tridge

In file included from /home/tridge/project/UAV/APM/libraries/AP_Math/AP_Math.h:25:
/home/tridge/project/UAV/APM/libraries/AP_Math/AP_Math_PX4.h:17:28: error: no member named 'is_floating_point' in namespace 'std'
        static_assert(std::is_floating_point<T>::value, "ERROR - isfinite(): template parameter not of type float\n");
                      ~~~~~^
/home/tridge/project/UAV/APM/libraries/AP_Math/AP_Math_PX4.h:17:46: error: 'T' does not refer to a value
        static_assert(std::is_floating_point<T>::value, "ERROR - isfinite(): template parameter not of type float\n");
                                             ^
/home/tridge/project/UAV/APM/libraries/AP_Math/AP_Math_PX4.h:15:20: note: declared here
    template<class T>
                   ^

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nsh> uavcan status
uavcan status
Pool allocator status:
	Capacity hard/soft: 500/250 blocks
	Reserved:  40 blocks
	Allocated: 23 blocks
UAVCAN node status:
	Internal failures: 0
	Transfer errors:   2
	RX transfers:      3442

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(gdb) bt
#0  chSysHalt (reason=reason@entry=0x80d0400 <__func__.9909> "i2c_lld_start")
    at /home/tridge/project/UAV/APM.chibios/modules/ChibiOS/os/rt/src/chsys.c:192
#1  0x080a72d6 in i2c_lld_start (i2cp=i2cp@entry=0x2000d7a8 <I2CD1>)
    at /home/tridge/project/UAV/APM.chibios/modules/ChibiOS/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.c:765
#2  0x080a488e in i2cStart (i2cp=0x2000d7a8 <I2CD1>, config=config@entry=0x2000a0b4 <ChibiOS::I2CDeviceManager::businfo+60>)
    at /home/tridge/project/UAV/APM.chibios/modules/ChibiOS/os/hal/src/hal_i2c.c:101
#3  0x08091c3c in ChibiOS::I2CBus::dma_allocate (this=0x2000a078 <ChibiOS::I2CDeviceManager::businfo>)
    at ../../libraries/AP_HAL_ChibiOS/I2CDevice.cpp:106
#4  0x0809490a in ChibiOS::Shared_DMA::lock (this=0x20011c68) at ../../libraries/AP_HAL_ChibiOS/shared_dma.cpp:84

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AP_Mount *mount = AP_Mount::get_instance();
if (mount && !mount->allow_take_picture()) {
   // mount library says no picture at the moment
   return;
}

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Testing of mavlink time sync with VISION_POSITION_ESTIMATE message, using PR: 

https://github.com/ArduPilot/ardupilot/pull/8403

Fields are:
estimate_us: the time estimate on recipient of the sending time
off_us: the timestamp in the VISION_POSITION_ESTIMATE message
pin_timestamp_us: the timestamp of the message send from a pin interrupt between the two systems
diff: the error using the new system in the above PR (microseconds)
diff2: the error using just the receive time (the old method that we are replacing, in microseconds)

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#!/usr/bin/env python

import can
from can.listener import Listener

import uavcan.transport as tp
import time

class UAVCANListener(Listener):
  def __init__(self):

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// Note: The following peripherals can't be resolved for DMA: ['TIM4_UP', 'USART2_TX', 'USART2_RX', 'USART3_RX']

#define STM32_ADC_ADC1_DMA_STREAM      STM32_DMA_STREAM_ID(2, 4)
#define STM32_ADC_ADC1_DMA_CHAN        0
#define STM32_I2C_I2C1_RX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 5) // shared I2C1_RX,I2C4_TX
#define STM32_I2C_I2C1_RX_DMA_CHAN     1
#define STM32_I2C_I2C1_TX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 7) // shared I2C1_TX,I2C2_TX
#define STM32_I2C_I2C1_TX_DMA_CHAN     1
#define STM32_I2C_I2C2_RX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 3) // shared I2C2_RX,USART3_TX
#define STM32_I2C_I2C2_RX_DMA_CHAN     7

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def to_string(s):
    '''desperate attempt to convert a string regardless of what garbage paypal gave us. Better solutions welcome'''
    try:
        s2 = s.encode('utf-8', 'ignore')
        x = u"%s" % s2
        return s2
    except Exception:
        pass
    # so its a nasty one. Let's grab as many characters as we can
    r = ''

tridge

2018-07-30 09:25:59,071  INFO MissionPlanner.Utilities.Firmware - 71 Trying Port COM12 (C:\Users\michael\Source\Repos\MissionPlanner\Utilities\Firmware.cs:635) [Base Thread]
2018-07-30 09:25:59,090 DEBUG Program - FirstChanceException in: px4uploader (C:\Users\michael\Source\Repos\MissionPlanner\Program.cs:267) [Base Thread]
System.IO.FileLoadException: Could not load file or assembly 'System.IO.Ports, Version=4.0.0.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51' or one of its dependencies. The located assembly's manifest definition does not match the assembly reference. (Exception from HRESULT: 0x80131040)
File name: 'System.IO.Ports, Version=4.0.0.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51'
   at px4uploader.Uploader..ctor(String port, Int32 baudrate)
   at MissionPlanner.Utilities.Firmware.UploadPX4(String filename, boards board) in C:\Users\michael\Source\Repos\MissionPlanner\Utilities\Firmware.cs:line 639

WRN: Assembly binding logging is turned OFF.
To enable assembly bind failure logging,

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465: ALTITUDE {time_usec : 63903290, altitude_monotonic : 544.899108887, altitude_amsl : 544.899108887, altitude_local : 0.0728899389505, altitude_relative : 0.0728899389505, altitude_terrain : nan, bottom_clearance : nan}
2203: ATTITUDE {time_boot_ms : 63897, roll : 0.176129847765, pitch : -0.0907887071371, yaw : 2.88246703148, rollspeed : -0.00157175888307, pitchspeed : -0.00114167109132, yawspeed : -0.00108176632784}
2203: ATTITUDE_QUATERNION {time_boot_ms : 63897, q1 : 0.124609746039, q2 : 0.0561756826937, q3 : 0.0812838822603, q4 : 0.987273812294, rollspeed : -0.00157175888307, pitchspeed : -0.00114167109132, yawspeed : -0.00108176632784}
10: BAD_DATA {Bad prefix, data:['d8']}
47: BATTERY_STATUS {id : 0, battery_function : 1, type : 1, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : -1, current_consumed : -1, energy_consumed : -1, battery_remaining : -1, time_remaining : 0, charge_state : 0}
231: ESTIMATOR_STATUS {time_usec : 63720