Andrew Tridgell
b337441ec5
SITL: added pgm_read_byte_far()
2012-03-11 20:59:47 +11:00
Andrew Tridgell
ba8e764349
SITL: lower the noise and drift levels for general autotest usage
2012-03-10 10:34:34 +11:00
Andrew Tridgell
c8189c80d4
SITL: cleanup the gyro drift calculations
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use units that are more easily understood
2012-03-10 10:34:34 +11:00
Andrew Tridgell
dffb435aac
SITL: make the yaw match the APM conventions
2012-03-10 10:34:33 +11:00
Andrew Tridgell
2673614f6d
SITL: fixed the pwm output on startup
2012-03-10 10:34:33 +11:00
Andrew Tridgell
ccada2e9c2
SITL: avoid parent pid code on cygwin
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this causes problems on windows
2012-03-10 10:34:31 +11:00
Andrew Tridgell
3666476bcb
SITL: prevent nested timer interrupts
2012-03-10 10:34:31 +11:00
Andrew Tridgell
47ddd4dfdd
SITL: disable interrupts during register updates
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this may prevent bogus mode channel reads
2012-03-10 10:34:30 +11:00
Andrew Tridgell
a791224d07
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fd2a24f8ed
SITL: reduce the simulated compass offsets
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this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell
bddc6ba241
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
Andrew Tridgell
25cad09746
SITL: added a drift_level multiplier
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this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell
ae51173656
SITL: fixed delay() to account for signal interrupions
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when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell
8424609924
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
772c30ba86
SITL: added sitl_simstate_send()
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used to report simulator state in logs
2012-03-10 10:34:27 +11:00
Andrew Tridgell
73dafe537e
SITL: use the new noise model
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use the new noise model at a low level for master until we sort out
DCM noise handling
2012-03-02 18:31:07 +11:00
Andrew Tridgell
37275d229d
SITL: implement cli()/sei() properly for desktop build
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this disables simulated hardware interrupts during critical sections
2012-03-02 15:48:27 +11:00
Andrew Tridgell
39797c6f33
SITL: simulate noise on each ADC channel separately
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scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
Andrew Tridgell
efe5c0142c
SITL: raise the ADC noise level to 8 bits when flying
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this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
Andrew Tridgell
d6bfceef7c
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
Andrew Tridgell
9793d04ed1
SITL: increase the amount of noise in the simulated ADC
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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
Andrew Tridgell
a48a118128
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
Andrew Tridgell
4398171374
SITL: catch floating point errors
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if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
43c56be70c
SITL: add some magnetometer offsets
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this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
Andrew Tridgell
f95d7cadc5
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Andrew Tridgell
d658bc6f9d
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
Andrew Tridgell
49cf409c23
desktop: floating point precision changes from Justin Beech
2012-01-11 21:31:59 +11:00
Jason Short
351be7c305
Made timer unsigned
2012-01-10 23:42:26 -08:00
Andrew Tridgell
ca39fc8b47
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
Andrew Tridgell
5f38663d44
desktop: exclude I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
5e4f66e525
DataFlash: moved high level logging logic to library
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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
9bb0bd0341
desktop: added attachInterrupt() support
2011-12-26 19:17:11 +11:00
Andrew Tridgell
a39a470d75
desktop: fixed for new DataFlash inheritance
2011-12-26 19:17:11 +11:00
Andrew Tridgell
f6f808357c
removed AperiodicProcess code
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this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
Andrew Tridgell
e187ff149f
desktop: fixed type of dword eeprom read
2011-12-16 20:09:18 +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
f96a48e42b
autotest: support all 11 PWM output channels
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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
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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
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thanks to James Goppert for the frame conversion maths
2011-12-02 17:37:54 +11:00
Andrew Tridgell
bdb1599e96
desktop: improved the accuracy of the sensor emulation
2011-11-28 16:22:33 +11:00
Andrew Tridgell
df957db8d9
desktop: setup TCP sockets as non-blocking
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the sendto() blocks unexpectedly on MacOS
2011-11-28 13:53:57 +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
c9b0b384f7
desktop: added framerate and initial height code
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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()
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get indexes right
2011-11-25 20:00:19 -08:00
Andrew Tridgell
62f98b091f
desktop: import updated DataFlash code
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this fixes a logging bug
2011-11-25 20:00:19 -08:00