------------------------------------------------------------------- 1 | #include "Rover.h" 2 | 3 | void Rover::delay(uint32_t ms) 4 | { 5 | hal.scheduler->delay(ms); 6 | } 7 | -------------------------------------------------------------------------------- /ArduCopter/compat.cpp: -------------------------------------------------------------------------------- 1 | #include "Copter.h" 2 | 3 | void Copter::delay(uint32_t ms) 4 | { 5 | hal.scheduler->delay(ms); 6 | } 7 | -------------------------------------------------------------------------------- /Tools/Xplane/serproxy-0.1.3-3/serproxy: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Xplane/serproxy-0.1.3-3/serproxy -------------------------------------------------------------------------------- /Tools/autotest/default_params/plane-vtail.parm: -------------------------------------------------------------------------------- 1 | SERVO2_FUNCTION 80 2 | SERVO4_FUNCTION 79 3 | SERVO2_REVERSED 1 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /Tools/bootloaders/skyviper_v2450_bl.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/bootloaders/skyviper_v2450_bl.bin -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/DEBUG-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_namespace.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace OSDns { 4 | // forward declaration 5 | }; -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/support/EEPROM_Write.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | /usr/local/stlink/st-flash --reset write $1 0x08004000 3 | 4 | 5 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/support/EEPROM_Write_DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | dfu-util -a 0 --dfuse-address 0x08004000:leave -D $1 -R 4 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/plane-elevons.parm: -------------------------------------------------------------------------------- 1 | SERVO1_FUNCTION 78 2 | SERVO2_FUNCTION 77 3 | SERVO1_REVERSED 1 4 | SERVO2_REVERSED 1 5 | -------------------------------------------------------------------------------- /Tools/autotest/web-firmware/images/bg.png: 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-------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/support/DEBUG-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/DEBUG-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/DEBUG-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /Tools/ArduPPM/ATMega328p/readme.txt: -------------------------------------------------------------------------------- 1 | 2 | This is the second generation ppm encoder code designed for APM v1.x boards using ATMega328P. 3 | 4 | -------------------------------------------------------------------------------- /Tools/CodeStyle/ardupilot-astyle.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | DIR=$(dirname $(readlink -f $0)) 4 | 5 | astyle --options="${DIR}"/astylerc $* 6 | 7 | -------------------------------------------------------------------------------- /Tools/autotest/aircraft/Rascal/README.Rascal: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/Rascal/README.Rascal 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-------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/DEBUG-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-util -m 4 | 5 | 6 | -------------------------------------------------------------------------------- /Tools/Hello/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /Tools/autotest/web-firmware/images/planner.png: -------------------------------------------------------------------------------- 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[branch](https://github.com/ArduPilot/ardupilot/tree/master-AVR) 2 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/testData/fltTest.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_NavEKF/Models/testData/fltTest.mat -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/testData/gndTest.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_NavEKF/Models/testData/gndTest.mat -------------------------------------------------------------------------------- /Tools/ArduPPM/ATMega32U2/Drivers/amd64/libusb0.sys: -------------------------------------------------------------------------------- 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((indent-tabs-mode . nil) 2 | (tab-width . 4) 3 | (c-basic-offset . 4))) 4 | (c-mode . ((mode . C++)))) 5 | -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy/app.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy/bin/Release/SerialProxy.pdb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/SerialProxy/SerialProxy/bin/Release/SerialProxy.pdb -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Models/plus_quad2.skb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/arducopter/Models/plus_quad2.skb -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Models/plus_quad2.skp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/arducopter/Models/plus_quad2.skp -------------------------------------------------------------------------------- /Tools/autotest/default_params/rover-skid.parm: -------------------------------------------------------------------------------- 1 | CRUISE_SPEED 3 2 | CRUISE_THROTTLE 75 3 | SERVO1_FUNCTION 73 4 | SERVO3_FUNCTION 74 5 | TURN_MAX_G 5 6 | WP_RADIUS 2 7 | -------------------------------------------------------------------------------- /Tools/autotest/jsb_sim/fgout_template.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /libraries/AP_AdvancedFailsafe/Failsafe_Board/Makefile: -------------------------------------------------------------------------------- 1 | # 2 | # Trivial makefile for building APM 3 | # 4 | BOARD=uno 5 | include ../../../libraries/../mk/apm.mk 6 | 7 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/sys/epoll.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include_next 4 | 5 | #ifndef EPOLLWAKEUP 6 | #define EPOLLWAKEUP (1U<<29) 7 | #endif 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_ChibiOS/hwdef/common/cstdio: -------------------------------------------------------------------------------- 1 | #pragma once 2 | //For now this is just a placeholder header, if someone wants functionality please include it here 3 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/tests/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_find_tests( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /Tools/ArduPPM/ATMega32U2/Bootloaders/arduino-usbdfu/makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/ArduPPM/ATMega32U2/Bootloaders/arduino-usbdfu/makefile -------------------------------------------------------------------------------- /Tools/ArduPPM/ATMega32U2/Projects/arduino-usbserial/makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/ArduPPM/ATMega32U2/Projects/arduino-usbserial/makefile -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Models/_propeller0_.skb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/arducopter/Models/_propeller0_.skb -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Models/_propeller0_.skp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/arducopter/Models/_propeller0_.skp -------------------------------------------------------------------------------- /docs/setup.sh: -------------------------------------------------------------------------------- 1 | # setup output directory 2 | 3 | [ -z "$DOCS_OUTPUT_BASE" ] && { 4 | export DOCS_OUTPUT_BASE=docs 5 | } 6 | 7 | mkdir -p $DOCS_OUTPUT_BASE/tags 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_AHRS/examples/AHRS_Test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Baro/examples/ICM20789/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Beacon/examples/AP_Marvelmind_test/sample.dump: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_Beacon/examples/AP_Marvelmind_test/sample.dump -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/AnalogIn/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/Printf/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/RCInput/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/RCOutput/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/RCOutput2/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/RingBuffer/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/Storage/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/UART_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/utility/tests/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_find_tests( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/STM32_USB_Driver/min_max.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #define MIN_(a, b) (a) < (b) ? (a) : (b) 4 | #define MAX_(a, b) (a) > (b) ? (a) : (b) 5 | -------------------------------------------------------------------------------- /libraries/AP_HAL_PX4/examples/simple/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Math/benchmarks/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_find_benchmarks( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Math/examples/eulers/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Math/examples/location/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Math/examples/polygon/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Math/examples/rotations/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/DataFlash/examples/DataFlash_AllTypes/output.BIN: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/DataFlash/examples/DataFlash_AllTypes/output.BIN -------------------------------------------------------------------------------- /libraries/Filter/examples/Derivative/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/Filter/examples/Filter/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /Tools/Frame_params/XPlane/NACA_64_xxx_Airfoils_from_TR824.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Frame_params/XPlane/NACA_64_xxx_Airfoils_from_TR824.zip -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/devicetree/pxf/BB-PXF-01-00A0.dtbo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/devicetree/pxf/BB-PXF-01-00A0.dtbo -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Models/shareware_output.3ds: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/arducopter/Models/shareware_output.3ds -------------------------------------------------------------------------------- /docs/build-libs.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" 3 | 4 | cd $DIR/.. 5 | 6 | . docs/setup.sh 7 | 8 | doxygen docs/config/libraries 9 | -------------------------------------------------------------------------------- /libraries/AC_PID/examples/AC_PID_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/APM_Control/APM_Control.h: -------------------------------------------------------------------------------- 1 | #include "AP_RollController.h" 2 | #include "AP_PitchController.h" 3 | #include "AP_YawController.h" 4 | #include "AP_SteerController.h" 5 | -------------------------------------------------------------------------------- /libraries/AP_Airspeed/examples/Airspeed/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Baro/examples/BARO_generic/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Common/examples/AP_Common/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_GPS/examples/GPS_AUTO_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/benchmarks/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_find_benchmarks( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/examples/BusTest/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Module/examples/ModuleTest/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_RPM/examples/RPM_generic/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/Filter/examples/LowPassFilter/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/Filter/examples/LowPassFilter2p/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/GCS_MAVLink/examples/routing/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/RC_Channel/examples/RC_Channel/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/RC_Channel/examples/RC_UART/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /AntennaTracker/radio.cpp: -------------------------------------------------------------------------------- 1 | #include "Tracker.h" 2 | 3 | // Functions to read the RC radio input 4 | 5 | void Tracker::read_radio() 6 | { 7 | RC_Channels::read_input(); 8 | } 9 | -------------------------------------------------------------------------------- /Tools/ArduPPM/WorkBasket/Jeti_Duplex/Jeti_telemetry_protocol.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/ArduPPM/WorkBasket/Jeti_Duplex/Jeti_telemetry_protocol.pdf -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Engines/a2830-12.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 187 4 | 5 | -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/Models/AutoSave_plus_quad.skp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/autotest/aircraft/arducopter/Models/AutoSave_plus_quad.skp -------------------------------------------------------------------------------- /libraries/AP_Compass/examples/AP_Compass_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_FlashStorage/examples/FlashTest/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/examples/RCInputToRCOutput/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Airbot/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/examples/BusTest/make.inc: -------------------------------------------------------------------------------- 1 | LIBRARIES += AP_Common 2 | LIBRARIES += AP_Math 3 | LIBRARIES += AP_Param 4 | LIBRARIES += StorageManager 5 | LIBRARIES += AP_ADC 6 | -------------------------------------------------------------------------------- /libraries/AP_Mission/examples/AP_Mission_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Motors/examples/AP_Motors_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Mount/examples/trivial_AP_Mount/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Notify/examples/AP_Notify_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Notify/examples/ToshibaLED_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_RangeFinder/examples/RFIND_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_Scheduler/examples/Scheduler_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_SmartRTL/examples/SmartRTL_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/DataFlash/examples/DataFlash_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/StorageManager/examples/StorageTest/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /Tools/CPUInfo/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_program( 6 | use='ap', 7 | program_groups='tools', 8 | ) 9 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/devicetree/pxf/BB-BONE-PRU-05-00A0.dtbo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/devicetree/pxf/BB-BONE-PRU-05-00A0.dtbo -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/devicetree/pxf/BB-SPI0-PXF-01-00A0.dtbo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/devicetree/pxf/BB-SPI0-PXF-01-00A0.dtbo -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/devicetree/pxf/BB-SPI1-PXF-01-00A0.dtbo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/devicetree/pxf/BB-SPI1-PXF-01-00A0.dtbo -------------------------------------------------------------------------------- /libraries/AP_Beacon/examples/AP_Marvelmind_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_GPS/examples/GPS_UBLOX_passthrough/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Airbot/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_InertialSensor/examples/INS_generic/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_OpticalFlow/AP_OpticalFlow.h: -------------------------------------------------------------------------------- 1 | /// @file AP_OpticalFlow.h 2 | /// @brief Catch-all header that defines all supported optical flow classes. 3 | 4 | #include "OpticalFlow.h" 5 | -------------------------------------------------------------------------------- /libraries/AP_Parachute/examples/AP_Parachute_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_RangeFinder/AP_RangeFinder.h: -------------------------------------------------------------------------------- 1 | /// @file AP_RangeFinder.h 2 | /// @brief Catch-all header that defines all supported RangeFinder classes. 3 | 4 | #include "RangeFinder.h" 5 | -------------------------------------------------------------------------------- /libraries/DataFlash/examples/DataFlash_AllTypes/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pru/rangefinderpru/rangefinderprutext.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/Tools/Linux_HAL_Essentials/pru/rangefinderpru/rangefinderprutext.bin -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy/bin/Release/SerialProxy.exe.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /libraries/AP_Declination/examples/AP_Declination_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Revolution/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Revolution/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_cl_racing/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | bld.ap_example( 6 | use='ap', 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash-10000.ld -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy/SerialProxy.csproj.user: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /docs/README: -------------------------------------------------------------------------------- 1 | You need doxygen and graphviz installed. 2 | 3 | Run the build-libs script first, then the project you're interested in. 4 | HTMl will be generated and placed into docs/projectname. 5 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash-10000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash-10000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash_8000000.ld -------------------------------------------------------------------------------- /libraries/AP_HAL_PX4/AP_HAL_PX4.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 6 | #include "HAL_PX4_Class.h" 7 | 8 | #endif // CONFIG_HAL_BOARD 9 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/AttErrVecMathExample/with_initial_alignment.fig: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_NavEKF/Models/AttErrVecMathExample/with_initial_alignment.fig -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/README: -------------------------------------------------------------------------------- 1 | This model is based on the arducopter mode from James Goppert, and 2 | adapted for use in the ArduPilot test system. Many thanks to all who 3 | have contributed! 4 | -------------------------------------------------------------------------------- /libraries/AP_HAL/utility/print_vprintf.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #include 6 | 7 | void print_vprintf(AP_HAL::BetterStream *s, const char *fmt, va_list ap); 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/0_TODO: -------------------------------------------------------------------------------- 1 | still not tested/works: 2 | 3 | UART_SoftDriver 4 | 5 | F7 port - https://github.com/ChrisMicro/STM32GENERIC/blob/master/STM32/system/STM32F7/CMSIS_Src/startup_stm32f769xx.s -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash_8000000.ld: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/intel/ardupilot/master/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash_8000000.ld -------------------------------------------------------------------------------- /Tools/CodeStyle/astylerc: -------------------------------------------------------------------------------- 1 | style=stroustrup 2 | add-brackets 3 | indent=spaces=4 4 | indent-col1-comments 5 | min-conditional-indent=0 6 | suffix=none 7 | lineend=linux 8 | unpad-paren 9 | pad-header 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/wirish/rules.mk: -------------------------------------------------------------------------------- 1 | 2 | # rules are in per-board basis 3 | 4 | WIR := AP_HAL_F4Light/wirish 5 | BRD := AP_HAL_F4Light/boards 6 | include $(LIBRARIES_PATH)/$(BRD)/$(BOARD)/rules.mk 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_VRBRAIN/AP_HAL_VRBRAIN.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN 6 | #include "HAL_VRBRAIN_Class.h" 7 | 8 | #endif // CONFIG_HAL_BOARD 9 | -------------------------------------------------------------------------------- /mk/PX4/config_px4fmu-v1_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the px4fmu-v1_APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/PX4/px4_common.mk 5 | 6 | MODULES += drivers/boards/px4fmu-v1 7 | MODULES += drivers/px4io 8 | -------------------------------------------------------------------------------- /mk/VRBRAIN/config_vrbrain-v51_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the VRBRAIN 5.1 APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk 5 | 6 | MODULES += drivers/boards/vrbrain-v51 7 | 8 | 9 | -------------------------------------------------------------------------------- /mk/VRBRAIN/config_vrubrain-v52_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the VRUBRAIN 5.2 APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/VRBRAIN/vrbrain_common.mk 5 | 6 | MODULES += drivers/boards/vrubrain-v52 7 | 8 | 9 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/devicetree/bbbmini/README.md: -------------------------------------------------------------------------------- 1 | BBBmini Device Tree files are part of the [dtb-rebuilder](https://github.com/RobertCNelson/dtb-rebuilder) repository and included in the BeagleBone Debian images. 2 | -------------------------------------------------------------------------------- /libraries/AC_PID/keywords.txt: -------------------------------------------------------------------------------- 1 | PID KEYWORD1 2 | get_pid KEYWORD2 3 | reset_I KEYWORD2 4 | kP KEYWORD2 5 | kD KEYWORD2 6 | kI KEYWORD2 7 | imax KEYWORD2 8 | load_gains KEYWORD2 9 | save_gains KEYWORD2 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/GO_DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | mavproxy.py --master=/dev/ttyACM0 --baud=115200 --console << 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_SITL 6 | 7 | #include "HAL_SITL_Class.h" 8 | 9 | #endif // CONFIG_HAL_BOARD 10 | -------------------------------------------------------------------------------- /mk/PX4/config_px4fmu-v4_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the px4fmu-v4_APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/PX4/px4_common.mk 5 | 6 | MODULES += drivers/boards/px4fmu-v4 7 | MODULES += drivers/pwm_input 8 | -------------------------------------------------------------------------------- /Tools/CHDK-Scripts/README.md: -------------------------------------------------------------------------------- 1 | ## 3DR EAI 2 | 3 | Based on: KAP UAV Exposure Control Script v3.1 4 | -- Released under GPL by waterwingz and wayback/peabody 5 | http://chdk.wikia.com/wiki/KAP_%26_UAV_Exposure_Control_Script -------------------------------------------------------------------------------- /Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake: -------------------------------------------------------------------------------- 1 | include(configs/nuttx_px4fmu-common_apm) 2 | 3 | list(APPEND config_module_list 4 | drivers/boards/px4fmu-v4 5 | drivers/pwm_input 6 | lib/rc 7 | ) 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/1_read_me.md: -------------------------------------------------------------------------------- 1 | board connection: 2 | 3 | just see board's documentation. 4 | 5 | this board REQUIRES external Baro and Compass via I2C bus, eg. GY-652 or GY-86 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/GO_DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | mavproxy.py --master=/dev/ttyACM0 --baud=115200 --console << 2 | 3 | 4 | 5 | 6 | 7 | Trajectory-Marker.ac 8 | 9 | 10 | -------------------------------------------------------------------------------- /docs/config/arduplane: -------------------------------------------------------------------------------- 1 | @INCLUDE = docs/config/default 2 | 3 | PROJECT_NAME = "APM:Plane" 4 | INPUT = ArduPlane/ 5 | OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/ArduPlane 6 | HTML_OUTPUT = . 7 | TAGFILES = $(DOCS_OUTPUT_BASE)/tags/libraries=../libraries 8 | -------------------------------------------------------------------------------- /docs/config/libraries: -------------------------------------------------------------------------------- 1 | @INCLUDE = docs/config/default 2 | 3 | PROJECT_NAME = "APM:Libraries" 4 | INPUT = libraries/ 5 | OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/libraries 6 | HTML_OUTPUT = . 7 | GENERATE_TAGFILE = $(DOCS_OUTPUT_BASE)/tags/libraries 8 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/cstddef: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include_next 4 | 5 | #if defined(HAVE_STD_NULLPTR_T) && !HAVE_STD_NULLPTR_T 6 | 7 | namespace std { 8 | typedef decltype(nullptr) nullptr_t; 9 | } 10 | 11 | #endif 12 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/sbus.h: -------------------------------------------------------------------------------- 1 | /* 2 | declarations for sbus.h 3 | */ 4 | bool sbus_decode(const uint8_t frame[25], uint16_t *values, uint16_t *num_values, 5 | bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values); 6 | 7 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-optflow.parm: -------------------------------------------------------------------------------- 1 | ARMING_CHECK -33 2 | EKF_GPS_TYPE 3 3 | EK2_GPS_TYPE 3 4 | FLOW_ENABLE 1 5 | RNGFND_TYPE 1 6 | RNGFND_MIN_CM 0 7 | RNGFND_MAX_CM 4000 8 | RNGFND_PIN 0 9 | RNGFND_SCALING 12.12 10 | SIM_FLOW_ENABLE 1 -------------------------------------------------------------------------------- /docs/config/apmrover2: -------------------------------------------------------------------------------- 1 | @INCLUDE = docs/config/default 2 | 3 | PROJECT_NAME = "APM:Rover" 4 | INPUT = APMrover2/ 5 | OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/APMrover2 6 | HTML_OUTPUT = . 7 | TAGFILES = $(DOCS_OUTPUT_BASE)/tags/libraries=../libraries 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_AirbotV2.bin -R 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_OmnibusV3.bin -R 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /docs/config/arducopter: -------------------------------------------------------------------------------- 1 | @INCLUDE = docs/config/default 2 | 3 | PROJECT_NAME = "APM:Copter" 4 | INPUT = ArduCopter/ 5 | OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/ArduCopter 6 | HTML_OUTPUT = . 7 | TAGFILES = $(DOCS_OUTPUT_BASE)/tags/libraries=../libraries 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/1_read_me.md: -------------------------------------------------------------------------------- 1 | board connection: 2 | 3 | this board REQUIRES external Compass & Baro via I2C bus. To get I2C bus you should remove transistor on BUZZER output and short its input and output pins 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/Common/NormQuat.m: -------------------------------------------------------------------------------- 1 | % normalise the quaternion 2 | function quaternion = normQuat(quaternion) 3 | 4 | quatMag = sqrt(quaternion(1)^2 + quaternion(2)^2 + quaternion(3)^2 + quaternion(4)^2); 5 | quaternion(1:4) = quaternion / quatMag; 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_MatekF405-wing.bin -R 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | 4 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_MatekF405-wing.bin 0x08010000 && \ 5 | /usr/local/stlink/st-util -m 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_MatekF405_CTR.bin -R 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | 4 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_MatekF405_CTR.bin 0x08010000 && \ 5 | /usr/local/stlink/st-util -m 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/hal/nvic.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "hal_types.h" 4 | 5 | #ifdef __cplusplus 6 | extern "C"{ 7 | #endif 8 | 9 | void enable_nvic_irq(uint8_t irq, uint8_t prio); 10 | 11 | 12 | #ifdef __cplusplus 13 | } 14 | #endif -------------------------------------------------------------------------------- /mk/PX4/config_px4fmu-v2_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the px4fmu-v2_APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/PX4/px4_common.mk 5 | 6 | MODULES += drivers/boards/px4fmu-v2 7 | MODULES += drivers/pwm_input 8 | MODULES += drivers/px4io 9 | 10 | -------------------------------------------------------------------------------- /AntennaTracker/capabilities.cpp: -------------------------------------------------------------------------------- 1 | #include "Tracker.h" 2 | 3 | void Tracker::init_capabilities(void) 4 | { 5 | hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | 6 | MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION); 7 | } 8 | -------------------------------------------------------------------------------- /Tools/autotest/win_sitl/jsbsim_install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | #A simple script to install the APM SITL environment into cygwin 4 | 5 | git clone git://github.com/tridge/jsbsim.git 6 | cd jsbsim 7 | ./autogen.sh 8 | make 9 | cp src/JSBSim.exe /usr/local/bin 10 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/fcntl.h: -------------------------------------------------------------------------------- 1 | #include_next 2 | 3 | /* 4 | * we only want to define as 0 for those targets in which it doesn't make 5 | * sense 6 | */ 7 | #if defined(HAVE_OCLOEXEC) && HAVE_OCLOEXEC == 0 8 | #define O_CLOEXEC 0 9 | #endif 10 | -------------------------------------------------------------------------------- /libraries/AP_InertialSensor/examples/VibTest/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | # TODO: Test code doesn't build. Fix or delete the test. 6 | return 7 | bld.ap_example( 8 | use='ap', 9 | ) 10 | -------------------------------------------------------------------------------- /libraries/Filter/keywords.txt: -------------------------------------------------------------------------------- 1 | Filter KEYWORD1 2 | FilterWithBuffer KEYWORD1 3 | ModeFilter KEYWORD1 4 | AverageFilter KEYWORD1 5 | apply KEYWORD2 6 | reset KEYWORD2 7 | get_filter_size KEYWORD2 8 | samples KEYWORD2 9 | sample_index KEYWORD2 10 | -------------------------------------------------------------------------------- /mk/PX4/config_px4fmu-v4pro_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the px4fmu-v2_APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/PX4/px4_common.mk 5 | 6 | MODULES += drivers/boards/px4fmu-v4pro 7 | MODULES += drivers/pwm_input 8 | MODULES += drivers/px4io 9 | 10 | -------------------------------------------------------------------------------- /Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v1_apm.cmake: -------------------------------------------------------------------------------- 1 | include(configs/nuttx_px4fmu-common_apm) 2 | 3 | list(APPEND config_module_list 4 | drivers/boards/px4fmu-v1 5 | drivers/px4io 6 | ) 7 | 8 | set(config_io_board 9 | px4io-v1 10 | ) 11 | 12 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/devicetree/pxf/Makefile: -------------------------------------------------------------------------------- 1 | all: BB-BONE-PRU-05-00A0.dtbo BB-SPI0-PXF-01-00A0.dtbo BB-SPI1-PXF-01-00A0.dtbo 2 | 3 | %.dtbo: %.dts 4 | dtc -O dtb -o $@ -b 0 -@ $< 5 | 6 | install: 7 | cp *.dtbo /lib/firmware 8 | 9 | clean: 10 | rm -f *.dtbo 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/Util.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "AP_HAL_Empty_Namespace.h" 5 | 6 | class Empty::Util : public AP_HAL::Util { 7 | public: 8 | bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; } 9 | }; 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #binary with bootloader 4 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_MatekF405_CTR.bin 0x08010000 && \ 5 | /usr/local/stlink/st-util -m 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #binary with bootloader 4 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_MatekF405-wing.bin 0x08010000 && \ 5 | /usr/local/stlink/st-util -m 6 | 7 | 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL/utility/dsm.h: -------------------------------------------------------------------------------- 1 | /* 2 | declaration of dsm_decode from dsm.cpp 3 | */ 4 | bool dsm_decode(uint64_t frame_time, const uint8_t dsm_frame[16], 5 | uint16_t *values, 6 | uint16_t *num_values, 7 | uint16_t max_values); 8 | 9 | -------------------------------------------------------------------------------- /mk/PX4/config_px4fmu-v3_APM.mk: -------------------------------------------------------------------------------- 1 | # 2 | # Makefile for the px4fmu-v2_APM configuration 3 | # 4 | include $(SKETCHBOOK)/mk/PX4/px4_common.mk 5 | 6 | MODULES += drivers/boards/px4fmu-v2 7 | MODULES += drivers/pwm_input 8 | MODULES += drivers/px4io 9 | MODULES += drivers/oreoled 10 | -------------------------------------------------------------------------------- /Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake: -------------------------------------------------------------------------------- 1 | include(configs/nuttx_px4fmu-common_apm) 2 | 3 | list(APPEND config_module_list 4 | drivers/boards/px4fmu-v2 5 | drivers/pwm_input 6 | drivers/px4io 7 | ) 8 | 9 | set(config_io_board 10 | px4io-v2 11 | ) 12 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/support/PULL_MASTER.sh: -------------------------------------------------------------------------------- 1 | git checkout master && \ 2 | git pull --rebase git://github.com/ArduPilot/ardupilot.git master 3 | 4 | # Step 2: Merge the changes and update on GitHub. 5 | 6 | git checkout Revo && \ 7 | git rebase master && git push --force origin Revo 8 | 9 | -------------------------------------------------------------------------------- /Tools/autotest/aircraft/Rascal/Engines/Zenoah_G-26A.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 2207.27 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_LeakDetector/AP_LeakDetector_Backend.cpp: -------------------------------------------------------------------------------- 1 | #include "AP_LeakDetector_Backend.h" 2 | 3 | AP_LeakDetector_Backend::AP_LeakDetector_Backend(AP_LeakDetector &_leak_detector, AP_LeakDetector::LeakDetector_State &_state) : 4 | leak_detector(_leak_detector), 5 | state(_state) 6 | {} 7 | -------------------------------------------------------------------------------- /Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4pro_apm.cmake: -------------------------------------------------------------------------------- 1 | include(configs/nuttx_px4fmu-common_apm) 2 | 3 | list(APPEND config_module_list 4 | drivers/boards/px4fmu-v4pro 5 | drivers/pwm_input 6 | drivers/px4io 7 | ) 8 | 9 | set(config_io_board 10 | px4io-v2 11 | ) 12 | -------------------------------------------------------------------------------- /Tools/ArduPPM/WorkBasket/readme.txt: -------------------------------------------------------------------------------- 1 | 2 | The ArduPPM "Workbasket" is a source of code or tools useful for ppm encoder projects. 3 | 4 | 5 | It is recommanded to delete no more needed stuff when integration in the ArduPPM code has been done to keep the repository size smaller. 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v3_apm.cmake: -------------------------------------------------------------------------------- 1 | include(configs/nuttx_px4fmu-common_apm) 2 | 3 | list(APPEND config_module_list 4 | drivers/boards/px4fmu-v2 5 | drivers/pwm_input 6 | drivers/px4io 7 | drivers/oreoled 8 | ) 9 | 10 | set(config_io_board 11 | px4io-v2 12 | ) 13 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/gazebo-iris.parm: -------------------------------------------------------------------------------- 1 | # Iris is X frame 2 | FRAME_CLASS 1 3 | FRAME_TYPE 1 4 | # IRLOCK FEATURE 5 | CH8_OPT 39 6 | PLND_ENABLED 1 7 | PLND_TYPE 3 8 | # SONAR FOR IRLOCK 9 | SIM_SONAR_SCALE 10 10 | RNGFND_TYPE 1 11 | RNGFND_SCALING 10 12 | RNGFND_PIN 0 13 | RNGFND_MAX_CM 5000 14 | -------------------------------------------------------------------------------- /docs/build-ardusub.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" 3 | 4 | cd $DIR/.. 5 | 6 | . docs/setup.sh 7 | 8 | if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 9 | then 10 | echo "Must build libraries first" 11 | exit 0 12 | fi 13 | 14 | doxygen docs/config/ardusub 15 | 16 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/Common/QuatMult.m: -------------------------------------------------------------------------------- 1 | function quatOut = QuatMult(quatA,quatB) 2 | % Calculate the following quaternion product quatA * quatB using the 3 | % standard identity 4 | 5 | quatOut = [quatA(1)*quatB(1)-quatA(2:4)'*quatB(2:4); quatA(1)*quatB(2:4) + quatB(1)*quatA(2:4) + cross(quatA(2:4),quatB(2:4))]; -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy/Properties/Settings.settings: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /docs/build-apmrover2.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" 3 | 4 | cd $DIR/.. 5 | 6 | . docs/setup.sh 7 | 8 | if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 9 | then 10 | echo "Must build libraries first" 11 | exit 0 12 | fi 13 | 14 | doxygen docs/config/apmrover2 15 | 16 | -------------------------------------------------------------------------------- /docs/build-arduplane.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" 3 | 4 | cd $DIR/.. 5 | 6 | . docs/setup.sh 7 | 8 | if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 9 | then 10 | echo "Must build libraries first" 11 | exit 0 12 | fi 13 | 14 | doxygen docs/config/arduplane 15 | 16 | -------------------------------------------------------------------------------- /libraries/Filter/Filter.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | /* Umbrella header for the Filter library */ 4 | 5 | #include "FilterClass.h" 6 | #include "AverageFilter.h" 7 | #include "DerivativeFilter.h" 8 | #include "FilterWithBuffer.h" 9 | #include "LowPassFilter.h" 10 | #include "ModeFilter.h" 11 | #include "Butter.h" 12 | -------------------------------------------------------------------------------- /docs/build-arducopter.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" 3 | 4 | cd $DIR/.. 5 | 6 | . docs/setup.sh 7 | 8 | if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 9 | then 10 | echo "Must build libraries first" 11 | exit 0 12 | fi 13 | 14 | doxygen docs/config/arducopter 15 | 16 | -------------------------------------------------------------------------------- /APMrover2/mode_hold.cpp: -------------------------------------------------------------------------------- 1 | #include "mode.h" 2 | #include "Rover.h" 3 | 4 | void ModeHold::update() 5 | { 6 | // hold position - stop motors and center steering 7 | g2.motors.set_throttle(0.0f); 8 | g2.motors.set_steering(0.0f); 9 | 10 | // hold mode never reverses 11 | rover.set_reverse(false); 12 | } 13 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pru/rangefinderpru/HexUtil_PRU.cmd: -------------------------------------------------------------------------------- 1 | -b 2 | --image 3 | 4 | ROMS { 5 | PAGE 0: 6 | .text: o = 0x0, l = 0x2000, files={rangefinderprutext.bin} 7 | PAGE 1: 8 | .data: o = 0x0, l = 0x2000, files={rangefinderprudata.bin} 9 | } 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL/HAL.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include "HAL.h" 4 | 5 | namespace AP_HAL { 6 | 7 | HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void)) 8 | : _setup(setup_fun) 9 | , _loop(loop_fun) 10 | { 11 | assert(setup_fun); 12 | assert(loop_fun); 13 | } 14 | 15 | } 16 | -------------------------------------------------------------------------------- /.pydevproject: -------------------------------------------------------------------------------- 1 | 2 | 3 | Default 4 | python 2.7 5 | 6 | -------------------------------------------------------------------------------- /libraries/AP_Gripper/AP_Gripper_Backend.cpp: -------------------------------------------------------------------------------- 1 | #include "AP_Gripper_Backend.h" 2 | 3 | extern const AP_HAL::HAL& hal; 4 | 5 | void AP_Gripper_Backend::init() 6 | { 7 | init_gripper(); 8 | } 9 | 10 | // update - should be called at at least 10hz 11 | void AP_Gripper_Backend::update() 12 | { 13 | update_gripper(); 14 | } 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/Storage.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_HAL_Empty.h" 4 | 5 | class Empty::Storage : public AP_HAL::Storage { 6 | public: 7 | Storage(); 8 | void init(); 9 | void read_block(void *dst, uint16_t src, size_t n); 10 | void write_block(uint16_t dst, const void* src, size_t n); 11 | }; 12 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/Semaphores.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_HAL_Empty.h" 4 | 5 | class Empty::Semaphore : public AP_HAL::Semaphore { 6 | public: 7 | Semaphore() : _taken(false) {} 8 | bool give(); 9 | bool take(uint32_t timeout_ms); 10 | bool take_nonblocking(); 11 | private: 12 | bool _taken; 13 | }; 14 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/RCInput_UDP_Protocol.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #define RCINPUT_UDP_NUM_CHANNELS 8 4 | #define RCINPUT_UDP_VERSION 2 5 | 6 | struct __attribute__((packed)) rc_udp_packet { 7 | uint32_t version; 8 | uint64_t timestamp_us; 9 | uint16_t sequence; 10 | uint16_t pwms[RCINPUT_UDP_NUM_CHANNELS]; 11 | }; 12 | -------------------------------------------------------------------------------- /libraries/AP_Math/tools/geodesic_grid/README.md: -------------------------------------------------------------------------------- 1 | # Geodesic Grid Tool # 2 | 3 | This folder a toolset for helping understanding the concepts used by 4 | [`AP_GeodesicGrid`](../../AP_GeodesicGrid.cpp) as well as for aiding its 5 | development. The main script is named `geodesic_grid.py`. Use `geodesic_grid.py 6 | --help` to know how to use it. 7 | -------------------------------------------------------------------------------- /mk/upload_firmware.mk: -------------------------------------------------------------------------------- 1 | ifneq ($(BOARD_LINUX_HOST),) 2 | upload: $(SKETCHELF).timestamp-upload 3 | 4 | $(SKETCHELF).timestamp-upload: $(SKETCHELF) 5 | scp $(SKETCHELF) $(BOARD_LINUX_HOST): 6 | touch $@ 7 | else 8 | upload: 9 | @echo Check your config.mk: BOARD_LINUX_HOST should be defined to upload firmware 10 | exit 1 11 | endif 12 | -------------------------------------------------------------------------------- /Tools/Frame_params/SToRM32-MAVLink.param: -------------------------------------------------------------------------------- 1 | #NOTE: SToRM32 3-axis gimbal using MAVlink on Telem2, RC6 controls tilt 2 | MNT_ANGMAX_PAN,17999 3 | MNT_ANGMAX_ROL,4500 4 | MNT_ANGMAX_TIL,1000 5 | MNT_ANGMIN_PAN,-18000 6 | MNT_ANGMIN_ROL,-4500 7 | MNT_ANGMIN_TIL,-9000 8 | MNT_RC_IN_TILT,6 9 | MNT_TYPE,4 10 | SERIAL2_BAUD,115 11 | SERIAL2_PROTOCOL,1 -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | #dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin 5 | 6 | # bare metal binary 7 | dfu-util -a 0 --dfuse-address 0x08000000 -D ../../../../../ArduCopter/f4light_MiniF4_OSD.bin 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/hal/nvic.c: -------------------------------------------------------------------------------- 1 | /* 2 | (c) 2017 night_ghost@ykoctpa.ru 3 | 4 | */ 5 | 6 | #include "nvic.h" 7 | 8 | void enable_nvic_irq(uint8_t irq, uint8_t prio){ 9 | NVIC_ClearPendingIRQ(irq); 10 | NVIC_EnableIRQ(irq); // inline 11 | NVIC_SetPriority(irq, prio); // inline 12 | } 13 | 14 | -------------------------------------------------------------------------------- /libraries/AP_LeakDetector/AP_LeakDetector_Digital.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_LeakDetector_Backend.h" 4 | 5 | class AP_LeakDetector_Digital : public AP_LeakDetector_Backend { 6 | public: 7 | AP_LeakDetector_Digital(AP_LeakDetector &_leak_detector, AP_LeakDetector::LeakDetector_State &_state); 8 | void read(void); 9 | }; 10 | -------------------------------------------------------------------------------- /Tools/autotest/copter_glitch_mission.txt: -------------------------------------------------------------------------------- 1 | QGC WPL 110 2 | 0 1 0 16 0 0 0 0 -35.362881 149.165222 582.000000 1 3 | 1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 20.000000 1 4 | 2 0 3 16 0.000000 3.000000 0.000000 0.000000 -35.364416 149.166355 20.000000 1 5 | 3 0 3 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 6 | -------------------------------------------------------------------------------- /libraries/AC_InputManager/AC_InputManager.cpp: -------------------------------------------------------------------------------- 1 | #include "AC_InputManager.h" 2 | #include 3 | #include 4 | 5 | extern const AP_HAL::HAL& hal; 6 | 7 | const AP_Param::GroupInfo AC_InputManager::var_info[] = { 8 | 9 | // Placeholder for future parameters in this class. 10 | 11 | AP_GROUPEND 12 | }; 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/PrivateMember.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | /* Just a stub as an example of how to implement a private member of an 4 | * AP_HAL module */ 5 | 6 | #include "AP_HAL_Empty.h" 7 | 8 | class Empty::PrivateMember { 9 | public: 10 | PrivateMember(uint16_t foo); 11 | void init(); 12 | private: 13 | uint16_t _foo; 14 | }; 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/DOWNLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read readout.bin 0x08000000 0x100000 8 | 9 | 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/support/UPDATE_OSD.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | set -e 3 | set -x 4 | 5 | pushd minimosd-extra/ 6 | git checkout -f master 7 | git fetch origin 8 | git reset --hard origin/master 9 | popd 10 | # git diff # this should show a change to git hash of OSD 11 | git add minimosd-extra 12 | git commit -m 'HAL_F4Light: updated OSD submodule' 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/support/gdb/gpio/gpio.gdb: -------------------------------------------------------------------------------- 1 | set print pretty on 2 | 3 | print "GPIOA registers:" 4 | p/x *GPIOA->regs 5 | print "GPIOB registers:" 6 | p/x *GPIOB->regs 7 | print "GPIOC registers:" 8 | p/x *GPIOC->regs 9 | print "GPIOD registers:" 10 | p/x *GPIOD->regs 11 | print "AFIO registers:" 12 | p/x *(struct afio_reg_map*)0x40010000 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/wirish/cxxabi-compat.cpp: -------------------------------------------------------------------------------- 1 | /* We compile with nodefaultlibs, so we need to provide an error 2 | * handler for an empty pure virtual function */ 3 | 4 | extern "C" void __cxa_pure_virtual(void) { 5 | 6 | extern void __error(uint32_t num, uint32_t pc, uint32_t lr, uint32_t flag); 7 | 8 | __error(11, 0, 0, 0); 9 | } 10 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pru/aiopru/Makefile: -------------------------------------------------------------------------------- 1 | RcAioPRU: RcAioPRU.p 2 | pasm -V3 -c RcAioPRU.p RcAioPRU_BBBMINI -DBBBMINI 3 | pasm -V3 -c RcAioPRU.p RcAioPRU_BBBLUE -DBBBLUE 4 | pasm -V3 -c RcAioPRU.p RcAioPRU_POCKET -DPOCKET 5 | 6 | test: RcAioPRUTest.c 7 | gcc -g -o RcAioPRUTest RcAioPRUTest.c 8 | 9 | clean: 10 | rm RcAioPRU_bin.h RcAioPRUTest 11 | -------------------------------------------------------------------------------- /Tools/LogAnalyzer/VehicleType.py: -------------------------------------------------------------------------------- 1 | class VehicleType(): 2 | Plane = 17 3 | Copter = 23 4 | Rover = 37 5 | 6 | # these should really be "Plane", "Copter" and "Rover", but many 7 | # things use these values as triggers in their code: 8 | VehicleTypeString = { 9 | 17: "ArduPlane", 10 | 23: "ArduCopter", 11 | 37: "ArduRover" 12 | } 13 | -------------------------------------------------------------------------------- /Tools/scripts/format.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | function format { 3 | DIR=$1 4 | find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \; 5 | find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec rm -f {}.orig \; 6 | } 7 | 8 | format apo 9 | format ArduRover 10 | format ArduBoat 11 | format libraries/APO 12 | format libraries/AP_Common 13 | format libraries/AP_GPS 14 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_Airbot.bin 5 | 6 | # bare metal binary 7 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_Airbot.bin 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/support/DOWNLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read readout.bin 0x08000000 0x100000 8 | 9 | 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/DOWNLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read readout.bin 0x08000000 0x100000 8 | 9 | 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_Airbot.bin 5 | 6 | # bare metal binary 7 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_Airbot.bin 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/GPIO_Navio.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "GPIO_Sysfs.h" 4 | 5 | enum gpio_navio { 6 | NAVIO_GPIO_A, 7 | NAVIO_GPIO_B, 8 | NAVIO_GPIO_C, 9 | NAVIO_GPIO_IO17, 10 | NAVIO_GPIO_IO18, 11 | NAVIO_GPIO_IO24, 12 | NAVIO_GPIO_IO25, 13 | NAVIO_GPIO_PCA_OE, 14 | NAVIO_GPIO_PPM_IN, 15 | _NAVIO_GPIO_MAX, 16 | }; 17 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/Common/RotToQuat.m: -------------------------------------------------------------------------------- 1 | % convert froma rotation vector in radians to a quaternion 2 | function quaternion = RotToQuat(rotVec) 3 | 4 | vecLength = sqrt(rotVec(1)^2 + rotVec(2)^2 + rotVec(3)^2); 5 | 6 | if vecLength < 1e-6 7 | quaternion = [1;0;0;0]; 8 | else 9 | quaternion = [cos(0.5*vecLength); rotVec/vecLength*sin(0.5*vecLength)]; 10 | end -------------------------------------------------------------------------------- /mk/PX4/ROMFS/init.d/rcS_no_microSD: -------------------------------------------------------------------------------- 1 | #!nsh 2 | set USB autoconnect 3 | set NSH_ERROR_UART1 /dev/ttyACM0 4 | set NSH_ERROR_UART2 /dev/ttyS0 5 | 6 | tone_alarm /etc/tones/startup 7 | 8 | if sercon 9 | then 10 | echo "[init] USB interface connected" 11 | else 12 | echo "[init] No USB connected" 13 | fi 14 | 15 | echo Running rc.APM 16 | sh /etc/init.d/rc.APM 17 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pru/pwmpru/linux_types.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | typedef uint8_t __u8; 6 | typedef uint16_t __u16; 7 | typedef uint32_t __u32; 8 | typedef uint64_t __u64; 9 | 10 | typedef uint8_t u8; 11 | typedef uint16_t u16; 12 | typedef uint32_t u32; 13 | typedef uint64_t u64; 14 | 15 | #define __packed __attribute__((packed)) 16 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pru/rcinpru/linux_types.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | typedef uint8_t __u8; 6 | typedef uint16_t __u16; 7 | typedef uint32_t __u32; 8 | typedef uint64_t __u64; 9 | 10 | typedef uint8_t u8; 11 | typedef uint16_t u16; 12 | typedef uint32_t u32; 13 | typedef uint64_t u64; 14 | 15 | #define __packed __attribute__((packed)) 16 | -------------------------------------------------------------------------------- /Tools/autotest/ArduRover-Missions/rtl.txt: -------------------------------------------------------------------------------- 1 | QGC WPL 110 2 | 0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 1583.430054 1 3 | 1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071712 -105.229912 0.000000 1 4 | 2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071701 -105.229294 0.000000 1 5 | 3 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-DFU-plane.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # bare metal binary 4 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 5 | 6 | #production binary for bootloader 7 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduPlane/f4light_Revolution.bin -R 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-DFU-plane.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # bare metal binary 4 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 5 | 6 | #production binary for bootloader 7 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduPlane/f4light_Revolution_SD.bin -R 8 | 9 | -------------------------------------------------------------------------------- /libraries/AP_HAL/Semaphores.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_HAL_Namespace.h" 4 | 5 | #define HAL_SEMAPHORE_BLOCK_FOREVER 0 6 | 7 | class AP_HAL::Semaphore { 8 | public: 9 | virtual bool take(uint32_t timeout_ms) WARN_IF_UNUSED = 0 ; 10 | virtual bool take_nonblocking() WARN_IF_UNUSED = 0; 11 | virtual bool give() = 0; 12 | virtual ~Semaphore(void) {} 13 | }; 14 | -------------------------------------------------------------------------------- /libraries/AP_HAL/Storage.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "AP_HAL_Namespace.h" 5 | 6 | class AP_HAL::Storage { 7 | public: 8 | virtual void init() = 0; 9 | virtual void read_block(void *dst, uint16_t src, size_t n) = 0; 10 | virtual void write_block(uint16_t dst, const void* src, size_t n) = 0; 11 | virtual void _timer_tick(void) {}; 12 | }; 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 4 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Revolution_EE128_bl.bin 0x08000000 5 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 6 | /usr/local/stlink/st-util -m -------------------------------------------------------------------------------- /mk/PX4/ROMFS/init.d/rc.error: -------------------------------------------------------------------------------- 1 | echo "Error in startup" 2 | 3 | tone_alarm MNCC 4 | 5 | if [ $HAVE_RGBLED == 1 ] 6 | then 7 | rgbled rgb 16 0 0 8 | fi 9 | 10 | if [ $NSH_ERROR_UART1 != none ] 11 | then 12 | nshterm $NSH_ERROR_UART1 & 13 | sleep 1 14 | fi 15 | if [ $NSH_ERROR_UART2 != none ] 16 | then 17 | nshterm $NSH_ERROR_UART2 & 18 | sleep 1 19 | fi 20 | 21 | exit 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 4 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Revolution_EE128_bl.bin 0x08000000 5 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 6 | /usr/local/stlink/st-util -m 7 | 8 | -------------------------------------------------------------------------------- /mk/VRBRAIN/ROMFS/init.d/rc.error: -------------------------------------------------------------------------------- 1 | echo "Error in startup" 2 | 3 | tone_alarm MNCC 4 | 5 | if [ $HAVE_RGBLED == 1 ] 6 | then 7 | rgbled rgb 16 0 0 8 | fi 9 | 10 | if [ $NSH_ERROR_UART1 != none ] 11 | then 12 | nshterm $NSH_ERROR_UART1 & 13 | sleep 1 14 | fi 15 | if [ $NSH_ERROR_UART2 != none ] 16 | then 17 | nshterm $NSH_ERROR_UART2 & 18 | sleep 1 19 | fi 20 | 21 | exit 22 | -------------------------------------------------------------------------------- /Tools/ArduPPM/ATMega32U2/Bootloaders/arduino-usbdfu/readme.txt: -------------------------------------------------------------------------------- 1 | To setup the project and program an ATMEG32U2 with the Arduino USB DFU bootloader: 2 | 3 | 4 | > make clean 5 | > make 6 | > make program 7 | 8 | 9 | 10 | Check that the board enumerates as "Atmega32u2". 11 | Test by uploading the Arduino-usbserial application firmware (see instructions in Arduino-usbserial directory) 12 | 13 | -------------------------------------------------------------------------------- /Tools/Linux_HAL_Essentials/pru/rangefinderpru/README.md: -------------------------------------------------------------------------------- 1 | # PRU firmware for HC-SR04 rangefinder 2 | 3 | HC-SR04 driver that can be used with BeagleBone Black 4 | 5 | ## Install PRU C-Compiler 6 | 1. `sudo apt-get update` 7 | 2. `sudo apt-get install ti-pru-cgt-installer` 8 | 9 | ## Rebuild rangefinder.c 10 | 1. `cd ardupilot/Tools/Linux_HAL_Essentials/rangefinderpru/` 11 | 2. `make` 12 | 13 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-tri.parm: -------------------------------------------------------------------------------- 1 | SERVO7_MIN 1000 2 | SERVO7_MAX 2000 3 | FRAME_CLASS 7 4 | # autotune results for roll/pitch 5 | ATC_RAT_PIT_D 0.003601 6 | ATC_RAT_PIT_I 0.425690 7 | ATC_RAT_PIT_IMAX 0.444000 8 | ATC_RAT_PIT_P 0.425690 9 | ATC_RAT_RLL_D 0.006667 10 | ATC_RAT_RLL_I 0.838628 11 | ATC_RAT_RLL_IMAX 0.444000 12 | ATC_RAT_RLL_P 0.838628 13 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/quadplane-tilthvec.parm: -------------------------------------------------------------------------------- 1 | LIM_PITCH_MAX 3000 2 | LIM_PITCH_MIN -3000 3 | Q_ENABLE 1 4 | Q_FRAME_CLASS 1 5 | Q_FRAME_TYPE 3 6 | Q_RTL_MODE 1 7 | Q_TILT_TYPE 2 8 | Q_TILT_YAW_ANGLE 10 9 | Q_TILT_MASK 15 10 | Q_VFWD_GAIN 0.1 11 | Q_ANGLE_MAX 4500 12 | Q_ASSIST_SPEED 6 13 | SERVO12_FUNCTION 76 14 | SERVO13_FUNCTION 75 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/HAL_Empty_Class.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #include "AP_HAL_Empty_Namespace.h" 6 | #include "PrivateMember.h" 7 | 8 | class HAL_Empty : public AP_HAL::HAL { 9 | public: 10 | HAL_Empty(); 11 | void run(int argc, char* const* argv, Callbacks* callbacks) const override; 12 | private: 13 | Empty::PrivateMember *_member; 14 | }; 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/Storage.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | #include "Storage.h" 4 | 5 | using namespace Empty; 6 | 7 | Storage::Storage() 8 | {} 9 | 10 | void Storage::init() 11 | {} 12 | 13 | void Storage::read_block(void* dst, uint16_t src, size_t n) { 14 | memset(dst, 0, n); 15 | } 16 | 17 | void Storage::write_block(uint16_t loc, const void* src, size_t n) 18 | {} 19 | 20 | -------------------------------------------------------------------------------- /libraries/AP_IRLock/AP_IRLock.h: -------------------------------------------------------------------------------- 1 | /* 2 | * AP_IRLock.h 3 | * 4 | * Created on: Nov 10, 2014 5 | * Author: MLandes 6 | */ 7 | 8 | // @file AP_IRLock.h 9 | // @brief Catch-all headerthat defines all supported irlock classes. 10 | 11 | #include "IRLock.h" 12 | #include "AP_IRLock_I2C.h" 13 | 14 | #if CONFIG_HAL_BOARD == HAL_BOARD_SITL 15 | #include "AP_IRLock_SITL.h" 16 | #endif 17 | -------------------------------------------------------------------------------- /libraries/AP_VisualOdom/AP_VisualOdom_MAV.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_VisualOdom_Backend.h" 4 | 5 | class AP_VisualOdom_MAV : public AP_VisualOdom_Backend 6 | { 7 | 8 | public: 9 | // constructor 10 | AP_VisualOdom_MAV(AP_VisualOdom &frontend); 11 | 12 | // consume VISION_POSITION_DELTA MAVLink message 13 | void handle_msg(mavlink_message_t *msg) override; 14 | }; 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_AirbotV2.bin 0x08010000 && \ 9 | /usr/local/stlink/st-util -m -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_OmnibusV3.bin 0x08010000 && \ 9 | /usr/local/stlink/st-util -m -------------------------------------------------------------------------------- /Tools/vagrant/README.md: -------------------------------------------------------------------------------- 1 | # Vagrant for SITL and ardupilot development 2 | 3 | We support a vagrant container for _easily_ running SITL (software in the loop simulator) and compling Ardupilot code. 4 | 5 | Instructions for how to install and run this vagrant container are provided on the ArduPilot dev wiki in: [Setting up SITL using Vagrant](http://dev.ardupilot.org/wiki/setting-up-sitl-using-vagrant/). 6 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Airbot.bin 0x08010000 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/c++.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | 12 | // placement new is missed somehow 13 | 14 | inline void * operator new(size_t size, caddr_t ptr) 15 | { 16 | memset(ptr,0,size); 17 | return ptr; 18 | } 19 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_AirbotV2.bin 0x08010000 && \ 9 | /usr/local/stlink/st-util -m 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_MiniF4_OSD.bin 0x08000000 && /usr/local/stlink/st-util -m 8 | 9 | 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_OmnibusV3.bin 0x08010000 && \ 9 | /usr/local/stlink/st-util -m 10 | -------------------------------------------------------------------------------- /libraries/AC_Fence/keywords.txt: -------------------------------------------------------------------------------- 1 | AC_Fence KEYWORD1 2 | enable KEYWORD2 3 | enabled KEYWORD2 4 | get_enabled_fences KEYWORD2 5 | pre_arm_check KEYWORD2 6 | check_fence KEYWORD2 7 | get_breaches KEYWORD2 8 | get_breach_time KEYWORD2 9 | get_breach_count KEYWORD2 10 | get_action KEYWORD2 11 | set_home_distance KEYWORD2 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /libraries/AC_WPNav/keywords.txt: -------------------------------------------------------------------------------- 1 | Compass KEYWORD1 2 | AP_Compass KEYWORD1 3 | APM_Compass KEYWORD1 4 | init KEYWORD2 5 | read KEYWORD2 6 | calculate KEYWORD2 7 | set_orientation KEYWORD2 8 | set_offsets KEYWORD2 9 | set_declination KEYWORD2 10 | heading KEYWORD2 11 | heading_x KEYWORD2 12 | heading_y KEYWORD2 13 | mag_x KEYWORD2 14 | mag_y KEYWORD2 15 | mag_z KEYWORD2 16 | last_update KEYWORD2 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /libraries/AP_Baro/AP_Baro_HIL.h: -------------------------------------------------------------------------------- 1 | /* 2 | dummy backend for HIL (and SITL). This doesn't actually need to do 3 | any work, as setHIL() is in the frontend 4 | */ 5 | #pragma once 6 | 7 | #include "AP_Baro_Backend.h" 8 | 9 | class AP_Baro_HIL : public AP_Baro_Backend 10 | { 11 | public: 12 | AP_Baro_HIL(AP_Baro &baro); 13 | void update(void); 14 | 15 | private: 16 | uint8_t _instance; 17 | }; 18 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/utility: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include_next 4 | 5 | #if defined(HAVE_STD_MOVE) && !HAVE_STD_MOVE 6 | #include 7 | 8 | namespace std { 9 | template 10 | typename std::remove_reference::type&& move(T&& t) noexcept 11 | { 12 | return static_cast::type&&>(t); 13 | } 14 | } 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /libraries/AP_HAL/system.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #include 6 | 7 | #include "AP_HAL_Macros.h" 8 | 9 | namespace AP_HAL { 10 | 11 | void init(); 12 | 13 | void panic(const char *errormsg, ...) FMT_PRINTF(1, 2) NORETURN; 14 | 15 | uint32_t micros(); 16 | uint32_t millis(); 17 | uint64_t micros64(); 18 | uint64_t millis64(); 19 | 20 | } // namespace AP_HAL 21 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Airbot.bin 0x08010000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_cl_racing.bin 0x08010000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_Common/AP_FWVersion.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | 6 | typedef struct { 7 | uint8_t major; 8 | uint8_t minor; 9 | uint8_t patch; 10 | FIRMWARE_VERSION_TYPE fw_type; 11 | const char *fw_string; 12 | const char *fw_hash_str; 13 | const char *middleware_hash_str; 14 | const char *os_hash_str; 15 | } AP_FWVersion; 16 | -------------------------------------------------------------------------------- /libraries/AP_Compass/keywords.txt: -------------------------------------------------------------------------------- 1 | Compass KEYWORD1 2 | AP_Compass KEYWORD1 3 | APM_Compass KEYWORD1 4 | init KEYWORD2 5 | read KEYWORD2 6 | calculate KEYWORD2 7 | set_orientation KEYWORD2 8 | set_offsets KEYWORD2 9 | set_declination KEYWORD2 10 | heading KEYWORD2 11 | heading_x KEYWORD2 12 | heading_y KEYWORD2 13 | mag_x KEYWORD2 14 | mag_y KEYWORD2 15 | mag_z KEYWORD2 16 | last_update KEYWORD2 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /Tools/CPUInfo/Makefile: -------------------------------------------------------------------------------- 1 | # this is meant to make existing build instructions work with waf 2 | 3 | all: 4 | @cd ../../ && modules/waf/waf-light configure --board linux --debug 5 | @cd ../../ && modules/waf/waf-light tools 6 | @cp ../../build/linux/tools/CPUInfo CPUInfo.elf 7 | @echo Built CPUInfo.elf 8 | 9 | clean: 10 | @cd ../../ && modules/waf/waf-light configure --board linux clean 11 | 12 | linux-debug: all 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Revolution.bin 0x08010000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Revolution_SD.bin 0x08010000 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_cl_racing.bin 0x08010000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/HAL_Linux_Class.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | class HAL_Linux : public AP_HAL::HAL { 6 | public: 7 | HAL_Linux(); 8 | void run(int argc, char* const* argv, Callbacks* callbacks) const override; 9 | 10 | void setup_signal_handlers() const; 11 | 12 | static void exit_signal_handler(int); 13 | 14 | protected: 15 | bool _should_exit = false; 16 | }; 17 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/endian.h: -------------------------------------------------------------------------------- 1 | #if defined(HAVE_ENDIAN_H) && HAVE_ENDIAN_H 2 | #include_next 3 | #else 4 | 5 | /* minimal version defining only the macros we need in our codebase */ 6 | 7 | #define __LITTLE_ENDIAN 1234 8 | #define __BIG_ENDIAN 4321 9 | 10 | #ifdef __ARMEB__ 11 | #define __BYTE_ORDER __BIG_ENDIAN 12 | #else 13 | #define __BYTE_ORDER __LITTLE_ENDIAN 14 | #endif 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /libraries/AP_LeakDetector/AP_LeakDetector_Analog.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_LeakDetector_Backend.h" 4 | #include 5 | 6 | class AP_LeakDetector_Analog : public AP_LeakDetector_Backend { 7 | public: 8 | AP_LeakDetector_Analog(AP_LeakDetector &_leak_detector, AP_LeakDetector::LeakDetector_State &_state); 9 | void read(void); 10 | 11 | private: 12 | AP_HAL::AnalogSource *source; 13 | }; 14 | -------------------------------------------------------------------------------- /libraries/AP_Motors/AP_Motors.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_Motors_Class.h" 4 | #include "AP_MotorsMulticopter.h" 5 | #include "AP_MotorsMatrix.h" 6 | #include "AP_MotorsTri.h" 7 | #include "AP_MotorsHeli_Single.h" 8 | #include "AP_MotorsHeli_Dual.h" 9 | #include "AP_MotorsHeli_Quad.h" 10 | #include "AP_MotorsSingle.h" 11 | #include "AP_MotorsCoax.h" 12 | #include "AP_MotorsTailsitter.h" 13 | #include "AP_Motors6DOF.h" 14 | -------------------------------------------------------------------------------- /ArduPlane/APM_Config.h: -------------------------------------------------------------------------------- 1 | // This file is just a placeholder for your configuration file. If 2 | // you wish to change any of the setup parameters from their default 3 | // values, place the appropriate #define statements here. 4 | 5 | // If you used to define your CONFIG_APM_HARDWARE setting here, it is no 6 | // longer valid! You should switch to using CONFIG_HAL_BOARD via the HAL_BOARD 7 | // flag in your local config.mk instead. 8 | 9 | -------------------------------------------------------------------------------- /Tools/Replay/Makefile: -------------------------------------------------------------------------------- 1 | # this is meant to make existing build instructions work with waf 2 | 3 | all: 4 | @cd ../../ && modules/waf/waf-light configure --board linux --debug 5 | @cd ../../ && modules/waf/waf-light --target tools/Replay 6 | @cp ../../build/linux/tools/Replay Replay.elf 7 | @echo Built Replay.elf 8 | 9 | clean: 10 | @cd ../../ && modules/waf/waf-light configure --board linux clean 11 | 12 | linux-debug: all 13 | -------------------------------------------------------------------------------- /Tools/autotest/win_sitl/jsbsimAPM_install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | #A simple script to install the APM SITL environment into cygwin 4 | 5 | git clone git://github.com/ArduPilot/ardupilot.git 6 | git clone git://github.com/tridge/jsbsim.git 7 | cd jsbsim 8 | ./autogen.sh 9 | make 10 | cp src/JSBSim.exe /usr/local/bin 11 | cd ../ardupilot 12 | git submodule update --init --recursive 13 | ./modules/waf/waf-light configure --board=sitl 14 | -------------------------------------------------------------------------------- /Tools/scripts/build_docs.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | set -e 4 | 5 | # work from either APM directory or above 6 | [ -d ArduPlane ] || cd APM 7 | 8 | export DOCS_OUTPUT_BASE=./docs 9 | 10 | ( 11 | $DOCS_OUTPUT_BASE/build-libs.sh 12 | $DOCS_OUTPUT_BASE/build-arduplane.sh 13 | $DOCS_OUTPUT_BASE/build-arducopter.sh 14 | $DOCS_OUTPUT_BASE/build-apmrover2.sh 15 | $DOCS_OUTPUT_BASE/build-ardusub.sh 16 | ) > $DOCS_OUTPUT_BASE/build_docs.log 2>&1 17 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/STM32_USB_Driver/atomic.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | /* 4 | * IAR specific functions for IRQ disable/enable 5 | */ 6 | 7 | typedef __istate_t atomic_t; 8 | 9 | static inline atomic_t atomic_begin(void) 10 | { 11 | __istate_t a = __get_interrupt_state(); 12 | __disable_interrupt(); 13 | return a; 14 | } 15 | 16 | static inline void atomic_end(atomic_t a) 17 | { 18 | __set_interrupt_state(a); 19 | } 20 | 21 | -------------------------------------------------------------------------------- /libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace HALSITL { 4 | class UARTDriver; 5 | class Scheduler; 6 | class SITL_State; 7 | class EEPROMStorage; 8 | class AnalogIn; 9 | class RCInput; 10 | class RCOutput; 11 | class ADCSource; 12 | class RCInput; 13 | class Util; 14 | class Semaphore; 15 | class GPIO; 16 | class DigitalSource; 17 | class HALSITLCAN; 18 | class HALSITLCANDriver; 19 | } // namespace HALSITL 20 | -------------------------------------------------------------------------------- /ArduPlane/GCS_Plane.cpp: -------------------------------------------------------------------------------- 1 | #include "GCS_Plane.h" 2 | #include "Plane.h" 3 | 4 | void GCS_Plane::send_airspeed_calibration(const Vector3f &vg) 5 | { 6 | for (uint8_t i=0; i 4 | 5 | #include 6 | 7 | #include "usb_mass_mal.h" 8 | 9 | extern "C" { 10 | extern int usb_close(void); 11 | extern void SCSI_Init(); 12 | } 13 | 14 | namespace F4Light { 15 | 16 | class MassStorage { 17 | public: 18 | MassStorage() {} 19 | 20 | void setup() const; 21 | }; 22 | 23 | } // namespace 24 | -------------------------------------------------------------------------------- /libraries/GCS_MAVLink/.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | doc/html 3 | doc/*.log 4 | 5 | include/mavlink/v0.9/slugs/ 6 | include/mavlink/v0.9/ualberta/ 7 | include/mavlink/v0.9/minimal/ 8 | include/mavlink/v0.9/test/ 9 | include/mavlink/v0.9/pixhawk/ 10 | 11 | include/mavlink/v1.0/slugs/ 12 | include/mavlink/v1.0/ualberta/ 13 | include/mavlink/v1.0/minimal/ 14 | include/mavlink/v1.0/test/ 15 | include/mavlink/v1.0/pixhawk/ 16 | include/mavlink/v1.0/sensoar/ 17 | -------------------------------------------------------------------------------- /Tools/Hello/Hello.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | simple hello world sketch 3 | Andrew Tridgell September 2011 4 | */ 5 | 6 | #include 7 | 8 | void setup(); 9 | void loop(); 10 | 11 | const AP_HAL::HAL& hal = AP_HAL::get_HAL(); 12 | 13 | void setup() 14 | { 15 | hal.console->printf("hello world\n"); 16 | } 17 | 18 | void loop() 19 | { 20 | hal.scheduler->delay(1000); 21 | hal.console->printf("*\n"); 22 | } 23 | 24 | AP_HAL_MAIN(); 25 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/RCInput.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_HAL_Empty.h" 4 | 5 | class Empty::RCInput : public AP_HAL::RCInput { 6 | public: 7 | RCInput(); 8 | void init(); 9 | bool new_input(); 10 | uint8_t num_channels(); 11 | uint16_t read(uint8_t ch); 12 | uint8_t read(uint16_t* periods, uint8_t len); 13 | 14 | bool set_override(uint8_t channel, int16_t override); 15 | void clear_overrides(); 16 | }; 17 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/bl/UPLOAD-STLINK_res.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary without bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary or binary with bootloader 7 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduCopter/f4light_AirbotV2_bl.bin 0x08000000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary without bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary or binary with bootloader 7 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Revolution_SD.bin 0x08010000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /Tools/autotest/copter_terrain_mission.txt: -------------------------------------------------------------------------------- 1 | QGC WPL 110 2 | 0 1 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 985.000000 1 3 | 1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 25.000000 1 4 | 2 0 10 16 0.000000 0.000000 0.000000 0.000000 36.319240 138.649993 25.000000 1 5 | 3 0 10 16 0.000000 0.000000 0.000000 0.000000 36.320035 138.660250 25.000000 1 6 | 4 0 3 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 7 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/bl/UPLOAD-STLINK_res.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary without bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary or binary with bootloader 7 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduCopter/f4light_OmnibusV3_bl.bin 0x08000000 && \ 8 | /usr/local/stlink/st-util -m 9 | 10 | 11 | -------------------------------------------------------------------------------- /Tools/ardupilotwaf/static_linking.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | """ 5 | WAF Tool to force programs to be statically linked 6 | """ 7 | 8 | from waflib.TaskGen import after_method, feature 9 | 10 | @feature('static_linking') 11 | @after_method('apply_link') 12 | def force_static_linking(self): 13 | env = self.link_task.env 14 | env.STLIB += env.LIB 15 | env.LIB = [] 16 | env.STLIB_MARKER = '-static' 17 | env.SHLIB_MARKER = '' 18 | -------------------------------------------------------------------------------- /Tools/scripts/build_examples.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | set -e 4 | 5 | cat >&2 < 7 | 8 | void setup(); 9 | void loop(); 10 | 11 | const AP_HAL::HAL& hal = AP_HAL::get_HAL(); 12 | 13 | void setup() { 14 | hal.console->printf("hello world\n"); 15 | } 16 | 17 | void loop() 18 | { 19 | hal.scheduler->delay(1000); 20 | hal.console->printf("*\n"); 21 | } 22 | 23 | AP_HAL_MAIN(); 24 | -------------------------------------------------------------------------------- /libraries/AP_Compass/AP_Compass_HIL.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_Compass.h" 4 | 5 | #define HIL_NUM_COMPASSES 2 6 | 7 | class AP_Compass_HIL : public AP_Compass_Backend 8 | { 9 | public: 10 | AP_Compass_HIL(Compass &compass); 11 | void read(void); 12 | bool init(void); 13 | 14 | // detect the sensor 15 | static AP_Compass_Backend *detect(Compass &compass); 16 | 17 | private: 18 | uint8_t _compass_instance[HIL_NUM_COMPASSES]; 19 | }; 20 | -------------------------------------------------------------------------------- /libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Private.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | /* Umbrella header for all private headers of the AP_HAL_ChibiOS module. 4 | * Only import this header from inside AP_HAL_ChibiOS 5 | */ 6 | 7 | #include "AnalogIn.h" 8 | #include "GPIO.h" 9 | #include "Scheduler.h" 10 | #include "Util.h" 11 | #include "UARTDriver.h" 12 | #include "SPIDevice.h" 13 | #include "Storage.h" 14 | #include "RCInput.h" 15 | #include "RCOutput.h" 16 | #include "I2CDevice.h" 17 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | #dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin 5 | 6 | # bare metal binary 7 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 8 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_Revolution_SD.bin -R 9 | 10 | -------------------------------------------------------------------------------- /ArduSub/UserVariables.h: -------------------------------------------------------------------------------- 1 | // user defined variables 2 | 3 | // example variables used in Wii camera testing - replace with your own 4 | // variables 5 | #ifdef USERHOOK_VARIABLES 6 | 7 | #if WII_CAMERA == 1 8 | WiiCamera ircam; 9 | int WiiRange=0; 10 | int WiiRotation=0; 11 | int WiiDisplacementX=0; 12 | int WiiDisplacementY=0; 13 | #endif // WII_CAMERA 14 | 15 | #endif // USERHOOK_VARIABLES 16 | 17 | 18 | -------------------------------------------------------------------------------- /Tools/autotest/aircraft/arducopter/initfile.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | nan 4 | nan 5 | nan 6 | nan 7 | -nan 8 | nan 9 | nan 10 | nan 11 | nan 12 | 13 | -------------------------------------------------------------------------------- /Tools/autotest/default_params/copter-y6.parm: -------------------------------------------------------------------------------- 1 | FRAME_CLASS 5 2 | # autotune results 3 | ATC_RATE_FF_ENAB 1.000000 4 | ATC_RAT_PIT_D 0.002706 5 | ATC_RAT_PIT_I 0.331873 6 | ATC_RAT_PIT_IMAX 0.444000 7 | ATC_RAT_PIT_P 0.331873 8 | ATC_RAT_RLL_D 0.003133 9 | ATC_RAT_RLL_I 0.349340 10 | ATC_RAT_RLL_IMAX 0.444000 11 | ATC_RAT_RLL_P 0.349340 12 | ATC_RAT_YAW_D 0.000000 13 | ATC_RAT_YAW_I 0.060954 14 | ATC_RAT_YAW_IMAX 0.222000 15 | ATC_RAT_YAW_P 0.609544 16 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | #dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin 5 | 6 | # bare metal binary 7 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 8 | dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution_EE128_bl.bin -R 9 | 10 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light BOARD=f4light_cl_racing 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light BOARD=f4light_cl_racing 19 | ) 20 | 21 | -------------------------------------------------------------------------------- /ArduCopter/UserVariables.h: -------------------------------------------------------------------------------- 1 | // user defined variables 2 | 3 | // example variables used in Wii camera testing - replace with your own 4 | // variables 5 | #ifdef USERHOOK_VARIABLES 6 | 7 | #if WII_CAMERA == 1 8 | WiiCamera ircam; 9 | int WiiRange=0; 10 | int WiiRotation=0; 11 | int WiiDisplacementX=0; 12 | int WiiDisplacementY=0; 13 | #endif // WII_CAMERA 14 | 15 | #endif // USERHOOK_VARIABLES 16 | 17 | 18 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light 19 | ) 20 | 21 | # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU-plane.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | #dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin 5 | 6 | # bare metal binary 7 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 8 | dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduPlane/f4light_Revolution_EE128_bl.bin 9 | 10 | -------------------------------------------------------------------------------- /Tools/scripts/build_all_px4.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # build all targets for PX4 3 | # This helps when doing large merges 4 | # Andrew Tridgell, February 2013 5 | 6 | . config.mk 7 | 8 | set -e 9 | set -x 10 | 11 | git submodule init 12 | git submodule update --recursive 13 | 14 | builds="px4-v1 px4-v2 px4-v3 px4-v4 px4-v4pro" 15 | 16 | for b in $builds; do 17 | echo "Testing $b build" 18 | ./waf clean 19 | ./waf configure --board $b 20 | ./waf 21 | done 22 | 23 | exit 0 24 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/massstorage/usbMassStorage.h: -------------------------------------------------------------------------------- 1 | #ifndef USBMASSSTORAGE_H 2 | #define USBMASSSTORAGE_H 3 | 4 | #include 5 | #include "usb_mass_mal.h" 6 | 7 | 8 | extern "C" { 9 | #include 10 | #include 11 | #include 12 | #include 13 | 14 | #include "msc/usbd_msc_core.h" 15 | 16 | #define USB_MASS_MAL_FAIL -1 17 | #define USB_MASS_MAL_SUCCESS 0 18 | 19 | 20 | } 21 | #endif /* USBMASSSTORAGE_H */ 22 | 23 | -------------------------------------------------------------------------------- /libraries/AP_Math/tests/test_vector2.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include 4 | 5 | TEST(Vector2Test, IsEqual) 6 | { 7 | Vector2l v_int1(1, 1); 8 | Vector2l v_int2(1, 0); 9 | Vector2f v_float1(1.0f, 1.0f); 10 | Vector2f v_float2(1.0f, 0.0f); 11 | 12 | EXPECT_FALSE(v_int1 == v_int2); 13 | EXPECT_TRUE(v_int1 == v_int1); 14 | EXPECT_FALSE(v_float1 == v_float2); 15 | EXPECT_TRUE(v_float1 == v_float1); 16 | } 17 | 18 | AP_GTEST_MAIN() 19 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/Common/QuatDivide.m: -------------------------------------------------------------------------------- 1 | function q_out = QuatDivide(qin1,qin2) 2 | 3 | q0 = qin1(1); 4 | q1 = qin1(2); 5 | q2 = qin1(3); 6 | q3 = qin1(4); 7 | 8 | r0 = qin2(1); 9 | r1 = qin2(2); 10 | r2 = qin2(3); 11 | r3 = qin2(4); 12 | 13 | q_out(1,1) = (qin2(1)*qin1(1) + qin2(2)*qin1(2) + qin2(3)*qin1(3) + qin2(4)*qin1(4)); 14 | q_out(2,1) = (r0*q1 - r1*q0 - r2*q3 + r3*q2); 15 | q_out(3,1) = (r0*q2 + r1*q3 - r2*q0 - r3*q1); 16 | q_out(4,1) = (r0*q3 - r1*q2 + r2*q1 - r3*q0); 17 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/wirish/defs.h: -------------------------------------------------------------------------------- 1 | /* 2 | forced to include to ALL files 3 | 4 | */ 5 | 6 | using namespace std; 7 | 8 | #ifndef __EXPORT 9 | #define __EXPORT __attribute__ ((visibility ("default"))) 10 | #endif 11 | 12 | #ifndef __PRIVATE 13 | #define __PRIVATE __attribute__ ((visibility ("hidden"))) 14 | #endif 15 | 16 | #ifndef packed_struct 17 | #define packed_struct __attribute__ ((packed)) 18 | #endif 19 | 20 | #define _WANT_REGISTER_FINI 1 21 | #define HAVE_INITFINI_ARRAY 1 22 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/Common/QuatToEul.m: -------------------------------------------------------------------------------- 1 | % Convert from a quaternion to a 321 Euler rotation sequence in radians 2 | 3 | function Euler = QuatToEul(quat) 4 | 5 | Euler = zeros(3,1); 6 | 7 | Euler(1) = atan2(2*(quat(3)*quat(4)+quat(1)*quat(2)), quat(1)*quat(1) - quat(2)*quat(2) - quat(3)*quat(3) + quat(4)*quat(4)); 8 | Euler(2) = -asin(2*(quat(2)*quat(4)-quat(1)*quat(3))); 9 | Euler(3) = atan2(2*(quat(2)*quat(3)+quat(1)*quat(4)), quat(1)*quat(1) + quat(2)*quat(2) - quat(3)*quat(3) - quat(4)*quat(4)); -------------------------------------------------------------------------------- /Tools/autotest/aircraft/Rascal/reset_CMAC.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | -35.362851 4 | 149.165223 5 | 0 6 | 0.0 7 | 0.0 8 | 0.0 9 | 0.0 10 | 0.0 11 | 12 | -------------------------------------------------------------------------------- /libraries/AP_HAL/board/empty.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #define HAL_BOARD_NAME "EMPTY" 4 | #define HAL_CPU_CLASS HAL_CPU_CLASS_150 5 | #define HAL_STORAGE_SIZE 16384 6 | #define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE 7 | #define HAL_INS_DEFAULT HAL_INS_HIL 8 | #define HAL_BARO_DEFAULT HAL_BARO_HIL 9 | #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL 10 | #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE 11 | 12 | #define HAL_HAVE_BOARD_VOLTAGE 1 13 | #define HAL_HAVE_SAFETY_SWITCH 1 14 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/Semaphores.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #include 6 | 7 | #include "AP_HAL_Linux.h" 8 | 9 | namespace Linux { 10 | 11 | class Semaphore : public AP_HAL::Semaphore { 12 | public: 13 | Semaphore() { 14 | pthread_mutex_init(&_lock, nullptr); 15 | } 16 | bool give(); 17 | bool take(uint32_t timeout_ms); 18 | bool take_nonblocking(); 19 | private: 20 | pthread_mutex_t _lock; 21 | }; 22 | 23 | } 24 | -------------------------------------------------------------------------------- /libraries/AP_HAL_SITL/Storage.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "AP_HAL_SITL_Namespace.h" 5 | 6 | class HALSITL::EEPROMStorage : public AP_HAL::Storage { 7 | public: 8 | EEPROMStorage() { 9 | _eeprom_fd = -1; 10 | } 11 | void init() {} 12 | void read_block(void *dst, uint16_t src, size_t n); 13 | void write_block(uint16_t dst, const void* src, size_t n); 14 | 15 | private: 16 | int _eeprom_fd; 17 | void _eeprom_open(void); 18 | }; 19 | -------------------------------------------------------------------------------- /Tools/Frame_params/Parrot_Disco/rcS_mode_default: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # default rcS running mode script 4 | 5 | echo $((1024*1024)) > /proc/sys/net/core/wmem_max # inscrease the max socket size 6 | if test -x /data/ftp/internal_000/APM/start_ardupilot.sh; then 7 | ulogger -t "rcS_mode_default" -p I "Launching ArduPilot" 8 | /data/ftp/internal_000/APM/start_ardupilot.sh 9 | else 10 | ulogger -t "rcS_mode_default" -p I "Launching Dragon" 11 | DragonStarter.sh -out2null & 12 | fi 13 | sleep 1 14 | 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/support/scripts/openocd-wrapper.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | # Helper to decide which openocd script to use. We only support 0.3.x and 0.4.x. 4 | 5 | if [ $# -ne 1 ] 6 | then 7 | echo "Usage: `basename $0` {flash|debug}" 8 | exit 1 9 | fi 10 | 11 | OPENOCD_VERSION=`openocd -v 2>&1 | head -n1 | \ 12 | awk '{print $4}' | sed 's/\([0-9]*\.[0-9]*\)\.[0-9]*/\1/'` 13 | 14 | CFG_FILE=$1_${OPENOCD_VERSION}.cfg 15 | 16 | openocd -f support/openocd/$CFG_FILE 17 | -------------------------------------------------------------------------------- /libraries/AP_ROMFS/AP_ROMFS.h: -------------------------------------------------------------------------------- 1 | /* 2 | implement a file store for embedded firmware images 3 | */ 4 | 5 | #include 6 | 7 | class AP_ROMFS { 8 | public: 9 | // find an embedded file 10 | static const uint8_t *find_file(const char *name, uint32_t &size); 11 | 12 | private: 13 | struct embedded_file { 14 | const char *filename; 15 | uint32_t size; 16 | const uint8_t *contents; 17 | }; 18 | static const struct embedded_file files[]; 19 | }; 20 | -------------------------------------------------------------------------------- /Tools/Frame_params/Parrot_Disco/start_ardupilot.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | cd /data/ftp/internal_000/APM 4 | ( 5 | date 6 | 7 | # stop stock led daemon 8 | pstop ledd 9 | 10 | # startup fan 11 | echo 1 > /sys/devices/platform/user_gpio/FAN/value 12 | 13 | while :; do 14 | echo "$(date) Starting arduplane" 15 | ./arduplane -A udp:192.168.42.255:14550:bcast -B /dev/ttyPA1 -C udp:192.168.43.255:14550:bcast --module-directory modules 16 | done 17 | ) >> start_ardupilot.log 2>&1 & 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /Tools/autotest/win_sitl/RunPlane.bat: -------------------------------------------------------------------------------- 1 | rem File run APM:Plane SITL 2 | SETLOCAL enableextensions 3 | @echo off 4 | 5 | rem Assumes a Cgywin install at C:\cygwin 6 | if "%CYGWIN_LOCATION%" == "" (set "CYGWIN_LOCATION=C:\cygwin") 7 | 8 | rem get current dir for Cygwin 9 | set pth=%CD:~2,99% 10 | set pth=%pth:\=/% 11 | set drv=%CD:~0,1% 12 | set "fullpath=/cygdrive/%drv%%pth%" 13 | 14 | %CYGWIN_LOCATION%\bin\bash.exe --login -i -c "cd ""%fullpath%"" && cd ../../../ArduPlane && ../Tools/autotest/sim_vehicle.py" 15 | -------------------------------------------------------------------------------- /Tools/autotest/win_sitl/RunRover.bat: -------------------------------------------------------------------------------- 1 | rem File run APM:Rover SITL 2 | SETLOCAL enableextensions 3 | @echo off 4 | 5 | rem Assumes a Cgywin install at C:\cygwin 6 | if "%CYGWIN_LOCATION%" == "" (set "CYGWIN_LOCATION=C:\cygwin") 7 | 8 | rem get current dir for Cygwin 9 | set pth=%CD:~2,99% 10 | set pth=%pth:\=/% 11 | set drv=%CD:~0,1% 12 | set "fullpath=/cygdrive/%drv%%pth%" 13 | 14 | %CYGWIN_LOCATION%\bin\bash.exe --login -i -c "cd ""%fullpath%"" && cd ../../../APMrover2 && ../Tools/autotest/sim_vehicle.py" 15 | -------------------------------------------------------------------------------- /Tools/vagrant/screenrc: -------------------------------------------------------------------------------- 1 | altscreen on 2 | term screen-256color 3 | bind ',' prev 4 | bind '.' next 5 | # 6 | #change the hardstatus settings to give an window list at the bottom of the 7 | #screen, with the time and date and with the current window highlighted 8 | hardstatus alwayslastline 9 | #hardstatus string '%{= kG}%-Lw%{= kW}%50> %n%f* %t%{= kG}%+Lw%< %{= kG}%-=%c:%s%{-}' 10 | hardstatus string '%{= kG}[ %{G}%H %{g}][%= %{= kw}%?%-Lw%?%{r}(%{W}%n*%f%t%?(%u)%?%{r})%{w}%?%+Lw%?%?%= %{g}][%{B} %m-%d %{W}%c %{g}]' -------------------------------------------------------------------------------- /libraries/AP_HAL_ChibiOS/hwdef/fmuv2/hwdef.dat: -------------------------------------------------------------------------------- 1 | # FMUv2 build, same as fmuv3, but 1M flash to avoid hardware issue 2 | # with 2nd half of flash on early STM32F427 chips 3 | 4 | include ../fmuv3/hwdef.dat 5 | 6 | FLASH_SIZE_KB 1024 7 | 8 | # this reduces features to keep the firmware small. This is not 9 | # actually needed as of February 2018 as the full build does fit in 10 | # 1M, but it prepares us for when large features such as scripting are 11 | # added to the build 12 | define HAL_MINIMIZE_FEATURES 1 13 | -------------------------------------------------------------------------------- /libraries/AP_LeakDetector/AP_LeakDetector_Backend.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_LeakDetector.h" 4 | 5 | class AP_LeakDetector_Backend { 6 | public: 7 | AP_LeakDetector_Backend(AP_LeakDetector &_leak_detector, AP_LeakDetector::LeakDetector_State &_state); 8 | 9 | // Each backend type must provide an implementation to read the sensor 10 | virtual void read(void) = 0; 11 | 12 | protected: 13 | AP_LeakDetector &leak_detector; 14 | AP_LeakDetector::LeakDetector_State &state; 15 | }; 16 | -------------------------------------------------------------------------------- /libraries/AP_Notify/Display_Backend.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Display.h" 4 | 5 | #define NOTIFY_DISPLAY_I2C_ADDR 0x3C 6 | 7 | class Display_Backend { 8 | 9 | public: 10 | 11 | virtual void hw_update() = 0; 12 | virtual void set_pixel(uint16_t x, uint16_t y) = 0; 13 | virtual void clear_pixel(uint16_t x, uint16_t y) = 0; 14 | virtual void clear_screen() = 0; 15 | 16 | protected: 17 | 18 | virtual ~Display_Backend() {} 19 | 20 | virtual bool hw_init() = 0; 21 | 22 | }; 23 | -------------------------------------------------------------------------------- /Tools/autotest/win_sitl/RunCopter.bat: -------------------------------------------------------------------------------- 1 | rem File run APM:Copter SITL 2 | SETLOCAL enableextensions 3 | @echo off 4 | 5 | rem Assumes a Cgywin install at C:\cygwin 6 | if "%CYGWIN_LOCATION%" == "" (set "CYGWIN_LOCATION=C:\cygwin") 7 | 8 | rem get current dir for Cygwin 9 | set pth=%CD:~2,99% 10 | set pth=%pth:\=/% 11 | set drv=%CD:~0,1% 12 | set "fullpath=/cygdrive/%drv%%pth%" 13 | 14 | %CYGWIN_LOCATION%\bin\bash.exe --login -i -c "cd ""%fullpath%"" && cd ../../../ArduCopter && ../Tools/autotest/sim_vehicle.py" 15 | -------------------------------------------------------------------------------- /libraries/AP_Common/missing/type_traits: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #if !defined(HAVE_TYPE_TRAITS_H) || HAVE_TYPE_TRAITS_H 4 | #include_next 5 | #endif 6 | 7 | #if defined(HAVE_STD_REMOVE_REFERENCE) && !HAVE_STD_REMOVE_REFERENCE 8 | 9 | namespace std { 10 | template struct remove_reference { typedef T type; }; 11 | template struct remove_reference { typedef T type; }; 12 | template struct remove_reference { typedef T type; }; 13 | } 14 | 15 | #endif 16 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # MatekF405_CTR board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light VERBOSE=1 BOARD=f4light_MatekF405_CTR 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light VERBOSE=1 BOARD=f4light_MatekF405_CTR 19 | ) 20 | 21 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/osd/osd_core/protocols.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #define MAX_OVERLOAD_COUNT 10 4 | #define MAX_FROZEN_COUNT 10 5 | 6 | extern union UU msgbuf; 7 | 8 | 9 | #pragma GCC diagnostic push 10 | #pragma GCC diagnostic ignored "-Wcast-align" 11 | 12 | 13 | 14 | union UU { 15 | mavlink_message_t m; 16 | 17 | byte bytes[0x40]; // for font uploading 18 | } msgbuf; 19 | 20 | 21 | #include "protocols/MAVLink.h" 22 | 23 | #pragma GCC diagnostic pop 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /tests/AP_gtest.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Utility header for unit tests with gtest. 3 | */ 4 | #include 5 | 6 | 7 | #define AP_GTEST_PRINTATBLE_PARAM_MEMBER(class_name_, printable_member_) \ 8 | ::std::ostream& operator<<(::std::ostream& os, const class_name_& param) \ 9 | { \ 10 | return os << param.printable_member_; \ 11 | } 12 | 13 | #define AP_GTEST_MAIN() \ 14 | int main(int argc, char *argv[]) \ 15 | { \ 16 | ::testing::InitGoogleTest(&argc, argv); \ 17 | return RUN_ALL_TESTS(); \ 18 | } 19 | -------------------------------------------------------------------------------- /Tools/autotest/aircraft/Rascal/reset_template.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | %(LATITUDE)s 4 | %(LONGITUDE)s 5 | 1.3 6 | 0.0 7 | 0.0 8 | 0.0 9 | 13.0 10 | %(HEADING)s 11 | 12 | -------------------------------------------------------------------------------- /libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat: -------------------------------------------------------------------------------- 1 | # hardware config for early beta pixracer boards (prior to R12) 2 | 3 | include ../fmuv4/hwdef.dat 4 | 5 | # SPI2 SCK is on PB13 6 | #define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) 7 | undef SPI2_SCK 8 | PB13 SPI2_SCK SPI2 9 | 10 | # note that PC13 (SBUS invert) is active low on this board 11 | 12 | # baro is on main sensors bus 13 | define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int2" 14 | SPIDEV ms5611_int2 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ 15 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # MatekF405_CTR board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light VERBOSE=1 BOARD=f4light_MatekF405-wing 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light VERBOSE=1 BOARD=f4light_MatekF405-wing 19 | ) 20 | 21 | -------------------------------------------------------------------------------- /libraries/AP_Notify/UAVCAN_RGB_LED.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "RGBLed.h" 4 | 5 | class UAVCAN_RGB_LED: public RGBLed { 6 | public: 7 | UAVCAN_RGB_LED(uint8_t led_index, uint8_t led_off, uint8_t led_full, 8 | uint8_t led_medium, uint8_t led_dim); 9 | UAVCAN_RGB_LED(uint8_t led_index); 10 | 11 | protected: 12 | bool hw_init() override; 13 | virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) override; 14 | 15 | private: 16 | uint8_t _led_index; 17 | }; 18 | 19 | -------------------------------------------------------------------------------- /ArduSub/version.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifndef FORCE_VERSION_H_INCLUDE 4 | #error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h 5 | #endif 6 | 7 | #include "ap_version.h" 8 | 9 | #define THISFIRMWARE "ArduSub V3.6-dev" 10 | 11 | // the following line is parsed by the autotest scripts 12 | #define FIRMWARE_VERSION 3,6,0,FIRMWARE_VERSION_TYPE_DEV 13 | 14 | #define FW_MAJOR 3 15 | #define FW_MINOR 6 16 | #define FW_PATCH 0 17 | #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV 18 | -------------------------------------------------------------------------------- /libraries/AP_HAL_PX4/AP_HAL_PX4_Namespace.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace PX4 { 4 | class PX4Scheduler; 5 | class PX4UARTDriver; 6 | class PX4Storage; 7 | class PX4RCInput; 8 | class PX4RCOutput; 9 | class PX4AnalogIn; 10 | class PX4AnalogSource; 11 | class PX4Util; 12 | class PX4GPIO; 13 | class PX4DigitalSource; 14 | class NSHShellStream; 15 | class PX4I2CDriver; 16 | class PX4_I2C; 17 | class Semaphore; 18 | class PX4CAN; 19 | class PX4CANManager; 20 | } 21 | -------------------------------------------------------------------------------- /libraries/AP_HAL_PX4/Semaphores.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 6 | #include "AP_HAL_PX4.h" 7 | #include 8 | 9 | class PX4::Semaphore : public AP_HAL::Semaphore { 10 | public: 11 | Semaphore() { 12 | pthread_mutex_init(&_lock, nullptr); 13 | } 14 | bool give(); 15 | bool take(uint32_t timeout_ms); 16 | bool take_nonblocking(); 17 | private: 18 | pthread_mutex_t _lock; 19 | }; 20 | #endif // CONFIG_HAL_BOARD 21 | -------------------------------------------------------------------------------- /APMrover2/version.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifndef FORCE_VERSION_H_INCLUDE 4 | #error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h 5 | #endif 6 | 7 | #include "ap_version.h" 8 | 9 | #define THISFIRMWARE "ArduRover V3.4.0-dev" 10 | 11 | // the following line is parsed by the autotest scripts 12 | #define FIRMWARE_VERSION 3,4,0,FIRMWARE_VERSION_TYPE_DEV 13 | 14 | #define FW_MAJOR 3 15 | #define FW_MINOR 4 16 | #define FW_PATCH 0 17 | #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV 18 | -------------------------------------------------------------------------------- /ArduCopter/version.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifndef FORCE_VERSION_H_INCLUDE 4 | #error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h 5 | #endif 6 | 7 | #include "ap_version.h" 8 | 9 | #define THISFIRMWARE "ArduCopter V3.6-dev" 10 | 11 | // the following line is parsed by the autotest scripts 12 | #define FIRMWARE_VERSION 3,6,0,FIRMWARE_VERSION_TYPE_DEV 13 | 14 | #define FW_MAJOR 3 15 | #define FW_MINOR 6 16 | #define FW_PATCH 0 17 | #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV 18 | -------------------------------------------------------------------------------- /ArduPlane/version.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifndef FORCE_VERSION_H_INCLUDE 4 | #error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h 5 | #endif 6 | 7 | #include "ap_version.h" 8 | 9 | #define THISFIRMWARE "ArduPlane V3.9.0-dev" 10 | 11 | // the following line is parsed by the autotest scripts 12 | #define FIRMWARE_VERSION 3,9,0,FIRMWARE_VERSION_TYPE_DEV 13 | 14 | #define FW_MAJOR 3 15 | #define FW_MINOR 9 16 | #define FW_PATCH 0 17 | #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV 18 | -------------------------------------------------------------------------------- /Tools/Replay/Parameters.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | // Global parameter class. 6 | // 7 | class Parameters { 8 | public: 9 | enum { 10 | k_param_dummy, 11 | k_param_barometer, 12 | k_param_ins, 13 | k_param_ahrs, 14 | k_param_airspeed, 15 | k_param_NavEKF2, 16 | k_param_compass, 17 | k_param_dataflash, 18 | k_param_NavEKF3 19 | }; 20 | AP_Int8 dummy; 21 | }; 22 | 23 | extern const AP_Param::Info var_info[]; 24 | -------------------------------------------------------------------------------- /Tools/autotest/ArduPlane-Missions/Dalby-OBC2016-fence.txt: -------------------------------------------------------------------------------- 1 | -27.302433 151.332031 2 | -27.274988 151.340408 3 | -27.266756 151.286957 4 | -27.277533 151.284409 5 | -27.278055 151.286621 6 | -27.298996 151.281708 7 | -27.311651 151.353165 8 | -27.330996 151.370499 9 | -27.332727 151.368820 10 | -27.338106 151.375565 11 | -27.332232 151.382355 12 | -27.325897 151.376236 13 | -27.326691 151.375214 14 | -27.305651 151.356354 15 | -27.294355 151.289230 16 | -27.278963 151.292664 17 | -27.284918 151.338394 18 | -27.274988 151.340408 19 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/hardware/sd/README.md: -------------------------------------------------------------------------------- 1 | SD card layer 2 | 3 | works via HAL SPI so should be at this level 4 | Much faster than old version and supports much more formats 5 | 6 | 7 | based on: 8 | 9 | * Arduino's SD support for STM32F4 (fixed bugs in read() with data size, in open() with "mode==" and so on, twice reduced memory usage and cured Arduinism) 10 | * FatFs SDIO for STM32F1 11 | 12 | uses FatFS (c) Chan 13 | 14 | 15 | formatting from command-line: 16 | 17 | mkfs.fat -I -F 12 -M 0xF9 -s 128 /dev/sd* 18 | -------------------------------------------------------------------------------- /libraries/AP_HAL_SITL/HAL_SITL_Class.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_SITL 6 | 7 | #include "AP_HAL_SITL.h" 8 | #include "AP_HAL_SITL_Namespace.h" 9 | #include "SITL_State.h" 10 | 11 | class HAL_SITL : public AP_HAL::HAL { 12 | public: 13 | HAL_SITL(); 14 | void run(int argc, char * const argv[], Callbacks* callbacks) const override; 15 | 16 | private: 17 | HALSITL::SITL_State *_sitl_state; 18 | }; 19 | 20 | #endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL 21 | -------------------------------------------------------------------------------- /AntennaTracker/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | def build(bld): 5 | vehicle = bld.path.name 6 | bld.ap_stlib( 7 | name=vehicle + '_libs', 8 | ap_vehicle=vehicle, 9 | ap_libraries=bld.ap_common_vehicle_libraries() + [ 10 | 'AC_PID', 11 | 'AP_Beacon', 12 | ], 13 | ) 14 | 15 | bld.ap_program( 16 | program_name='antennatracker', 17 | program_groups=['bin', 'antennatracker'], 18 | use=vehicle + '_libs', 19 | ) 20 | -------------------------------------------------------------------------------- /Tools/autotest/sub_mission.txt: -------------------------------------------------------------------------------- 1 | QGC WPL 110 2 | 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 583.969971 1 3 | 1 0 3 16 0.000000 0.000000 0.000000 0.000000 33.809780 -118.393982 -50.000000 1 4 | 2 0 3 16 0.000000 0.000000 0.000000 0.000000 33.809780 -118.394432 -50.000000 1 5 | 3 0 3 16 0.000000 0.000000 0.000000 0.000000 33.810310 -118.394432 -50.000000 1 6 | 4 0 3 18 1.000000 0.000000 50.000000 1.000000 33.810310 -118.395020 -25.000000 1 7 | 5 0 3 21 25.000000 0.000000 0.000000 0.000000 33.811207 -118.393036 -25.000000 1 8 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light VERBOSE=1 BOARD=MiniF4_OSD 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light VERBOSE=1 BOARD=MiniF4_OSD 19 | ) 20 | 21 | # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc 22 | -------------------------------------------------------------------------------- /libraries/AP_InertialSensor/AP_InertialSensor_HIL.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_InertialSensor.h" 4 | #include "AP_InertialSensor_Backend.h" 5 | 6 | class AP_InertialSensor_HIL : public AP_InertialSensor_Backend 7 | { 8 | public: 9 | AP_InertialSensor_HIL(AP_InertialSensor &imu); 10 | 11 | /* update accel and gyro state */ 12 | bool update(); 13 | 14 | // detect the sensor 15 | static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); 16 | 17 | private: 18 | bool _init_sensor(void); 19 | }; 20 | -------------------------------------------------------------------------------- /AntennaTracker/version.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifndef FORCE_VERSION_H_INCLUDE 4 | #error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h 5 | #endif 6 | 7 | #include "ap_version.h" 8 | 9 | #define THISFIRMWARE "AntennaTracker V1.0.0" 10 | 11 | // the following line is parsed by the autotest scripts 12 | #define FIRMWARE_VERSION 1,0,0,FIRMWARE_VERSION_TYPE_BETA 13 | 14 | #define FW_MAJOR 1 15 | #define FW_MINOR 0 16 | #define FW_PATCH 0 17 | #define FW_TYPE FIRMWARE_VERSION_TYPE_BETA 18 | -------------------------------------------------------------------------------- /libraries/AP_HAL_SITL/Semaphores.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_SITL 6 | #include "AP_HAL_SITL.h" 7 | #include 8 | 9 | class HALSITL::Semaphore : public AP_HAL::Semaphore { 10 | public: 11 | Semaphore() { 12 | pthread_mutex_init(&_lock, nullptr); 13 | } 14 | bool give(); 15 | bool take(uint32_t timeout_ms); 16 | bool take_nonblocking(); 17 | private: 18 | pthread_mutex_t _lock; 19 | }; 20 | #endif // CONFIG_HAL_BOARD 21 | 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_VRBRAIN/Semaphores.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN 6 | #include "AP_HAL_VRBRAIN.h" 7 | #include 8 | 9 | class VRBRAIN::Semaphore : public AP_HAL::Semaphore { 10 | public: 11 | Semaphore() { 12 | pthread_mutex_init(&_lock, nullptr); 13 | } 14 | bool give(); 15 | bool take(uint32_t timeout_ms); 16 | bool take_nonblocking(); 17 | private: 18 | pthread_mutex_t _lock; 19 | }; 20 | #endif // CONFIG_HAL_BOARD 21 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light VERBOSE=1 BOARD=f4light_AirbotV2 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light VERBOSE=1 BOARD=f4light_AirbotV2 19 | ) 20 | 21 | # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light BOARD=f4light_Revolution_SD 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light BOARD=f4light_Revolution_SD 19 | ) 20 | 21 | # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc 22 | -------------------------------------------------------------------------------- /libraries/AC_PrecLand/PosVelEKF.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | class PosVelEKF { 4 | public: 5 | void init(float pos, float posVar, float vel, float velVar); 6 | void predict(float dt, float dVel, float dVelNoise); 7 | void fusePos(float pos, float posVar); 8 | void fuseVel(float vel, float velVar); 9 | 10 | float getPos() const { return _state[0]; } 11 | float getVel() const { return _state[1]; } 12 | 13 | float getPosNIS(float pos, float posVar); 14 | 15 | private: 16 | float _state[2]; 17 | float _cov[3]; 18 | }; 19 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/AP_HAL_F4Light_Private.h: -------------------------------------------------------------------------------- 1 | 2 | #pragma once 3 | 4 | /* Umbrella header for all private headers of the AP_HAL_F4Light module. 5 | * Only import this header from inside AP_HAL_F4Light 6 | */ 7 | 8 | #include "UARTDriver.h" 9 | #include "USBDriver.h" 10 | #include "I2CDevice.h" 11 | #include "SPIDevice.h" 12 | #include "AnalogIn.h" 13 | #include "Storage.h" 14 | #include "GPIO.h" 15 | #include "RCInput.h" 16 | #include "RCOutput.h" 17 | #include "Semaphores.h" 18 | #include "Scheduler.h" 19 | #include "Util.h" 20 | 21 | 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light VERBOSE=1 BOARD=f4light_OmnibusV3 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light VERBOSE=1 BOARD=f4light_OmnibusV3 19 | ) 20 | 21 | # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/Rebuild.sh: -------------------------------------------------------------------------------- 1 | #git submodule init && git submodule update 2 | export TOOLCHAIN 3 | 4 | ROOT=`cd ../../../../..; pwd` 5 | 6 | export PATH=/usr/local/bin:$PATH 7 | 8 | echo $ROOT 9 | 10 | 11 | ( # AirBotF4 board 12 | cd $ROOT/ArduCopter 13 | make f4light-clean 14 | make f4light BOARD=f4light_Revolution_EE128 15 | ) && ( 16 | cd $ROOT/ArduPlane 17 | make f4light-clean 18 | make f4light BOARD=f4light_Revolution_EE128 19 | ) 20 | 21 | # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc 22 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/Util_RPI.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "Util.h" 4 | 5 | namespace Linux { 6 | 7 | class UtilRPI : public Util { 8 | public: 9 | UtilRPI(); 10 | 11 | static UtilRPI *from(AP_HAL::Util *util) { 12 | return static_cast(util); 13 | } 14 | 15 | /* return the Raspberry Pi version */ 16 | int get_rpi_version() const; 17 | 18 | protected: 19 | // Called in the constructor once 20 | int _check_rpi_version(); 21 | 22 | private: 23 | int _rpi_version = 0; 24 | }; 25 | 26 | } 27 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/GimbalEstimatorExample/calcTms.m: -------------------------------------------------------------------------------- 1 | function Tms = calcTms(gPhi,gPsi,gTheta) 2 | %CALCTMS 3 | % TMS = CALCTMS(GPHI,GPSI,GTHETA) 4 | 5 | % This function was generated by the Symbolic Math Toolbox version 6.1. 6 | % 15-Feb-2015 16:02:09 7 | 8 | t2 = cos(gTheta); 9 | t3 = sin(gPsi); 10 | t4 = cos(gPsi); 11 | t5 = sin(gPhi); 12 | t6 = sin(gTheta); 13 | t7 = cos(gPhi); 14 | Tms = reshape([t2.*t4-t3.*t5.*t6,-t3.*t7,t4.*t6+t2.*t3.*t5,t2.*t3+t4.*t5.*t6,t4.*t7,t3.*t6-t2.*t4.*t5,-t6.*t7,t5,t2.*t7],[3, 3]); 15 | -------------------------------------------------------------------------------- /Tools/autotest/param_metadata/emit.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | """ 3 | The standard interface emitters must implement 4 | """ 5 | 6 | import re 7 | 8 | 9 | class Emit: 10 | def __init__(self): 11 | pass 12 | 13 | prog_values_field = re.compile(r"\s*(-?\w+:\w+)+,*") 14 | 15 | def close(self): 16 | pass 17 | 18 | def start_libraries(self): 19 | pass 20 | 21 | def emit(self, g, f): 22 | pass 23 | 24 | def set_annotate_with_vehicle(self, value): 25 | self.annotate_with_vehicle = value 26 | -------------------------------------------------------------------------------- /Tools/Replay/wscript: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # encoding: utf-8 3 | 4 | import boards 5 | 6 | def build(bld): 7 | if not isinstance(bld.get_board(), boards.linux): 8 | return 9 | 10 | vehicle = bld.path.name 11 | 12 | bld.ap_stlib( 13 | name=vehicle + '_libs', 14 | ap_vehicle=vehicle, 15 | ap_libraries=bld.ap_common_vehicle_libraries() + [ 16 | 'AP_Beacon', 17 | ], 18 | ) 19 | 20 | bld.ap_program( 21 | program_groups='tools', 22 | use=vehicle + '_libs', 23 | ) 24 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/AP_HAL_Empty_Private.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | /* Umbrella header for all private headers of the AP_HAL_Empty module. 4 | * Only import this header from inside AP_HAL_Empty 5 | */ 6 | 7 | #include "AnalogIn.h" 8 | #include "GPIO.h" 9 | #include "I2CDevice.h" 10 | #include "OpticalFlow.h" 11 | #include "PrivateMember.h" 12 | #include "RCInput.h" 13 | #include "RCOutput.h" 14 | #include "Scheduler.h" 15 | #include "Semaphores.h" 16 | #include "SPIDevice.h" 17 | #include "Storage.h" 18 | #include "UARTDriver.h" 19 | #include "Util.h" 20 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_NavEKF/Models/Common/Quat2Tbn.m: -------------------------------------------------------------------------------- 1 | function Tbn = Quat2Tbn(quat) 2 | 3 | % Convert from quaternions defining the flight vehicles rotation to 4 | % the direction cosine matrix defining the rotation from body to navigation 5 | % coordinates 6 | 7 | q0 = quat(1); 8 | q1 = quat(2); 9 | q2 = quat(3); 10 | q3 = quat(4); 11 | 12 | Tbn = [q0^2 + q1^2 - q2^2 - q3^2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2); ... 13 | 2*(q1*q2 + q0*q3), q0^2 - q1^2 + q2^2 - q3^2, 2*(q2*q3 - q0*q1); ... 14 | 2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0^2 - q1^2 - q2^2 + q3^2]; -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/RCInput_Navio2.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "RCInput.h" 4 | 5 | 6 | namespace Linux { 7 | 8 | class RCInput_Navio2 : public RCInput { 9 | public: 10 | void init() override; 11 | void _timer_tick(void) override; 12 | RCInput_Navio2(); 13 | ~RCInput_Navio2(); 14 | 15 | private: 16 | int open_channel(int ch); 17 | 18 | uint64_t _last_timestamp = 0l; 19 | static const size_t CHANNEL_COUNT = 16; 20 | int channels[CHANNEL_COUNT]; 21 | uint16_t periods[ARRAY_SIZE(channels)] = {0}; 22 | }; 23 | 24 | } 25 | -------------------------------------------------------------------------------- /libraries/AP_HAL_PX4/HAL_PX4_Class.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 6 | 7 | #include "AP_HAL_PX4.h" 8 | #include "AP_HAL_PX4_Namespace.h" 9 | #include 10 | #include 11 | 12 | class HAL_PX4 : public AP_HAL::HAL { 13 | public: 14 | HAL_PX4(); 15 | void run(int argc, char* const argv[], Callbacks* callbacks) const override; 16 | }; 17 | 18 | void hal_px4_set_priority(uint8_t priority); 19 | 20 | #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4 21 | -------------------------------------------------------------------------------- /APMrover2/mode_manual.cpp: -------------------------------------------------------------------------------- 1 | #include "mode.h" 2 | #include "Rover.h" 3 | 4 | void ModeManual::update() 5 | { 6 | float desired_steering, desired_throttle; 7 | get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle); 8 | 9 | // copy RC scaled inputs to outputs 10 | g2.motors.set_throttle(desired_throttle); 11 | g2.motors.set_steering(desired_steering, false); 12 | 13 | // mark us as in_reverse when using a negative throttle to stop AHRS getting off 14 | rover.set_reverse(is_negative(g2.motors.get_throttle())); 15 | } 16 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/AP_HAL_Empty_Namespace.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | namespace Empty { 4 | class AnalogIn; 5 | class AnalogSource; 6 | class DigitalSource; 7 | class GPIO; 8 | class I2CDevice; 9 | class I2CDeviceManager; 10 | class OpticalFlow; 11 | class PrivateMember; 12 | class RCInput; 13 | class RCOutput; 14 | class Scheduler; 15 | class Semaphore; 16 | class SPIDevice; 17 | class SPIDeviceDriver; 18 | class SPIDeviceManager; 19 | class Storage; 20 | class UARTDriver; 21 | class Util; 22 | } 23 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_AirbotV2_bl.bin 0x08000000 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_OmnibusV3/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_OmnibusV3_bl.bin 0x08000000 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/RCInput_UDP.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "RCInput.h" 4 | #include 5 | #include "RCInput_UDP_Protocol.h" 6 | 7 | #define RCINPUT_UDP_DEF_PORT 777 8 | 9 | namespace Linux { 10 | 11 | class RCInput_UDP : public RCInput 12 | { 13 | public: 14 | RCInput_UDP(); 15 | void init(); 16 | void _timer_tick(void); 17 | private: 18 | SocketAPM _socket{true}; 19 | uint16_t _port; 20 | struct rc_udp_packet _buf; 21 | uint64_t _last_buf_ts; 22 | uint16_t _last_buf_seq; 23 | }; 24 | 25 | } 26 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/ToneAlarm_Disco.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_HAL_Linux.h" 4 | #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO 5 | #include 6 | #include "ToneAlarm.h" 7 | 8 | namespace Linux { 9 | 10 | #define TONEALARM_PWM_POWER 20 11 | 12 | class ToneAlarm_Disco : public ToneAlarm { 13 | public: 14 | ToneAlarm_Disco(); 15 | bool init() override; 16 | void stop() override; 17 | bool play() override; 18 | 19 | private: 20 | RCOutput_Bebop *bebop_out; 21 | }; 22 | 23 | } 24 | #endif 25 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Airbot_bl.bin 0x08000000 && \ 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \ 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_cl_racing_bl.bin 0x08000000 && \ 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \ 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405-wing/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_MatekF405_CTR_bl.bin 0x08000000 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_MatekF405_CTR_bl.bin 0x08000000 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Revolution_bl.bin 0x08000000 && \ 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \ 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_Revolution_SD_bl.bin 0x08000000 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-plane-STLINK.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | # production binary with bootloader 4 | #/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000 5 | 6 | #bare metal binary 7 | /usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \ 8 | /usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_cl_racing_bl.bin 0x08000000 && \ 9 | /usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \ 10 | /usr/local/stlink/st-util -m 11 | 12 | 13 | -------------------------------------------------------------------------------- /Tools/SerialProxy/SerialProxy/Program.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Windows.Forms; 4 | 5 | namespace SerialProxy 6 | { 7 | static class Program 8 | { 9 | /// 10 | /// The main entry point for the application. 11 | /// 12 | [STAThread] 13 | static void Main() 14 | { 15 | Application.EnableVisualStyles(); 16 | Application.SetCompatibleTextRenderingDefault(false); 17 | Application.Run(new Form1()); 18 | } 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Empty/RCOutput.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "AP_HAL_Empty.h" 4 | 5 | class Empty::RCOutput : public AP_HAL::RCOutput { 6 | void init(); 7 | void set_freq(uint32_t chmask, uint16_t freq_hz); 8 | uint16_t get_freq(uint8_t ch); 9 | void enable_ch(uint8_t ch); 10 | void disable_ch(uint8_t ch); 11 | void write(uint8_t ch, uint16_t period_us); 12 | uint16_t read(uint8_t ch); 13 | void read(uint16_t* period_us, uint8_t len); 14 | void cork(void) override {} 15 | void push(void) override {} 16 | }; 17 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | #dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin 5 | 6 | # bare metal binary 7 | 8 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 9 | #dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R 10 | 11 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_cl_racing.bin -R 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/bl/UPLOAD-DFU.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | #production binary for bootloader 4 | #dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin 5 | 6 | # bare metal binary 7 | 8 | #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin 9 | #dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R 10 | 11 | dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_cl_racing.bin -R 12 | 13 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/GPIO_Bebop.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP 4 | #include "GPIO_Bebop.h" 5 | 6 | const unsigned Linux::GPIO_Sysfs::pin_table[] = { 7 | [BEBOP_GPIO_CAMV_NRST] = 129, 8 | [LINUX_GPIO_ULTRASOUND_VOLTAGE] = 200, 9 | }; 10 | 11 | const uint8_t Linux::GPIO_Sysfs::n_pins = _BEBOP_GPIO_MAX; 12 | 13 | static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _BEBOP_GPIO_MAX, 14 | "GPIO pin_table must have the same size of entries in enum gpio_bebop"); 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /ArduCopter/mode_guided_nogps.cpp: -------------------------------------------------------------------------------- 1 | #include "Copter.h" 2 | 3 | /* 4 | * Init and run calls for guided_nogps flight mode 5 | */ 6 | 7 | // initialise guided_nogps controller 8 | bool Copter::ModeGuidedNoGPS::init(bool ignore_checks) 9 | { 10 | // start in angle control mode 11 | Copter::ModeGuided::angle_control_start(); 12 | return true; 13 | } 14 | 15 | // guided_run - runs the guided controller 16 | // should be called at 100hz or more 17 | void Copter::ModeGuidedNoGPS::run() 18 | { 19 | // run angle controller 20 | Copter::ModeGuided::angle_control_run(); 21 | } 22 | -------------------------------------------------------------------------------- /Tools/Replay/plotit.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | cmd="plot " 4 | echo $# 5 | while [ $# -gt 1 ]; do 6 | if [[ "$1" == *.* ]]; then 7 | cmd="$cmd 'plot.dat' using 1:'$1'," 8 | else 9 | cmd="$cmd 'plot2.dat' using 1:'$1'," 10 | fi 11 | shift 12 | done 13 | if [[ "$1" == *.* ]]; then 14 | cmd="$cmd 'plot.dat' using 1:'$1'" 15 | else 16 | cmd="$cmd 'plot2.dat' using 1:'$1'" 17 | fi 18 | echo $cmd 19 | cat < _plot.gnu 20 | set style data lines 21 | set xlabel "time(s)" 22 | $cmd 23 | pause -1 "hit return to exit" 24 | EOF 25 | gnuplot _plot.gnu 26 | 27 | -------------------------------------------------------------------------------- /libraries/AP_HAL_Linux/GPIO_Disco.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO 4 | 5 | #include "GPIO_Disco.h" 6 | 7 | const unsigned Linux::GPIO_Sysfs::pin_table[] = { 8 | [DISCO_GPIO_MPU6050_DRDY] = 91, 9 | [LINUX_GPIO_ULTRASOUND_VOLTAGE] = 200, 10 | }; 11 | 12 | const uint8_t Linux::GPIO_Sysfs::n_pins = _DISCO_GPIO_MAX; 13 | 14 | static_assert(ARRAY_SIZE(Linux::GPIO_Sysfs::pin_table) == _DISCO_GPIO_MAX, 15 | "GPIO pin_table must have the same size of entries in enum gpio_disco"); 16 | 17 | #endif 18 | -------------------------------------------------------------------------------- /mk/make.inc: -------------------------------------------------------------------------------- 1 | # libraries linked into every program 2 | LIBRARIES += AP_Module 3 | LIBRARIES += AP_Button 4 | LIBRARIES += AP_ICEngine 5 | LIBRARIES += AP_FlashStorage 6 | LIBRARIES += SRV_Channel 7 | LIBRARIES += AP_UAVCAN 8 | LIBRARIES += AP_ADC 9 | LIBRARIES += AP_Airspeed 10 | LIBRARIES += AP_Relay 11 | LIBRARIES += AP_ServoRelayEvents 12 | LIBRARIES += AP_Volz_Protocol 13 | LIBRARIES += AP_SBusOut 14 | LIBRARIES += AP_TempCalibration 15 | LIBRARIES += AP_Radio 16 | LIBRARIES += AP_Param_Helper 17 | LIBRARIES += AP_VisualOdom 18 | LIBRARIES += AP_RSSI 19 | LIBRARIES += AP_Proximity 20 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | #### Issue details 2 | _Please describe the problem, or desired feature_ 3 | 4 | #### Version 5 | _What version was the issue encountered with_ 6 | 7 | #### Platform 8 | [ ] All 9 | [ ] AntennaTracker 10 | [ ] Copter 11 | [ ] Plane 12 | [ ] Rover 13 | [ ] Submarine 14 | 15 | #### Airframe type 16 | _What type of airframe (flying wing, glider, hex, Y6, octa etc)_ 17 | 18 | #### Hardware type 19 | _What autopilot hardware was used? (pixhawk, pixracer, PX4FMU etc)_ 20 | 21 | #### Logs 22 | _Please provide a link to any relevant logs that show the issue_ 23 | 24 | -------------------------------------------------------------------------------- /Tools/autotest/aircraft/Rascal/Models/Trajectory-Marker.ac: -------------------------------------------------------------------------------- 1 | AC3Db 2 | MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0 3 | MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0 4 | OBJECT world 5 | kids 2 6 | OBJECT poly 7 | name "line" 8 | loc 0 0.5 0 9 | numvert 2 10 | 0 0.5 0 11 | 0 -0.5 0 12 | numsurf 1 13 | SURF 0x22 14 | mat 0 15 | refs 2 16 | 0 0 1 17 | 1 0 0 18 | kids 0 19 | OBJECT poly 20 | name "line" 21 | numvert 2 22 | 0 0 -3 23 | 0 0 3 24 | numsurf 1 25 | SURF 0x22 26 | mat 1 27 | refs 2 28 | 0 0 1 29 | 1 0 0 30 | kids 0 31 | --------------------------------------------------------------------------------