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1158 Commits

Author SHA1 Message Date
Andrew Tridgell f125f6619a fixed formatting of ADC driver 
it was a nasty mix of DOS and UNIX
 2011-12-16 20:09:29 +11:00
Andrew Tridgell b484411c41 timers: change to 1kHz timer by default 
we were using a 227Hz timer, which is far too slow
 2011-12-16 20:09:25 +11:00
Andrew Tridgell e187ff149f desktop: fixed type of dword eeprom read 2011-12-16 20:09:18 +11:00
Andrew Tridgell 62e92f406e AP_Math: make out vector and matrix elements used types with fixed sizes 
this prevents differences between CPU types
 2011-12-16 20:09:11 +11:00
Pat Hickey d6a8440ef2 APM_RC_APM2: Remove OutputCh from ::Init() 
* These calls were off by one anyway, by using the channel numbers
  as ints ant not CH_n macros, and that caused an ESC cal problem.
 2011-12-15 13:47:43 -08:00
Andrew Tridgell 85e295332f AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell 117a98f9a2 AP_Math: added a Polygon_outside() function 
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
 2011-12-15 14:34:58 +11:00
Andrew Tridgell 0147c7b6c6 DCM: added matrix_reset() method 2011-12-13 21:32:50 +11:00
Andrew Tridgell a819c1a3dc IMU: abstract the setting of the LEDs in IMU initialisation 
we need this to cope with different LED pin assignments on APM1/APM2
 2011-12-13 18:19:12 +11:00
Andrew Tridgell 90c6bad814 autotest: make magnetic field point down 2011-12-12 22:14:01 +11:00
Andrew Tridgell 081f35f51c desktop: fixed build with new AP_Baro code 2011-12-12 15:14:55 +11:00
Andrew Tridgell 8d882c3640 desktop: fixed desktop barometer code 2011-12-12 15:14:55 +11:00
Andrew Tridgell 3648c81dd9 barometer: fixed HIL barometer build 2011-12-12 15:14:55 +11:00
Andrew Tridgell 5d503fd65e ADC: change adc.Ch() to return a float 
this gives us a bit more precision in airspeed measurement, and costs
us virtually nothing as we are converting to float immediately after
getting the value
 2011-12-12 15:14:55 +11:00
Andrew Tridgell 14866927e1 dcm: fixed an uninitialised variable 
if no compass and not in motion the DCM we would multiply by an
uninitialised number
 2011-12-11 15:21:10 -08:00
Pat Hickey f4aaa56b16 AP_Baro_MS5611: Asynchronous operation, plus c++ style changes. 
Yeah, I know this was a big change to make all at once.
 2011-12-11 15:21:10 -08:00
Pat Hickey d026e48032 AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations 
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
 2011-12-11 15:21:10 -08:00
Pat Hickey a626e21e98 AP_Baro_BMP085: move apm2_hardware flag from init to constructor. 2011-12-11 15:21:10 -08:00
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey 49ca774734 AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks. 2011-12-11 15:21:10 -08:00
Pat Hickey 1bfab64543 AP_Baro_BMP085: Delete commented out code 
* If its important to get old code back, thats why version control exists
 2011-12-11 15:21:09 -08:00
Pat Hickey f3270b7f13 AP_Baro_BMP085: implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey f52453beed AP_Baro_MS5611: init must also perform SPI.begin 2011-12-11 15:21:09 -08:00
Pat Hickey 64eb1889ab AP_Baro_MS5611: CS pin is arduino pin 40 2011-12-11 15:21:09 -08:00
Pat Hickey 1832ed0355 AP_Baro_MS5611: Implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey f0ab0318b3 AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private. 2011-12-11 15:21:09 -08:00
Pat Hickey a41b6da263 AP_Baro_MS5611: conform to AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey d113992c10 AP_Baro: Create virtual interface 2011-12-11 15:21:09 -08:00
Pat Hickey fdffd69257 AP_Baro_MS5611: renamed class implementation from APM_MS5611 2011-12-11 15:21:09 -08:00
Pat Hickey c407b0d85e AP_Baro_MS5611.h: reorganized 
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
 2011-12-11 15:21:09 -08:00
Pat Hickey 34cebd8a3e AP_Baro_MS5611: Overwrote with Jose Julio's latest files. 2011-12-11 15:21:09 -08:00
Pat Hickey cc6837cbab AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers. 2011-12-11 15:21:09 -08:00
Pat Hickey f445ec1242 AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085. 2011-12-11 15:21:09 -08:00
Pat Hickey 7032c32b42 BMP085 fix line endings 2011-12-11 15:21:09 -08:00
Pat Hickey 7ef146044e AP_Baro: move all APM_BMP085 files inside AP_Baro 2011-12-11 15:21:09 -08:00
Pat Hickey 9250053bfe Added AP_Baro and AP_Baro_MS5611 classes. 
Incomplete and does not work.
 2011-12-11 15:21:08 -08:00
Randy Mackay 67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Pat Hickey 56b0be3124 APM_RC: APM1 fast output speed increased to 400hz. 2011-12-10 13:06:06 -08:00
Pat Hickey 7afb091f26 APM_RC: APM2 fast output speed increased to 400hz. 2011-12-10 13:04:11 -08:00
Pat Hickey f3a4fbc7af AP_IMU_INS: Eliminate init_accel from cold start. 
* Bug reported by Jason, 10 Dec 11
 2011-12-10 13:00:54 -08:00
Randy Mackay fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Randy Mackay df1e54ec79 RangeFinder - fixed example sketch so it works again 2011-12-10 16:32:34 +09:00
Randy Mackay 1f53c25577 RangeFinder - small bug fix to initialise prescale variable. 
Fixed up example sketch so it compiles and works again!
 2011-12-10 16:25:41 +09:00
James Goppert 6dc236b8f2 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-07 20:59:15 -05:00
Jason Kemmerling 21c3282c9c Fixed along track bug. 2011-12-07 20:55:06 -05:00
James Goppert 2feacea1f1 Added APM2 support. 2011-12-07 19:19:30 -05:00
James Goppert a25353da79 Added AP_Board to APO 2011-12-07 16:31:56 -05:00
Jason Short 9d1f56c6da Split P and I term 2011-12-06 21:10:30 -08:00
Jason Short 9ed6463b39 Split the P and I terms in PI 2011-12-06 21:08:47 -08:00
Wenyao Xie c4203631dc APO velocity/ altitude working. 2011-12-06 19:38:23 -05:00
Wenyao Xie 2432ae130d Fixed baro. 2011-12-06 18:56:16 -05:00
Wenyao Xie 7593aae452 Fixed Barometer Altitude 2011-12-06 13:28:39 -05:00
Wenyao Xie 410c18ac05 Fixed Barometer Reading 2011-12-06 13:26:07 -05:00
Wenyao Xie 50032ef703 Working on baromemter altitude 2011-12-05 20:57:19 -05:00
Jason Kemmerling 1d9efea9af Sailboat wind measurement working. 2011-12-05 15:53:29 -05:00
Andrew Tridgell 5c99035823 fixed the desktop build 
This fixes a vtable link bug
 2011-12-05 18:06:58 +11:00
James Goppert 7fae764c55 Along track fix for negative. 2011-12-04 01:36:53 -05:00
James Goppert 98a21a70c0 Improved along track calculation for APO. 2011-12-04 01:25:14 -05:00
James Goppert f8fab5f7d6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 00:45:34 -05:00
Wenyao Xie fd77fe5a9d Rover live test WORKS! "Murphy's Law is a turtle" 2011-12-03 22:42:08 -05:00
Jason Short fa7f39ba20 Access to _clamp val. May want to make a private member and write accessor. 2011-12-03 17:57:12 -08:00
Jason Short e37dffadf3 Added faster conversion from and to degrees*100 / rads 2011-12-03 17:56:41 -08:00
Andrew Tridgell b4965d34a9 GPS: added FAKE_GPS_LOCK_TIME 
this allows you to fake up a GPS lock after a specific number of
seconds
 2011-12-04 09:06:57 +11:00
Wenyao Xie dac3ba48e0 Fixed apo live mode bugs for 2.0 update. 2011-12-03 15:38:37 -05:00
Wenyao Xie a802796c67 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-03 14:00:23 -05:00
James Goppert 8300c5e738 Changed BlockPIDDfb behaviour. 2011-12-03 12:13:11 -05:00
Andrew Tridgell f96a48e42b autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell 66d65121cc autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell 43e3948816 desktop: show the full path to the desktop executable 2011-12-02 21:46:55 +11:00
Andrew Tridgell 7167fec784 desktop: added SO_REUSEADDR after accept() 2011-12-02 17:37:55 +11:00
Andrew Tridgell 706c6c38fa desktop: fixed calculation of angular velocities 
thanks to James Goppert for the frame conversion maths
 2011-12-02 17:37:54 +11:00
James Goppert b9f370e33d Commented out debugging in guide. 2011-11-29 18:08:50 -05:00
James Goppert 38c19c50be Merge branch 'master' of github.com:arktools/ardupilotone 
Conflicts:
	libraries/APO/AP_Guide.cpp
 2011-11-29 18:06:38 -05:00
James Goppert b6dcd70cf9 Working on yaw command. 2011-11-29 17:38:18 -05:00
Wenyao Xie a0824b4cbe Fixed guidance bugs in APO. 2011-11-29 17:37:42 -05:00
James Goppert 92efa90d0f APO fixes. 2011-11-29 13:59:44 -05:00
James Goppert e8d74ae3fe Fixed apo radio error. 2011-11-28 12:29:05 -05:00
James Goppert 83aceb5e8f Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-28 00:56:29 -05:00
James Goppert 715e7c84a4 Updated apo for merge with apm 2.0 changes. 
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
 2011-11-28 00:53:30 -05:00
Andrew Tridgell bdb1599e96 desktop: improved the accuracy of the sensor emulation 2011-11-28 16:22:33 +11:00
Andrew Tridgell e491168273 ADC: remove a very small (0.2 degrees/s) bias in the ADC code 
small bias from integer rounding
 2011-11-28 16:22:33 +11:00
James Goppert fcb4d9cb15 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-27 23:56:17 -05:00
James Goppert 999a5892f0 Fixed mode switching. 2011-11-27 23:55:28 -05:00
Andrew Tridgell df957db8d9 desktop: setup TCP sockets as non-blocking 
the sendto() blocks unexpectedly on MacOS
 2011-11-28 13:53:57 +11:00
Andrew Tridgell 4036604fb7 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Doug Weibel 997ddde7f5 Added back the feature to prompt users when an invalid CLI command is entered. 
Thanks to Yury Smirnov for this patch!
 2011-11-26 21:10:53 -07:00
Andrew Tridgell 0da5125b7f upload: force hex file format for upload 
this should fix a problem with hex file format detection on MacOS
 2011-11-27 09:36:10 +11:00
Andrew Tridgell 0720bf7bf1 desktop: build fix for fjall 2011-11-26 18:24:29 +11:00
Andrew Tridgell f2a0a49d55 desktop: fixed desktop build for strlcat_P() changes 2011-11-26 17:18:09 +11:00
Andrew Tridgell 7fa59a6849 AP_Common: added typesafe wrapper for memcpy_P() 2011-11-26 17:17:50 +11:00
Andrew Tridgell 92e0e929a4 AP_Common: replace strlcat_P() with a C implementation 
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
 2011-11-26 17:02:56 +11:00
Andrew Tridgell c9b0b384f7 desktop: added framerate and initial height code 
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
 2011-11-25 20:00:19 -08:00
Andrew Tridgell 24a7a18481 desktop: fixed swap_float() 
get indexes right
 2011-11-25 20:00:19 -08:00
Andrew Tridgell 62f98b091f desktop: import updated DataFlash code 
this fixes a logging bug
 2011-11-25 20:00:19 -08:00
Andrew Tridgell de0c38339d desktop: fixed ADC value for airspeed 2011-11-25 20:00:19 -08:00
Andrew Tridgell 02f25ac36d libraries: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 2b7e0c8494 DataFlash_Purple: added new logging methods needed for ArduPlane 
builds, but not tested yet
 2011-11-25 20:00:18 -08:00
Andrew Tridgell cba93dbd43 DataFlash_APM1: re-add defines lost from merge 2011-11-25 20:00:18 -08:00
Andrew Tridgell 0ee654d6bf desktop: fixed desktop build 
vtable error
 2011-11-25 20:00:18 -08:00
Andrew Tridgell de2898e5db desktop: normalise roll and pitch rates 2011-11-25 20:00:18 -08:00
Andrew Tridgell 91b03a48c1 desktop: added SKETCH as a define 
useful for automatically handling copter vs plane
 2011-11-25 20:00:18 -08:00
Andrew Tridgell ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Pat Hickey b8c44d2fc0 APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple 
* I have not tested any of these on real hardware.
 2011-11-25 20:00:18 -08:00
Pat Hickey ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell 6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 18986d1d9f barometer: fixed for purple build 2011-11-25 20:00:18 -08:00
Andrew Tridgell 0601f7e8ce barometer: support 'make purple' for barometer example code 2011-11-25 20:00:18 -08:00
Andrew Tridgell 41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey d2a0bd35f4 hil-sensors: added stub libraries for InertialSensor and PeriodicProcess 
* Also added dummy ivar to APM_BMP085_hil
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 94423bc335 AP_IMU: fixed shim driver prototype 2011-11-25 20:00:18 -08:00
Andrew Tridgell e0488e134f desktop: fixed build with updated dataflash interface 2011-11-25 20:00:17 -08:00
Andrew Tridgell 8245835ea3 desktop: make AP_InertialSensor pure virtual 
fixed a link error in Desktop build

thanks to Pat for the C++ foo
 2011-11-25 20:00:17 -08:00
Andrew Tridgell bb7af8c15a dataflash: fixed datatypes to be compatible with desktop build 2011-11-25 20:00:17 -08:00
Andrew Tridgell a9c0cbac77 desktop: make DataFlash for Desktop build replace APM1 build 2011-11-25 20:00:17 -08:00
Andrew Tridgell 6e9e857157 make configure default to 2560 
1280 is less common for devs these days
 2011-11-25 20:00:17 -08:00
Pat Hickey 82e7551c90 purple: rework DataFlash to separate purple and APM1 hardware support 
the purple support is still a work in progress, but the APM1 support
should be fine
 2011-11-25 20:00:16 -08:00
Pat Hickey a159669cee build: added jtag-program make target 
useful for when you have hosed your USB
 2011-11-25 20:00:16 -08:00
Pat Hickey e53bcba4d9 purple: rework AP_IMU library to use AP_IntertialSensor library 
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
 2011-11-25 20:00:16 -08:00
Pat Hickey 82b48784ef purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00
Pat Hickey c9f7618ccc purple: rework the RC_Channel library for the APM_RC changes 2011-11-25 20:00:16 -08:00
Pat Hickey f36ded2854 RangeFinder: rework to use AnalogSource library 
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
 2011-11-25 20:00:16 -08:00
Pat Hickey 0c0a1b1dcc purple: Added AnalogSource library 
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
 2011-11-25 20:00:16 -08:00
Pat Hickey 017f121566 AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register 
this makes it possible to build the ADC library when another driver
may also want that interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey d288b8870d purple: added PeriodicProcess library 
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
 2011-11-25 20:00:16 -08:00
Pat Hickey 1daadb5068 purple: added ISR_Registry() library 
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey 36346fd86b purple: rework APM_RC library for purple hardware 
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
 2011-11-25 20:00:16 -08:00
Pat Hickey 2d8ce38aeb barometer: add purple_hardware option to Init() 
this allows selection of right hardware at Init() time
 2011-11-25 20:00:15 -08:00
Jason Short 6f3b56b38f increased filter 2011-11-25 11:34:05 -08:00
James Goppert 4fa9b7ef85 Working on comments. 2011-11-24 15:54:08 -05:00
James Goppert 29b7eb12a7 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-24 14:28:25 -05:00
James Goppert 7ef8578029 Separated controller block class. 
Also improved documentation of AP_ControllerBlock.
 2011-11-24 13:28:14 -05:00
James Goppert bfda005b5a Removed old variable from hal. 2011-11-24 02:08:27 -05:00
Wenyao Xie 40b3c303f7 Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error. 2011-11-22 16:42:51 -05:00
Andrew Tridgell 73e0ab0c63 desktop: more fixes for DataFlash filesystem changes 2011-11-20 19:06:24 +11:00
James Goppert d61e59d779 Fixed most of quad guidance issues. 2011-11-19 23:34:14 -05:00
James Goppert 60b41311f0 Working on memory problem. 2011-11-19 22:20:06 -05:00
James Goppert 937a268513 Bug located in quad position loop, improved hil. 2011-11-19 21:39:14 -05:00
James Goppert 2337153966 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-18 14:36:47 -05:00
Andrew Tridgell 6d048646c3 desktop: added support for new DataFlash functions 2011-11-18 17:50:12 +11:00
Doug Weibel f752c4b799 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
Jason Short afef359aec Upped pressure filter a bit 2011-11-17 11:12:18 -08:00
Wenyao Xie 8017b0415e Working on new hil message for mavlink. 2011-11-15 17:15:54 -05:00
Andrew Tridgell 355519ad1e desktop: when in the CLI, use blocking writes 
this prevents us missing information from the logs
 2011-11-11 09:53:46 +11:00
Andrew Tridgell 9677600433 desktop: don't start alarm till setup() has finished 2011-11-10 21:57:47 +11:00
Jason Short 0e1727e492 MAV_CMD_DO_SET_ROI 2011-11-09 12:07:57 -08:00
Andrew Tridgell 9af935f2f2 desktop: don't alarm in CLI 
loop() is not called in menu system
 2011-11-10 00:14:04 +11:00
Andrew Tridgell 0820ff52a8 desktop: exit if loop() doesn't run for 5 seconds 
this should stop runaway processes
 2011-11-09 19:40:34 +11:00
Andrew Tridgell a0fd4f710f desktop: force awk on macos 
this may help on jasons box
 2011-11-09 17:21:53 +11:00
Andrew Tridgell 53f62b7484 desktop: exit on EOF from stdin 2011-11-09 17:21:53 +11:00
Jason Short 0ca427bdd9 Removed debugging code from APM_PI 2011-11-08 14:41:21 -08:00