Merge remote-tracking branch 'origin/master' into geo

10 files changed, 293 insertions, 66 deletions

diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 614877b18..e17715733 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -49,3 +49,145 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
 
 	rot_matrix->from_euler(roll, pitch, yaw);
 }
+
+#define HALF_SQRT_2 0.70710678118654757f
+
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z)
+{
+    float tmp;
+    switch (rot) {
+    case ROTATION_NONE:
+    case ROTATION_MAX:
+        return;
+    case ROTATION_YAW_45: {
+        tmp = HALF_SQRT_2*(x - y);
+        y   = HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_YAW_90: {
+        tmp = x; x = -y; y = tmp;
+        return;
+    }
+    case ROTATION_YAW_135: {
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(x - y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_YAW_180:
+        x = -x; y = -y;
+        return;
+    case ROTATION_YAW_225: {
+        tmp = HALF_SQRT_2*(y - x);
+        y   = -HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_YAW_270: {
+        tmp = x; x = y; y = -tmp;
+        return;
+    }
+    case ROTATION_YAW_315: {
+        tmp = HALF_SQRT_2*(x + y);
+        y   = HALF_SQRT_2*(y - x);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_180: {
+        y = -y; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_45: {
+        tmp = HALF_SQRT_2*(x + y);
+        y   = HALF_SQRT_2*(x - y);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_90: {
+        tmp = x; x = y; y = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_135: {
+        tmp = HALF_SQRT_2*(y - x);
+        y   = HALF_SQRT_2*(y + x);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_PITCH_180: {
+        x = -x; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_225: {
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(y - x);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_270: {
+        tmp = x; x = -y; y = -tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_315: {
+        tmp =  HALF_SQRT_2*(x - y);
+        y   = -HALF_SQRT_2*(x + y);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_90: {
+        tmp = z; z = y; y = -tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_YAW_45: {
+        tmp = z; z = y; y = -tmp;
+        tmp = HALF_SQRT_2*(x - y);
+        y   = HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_YAW_90: {
+        tmp = z; z = y; y = -tmp;
+        tmp = x; x = -y; y = tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_YAW_135: {
+        tmp = z; z = y; y = -tmp;
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(x - y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270: {
+        tmp = z; z = -y; y = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270_YAW_45: {
+        tmp = z; z = -y; y = tmp;
+        tmp = HALF_SQRT_2*(x - y);
+        y   = HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270_YAW_90: {
+        tmp = z; z = -y; y = tmp;
+        tmp = x; x = -y; y = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270_YAW_135: {
+        tmp = z; z = -y; y = tmp;
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(x - y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_PITCH_90: {
+        tmp = z; z = -x; x = tmp;
+        return;
+    }
+    case ROTATION_PITCH_270: {
+        tmp = z; z = x; x = -tmp;
+        return;
+    }
+    }
+}
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
index 0c56494c5..5187b448f 100644
--- a/src/lib/conversion/rotation.h
+++ b/src/lib/conversion/rotation.h
@@ -118,4 +118,12 @@ const rot_lookup_t rot_lookup[] = {
 __EXPORT void
 get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix);
 
+
+/**
+ * rotate a 3 element float vector in-place
+ */
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z);
+
+
 #endif /* ROTATION_H_ */
diff --git a/src/lib/ecl/module.mk b/src/lib/ecl/module.mk
index f2aa3db6a..93a5b511f 100644
--- a/src/lib/ecl/module.mk
+++ b/src/lib/ecl/module.mk
@@ -39,3 +39,5 @@ SRCS		 = 	attitude_fw/ecl_pitch_controller.cpp \
 			attitude_fw/ecl_roll_controller.cpp \
 			attitude_fw/ecl_yaw_controller.cpp \
 			l1/ecl_l1_pos_controller.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/external_lgpl/module.mk b/src/lib/external_lgpl/module.mk
index 53f1629e3..29d3514f6 100644
--- a/src/lib/external_lgpl/module.mk
+++ b/src/lib/external_lgpl/module.mk
@@ -46,3 +46,5 @@
 #
 
 SRCS		 = 	tecs/tecs.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index 3730b1920..a57a0481a 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -298,7 +298,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 
 	} else {
 		// Calculate gain scaler from specific energy error to throttle
-		float K_STE2Thr = 1 / (_timeConst * (_STEdot_max - _STEdot_min));
+		float K_STE2Thr = 1 / (_timeConstThrot * (_STEdot_max - _STEdot_min));
 
 		// Calculate feed-forward throttle
 		float ff_throttle = 0;
@@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 		STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
 
 		if (STEdot_dem >= 0) {
-			ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);
+			ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr);
 
 		} else {
 			ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;
@@ -327,9 +327,12 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 			_throttle_dem = constrain(_throttle_dem,
 						  _last_throttle_dem - thrRateIncr,
 						  _last_throttle_dem + thrRateIncr);
-			_last_throttle_dem = _throttle_dem;
 		}
 
+		// Ensure _last_throttle_dem is always initialized properly
+		// Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!!
+		_last_throttle_dem = _throttle_dem;
+
 
 		// Calculate integrator state upper and lower limits
 		// Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand
@@ -551,18 +554,30 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
 	// Calculate pitch demand
 	_update_pitch();
 
-//    // Write internal variables to the log_tuning structure. This
-//    // structure will be logged in dataflash at 10Hz
-	// log_tuning.hgt_dem  = _hgt_dem_adj;
-	// log_tuning.hgt      = _integ3_state;
-	// log_tuning.dhgt_dem = _hgt_rate_dem;
-	// log_tuning.dhgt     = _integ2_state;
-	// log_tuning.spd_dem  = _TAS_dem_adj;
-	// log_tuning.spd      = _integ5_state;
-	// log_tuning.dspd     = _vel_dot;
-	// log_tuning.ithr     = _integ6_state;
-	// log_tuning.iptch    = _integ7_state;
-	// log_tuning.thr      = _throttle_dem;
-	// log_tuning.ptch     = _pitch_dem;
-	// log_tuning.dspd_dem = _TAS_rate_dem;
+	_tecs_state.timestamp = now;
+
+	if (_underspeed) {
+		_tecs_state.mode = ECL_TECS_MODE_UNDERSPEED;
+	} else if (_badDescent) {
+		_tecs_state.mode = ECL_TECS_MODE_BAD_DESCENT;
+	} else if (_climbOutDem) {
+		_tecs_state.mode = ECL_TECS_MODE_CLIMBOUT;
+	} else {
+		// If no error flag applies, conclude normal
+		_tecs_state.mode = ECL_TECS_MODE_NORMAL;
+	}
+
+	_tecs_state.hgt_dem  = _hgt_dem_adj;
+	_tecs_state.hgt      = _integ3_state;
+	_tecs_state.dhgt_dem = _hgt_rate_dem;
+	_tecs_state.dhgt     = _integ2_state;
+	_tecs_state.spd_dem  = _TAS_dem_adj;
+	_tecs_state.spd      = _integ5_state;
+	_tecs_state.dspd     = _vel_dot;
+	_tecs_state.ithr     = _integ6_state;
+	_tecs_state.iptch    = _integ7_state;
+	_tecs_state.thr      = _throttle_dem;
+	_tecs_state.ptch     = _pitch_dem;
+	_tecs_state.dspd_dem = _TAS_rate_dem;
+
 }
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 5cafb1c79..bcc2d90e5 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -28,6 +28,27 @@ class __EXPORT TECS
 {
 public:
 	TECS() :
+		_tecs_state {},
+		_update_50hz_last_usec(0),
+		_update_speed_last_usec(0),
+		_update_pitch_throttle_last_usec(0),
+		// TECS tuning parameters
+		_hgtCompFiltOmega(0.0f),
+		_spdCompFiltOmega(0.0f),
+		_maxClimbRate(2.0f),
+		_minSinkRate(1.0f),
+		_maxSinkRate(2.0f),
+		_timeConst(5.0f),
+		_timeConstThrot(8.0f),
+		_ptchDamp(0.0f),
+		_thrDamp(0.0f),
+		_integGain(0.0f),
+		_vertAccLim(0.0f),
+		_rollComp(0.0f),
+		_spdWeight(0.5f),
+		_heightrate_p(0.0f),
+		_speedrate_p(0.0f),
+		_throttle_dem(0.0f),
 		_pitch_dem(0.0f),
 		_integ1_state(0.0f),
 		_integ2_state(0.0f),
@@ -100,29 +121,42 @@ public:
 		return _spdWeight;
 	}
 
-	// log data on internal state of the controller. Called at 10Hz
-	// void log_data(DataFlash_Class &dataflash, uint8_t msgid);
-
-	// struct PACKED log_TECS_Tuning {
-	// 	LOG_PACKET_HEADER;
-	// 	float hgt;
-	// 	float dhgt;
-	// 	float hgt_dem;
-	// 	float dhgt_dem;
-	// 	float spd_dem;
-	// 	float spd;
-	// 	float dspd;
-	// 	float ithr;
-	// 	float iptch;
-	// 	float thr;
-	// 	float ptch;
-	// 	float dspd_dem;
-	// } log_tuning;
+	enum ECL_TECS_MODE {
+		ECL_TECS_MODE_NORMAL = 0,
+		ECL_TECS_MODE_UNDERSPEED,
+		ECL_TECS_MODE_BAD_DESCENT,
+		ECL_TECS_MODE_CLIMBOUT
+	};
+
+	struct tecs_state {
+		uint64_t timestamp;
+		float hgt;
+		float dhgt;
+		float hgt_dem;
+		float dhgt_dem;
+		float spd_dem;
+		float spd;
+		float dspd;
+		float ithr;
+		float iptch;
+		float thr;
+		float ptch;
+		float dspd_dem;
+		enum ECL_TECS_MODE mode;
+	};
+
+	void get_tecs_state(struct tecs_state& state) {
+		state = _tecs_state;
+	}
 
 	void set_time_const(float time_const) {
 		_timeConst = time_const;
 	}
 
+	void set_time_const_throt(float time_const_throt) {
+		_timeConstThrot = time_const_throt;
+	}
+
 	void set_min_sink_rate(float rate) {
 		_minSinkRate = rate;
 	}
@@ -188,6 +222,9 @@ public:
 	}
 
 private:
+
+	struct tecs_state _tecs_state;
+
 	// Last time update_50Hz was called
 	uint64_t _update_50hz_last_usec;
 
@@ -204,6 +241,7 @@ private:
 	float _minSinkRate;
 	float _maxSinkRate;
 	float _timeConst;
+	float _timeConstThrot;
 	float _ptchDamp;
 	float _thrDamp;
 	float _integGain;
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 36be32158..ad1ff37e3 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -460,23 +460,21 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 		// calculate the position of the start and end points.  We should not be doing this often
 		// as this function generally will not be called repeatedly when we are out of the sector.
 
-		// TO DO - this is messed up and won't compile
-		float start_disp_x = radius * sinf(arc_start_bearing);
-		float start_disp_y = radius * cosf(arc_start_bearing);
-		float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep));
-		float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep));
-		float lon_start = lon_now + start_disp_x / 111111.0f;
-		float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
-		float lon_end = lon_now + end_disp_x / 111111.0f;
-		float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
-		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+		double start_disp_x = (double)radius * sin(arc_start_bearing);
+		double start_disp_y = (double)radius * cos(arc_start_bearing);
+		double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double lon_start = lon_now + start_disp_x / 111111.0;
+		double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
+		double lon_end = lon_now + end_disp_x / 111111.0;
+		double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
+		double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+		double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
 
 		if (dist_to_start < dist_to_end) {
 			crosstrack_error->distance = dist_to_start;
 			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
 		} else {
 			crosstrack_error->past_end = true;
 			crosstrack_error->distance = dist_to_end;
@@ -485,7 +483,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 
 	}
 
-	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+	crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
 	return_value = OK;
 	return return_value;
 }
diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp
index ea0cf4ca1..ca931e2da 100644
--- a/src/lib/mathlib/math/Matrix.hpp
+++ b/src/lib/mathlib/math/Matrix.hpp
@@ -69,27 +69,34 @@ public:
 
 	/**
 	 * trivial ctor
-	 * note that this ctor will not initialize elements
+	 * Initializes the elements to zero.
 	 */
-	MatrixBase() {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase() : 
+		data{},
+		arm_mat{M, N, &data[0][0]}
+	{
 	}
 
+	virtual ~MatrixBase() {};
+
 	/**
 	 * copyt ctor
 	 */
-	MatrixBase(const MatrixBase<M, N> &m) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const MatrixBase<M, N> &m) :
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, m.data, sizeof(data));
 	}
 
-	MatrixBase(const float *d) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const float *d) :
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
-	MatrixBase(const float d[M][N]) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const float d[M][N]) : 
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp
index c7323c215..0ddf77615 100644
--- a/src/lib/mathlib/math/Vector.hpp
+++ b/src/lib/mathlib/math/Vector.hpp
@@ -69,25 +69,32 @@ public:
 
 	/**
 	 * trivial ctor
-	 * note that this ctor will not initialize elements
+	 * initializes elements to zero
 	 */
-	VectorBase() {
-		arm_col = {N, 1, &data[0]};
+	VectorBase() :
+		data{},
+		arm_col{N, 1, &data[0]}
+	{
+
 	}
 
+	virtual ~VectorBase() {};
+
 	/**
 	 * copy ctor
 	 */
-	VectorBase(const VectorBase<N> &v) {
-		arm_col = {N, 1, &data[0]};
+	VectorBase(const VectorBase<N> &v) :
+		arm_col{N, 1, &data[0]}
+	{
 		memcpy(data, v.data, sizeof(data));
 	}
 
 	/**
 	 * setting ctor
 	 */
-	VectorBase(const float d[N]) {
-		arm_col = {N, 1, &data[0]};
+	VectorBase(const float d[N]) :
+		arm_col{N, 1, &data[0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp
index 74cd5d78c..436065175 100644
--- a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp
+++ b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp
@@ -46,10 +46,18 @@ class __EXPORT LowPassFilter2p
 {
 public:
     // constructor
-    LowPassFilter2p(float sample_freq, float cutoff_freq) {
+    LowPassFilter2p(float sample_freq, float cutoff_freq) : 
+        _cutoff_freq(cutoff_freq),
+        _a1(0.0f),
+        _a2(0.0f),
+        _b0(0.0f),
+        _b1(0.0f),
+        _b2(0.0f),
+        _delay_element_1(0.0f),
+        _delay_element_2(0.0f)
+    {
         // set initial parameters
         set_cutoff_frequency(sample_freq, cutoff_freq);
-        _delay_element_1 = _delay_element_2 = 0;
     }
 
     /**