Merge pull request #1 from PX4/master

emerge

README.md

@@ -42,11 +42,11 @@ Please refer to the [user documentation](http://px4.io/user-guide/) and [user fo
   * Multicopter Flight Control - [Dennis Mannhart](http://github.com/Stifael), [Matthias Grob](http://github.com/MaEtUgR)
   * VTOL Flight Control - [Roman Bapst](http://github.com/tumbili), [Andreas Antener](http://github.com/AndreasAntener), [Sander Smeets](http://github.com/sanderux)
   * Fixed Wing Flight Control - [Daniel Agar](http://github.com/dagar), [Paul Riseborough](http://github.com/priseborough)
-  * Racers - Anton Matosov / [Mark Whitehorn](http://github.com/kd0aij)
+  * Racers - [Anton Matosov](http://github.com/anton-matosov) / [Mark Whitehorn](http://github.com/kd0aij)
   * OS / drivers - [David Sidrane](http://github.com/david_s5)
   * UAVCAN / Industrial - [Pavel Kirienko](http://github.com/pavel-kirienko)
   * State Estimation - [James Goppert](http://github.com/jgoppert), [Paul Riseborough](http://github.com/priseborough)
-  * VIO - Christoph Tobler
+  * VIO - [Mohammed Kabir](http://github.com/mhkabir), [Christoph Tobler](http://github.com/ChristophTobler)
   * Obstacle Avoidance - [Vilhjalmur Vilhjalmsson](http://github.com/vilhjalmur89)
   * Snapdragon - [Mark Charlebois](http://github.com/mcharleb)
   * Intel Aero - [Lucas de Marchi](http://github.com/lucasdemarchi), [Simone Guscetti](http://github.com/simonegu)
@@ -59,7 +59,7 @@ This repository contains code supporting these boards:
   * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
   * Intel Aero
   * Raspberry PI with Navio 2
-  * [Parrot Bebop](http://dev.px4.io/starting-building.html#parrot-bebop)
+  * [Parrot Bebop 2](http://dev.px4.io/starting-building.html#parrot-bebop)
   * FMUv1.x
   * FMUv2.x ([Pixhawk](http://dev.px4.io/hardware-pixhawk.html) and [Pixfalcon](http://dev.px4.io/hardware-pixfalcon.html))
   * FMUv3.x ([Pixhawk 2](http://dev.px4.io/hardware-pixhawk.html))

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -307,6 +307,10 @@ then
 	if ist8310 -C -b 1 -R 4 start
 	then
 	fi
+
+	if aerofc_adc start
+	then
+	fi
 fi
 
 if ver hwcmp PX4FMU_V4PRO
@@ -355,10 +359,6 @@ then
 	if hmc5883 -X start
 	then
 	fi
-
-	if aerofc_adc start
-	then
-	fi
 fi
 
 if meas_airspeed start

ROMFS/px4fmu_common/init.d/rcS

@@ -145,8 +145,8 @@ then
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# Wipe out params except RC*
-		param reset_nostart RC*
+		# Wipe out params except RC* and total flight time
+		param reset_nostart RC* LND_FLIGHT_T_*
 		set AUTOCNF yes
 	else
 		set AUTOCNF no
@@ -399,16 +399,14 @@ then
 		then
 			set FMU_MODE serial
 		fi
-		unset HIL
 	else
-		unset HIL
 		gps start
 	fi
 
 	set DATAMAN_OPT ""
 	if ver hwcmp AEROFC_V1
 	then
-		set DATAMAN_OPT -r
+		set DATAMAN_OPT -i
 	fi
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
@@ -420,7 +418,13 @@ then
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
-	sh /etc/init.d/rc.sensors
+	if [ $HIL == yes ]
+	then
+		sensors start -hil
+	else
+		sh /etc/init.d/rc.sensors
+	fi
+	unset HIL
 
 	# Needs to be this early for in-air-restarts
 	if [ $OUTPUT_MODE == hil ]
@@ -781,8 +785,12 @@ then
 		px4flow start &
 	fi
 
-	# Start MAVLink
-	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	if ver hwcmp AEROFC_V1
+	then
+	else
+		# Start MAVLink
+		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
+	fi
 
 	#
 	# Logging

Tools/ecl_ekf/batch_process_logdata_ekf.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+import argparse
+import os
+
+"""
+Runs process_logdata_ekf.py on all the files in the suplied directory with a .ulg extension
+"""
+
+parser = argparse.ArgumentParser(description='Analyse the estimator_status and ekf2_innovation message data for all .ulg files in the specified directory')
+parser.add_argument("directory_path")
+
+def is_valid_directory(parser, arg):
+    if os.path.isdir(arg):
+        # Directory exists so return the directory
+        return arg
+    else:
+        parser.error('The directory {} does not exist'.format(arg))
+
+args = parser.parse_args()
+ulog_directory = args.directory_path
+print("\n"+"analysing all .ulog files in "+ulog_directory)
+# Run the analysis script on all the log files found in the specified directory
+for file in os.listdir(ulog_directory):
+    if file.endswith(".ulg"):
+        print("\n"+"loading "+file+" for analysis")
+        os.system("python process_logdata_ekf.py "+ulog_directory+"/"+file)