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089470a671
Commit Graph

1106 Commits

Author SHA1 Message Date
Andrew Tridgell
089470a671 DataFlash: moved high level logging logic to library 
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.

This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
42eb62cc46 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell
1cb8728a6b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
f2bbfb1296 MPU6000: minor fixes 
the hardware functions should be private, and cs_pin should be uint8_t
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
d35113f8a6 TimerProcess: check for duplicate registrations 
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
0a08a0b515 TimerProcess: make some variables uint8_t 
save a couple of bytes
 2011-12-28 16:00:48 +11:00
Mike Smith
ac3f7512cc Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell
9f5718bcfa added in DataFlash.cpp 
forgot this ....
 2011-12-26 19:34:06 +11:00
Andrew Tridgell
887ff43e1f desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell
22c8db774f desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell
dd26ef3089 dataflash: reworked classes to move most code to parent class 
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.

This should prevent discrepancies creeping in between APM1 and APM2
support again
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
8bf05982ae dataflash: fixed APM2 flash logging 
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
df0d151891 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
3ef707a2c3 MPU6000: use data ready interrupt to prevent stale data 
We listen for a data ready interrupt and only read new data in read()
if there is new data
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
71e08f8484 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay
af121c492d Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay
c3ea1ca5dc AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
7c0f39aec5 added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell
09c97bb367 removed dead test program 
this one doesn't build, and has been replaced by IMU_MPU6000_test
 2011-12-24 18:11:04 +11:00
Andrew Tridgell
f587a01165 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
5b75458502 AP_Baro: update MS5611 driver for new ap_proceduce prototype 
this saves calling millis() quite so often
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
cef1c4c558 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
8cc2b7669b PeriodicProcess: added set_failsafe() call 
this adds an optional failsafe function that will be called in the
timer loop
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
845683a56c added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
eac625ba8f rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
eec5f000b5 added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell
614aeb274c fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell
b52cd45670 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell
7c9c26e2b7 AP_Math: re-work polygon algorithm for perfect precision 
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
 2011-12-19 18:52:56 +11:00
Randy Mackay
a51e868766 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell
7442ba31d8 polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Michael Oborne
3848f2094e make file relax 2011-12-17 20:42:51 +08:00
Michael Oborne
fd35ba5976 add relax 2011-12-17 16:53:14 +08:00
Andrew Tridgell
0c8c707980 AP_Baro: fixed temperature on MS5611 
this caused a 2x scaling of altitude
 2011-12-17 14:58:58 +11:00
Andrew Tridgell
3654c714e9 Revert "ADC: only read channels that are actually being used" 
This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
c18ad75504 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
f6a7ad9fa6 Revert "ADC: fixed HIL build" 
This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.

ADC will now be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
7c939e83e0 AnalogSource: return a float from read() method 
this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
04ec569313 ADC: fixed HIL build 2011-12-16 20:58:04 +11:00
Andrew Tridgell
658d1d2ba3 added missing mavlink headers 2011-12-16 20:53:26 +11:00
Andrew Tridgell
1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
2e2b320560 mavlink: include latest geofence message changes 2011-12-16 20:11:51 +11:00
Andrew Tridgell
3ddfc6664a AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
686f96414c MAVLink: update to latest mavlink XML 
this includes the geo-fencing messages
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
c56e5735c2 ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Andrew Tridgell
be1ba5354e timer: enable interrupts during timer processing 
this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.

We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
 2011-12-16 20:09:38 +11:00
Andrew Tridgell
af7e34fcc1 ADC: only read channels that are actually being used 
on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
 2011-12-16 20:09:35 +11:00
Andrew Tridgell
9e9b229a1d fixed formatting of ADC driver 
it was a nasty mix of DOS and UNIX
 2011-12-16 20:09:29 +11:00
Andrew Tridgell
5b4717ea55 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