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1760 Commits

Author SHA1 Message Date
rmackay9
a2e6af1f9c AP_Mount: added set_manual_rc_channel and set_manual_rc_channel_function to allow input of pitch, roll and yaw controls from a regular RC_Channel (i.e. not RC_Channel_aux) 
For now, angles red in are always of the range -45 deg ~ 45 deg which is consistent with the existing arducopter implementation but should be improved to scale the pilot's input to the mount's actual range.
 2012-07-18 23:20:05 +09:00
Amilcar Lucas
8acc432084 Replace long with int32_t 2012-07-18 02:12:31 +02:00
Amilcar Lucas
f5c2ffca34 Use ascending order in the values 2012-07-18 02:11:49 +02:00
Amilcar Lucas
23f009f665 Improve parameter documentation, it still does not work, but is an improvement. 
I just do not understand why these parameters do not appear in Mission planner :(
 2012-07-17 23:32:30 +02:00
Michael Oborne
b97f9bb803 Airspeed Library - fix param names. 
The Group definition give the start of the param name.
This way we can maintain multiple instances if required of the same library as options.
 2012-07-16 21:48:47 +08:00
Andrew Tridgell
dfb22554aa Airspeed: Added AP_Airspeed sensor library 
this will allow an airspeed sensor object to be passed to AHRS for
dead reckoning
 2012-07-16 11:21:20 +10:00
rmackay9
bec5321b8b AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel! 2012-07-16 00:38:58 +09:00
rmackay9
3b9a1d4305 RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised. 
changed parameter names of "update_aux_servo_function" to make it more clear that any 4 servos can be passed in (not just servos 5~8).
Also allowed NULL servos to be passed in as parameters because we only need 3 in ArduCopter.
 2012-07-15 16:28:53 +09:00
rmackay9
e83275d8ae AP_Camera: changed "int" to "int16_t" and "long" to "int32_t" here and there. 2012-07-15 16:26:12 +09:00
Andreas M. Antonopoulos
31fd74d94c AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Michael Oborne
804898c2a5 fix param config names 2012-07-14 15:34:15 +08:00
Robert Lefebvre
716ce6a5a7 Change to prevent Tricopter servos from going hard-over during Disarmed state. 
Believe this was an oversight when the change to AP_Motors went in.
 2012-07-13 23:12:26 -04:00
Robert Lefebvre
ab1212d8d2 Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input". 
Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying.  This could probably become a parameter.
 2012-07-13 22:59:28 -04:00
Andreas M. Antonopoulos
9dfb3c4db9 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
rmackay9
d3426420ad AP_Camera: moved seme constructor initialisers around to remove compile warnings 2012-07-12 09:33:22 +09:00
rmackay9
1105a35c77 AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0) 
Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
 2012-07-11 21:19:17 +09:00
Amilcar Lucas
eb647b5320 AP_Mount: add support for non-spring-loaded joysticks 2012-07-11 00:07:33 +02:00
Amilcar Lucas
ad60fac863 RC_Channel: improve parameter documentation 2012-07-11 00:07:10 +02:00
Amilcar Lucas
42301af148 Remove unused function, remove unnecessary angle wrapping. 2012-07-11 00:06:45 +02:00
Amilcar Lucas
74ef712cd1 Allow mount control when no AHRS exists 
Allow mount control on non stabilized axes
 2012-07-11 00:06:26 +02:00
Andrew Tridgell
63a83b95b4 AP_Math: added get_distance_cm() to return in centimeters 2012-07-11 07:49:05 +10:00
Andrew Tridgell
15133b1105 AHRS: fixed HIL build 2012-07-10 18:02:05 +10:00
Andrew Tridgell
9b6acf168e AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Andrew Tridgell
2bc530d04f AP_Param: added some docs on the eeprom header format 2012-07-10 14:03:49 +10:00
Craig Elder
0534ac12b1 DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method. 2012-07-09 15:23:35 -07:00
Amilcar Lucas
a79f55656a RC_Channel: Improve documentation 2012-07-07 21:57:30 +02:00
Amilcar Lucas
8bd7ef9b9a AP_Mount: Fix radians/degrees scaling regressions 
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
 2012-07-07 21:56:56 +02:00
Andrew Tridgell
ec70e87495 AnalogSource: prevent a division by zero on zero ADC data 2012-07-06 19:59:18 +10:00
Andrew Tridgell
7bc724d118 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell
44755bf3ce AP_Baro: improved barometer averaging 
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
 2012-07-06 15:11:30 +10:00
Andrew Tridgell
43d6015811 Filter: split the DerivativeFilter steps into update() and slope() 
this allows us to apply new data at a different rate than we calculate
the slope.
 2012-07-06 15:11:30 +10:00
Andrew Tridgell
4723698489 AP_Baro: update MS5611 test to use baro library altitude 2012-07-06 15:11:30 +10:00
Andrew Tridgell
9845a55cb1 AHRS: make the yaw independent drift correction optional and disable 
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
 2012-07-06 15:11:30 +10:00
Andrew Tridgell
e33554a1f9 AHRS: only enable barometer for AHRS if it is smooth enough 
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
 2012-07-05 16:29:21 +10:00
Andrew Tridgell
1ce4a03147 SITL: lower baro noise a bit 2012-07-05 16:29:21 +10:00
Andrew Tridgell
9f3da1bf7f Filter: fixed DerivativeFilter example build 2012-07-05 16:29:21 +10:00
Andrew Tridgell
5f38669666 SITL: run the HIL barometer at 80Hz to match APM2 2012-07-05 16:29:21 +10:00
Andrew Tridgell
735c88e9b3 AP_Baro: added get_pressure_samples() interface 
this returns how many samples were used to calculate the last pressure
 2012-07-05 16:29:21 +10:00
Andrew Tridgell
92001e3e7d Filter: fixed typo in 9 point DerivativeFilter 2012-07-05 16:29:20 +10:00
Andrew Tridgell
999a1d1d55 AP_Baro: change to a 7 point DerivativeFilter for climb rate 2012-07-05 13:00:47 +10:00
Andrew Tridgell
a07e280eda Filter: cope with non-uniform time steps in the DerivativeFilter 
this helps with the barometer a lot, as the timing is quite variable
 2012-07-05 13:00:47 +10:00
Andrew Tridgell
ce3f8be6c7 SITL: add some minimal noise when motors are off 
this actually improves the gyro calibration
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
fe54329de2 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
9d7ed30023 AHRS: only use GPS for yaw when compass is not being used 
this avoids having two competing controllers
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
6653c0b874 AHRS: enable barometer for vertical velocity 
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
a5d607d25a AP_Baro: use DerivativeFilter in barometer climb rate 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f97289792b Filter: added DerivativeFilter implementation 
this adds a DerivativeFilter implementation of up to 10 points
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
cf2c546051 AP_Baro: show climb rate in baro test sketch 2012-07-05 13:00:45 +10:00
rmackay9
be3d035a64 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Amilcar Lucas
6904bef611 Document++ 2012-07-05 00:33:46 +02:00
Amilcar Lucas
8400bd67f8 Remove unused function 2012-07-05 00:33:10 +02:00
Andrew Tridgell
dc6d70bc15 SITL: added SIM_GPS_DELAY parameter 
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
 2012-07-04 21:05:22 +10:00
rmackay9
cac0757c2e AP_AHRS: removed DCM_test example sketch 
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
 2012-07-04 18:22:51 +09:00
Andrew Tridgell
03516b7dfa AHRS: make DCM drift correction not rely on accurate yaw 
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference

It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
 2012-07-04 17:00:40 +10:00
Andrew Tridgell
6cf2e2fa13 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell
7be29c8b04 AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell
8fa1acb141 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell
597170afdc DataFlash: fixed SITL build 2012-07-04 13:44:01 +10:00
Andrew Tridgell
c6ff292721 DataFlash: fallback to BlockErase if ChipErase fails 
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
84a489498d Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
e0685f4408 AHRS: make P gain on PI roll/pitch controller tunable 
this is to make it easier for Craig and Alan to tune
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
1142ec0665 AP_Mount: removed unused enum 2012-07-03 10:39:34 +10:00
Andrew Tridgell
f150c645c8 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Andrew Tridgell
7a77832f45 Baro: average over all pressure/temperature samples on MS5611 
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings

This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
 2012-07-02 13:44:53 +10:00
Andrew Tridgell
f7b06e0a64 Baro: fixed build of MS5611 test code 2012-07-02 13:44:53 +10:00
Andrew Tridgell
2bd5cd3b9a AnalogSource: added some example code 2012-07-01 15:01:05 +10:00
Andrew Tridgell
0341e0e5f0 SITL: added support for new analog source 
removed analogRead() to prevent people using it
 2012-07-01 15:01:05 +10:00
Andrew Tridgell
2046e396a2 AnalogSource: make the Arduino AnalogSource interrupt driven 
this fixes several problems with reading analog sources:

 - we were getting poor values because we didn't wait long enough for
   an analog source to settle

 - we wasted a lot of CPU cycles waiting for conversions

 - we were not taking averages over many samples, which we did with
   the old AP_ADC driver on the APM1
 2012-07-01 15:01:05 +10:00
Andrew Tridgell
b5aa821071 AHRS: include the P terms in get_gyro() 
this makes it more useful for navigation controllers
 2012-06-29 21:54:09 +10:00
Andrew Tridgell
02b9ea4dfe MPU6k: removed an unused variable 2012-06-29 21:54:09 +10:00
Andrew Tridgell
117bae9585 SITL: added SITL class for controlling simulation 
this holds mavlink settable parameters for controlling sensor noise
levels
 2012-06-29 15:10:51 +10:00
Andrew Tridgell
37494dda2b AHRS: don't add the P terms in _omega 
this can lead feedback via the _P_gain()
 2012-06-29 15:10:51 +10:00
Andrew Tridgell
21ae2957fb AHRS: disable barometer for vertical acceleration 
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.

It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
 2012-06-28 11:12:49 +10:00
Andrew Tridgell
e531061caa AHRS: re-instate new DCM drift correction code 
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
 2012-06-28 11:09:22 +10:00
Andrew Tridgell
8600ad8d7f AHRS: revert to the old drift correction algorithm 
we need to work out why Craigs quad flipped today before we enable
this new drift correction
 2012-06-27 18:16:41 +10:00
Andrew Tridgell
70bfacc350 SITL: removed an unused variable 2012-06-27 16:01:50 +10:00
Andrew Tridgell
57579e494b Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
ce016b5ae8 AHRS: include P term in omega 
thanks to Jon for suggesting this
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
0fa1f29cf3 AHRS: implement spin rate limits 
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
3ffecc18d8 AHRS: cope with copters with no compass 
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
3458962184 GPS: test the more modern MTK16 2012-06-27 16:01:50 +10:00
Andrew Tridgell
426006d98f SITL: fixed GPS heading in simulated UBlox 
longitude scale does not apply to velocity->heading conversions
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
20c1baf585 SITL: changes UBlox simulation to 5Hz 
this matches the real UBlox driver
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
d9583ae5eb Compass: remove the need to call calculate() on the compass object 
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.

This significantly reduces the calculation involved in compass updates

The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
5370f9c411 AHRS: normalize the ge vector in drift correction, and use barometer 
The normalisation ensures the error term scales uniformly with
different accelerations.

The barometer is used for vertical acceleration estimation
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
53e950531e Baro: added get_altitude() and get_climb_rate() interfaces 
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity

The climb rate uses a 5 point average filter
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
9fd3d15026 Filter: added 5 point average float filter 2012-06-27 16:01:50 +10:00
Jonathan Challinger
1ff9461bfb AHRS: brought DCM more inline with Bill's implementation 
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20

The key change was the scaling of ge to ensure the error is not
quadratic
 2012-06-27 16:01:49 +10:00
Andrew Tridgell
73faaddc1b AHRS: first successful version of Bills new drift correction system 
This makes 3 major changes:

 1) fixes the scaling of the yaw drift correction term to fix the time
 constant

 2) don't integrate the mag vector over multiple readings

 3) accumulate omega_I changes over 15 seconds before applying, to try
 to prevent omega_I picking up short term responses
 2012-06-27 16:01:49 +10:00
Andrew Tridgell
0399aa9480 AHRS: update for new _fly_forward flag 2012-06-27 16:01:49 +10:00
Andrew Tridgell
2600afe18a AHRS: implement Bills new drift correction algorithm 
this is an initial implementation of this paper:

  http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
 2012-06-27 16:01:49 +10:00
Andrew Tridgell
5316a45c20 AHRS: added GPS support to AHRS test 2012-06-27 16:01:49 +10:00
Andrew Tridgell
19954f30e5 GPS: added velocity and acceleration components 
used by AHRS for acceleration correction
 2012-06-27 16:01:49 +10:00
Andrew Tridgell
2b352d2b5c Math: added comment 2012-06-27 16:01:49 +10:00
Andrew Tridgell
f23cebc808 Math: moved more template functions to the .cpp files 
save a bit more code space for larger functions
 2012-06-27 16:01:49 +10:00
rmackay9
c034e38cbd ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Jason Short
abb6eb2471 Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek. 2012-06-21 11:14:20 -07:00
Amilcar Lucas
cd0411ba33 Add linebreaks to increase readability. 2012-06-21 00:36:10 +02:00
Amilcar Lucas
be6923be0f Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Amilcar Lucas
1ead5f1690 Documentation improvements, no functional changes (only comments) 2012-06-17 22:53:54 +02:00
Amilcar Lucas
8f646467e5 Move local temp variables to the stack it saves 1952 bytes 
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
 2012-06-17 22:25:51 +02:00
Wingspinner
d9e6a1ece9 Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality 2012-06-15 08:40:14 +00:00
Wingspinner
ceba24ff8f Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality 2012-06-15 08:38:52 +00:00
Andrew Tridgell
b32726e867 GPS: need pgmspace.h for _write_progstr_block() 2012-06-15 16:27:11 +10:00
Andrew Tridgell
ae9883a8e2 GPS: fixed auto-config of UBlox setup with no UBX messages 
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
 2012-06-15 15:53:27 +10:00
Andrew Tridgell
b7e807cd58 FastSerial: added tx_pending() method 
this allows the caller to wait for the tx buffer to drain
 2012-06-15 15:53:27 +10:00
Amilcar Lucas
a12cb8fd9a Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Amilcar Lucas
f7ef60565e Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Amilcar Lucas
e9226d6f0a Spellcheck 2012-06-13 20:44:35 +02:00
rmackay9
fca914b7cf AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy 2012-06-12 20:27:50 +09:00
Andrew Tridgell
f9c5b135bc GPS: use the new nav_setting in a couple of the sample sketches 2012-06-10 16:35:13 +10:00
Andrew Tridgell
0542539fc9 GPS: add stub settings for nav_setting in the other GPS drivers 
only Ublox supports nav_setting so far
 2012-06-10 16:34:53 +10:00
Andrew Tridgell
926dfbc0e9 GPS: added auto-configuration of UBlox GPS 
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
 2012-06-10 16:34:13 +10:00
Andrew Tridgell
04a71197f9 FastSerial: avoid buffer re-allocation on re-open if possible 
we commonly re-open serial ports a lot in the AUTO GPS driver
 2012-06-09 07:43:22 +10:00
Andrew Tridgell
f347572fc2 SITL: map() is a C++ function, so needs to be in C++ part of the header 
this fixes the ACM build
 2012-06-08 17:09:23 +10:00
Andrew Tridgell
9adaacedcd GPS: added debug code to the main GPS class 2012-06-08 16:42:03 +10:00
Andrew Tridgell
f4718cafad GPS: re-open the serial port with a 256 byte serial receive buffer 
this ensures all GPS parsers have a 256 byte buffer available
 2012-06-08 16:42:03 +10:00
Andrew Tridgell
ddebf7b443 GPS: fixed the UBLOX parser to handle unknown messages 
the parser was broken in several ways:

 1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
    thought the message had a bad checksum, which meant it got out of protocol sync

 2) the read() method would return false if the last message from the GPS was of an unknown type. 
    So we relied on the last msg always being one that we understand and want

 3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get 
    a new fix when we get box a new position and velned message

 4) the total message size per update is more than 128 bytes, but the serial port was opened 
    with only a 128 byte buffer, so we got corruption regularly
 2012-06-08 16:42:02 +10:00
Andrew Tridgell
148e59a4de GPS: tidy up the auto gps test 2012-06-08 16:42:02 +10:00
Robert Lefebvre
f7be9a4b5d TradHeli adding ramp up time to Ch8 Throttle Pass-through. 2012-06-07 22:55:47 -04:00
Robert Lefebvre
0c8078c436 AP_MotorsHeli Syntax correction. 2012-06-04 15:53:07 -04:00
Andrew Tridgell
43fe5bab78 re-enable the AP_Mount build 2012-06-04 19:32:11 +10:00
Andrew Tridgell
b4fbda7a28 GPS: fixed a race condition in the ublox driver 
the status update comes as a separate message from the lat/lon
 2012-06-04 14:47:58 +10:00
Andrew Tridgell
a6c1a86c23 mavlink: fixed build with uart resend 2012-06-04 13:45:55 +10:00
Andrew Tridgell
1ad17bc78c MAVLink: updates to mavlink headers to fix mavlink 1.0 issues 2012-06-04 13:34:07 +10:00
Andrew Tridgell
4f7a80a04d Mavlink: fixed library build for MAVLink 1.0 2012-06-04 13:14:52 +10:00
Andrew Tridgell
34234b7003 SITL: fixed SITL build with mavlink10 2012-06-04 13:14:52 +10:00
Andrew Tridgell
7602f698eb mavlink10: fixed MAV_VAR -> MAVLINK_TYPE 2012-06-04 13:14:51 +10:00
Andrew Tridgell
2c3bfd896a MAVLink: updated to latest upstream mavlink 
this includes no significant changes
 2012-06-04 13:14:51 +10:00
Jason Short
1ebfb8fe25 GPS time set to unsigned int32 2012-06-03 11:13:50 -07:00
rmackay9
bad6591e6d AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure 2012-06-03 17:31:17 +09:00
rmackay9
8f8e91a620 ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9
080c5184d5 ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures. 
All real work on this issue done by Michael Oborne.
 2012-06-02 17:46:00 +09:00
rmackay9
8f3169a200 AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work. 
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
 2012-06-02 16:13:23 +09:00
rmackay9
3246f2bad3 RC_Channel library: change all "int" types to "int16_t". 
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
 2012-06-02 14:20:58 +09:00
rmackay9
37e4637c13 RC_Channel.pde: fixed compile errors so that it actually works! 2012-06-02 14:00:44 +09:00
rmackay9
df3fb5c041 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Jason Short
477aa6e47a RC_Channel fix for throttle output. 
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
 2012-05-31 14:59:03 -07:00
Jason Short
7ee38df5a2 Issue 416: RC_Channel – Fix to make dead_zones still output 0 2012-05-31 12:05:47 -07:00
Jason Short
2cc9fde3c9 removed never used filter, and fixed a constrain that could make range calcs go bad 2012-05-31 11:45:07 -07:00
Jason Short
00cabc6343 Channel rage fix - low output was always 0 vs _low 2012-05-31 11:31:48 -07:00
Robert Lefebvre
bafb478924 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Robert Lefebvre
ffc04b7305 Fix TradHeli Collective Yaw Effect bug. 2012-05-25 15:25:21 -04:00
Andrew Tridgell
734dcebb2a SITL: fixed ChipErase() 
the loop never completed
 2012-05-23 21:15:45 +10:00
Andrew Tridgell
5e0d937e50 SITL: fixed build with new ChipErase() call 2012-05-23 17:33:33 +10:00
Andrew Tridgell
c2fb8a7a98 DataFlash: use ChipErase() instead of PageErase() on all pages 
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).

We need to test and ensure the behaviour is equivalent apart from the
speed
 2012-05-22 19:29:02 -07:00
Andrew Tridgell
8f27297896 DCM: fixed a bug when using GPS for yaw correction 
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
 2012-05-21 12:15:06 +10:00
Andrew Tridgell
37f652e19b AP_Common: fixed some duplicate product ID warnings 2012-05-17 23:37:32 +10:00
rmackay9
eaeaa3811a ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
Craig Elder
fe742f1c23 IMU: expose IMU_PRODUCT_ID as EEPROM Variable 
this will allow us to log the Product ID in tlogs
 2012-05-09 18:30:36 -07:00