701da6c30f
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
...
this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
2012-02-28 09:43:49 +11:00
34f1ebcfb4
SITL: simulate noise on each ADC channel separately
...
scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
4cdc0a8c11
SITL: raise the ADC noise level to 8 bits when flying
...
this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
b32701e008
IMU: removed unused accel_filtered code
2012-02-28 09:43:49 +11:00
ac44b73951
AP_Param: fixed setting of CAM_P_G in ArduCopter
...
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
2012-02-27 10:54:33 +11:00
7fe4a41c31
AP_Param: make the templating code a bit clearer
...
add comments on the arguments, and name them in a clearer way
2012-02-27 10:54:33 +11:00
5bf138fb38
DCM: fixed the sense of the compass GPS test in initial yaw
...
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
2012-02-26 22:24:45 +11:00
747e045193
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
e01477a7a8
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
b345529241
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
...
increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
...
this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
...
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
...
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
...
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
...
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
007a6b8958
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
1d95137b71
SITL: added -C option to desktop mode
...
this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
c63ca9c697
DCM: tidy up use of error_course and in_motion
...
in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
...
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
...
this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
...
this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
df6013616e
AP_Math: added rotmat <-> euler functions
...
these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
...
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
8190204287
AP_Math: added safe_sqrt() function
...
this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
0acea11152
DCM: tidy up the nan checking in DCM
...
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
b4c8d6491a
DCM: added matrix recovery on reset
...
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
1a32ececb4
AP_Math: added a safe_asin() function
...
this adds range checking to asin()
2012-02-24 11:52:55 +11:00
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
8707965c15
DCM: changed the sense of floating point range comparison
...
This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
9caa4aeb44
DCM: range check the matrix before calculating pitch
...
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
13693e1a04
DCM: reset more values on renorm blowup
...
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
...
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
...
also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
...
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
371a91cfcf
IMU: move _sensor_cal to general IMU class
...
this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
70a135c47c
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
e656928c01
AP_Param: added a set_and_save_ifchanged() method
...
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
6f080742b8
AP_Param: added an initialised() method
...
this will be used by the compass code
2012-02-18 10:51:57 +11:00
5255512bf9
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
...
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
3fbb5a2d6c
ADC: on channel overflow we should not zero last_ch6_micros
...
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
8e88d9e19e
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
b020a87c13
eedump ap param in perl
2012-02-15 21:31:58 +08:00
bc89b53bdc
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
63d768143d
Compass: enable compass offsets for HIL compass
...
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
7d21692301
fixed dump size
2012-02-15 10:44:09 +11:00
d2cc6740f0
show group_element too
2012-02-15 10:42:21 +11:00
aaba4db144
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
812b7ae5ae
SITL: catch floating point errors
...
if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
c39914e734
DCM: added a SITL_debug() for DCM normalisation errors
...
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
7355f5613c
added SITL_debug() macro
...
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
273a974814
SITL: add some magnetometer offsets
...
this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
6c20ff9492
AP_Param: allow dumping of AP_Vector3f
...
this means the 'show' command in the CLI shows the compass offsets now
2012-02-14 08:34:50 +11:00
4ec3857476
GPS: change back to 4Hz for MTK GPS
...
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
2012-02-13 22:50:20 +11:00
e70e1814ac
AP_Baro: fixed some signed/unsigned warnings
...
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
550b0be231
move AP_Var code and example into libraries/AP_Var
...
you can use AP_Var by defining USE_AP_VAR
2012-02-13 16:22:53 +11:00
e7e7450f90
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
c497ad9b7e
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
845d056c18
fixed PID initialisation
2012-02-13 16:22:53 +11:00
c6b6898266
RC_Channel_aux: catch invalid function settings
...
a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
d41c56214c
fixed types in GPS detect code
...
using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
ee2cb32a44
change back to 256 max variables in _var_info[]
...
this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
2012-02-13 16:22:52 +11:00
6cf7015859
added indexes to group info structures
2012-02-13 16:22:52 +11:00
7621b96a52
AP_Param: added group idx, and change packing of header elements
...
adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM
The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
2012-02-13 16:22:52 +11:00
711cee9dfa
fixed support for AP_PARAM_SPARE
...
spare group elements are needed if we remove a group parameter
2012-02-13 16:22:52 +11:00
db8a58f994
fixed build on arduino 1.0
2012-02-13 16:22:52 +11:00
170fdef857
convert APM_PI library to AP_Param
2012-02-13 16:22:52 +11:00
74e0d2ef2a
convert AC_PID library to AP_Param
2012-02-13 16:22:52 +11:00
4a9cb731d4
fixed missing return in D value
2012-02-13 16:22:52 +11:00
c4b7a3116a
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
df77c462a4
fixed initialisation of RC_Channel class
2012-02-13 16:22:51 +11:00
244d2055ff
AP_Param: fixed desktop build
2012-02-13 16:22:51 +11:00
c195be594a
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
34bc88eab5
AP_Param: added generic cast_to_float
2012-02-13 16:22:51 +11:00
a1057fe738
AP_Param: disable debug ready for production
2012-02-13 16:22:51 +11:00
7ffb9b462d
AP_Param: make ptype in first() and next() optional
2012-02-13 16:22:51 +11:00
5c3e059eea
adapt Mavlink_compat.h to AP_Param
2012-02-13 16:22:51 +11:00
dff75dba96
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
b6ee5ca982
added nested group support and validation
2012-02-13 16:22:51 +11:00
30c76664ce
added size of Vector6f
2012-02-13 16:22:51 +11:00
fc0f1c52ca
modify RC_Channel for AP_Param
2012-02-13 16:22:51 +11:00
013d66527d
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
78564f6a92
modify the IMU code for AP_Param
2012-02-13 16:22:51 +11:00
32d997b95f
modify the compass code for AP_Param
2012-02-13 16:22:51 +11:00
2154288e2b
hacks to get AP_Param to compile
2012-02-13 16:22:50 +11:00
937f8a4741
new AP_Param subsystem
2012-02-13 16:22:50 +11:00
4b0c71d6ac
Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements.
2012-02-13 00:00:06 +00:00
a07f37f1b4
Removed outdated comment:
...
" // deadzone moved to
//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
2012-02-11 16:51:02 +00:00
651bd6953b
fix uint > int issue - for hil
2012-02-11 11:35:59 +08:00
fb76aa9ca9
APM_RC_APM2: Add support for CH_10 and CH_11
...
* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11
* Only the code in enable_out, disable_out, and OutputCh needed to change.
* CH_10 and CH_11 always have an output period of 20ms (50Hz).
2012-02-06 22:11:01 -08:00
2f25c1f9f1
AC_PID Library - added example sketch
2012-02-05 17:35:15 +09:00
a694e16540
APM_PerfMon - removed because it's too big to use with our limited memory now anyway! I have a backup in case we need to resurrect it in the future.
2012-02-05 11:11:59 +09:00
5185901f79
Added D term to APM_PI - need to refactor this as a parent class and two child classes to save code space, remove dupes
2012-01-28 21:21:43 -08:00
b543bbf514
Arduino 1.0 - GPS_IMU - small fix to make it compile. Does anyone use this lib?!
2012-01-28 17:56:56 +09:00
8bcc567406
AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again
2012-01-28 17:54:20 +09:00
2e1e34fb9c
Arduino 1.0 - small fix to make AP_Baro_MS5611_test.pde compile under Arduino 1.0
2012-01-28 13:21:35 +09:00
52f6e56f72
AP_ADC library - tiny fix to make example sketch work after some changes to AP_PeriodicProcess library
2012-01-28 13:12:19 +09:00
98f3386ea0
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
443a9c0ea7
OpticalFlow - fixed minor compiler warnings and moved chip select to A3 for APM2
2012-01-26 23:35:49 +09:00
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
13caa24515
Optical Flow - added overflow check
2012-01-25 21:45:52 +09:00
ef60642bb2
APM_RC examples: add calls to enable_out after init
2012-01-24 09:09:08 -08:00
9bb92ff4ac
fixed example in PID library
2012-01-23 08:47:46 +11:00
a13e371d1e
APM_RC: PWM outputs are disabled by default on init
2012-01-22 12:03:11 -08:00
47204921e9
APM_RC enable_out and disable_out added to APM1 and APM2
...
* Outputs still enabled by default
2012-01-22 12:03:11 -08:00
0e58efca89
Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration.
2012-01-20 22:52:29 -08:00
e71266c258
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
20aef3a8b8
added a simple DCM library example
2012-01-18 21:25:19 +11:00
4b8e2e701c
fixed Oilpan test for new library structure
2012-01-18 20:31:58 +11:00
e109992c12
Add a CLI setup action to reset the magnetometer offsets
...
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI. Useful if you somehow get bad offsets or if you change magnetometer. If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values. I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
2012-01-15 16:15:08 -07:00
d79f62ce66
Teach the Makefile about the new Arduino sourcefile suffix
2012-01-15 11:51:38 -08:00
e68f9191c9
updated channel notes
2012-01-15 10:24:15 -08:00
817e7442bd
baro: fixed an integer overflow issue at high altitudes
...
the averaging array was using 16 bit numbers, but we are storing
numbers with 19 significant bits. That caused overflow at high
altitude, and some very interesting altitude graphs!
Thanks to Michael Oborne for spotting this in a log
2012-01-14 19:51:35 +11:00
4e9c668315
OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600
2012-01-14 12:34:29 +09:00
f4490b62c7
DCM: prevent a segmentation fault when compass is not enabled
...
when compass is disabled _compass is NULL
2012-01-13 15:48:07 +11:00
622217357c
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
a6e87915eb
desktop: floating point precision changes from Justin Beech
2012-01-11 21:31:59 +11:00
f43c29e840
fixed type error
2012-01-10 23:43:44 -08:00
ecaf5ac461
sensorSign swicth
2012-01-10 23:43:44 -08:00
d7d04f67e4
AP Rangefinder had some bad characters in it. Converted and cleaned the text files.
2012-01-10 23:42:26 -08:00
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
d015e0d6d9
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
...
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
22d2db53d8
Repair dataflash test
2012-01-08 21:29:19 -07:00
f6e268395f
allows main code to manually set the integrator value
2012-01-04 09:28:36 -08:00
54b91ce2f4
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
7aa294eca2
AP_Compass: when I2c fails, don't retry for 1s
2012-01-04 16:35:47 +11:00
a7a00a35ab
AP_Baro: when I2c fails, don't retry for 1s
2012-01-04 16:35:16 +11:00
65fbeea6d1
DataFlash: cope with older dataflash chips
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some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
2012-01-04 16:16:35 +11:00
6a279138e9
add gps character count.
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this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
2011-12-31 13:05:33 +08:00
e66e21cf20
remove gps callback in wait loop
2011-12-31 09:35:40 +08:00
19ed12444b
GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago.
2011-12-30 22:25:00 +09:00
3878ac01ef
removed newlines to clean up code
2011-12-29 23:02:01 -08:00
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
rmackay9
Jason Short
justinbeech
Michael Oborne
analoguedevices
Pat Hickey
Doug Weibel
Mike Smith