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3623 Commits

Author SHA1 Message Date
Craig@3DR f778961acf Added support for Mediatek firmware Rev 1.9 2013-01-02 09:16:47 +11:00
rmackay9 557f4e65de AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2013-01-02 09:12:40 +11:00
rmackay9 1f7614929f AP_AHRS: save trim to eeprom when set_trim is called 2013-01-02 09:12:17 +11:00
rmackay9 e9fa5dec0f AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2013-01-02 09:11:25 +11:00
rmackay9 1c08f176ea AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2013-01-02 09:11:25 +11:00
Andrew Tridgell 18581d0220 HAL_AVR: change order of CS pin init - fixes APM2 boot problem 
We now init the MPU6k CS pin before the MS5611 CS pin. This should not
matter at all, but it turns out that it solves the APM2 boot
problem. We should investigate why, as this may indicate an electrical
problem.

Pair-Programmed-With: Pat Hickey
 2013-01-02 08:55:47 +11:00
Andrew Tridgell 57bf6531b4 Progmem: use right CONFIG_HAL_BOARD #ifdefs 2013-01-01 18:26:12 +11:00
Andrew Tridgell da10e68e87 HAL_PX4: added basic console driver (output only) 2013-01-01 18:19:18 +11:00
Andrew Tridgell 0ef003a45f AP_HAL: added PX4 board support 2012-12-30 20:02:45 +11:00
Andrew Tridgell 24a291cf66 HAL_AVR: only build on APM boards 2012-12-30 20:02:45 +11:00
Andrew Tridgell b41440175f HAL_PX4: started on new PX4 HAL structures 2012-12-30 20:02:45 +11:00
Andrew Tridgell 0adc4afcb5 InertialSensor: add reboot option in MPU6000 test 2012-12-27 21:29:00 +11:00
Andrew Tridgell 212728be34 InertialSensor: ensure MPU6000 is out of sleep mode before configuring 
the MPU6000 starts in sleep mode, and can take a while to wakeup
 2012-12-27 21:28:41 +11:00
Andrew Tridgell 091c14a33e SITL: disabled buffering on stdout 
this fixes the ArduPlane log dump
 2012-12-24 08:00:57 +11:00
Andrew Tridgell 0186fabb3b build: allow building with the "Empty" HAL 
useful for porting
 2012-12-24 07:30:50 +11:00
Andrew Tridgell 122b8716a7 InertialSensor: added auto reset of MPU6000 on startup failure 
this works around the problem of the MPU6000 failing to come up on DTR
reset or warm reboot
 2012-12-24 07:17:03 +11:00
Andrew Tridgell 44ad850542 InertialSensor: latch the data ready pin high on new data 
this ensures we don't miss a sample due to another source of delay
 2012-12-23 17:46:36 +11:00
Andrew Tridgell fcb09c3993 InertialSensor: fixed example app for new syntax 2012-12-23 12:49:34 +11:00
Andrew Tridgell e2edad8a3f InertialSensor: fixed last sample time in MPU6000 
we lost this in the final work on the DTR bug
 2012-12-23 08:59:35 +11:00
Andrew Tridgell feb11f0bc9 PX4: mark example as nobuild for now 2012-12-22 14:40:10 +11:00
Andrew Tridgell e7b915b0f4 AP_Math: fixed error comment 2012-12-22 12:52:42 +11:00
Andrew Tridgell 463a089e5c InertialNav: fixed example build 2012-12-22 12:50:31 +11:00
Andrew Tridgell c3dc23d295 AP_HAL: fixed warning in progmem 2012-12-22 09:49:19 +11:00
Andrew Tridgell 1a53bc783c InertialSensor: poll data ready pin instead of an interrupt for MPU6k 2012-12-22 09:16:31 +11:00
Pat Hickey 563ca3f79b AP_HAL_AVR: expose gpio pin 70 for mpu6000 interrupt input 2012-12-22 09:11:14 +11:00
Pat Hickey 1678dcc6f0 AP_HAL: GPIO INTERRUPT defines 2012-12-22 09:11:11 +11:00
Andrew Tridgell 93040e5725 AP_HAL: removed the defer_timer_process() function 
this is now unused
 2012-12-21 20:01:42 +11:00
Andrew Tridgell 9548e7e79e InertialSensor: simplify the data_ready interrupt handling 
this avoids using the defer process code, and fixes a nasty bug that
caused the APM to lockup on reset
 2012-12-21 20:01:19 +11:00
Andrew Tridgell c5ba33d39a AP_Baro: fixed MS5611 semaphore handling 2012-12-21 19:33:57 +11:00
Andrew Tridgell 47358929e2 HAL_AVR: fixed attach_interrupt race condition 2012-12-21 19:33:57 +11:00
Andrew Tridgell 8d47a739a1 SITL: fixed a return value in snprintf functions 2012-12-20 22:46:22 +11:00
Andrew Tridgell cd430cb6a8 RC_Channel: added no_deadzone version of set_pwm() 2012-12-20 22:41:58 +11:00
Andrew Tridgell f504e2ec67 InertialSensor: removed sample rate in example 
not needed any more
 2012-12-20 15:16:43 +11:00
Andrew Tridgell 9931009db2 Math: use pythagorous2() in some more places 2012-12-20 15:16:18 +11:00
Andrew Tridgell 13ea0bb5d8 AP_Camera: disable relay on APM2 2012-12-20 14:53:24 +11:00
Andrew Tridgell 4a6b46c661 AP_GPS: fixed multiple GPS detection bug 2012-12-20 14:53:24 +11:00
Andrew Tridgell fb4540a349 DataFlash: disable some debug code 2012-12-20 14:53:24 +11:00
Andrew Tridgell f549950a9c AP_GPS: remove some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell 3aa39da6cd AP_Baro: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell e282554035 AHRS: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell a180437028 AP_Compass: disable auto-declination on 1280 
this saves a few k of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell 60d3df50ae AP_HAL: changed delay() to take a uint16_t 
this allows for up to 32 second delays, and saves a bit of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell d8bed0c2aa AP_Math: fixed get_distance() function 2012-12-20 14:53:23 +11:00
Pat Hickey 6437bd3a08 AP_InertialSenor MPU6000 test: fixed for user interact changes 2012-12-20 14:53:23 +11:00
Pat Hickey 9055681b3a AP_InertialSensor: use AP_InertialSensor_UserInteract 
* permits polymorphic user interaction, so we can plug in a
  pure mavlink interface
 2012-12-20 14:53:23 +11:00
Pat Hickey a2cf47e769 AP_InertialSensor: start implementing UserInteract 
* untested implementation in terms of BetterStream
 2012-12-20 14:53:23 +11:00
Pat Hickey b2d69e6a8c AP_HAL_Empty: betterstreams get vprintfs 2012-12-20 14:53:23 +11:00
Pat Hickey 823efc4734 AP_HAL_AVR_SITL: implement BetterStream's vprintf methods 2012-12-20 14:53:22 +11:00
Pat Hickey 1ed6a49a7a AP_HAL_AVR: implementation for each BetterStream vprintf 
* had to rename the utility vprintf function calls to print_vprintf
  to make the naming work.
 2012-12-20 14:53:22 +11:00
Pat Hickey 7681fef988 AP_HAL: BetterStream gets vprintf and vprintf_P methods 2012-12-20 14:53:22 +11:00
Pat Hickey ec8f08d743 AP_HAL_AVR_SITL: rename vprintf utility to print_vprintf 2012-12-20 14:53:22 +11:00
Pat Hickey 5ab4e57673 AP_HAL_AVR: rename vprintf function to print_vprintf 
* because it takes an AP_HAL::Print
 2012-12-20 14:53:22 +11:00
Pat Hickey 1b0bde2779 AP_HAL_AVR: rename vprintf files to print_vprintf 2012-12-20 14:53:22 +11:00
Andrew Tridgell bada70d871 InertialSensor: fixed example build on 1280 2012-12-20 14:53:22 +11:00
Andrew Tridgell 8a70e173a7 AP_HAL: restrict build to right board type 2012-12-20 14:53:22 +11:00
Andrew Tridgell 3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell 7277d4934d AP_InertialSensor: move constructor into cpp 2012-12-20 14:53:22 +11:00
Andrew Tridgell ceb3f577d8 libraries: use new math functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell a072afa223 AP_Math: expand some macros into functions 
this saves some flash
 2012-12-20 14:52:38 +11:00
Andrew Tridgell a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Pat Hickey 4c715bfd04 AP_HAL_AVR_SITL: add Util driver, fix deprecated deps on HAL_AVR.h 2012-12-20 14:52:37 +11:00
Pat Hickey 771f2a3acf AP_HAL_Empty: add Util driver 2012-12-20 14:52:37 +11:00
Pat Hickey f9eff068f9 AP_HAL_AVR: UtilityStringTest added 2012-12-20 14:52:37 +11:00
Pat Hickey defc539e57 AP_HAL_AVR: implement string Utils in terms of existing vprintf 2012-12-20 14:52:37 +11:00
Pat Hickey b3abe89989 AP_HAL_AVR: add Util stubs 2012-12-20 14:52:37 +11:00
Pat Hickey 0d702045b8 AP_HAL: Add Util member for string utilities 2012-12-20 14:52:37 +11:00
Pat Hickey 372c0074b1 AP_HAL_AVR: remove old style HAL_AVR classes (deprecated) 2012-12-20 14:52:37 +11:00
Andrew Tridgell 2679eabdef Cleanup: removed unused AP_GPS_IMU 2012-12-20 14:52:37 +11:00
Andrew Tridgell 678c281f78 Cleanup: removed unused AP_Navigation 2012-12-20 14:52:37 +11:00
Andrew Tridgell 32afc3f9ae Filter: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell 29f5e346c2 Menu: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell a76688e630 Math: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell b8843489be HAL_AVR: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell b673320f72 ADC: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell 22ada8b9c3 RC_Channel: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell 62bfded26c PID: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell 393455cdbb RangeFinder: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell b06e072c87 AP_InertialSensor: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell c15eb97c8d AP_Baro: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell bd2a733a6b HAL_Empty: allow example build for other backends 2012-12-20 14:52:36 +11:00
Andrew Tridgell 8beaec61a8 AP_GPS: fixed build for new syntax 2012-12-20 14:52:36 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 44f860e102 InertialSensor: fixed some compiler warnings 2012-12-20 14:52:35 +11:00
Andrew Tridgell fc66f5594f AHRS: allow AHRS test to build with SITL 2012-12-20 14:52:34 +11:00
Andrew Tridgell 7ecf8981b9 SITL: added dummy SPI and make RCInput 50Hz 2012-12-20 14:52:34 +11:00
Andrew Tridgell e020694c03 SITL: fixed build of apm1/apm2 target 2012-12-20 14:52:34 +11:00
Andrew Tridgell 4cff98dcae AP_HAL: added AP_HAL_BOARD_DRIVER define 
this makes example sketches easier to read
 2012-12-20 14:52:33 +11:00
Andrew Tridgell abbe37be37 SITL: added emulated airspeed sensor on a pin 2012-12-20 14:52:33 +11:00
Andrew Tridgell 46f7c9e92b SITL: added basic analogin implementation 2012-12-20 14:52:33 +11:00
Andrew Tridgell 472b45bc2a SITL: fixed use of local printf() method in UART driver 2012-12-20 14:52:33 +11:00
Andrew Tridgell 7be507948f SITL: added SITL_State::loop_hook() 
this prevents us using so much CPU time, and ensures stdout is flushed
 2012-12-20 14:52:33 +11:00
Andrew Tridgell 69bebbcaf8 SITL: removed old SITL code 2012-12-20 14:52:33 +11:00
Andrew Tridgell 0c9d37e2ee SITL: added RCInput and RCOutput 2012-12-20 14:52:33 +11:00
Andrew Tridgell 28f0ce6185 Build: use -O0 for SITL 2012-12-20 14:52:33 +11:00
Andrew Tridgell dcc17dad94 SITL: added panic() method in scheduler 2012-12-20 14:52:33 +11:00
Andrew Tridgell 475496cee2 Revert "Arduino.mk: use target variables rather than recursive make for apm1, apm2.." 
This reverts commit fcd58cc1d7892bb8b45db75c35e1bdccaa2d47bb.

still doesn't work ...
 2012-12-20 14:52:33 +11:00
Andrew Tridgell 975506c840 Build: add debugging in SITL build 2012-12-20 14:52:33 +11:00
Andrew Tridgell 448fc6719f HAL_Empty: fixed return in dataflash 2012-12-20 14:52:33 +11:00
Andrew Tridgell 6627e7ea0e HAL_Empty: fixed I2CDriver declaration 2012-12-20 14:52:33 +11:00
Andrew Tridgell 5f7f6966af SITL: fixed GPS and UART startup 2012-12-20 14:52:32 +11:00
Andrew Tridgell 334b96b375 SITL: switched to empty driver for unimplemented backends 2012-12-20 14:52:32 +11:00
Andrew Tridgell 18db7b2efd GPS: move _port setting to init() 
this is needed to avoid constructor ordering dependencies
 2012-12-20 14:52:32 +11:00
Pat Hickey 107ab1a694 AP_Baro: translated to SPI transactions 2012-12-20 14:52:32 +11:00
Pat Hickey b502732249 AP_InertialSensor: rewrite basic code for spi device transactions 
* I'm not touching that DMP stuff because I'm pretty convinced it should
  instead be deprecated
 2012-12-20 14:52:32 +11:00
Pat Hickey 3153105682 AP_HAL_AVR: spi transaction handle null RX properly 2012-12-20 14:52:32 +11:00
Pat Hickey 992de8c2b9 AP_ADC_ADS7844: changed to use spidevicedriver transaction 2012-12-20 14:52:32 +11:00
Pat Hickey b43b003777 AP_ADC: fix typo in test 2012-12-20 14:52:32 +11:00
Pat Hickey 5c1e7abf0e AP_HAL_Empty: add spi driver transaction 2012-12-20 14:52:32 +11:00
Pat Hickey 4fe889c9c5 AP_HAL_AVR: Implement bulk SPI transaction 2012-12-20 14:52:32 +11:00
Pat Hickey d2f7402243 AP_HAL: add bulk transaction to SPIDeviceDriver 2012-12-20 14:52:32 +11:00
Pat Hickey 087b1fa196 AP_HAL_AVR: AnalogIn returns new ADCSource each time a channel is requested 
* fixes a bug where multiple sources created as pin -1, then change to
  appropriate pin on mavlink messages. Make treat each creation as distinct
  object.
 2012-12-20 14:52:32 +11:00
Pat Hickey d5a46ca1e3 AP_ADC: uses scheduler panic 2012-12-20 14:52:32 +11:00
Pat Hickey d92e8045c1 AP_Baro: uses scheduler panic 2012-12-20 14:52:31 +11:00
Pat Hickey 2c2279722b AP_Baro_MS5611: use scheduler panic 2012-12-20 14:52:31 +11:00
Pat Hickey a4f41c1d29 AP_InertialSensor: MPU6000 uses scheduler panic 2012-12-20 14:52:31 +11:00
Pat Hickey 90670cb499 AP_HAL_AVR: panic in spidevice0 2012-12-20 14:52:31 +11:00
Pat Hickey 885fc79af5 AP_HAL_Empty: add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey 9656b0ad0e AP_HAL_AVR: add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey c86004d676 AP_HAL: Add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey 8fe3c5e5d6 Arduino.mk: use target variables rather than recursive make for apm1, apm2.. 2012-12-20 14:52:31 +11:00
Pat Hickey 76dabef7d6 AP_HAL_Empty: fix public declaration for i2cdriver 2012-12-20 14:52:31 +11:00
Pat Hickey eda450a166 AP_HAL: I2CDriver bug fixed for pure virtual base class 2012-12-20 14:52:31 +11:00
Pat Hickey de6f9e52b2 AP_HAL_Empty: finished up scaffolding 2012-12-20 14:52:31 +11:00
Pat Hickey 4c930b77a4 DataFlash_Empty defined 2012-12-20 14:52:31 +11:00
Pat Hickey b7cd4312f3 AP_HAL_Empty: more scaffolding complete 2012-12-20 14:52:31 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell 6a56f72918 Build: added empty Arduino.h 2012-12-20 14:52:30 +11:00
Andrew Tridgell 98ead51801 SITL: fill in a lot more of the AP_HAL SITL backend 2012-12-20 14:52:30 +11:00
Andrew Tridgell 4a54ffb523 Baro: use local include to reduce boilerplate 2012-12-20 14:52:30 +11:00
Andrew Tridgell d473203737 Build: added global board targets 2012-12-20 14:52:30 +11:00
Pat Hickey 3cc204321c AP_Motors_Class: add Progmem typedef 2012-12-20 14:52:30 +11:00
Pat Hickey 8d0c56a19a AP_Curve: put template in cpp file 
* required for the new funny way avr-gcc 4.7 does PSTR.
 2012-12-20 14:52:30 +11:00
Pat Hickey 6ea38432b9 AP_Progmem_AVR: prog_char typedef was deprecated in avr-gcc 4.7, add compat def 2012-12-20 14:52:30 +11:00
Pat Hickey 3e3c0f57ae AP_HAL_Empty: started building out the scaffolding 2012-12-20 14:52:30 +11:00
Pat Hickey b79bd01761 SPIDriver: namespace explicit to better permit copypasta 2012-12-20 14:52:30 +11:00
Pat Hickey 527dfb5af4 AP_HAL: remove EmptyUARTDriver 2012-12-20 14:52:30 +11:00
Pat Hickey 63eb1dc85d AP_HAL_AVR_SITL: separate header for AP_HAL_MAIN and Private 2012-12-20 14:52:30 +11:00
Pat Hickey 07be511f5e AP_HAL_AVR: move AP_HAL_MAIN into separate header 2012-12-20 14:52:30 +11:00
Pat Hickey d18b9feaa1 AP_HAL: add HAL_BOARD_EMPTY to AP_HAL_BOARDS 2012-12-20 14:52:30 +11:00
Pat Hickey 104ad8f6c8 AP_Menu: save a little ram by reducing MENU_ARGS_MAX to 3 
* we only ever use 3 in arducopter's gyro gain setup
 2012-12-20 14:52:29 +11:00
Andrew Tridgell af12c18dea AP_Param: setup var_info and num_vars earlier 
needed for AP_HAL startup
 2012-12-20 14:52:29 +11:00
Andrew Tridgell 8916b280fd SITL: filled in more of the HAL SITL backend 2012-12-20 14:52:29 +11:00
Andrew Tridgell e10e3ee3be AP_HAL: fixed argv declaration to match getopt() 2012-12-20 14:52:29 +11:00
Andrew Tridgell 964bc56aa2 DataFlash: reinstate SITL dataflash code 2012-12-20 14:52:29 +11:00
Andrew Tridgell 18824c7ef5 AP_HAL: expose argc/argv in hal.init() 
used for SITL port
 2012-12-20 14:52:29 +11:00
Pat Hickey ddafd4ffbb memcheck: need AP_HAL_Boards import for CONFIG_HAL_BOARD configs to make sense 
* with great programming in c preprocessor comes great responsibility
 2012-12-20 14:52:29 +11:00
Pat Hickey d93d932831 ArduCopter: defines fixes 
Conflicts:

	libraries/AP_Common/Arduino.mk
 2012-12-20 14:52:28 +11:00
Pat Hickey f060df9747 AP_HAL_AVR: now that we can detect the APM revision, use wdt reboot on apm2 2012-12-20 14:52:28 +11:00
Pat Hickey 7622b725c9 AP_Limits: fixes to use hal.storage for eeprom access 2012-12-20 14:52:28 +11:00
Pat Hickey b0b3fa33b4 AP_Limits: fix for AP_Param var_info registration in AP_Limit_Module 
* AP_Limit_Module class does not have its own var_info table.
 2012-12-20 14:52:28 +11:00
Pat Hickey 304afd45e1 AP_Limits: export all internal headers from AP_Limits.h 2012-12-20 14:51:40 +11:00
Pat Hickey f1869d1aa6 AP_GPS: GPS_406_test ported to AP_HAL 2012-12-20 14:51:40 +11:00
Pat Hickey 4c5aaef245 removed AP_PID test, deprecated and forgotten 2012-12-20 14:51:40 +11:00
Pat Hickey 308281f252 DataFlash_test ported to AP_HAL 2012-12-20 14:51:40 +11:00
Pat Hickey a28c614fbe remove RC_Channel2 test sketch: deprecated by AP_HAL 2012-12-20 14:51:40 +11:00
Andrew Tridgell c4b8959202 DataFlash: added SITL headers 2012-12-20 14:51:40 +11:00
Pat Hickey a4fdfd999c remove AP_RangeFinder_test: deprecated by AP_HAL 2012-12-20 14:51:40 +11:00
Pat Hickey d6cb240468 AP_GPS: GPS_NMEA_test ported to AP_HAL 
* I wasn't able to demonstrate the library/test sketch working with my
  ublox gps.
 2012-12-20 14:51:40 +11:00
Andrew Tridgell d42cbb791f HAL_SITL: start filling in more of SITL framework 2012-12-20 14:51:40 +11:00
Andrew Tridgell 1342a82ba7 HAL_AVR: catch atomic nesting errors 2012-12-20 14:51:40 +11:00
Andrew Tridgell e57834d763 DataFlash: added SITL header 2012-12-20 14:51:40 +11:00
Andrew Tridgell 551ff0c8b8 AP_HAL_AVR: prevent build of AVR code on non-AVR platforms 2012-12-20 14:51:40 +11:00
Andrew Tridgell 9b15d0e714 Build: update makefile for SITL build 2012-12-20 14:51:40 +11:00
Andrew Tridgell 2c1682f310 InertialSensor: use AP_HAL progmem 2012-12-20 14:51:39 +11:00
Andrew Tridgell 7582c882e6 Motors: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell 9d1f43928c Mount: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell f393389db2 Progmem: removed desktop specific progmem handling 2012-12-20 14:51:39 +11:00
Andrew Tridgell 9b3ed0b683 AP_Limits: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell 265707401f memcheck: fix for new HAL_SITL 2012-12-20 14:51:39 +11:00
Andrew Tridgell fc8bd8cf95 SITL: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell 306d53b4ae PID: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell cead629fc4 Filter: fixed merge error 2012-12-20 14:51:39 +11:00
Andrew Tridgell 4aa16303ed RC_Channel: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell c064becf28 AP_InertialSensor: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell 62e396167a AP_InertialNav: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Andrew Tridgell 18fb9c67f6 AP_GPS: use AP_Progmem 2012-12-20 14:51:39 +11:00
Andrew Tridgell 69af1add15 Declination: fixes for AP_HAL progmem interface 2012-12-20 14:51:38 +11:00
Andrew Tridgell c181498e36 Compass: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell 53470aff09 AP_Camera: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell dbd9814327 AP_Baro: get rid of apm2_hardware parameter in init 2012-12-20 14:51:38 +11:00
Andrew Tridgell cafeaf91d6 AP_Baro: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell b5a23d934b Airspeed: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell 5c148153ac AP_AHRS: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell a18298ed76 APM_PI: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell e45f32a4b6 APM_OBC: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell 9349259487 AC_PID: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell 5a9ba4aeb4 APM_Control: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Andrew Tridgell 95d4cc2ce9 AP_Param: change method of loading defaults 
this avoids a dependency on the constructor ordering by loading
defaults for each object separately
 2012-12-20 14:51:38 +11:00
Andrew Tridgell 562b6a20c9 AP_HAL_AVR: conditionally build AVR specific helper code 2012-12-20 14:51:38 +11:00
Pat Hickey 54bab59066 AP_HAL_AVR_SITL: add initial scaffolding 2012-12-20 14:51:38 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Pat Hickey 25e597d3b3 AP_HAL_AVR: Refactor APM1 and APM2 instances to use CONFIG_HAL_BOARD 2012-12-20 14:51:37 +11:00
Pat Hickey fa02ad7d4c AP_HAL: preprocessor enum of HAL_BOARD 2012-12-20 14:51:37 +11:00
Pat Hickey da99f5f283 Arduino.mk: compile with CONFIG_HAL_BOARD define from the user's config.mk 2012-12-20 14:51:37 +11:00
Andrew Tridgell 2ea243e45b AP_Baro: removed unused code 2012-12-20 14:51:37 +11:00
Andrew Tridgell 13309cceb3 AP_GPS: reverted formatting of GPS messages 2012-12-20 14:51:37 +11:00
Pat Hickey cb70590227 AP_HAL_AVR: remove Dataflash driver 2012-12-20 14:51:37 +11:00
Pat Hickey 9cee6cc941 AP_HAL: remove Dataflash driver 2012-12-20 14:51:37 +11:00
Pat Hickey 00cd4b1857 AP_HAL_AVR: Do not init HAL's dataflash 2012-12-20 14:51:37 +11:00
Andrew Tridgell 7d70ff409d AP_OpticalFlow: use max() macro 2012-12-20 14:51:37 +11:00
Andrew Tridgell 6ee32ea872 AP_Limits: reverted parameter doc changes 2012-12-20 14:51:37 +11:00
Andrew Tridgell b70f7f57ba AP_Compass: restore low speed change on register read failure 2012-12-20 14:51:37 +11:00
Pat Hickey 7b9b088261 DataFlash: AP_HAL port fixups 2012-12-20 14:51:37 +11:00
Pat Hickey aaffd9d96e DataFlash: APM2 ported to AP_HAL SPIDeviceDriver 2012-12-20 14:51:36 +11:00
Pat Hickey 4f07a90b2e DataFlash: apm1 fixups 2012-12-20 14:51:36 +11:00
Pat Hickey ef1db1a3fc DataFlash: don't take a delay_cb 2012-12-20 14:51:36 +11:00
Pat Hickey 0e5ff36c6c DataFlash: DataFlash_APM1 rewritten in terms of AP_HAL spi primitives 2012-12-20 14:51:36 +11:00
Pat Hickey a81de007d8 DataFlash: headers switch to use AP_HAL SPI device driver types 2012-12-20 14:51:36 +11:00
Pat Hickey cc699a2a4e DataFlash: conform to ordinary stdint types 
* s/unsigned char/uint8_t/g
* changed all type 'byte' to uint8_t
 2012-12-20 14:51:36 +11:00
Pat Hickey fff4e87619 Arduino.mk: allow user avrdude flags 2012-12-20 14:51:36 +11:00
Andrew Tridgell 8b6ad6d559 SITL: removed SITL_debug() 
not needed any more
 2012-12-20 14:51:36 +11:00
Andrew Tridgell 38031edc9d AP_InertialSensor: removed spurious init() method 2012-12-20 14:51:36 +11:00
Andrew Tridgell c9a81d7de6 AP_InertialSensor: fixed sign of 16 bit SPI transfer 
this gets accels and gyros working again
 2012-12-20 14:51:36 +11:00
Pat Hickey dbcc4fc6a5 AP_InertialSensor: variable wibble 2012-12-20 14:51:36 +11:00
Pat Hickey 9aca19415a AP_InertialSensor: robust semaphores 2012-12-20 14:51:36 +11:00
Pat Hickey 1019fb45e7 AP_InertialSensor: remove sei in data interrupt handler 2012-12-20 14:51:36 +11:00
Pat Hickey af852aa6a9 AP_HAL_AVR: init dataflash from HAL init 2012-12-20 14:51:35 +11:00
Pat Hickey 7f02993994 AP_HAL_AVR: less chatty Dataflash 2012-12-20 14:51:35 +11:00
Pat Hickey 09c14f3807 AP_ADC: more robust semaphores 2012-12-20 14:51:35 +11:00
Pat Hickey bfd03ab40c AP_Baro: robust spi device 2012-12-20 14:51:35 +11:00
Pat Hickey 60f7788be4 AP_Baro: robust calibration 2012-12-20 14:51:35 +11:00
Pat Hickey eaa0a990a4 AP_Baro: MS5611 robust semaphores 2012-12-20 14:51:35 +11:00
Pat Hickey 52925b655f AP_Baro: MS5611 uses delay in busy wait 2012-12-20 14:51:35 +11:00
Pat Hickey 6943d32d76 SITL: fixed to build under AP_HAL 
* won't work or naything like that
 2012-12-20 14:51:35 +11:00
Pat Hickey 4d0b1e6571 AP_Relay: add init method 2012-12-20 14:51:35 +11:00
Pat Hickey 70a3ee738a gcs console: uartb fixup 2012-12-20 14:51:35 +11:00
Pat Hickey 7017a35fc3 AP_Airspeed: fix for AnalogIn read_average 2012-12-20 14:51:35 +11:00
Pat Hickey 8f99a12374 AP_ADC_AnalogSource: fix for new AnalogIn interface 2012-12-20 14:51:35 +11:00
Pat Hickey a6d80af9ed AP_ADC_AnalogSource: obey changes to AnalogSource interface 2012-12-20 14:51:35 +11:00
Pat Hickey 2be552ea22 AP_GPS: less chatty autodetect 2012-12-20 14:51:35 +11:00
Pat Hickey d72c5cf828 AP_GPS: uartB fixup 2012-12-20 14:51:35 +11:00
Andrew Tridgell 5840ded767 AHRS: removed constrain() defines 2012-12-20 14:51:34 +11:00
Andrew Tridgell 09e7b0b592 AHRS: removed unused variable 2012-12-20 14:51:34 +11:00
Pat Hickey 70f34656bc AP_AHRS: uart1 -> uartB fixup 2012-12-20 14:51:34 +11:00
Andrew Tridgell eb81a3934e HAL_AVR: removed extra min() define 2012-12-20 14:51:34 +11:00
Pat Hickey f9c8f93b37 AP_HAL_AVR: Dataflash APM2 does a better job detecting no df card 2012-12-20 14:51:34 +11:00
Andrew Tridgell aff1e56e82 AP_HAL: fixed AnalogIn example sketch 2012-12-20 14:51:34 +11:00
Pat Hickey 13f7bd1723 AP_HAL_AVR: AnalogIn supports read_average & read_latest 2012-12-20 14:51:34 +11:00
Pat Hickey f9e9b8a7ef AP_HAL_AVR: move scheduler's timer-hw dependent methods to a separate cpp 2012-12-20 14:51:34 +11:00
Andrew Tridgell d9f69923f2 HAL_AVR: fixed int types -> uint8_t 2012-12-20 14:51:34 +11:00
Andrew Tridgell b1856bc17e HAL_AVR: fixed warnings on all PSTR() usage 2012-12-20 14:51:34 +11:00
Andrew Tridgell 857c0b69e5 AP_HAL_AVR: fixed interrupt attach for MPU6000 2012-12-20 14:51:34 +11:00
Andrew Tridgell 31bb300f81 AP_HAL_AVR: fixed bounds check for rc input 2012-12-20 14:51:34 +11:00
Pat Hickey a79adcb7f4 AP_HAL_AVR: comment wibbles 2012-12-20 14:51:34 +11:00
Pat Hickey 8d97596ea0 AP_HAL_AVR: RCInput has overrides 2012-12-20 14:51:34 +11:00
Pat Hickey cb38651df5 AP_HAL: RCInput has overrides 2012-12-20 14:51:34 +11:00
Pat Hickey dfdc14f583 AP_HAL_AVR: Console uses only sized int types 2012-12-20 14:51:34 +11:00
Pat Hickey 8879cbbc69 AP_HAL: Console uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey 2ee214ee36 AP_HAL_AVR: AnalogIn uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey de4adefe4e AP_HAL: AnalogIn uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey 9455d4c297 AP_HAL_AVR: UARTDriver impl uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey 243590bb73 AP_HAL: UARTDriver & Stream uses only sized int types 
Signed-off-by: Pat Hickey <pat@galois.com>
 2012-12-20 14:51:33 +11:00
Pat Hickey ba07ae283f AP_HAL_AVR: sized ints in GPIO 2012-12-20 14:51:33 +11:00
Pat Hickey 709869f8ce AP_HAL: use sized ints in GPIO 2012-12-20 14:51:33 +11:00
Pat Hickey 765e2da8a7 AP_HAL_AVR: analog input fixed when ANALOG_INPUT_NONE 
* need to provide new sample so we dont spin forever
 2012-12-20 14:51:33 +11:00
Pat Hickey 2826a605ba AP_HAL_AVR: Dataflash debugging 2012-12-20 14:51:33 +11:00
Pat Hickey ff09314ab8 AP_HAL_AVR: SPI debugging 2012-12-20 14:51:33 +11:00
Pat Hickey d504db195e AP_HAL_AVR: add sei in defer timer process 2012-12-20 14:51:33 +11:00
Andrew Tridgell 0f3e30a0c3 HAL_AVR: fixed race condition in delay() 2012-12-20 14:51:33 +11:00
Pat Hickey ca4bc8d760 AP_HAL: AnalogIn read changed to read_latest and read_average 2012-12-20 14:51:33 +11:00
Pat Hickey 6218d7779f AP_HAL: expose DF_LOGGING_FORMAT to user 2012-12-20 14:51:33 +11:00
Pat Hickey 3bca50f422 AP_HAL: BetterStream removes printf attribute from _printf_P 2012-12-20 14:51:33 +11:00
Pat Hickey 88f09d100a AP_HAL_AVR: fix implementation of delay in scheduler 2012-12-20 14:51:32 +11:00
Pat Hickey 0b7a55b9f6 AP_HAL_AVR: AnalogIn hack to make vcc read work 
* needs improvment
 2012-12-20 14:51:32 +11:00
Pat Hickey 6e45ce12b2 AP_HAL_AVR: implement reboot in scheduler 
* still need to fix system io register inits to do it like bootloader would
 2012-12-20 14:51:32 +11:00
Pat Hickey 592d32ba47 AP_HAL: add reboot to scheduler 2012-12-20 14:51:32 +11:00
Pat Hickey 04d7b5ffe4 AP_HAL_AVR: implement changes to AnalogIn 2012-12-20 14:51:32 +11:00
Pat Hickey 7049934a69 AP_HAL: AnalogIn channel gets scale, source gets set_pin 2012-12-20 14:51:32 +11:00
Pat Hickey 50b765616b AP_HAL_AVR: change uart0,1,2,3 to uartA,B,C 2012-12-20 14:51:32 +11:00
Pat Hickey dbb6a2a0e5 AP_HAL: change uart0,1,2,3 to uartA,B,C 2012-12-20 14:51:32 +11:00
Pat Hickey d4e350f574 remove APM_RC, deprecated by AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey 3b4e2296e9 remove nobuild.txt from deprecated AP_Var directory 2012-12-20 14:51:32 +11:00
Pat Hickey d53572e163 remove DigitalWriteFast library, deprecated under AP_HAL (&goodriddance) 2012-12-20 14:51:32 +11:00
Pat Hickey 2b904703d8 remove AP_PeriodicProcess library, deprecated under AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey 5b9738bba1 remove Arduino_Mega_ISR_Registry library, deprecated under AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey 1d21cea032 remove AP_AnalogSource library, deprecated under AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey 3987e81e2a remove APO library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey 97e190a641 remove SPI3 library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey bc4b196f6f remove I2C library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey db31608aa2 remove AP_Semaphore library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey ec8b56db7d remove FastSerial library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey 39d14c8a93 PID: ported to AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey 40f254af51 memcheck: ported to AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey f4f3062df1 AP_Relay: rewritten for AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey 71a360b3e3 APM_PI: ported to AP_HAL 
* formatted to 80w, way of the future, way of the future
 2012-12-20 14:51:31 +11:00
Pat Hickey 2244ac295c AP_HAL_AVR: improve RCInput documentation 
copied directlyf rom AP_HAL header
 2012-12-20 14:51:31 +11:00
Pat Hickey b89c45735b AP_HAL_AVR: provide 'int main (void)' impl as a macro 
* avoid extra typing
* makes it HAL implementation specific
 2012-12-20 14:51:31 +11:00
Pat Hickey a639f7c34f AP_HAL_AVR: rename FastSerial example to UARTDriver 2012-12-20 14:51:31 +11:00
Pat Hickey 52f6d67238 AP_HAL_AVR: add ArduPlaneLibs test sketch 2012-12-20 14:51:31 +11:00
Pat Hickey d47f77f8dd AP_HAL_AVR Scheduler: support nested atomic sections 2012-12-20 14:51:31 +11:00
Pat Hickey f543cede01 AP_HAL & AP_HAL_AVR: new SPI driver model 2012-12-20 14:51:31 +11:00
Pat Hickey 2a12392b9e AP_HAL: export semaphore header 2012-12-20 14:51:30 +11:00
Pat Hickey 03eb5a1beb AP_HAL_AVR: gpio and scheduler renamed arduino to avr 2012-12-20 14:51:30 +11:00
Pat Hickey 2e32ec3013 AP_HAL_AVR GPIO: rename Arduino to be AVR 2012-12-20 14:51:30 +11:00
Pat Hickey 17b951c45b AP_HAL_AVR Scheduler: rename Arduino to be AVR 2012-12-20 14:51:30 +11:00
Pat Hickey b2c44d8a81 AP_HAL: move AP_Semaphore to be part of the HAL 2012-12-20 14:51:30 +11:00
Pat Hickey 5f48193ea0 AP_HAL_AVR analog in example: use new constant for board vcc, and vcc not vdd 2012-12-20 14:51:30 +11:00
Pat Hickey 0c3e59a307 AP_HAL_AVR: AnalogIn channels respect pins, obey NONE input, all common 
* there's no need for separate APM1/APM2 classes, so that was eliminated
* single class only has special member for vcc. all others created by
  channel interface.
 2012-12-20 14:51:30 +11:00
Pat Hickey f4b5ef9fad AP_HAL AnalogIn: gets constants for BOARD_VCC and NONE 2012-12-20 14:51:30 +11:00
Pat Hickey b7c4cc20ac GPIO: optimized read, write, and mode for DigitalSource objects 2012-12-20 14:51:30 +11:00
Pat Hickey 054f35e33d AP_Camera: ported to AP_HAL 2012-12-20 14:51:30 +11:00
Pat Hickey f935f1ae31 AP_InertialNav: did my best at a meaningful test sketch 
* the existing test sketch was just the InertialSensor test
 2012-12-20 14:51:30 +11:00
Pat Hickey af4806666f AP_InertialNav: ported to AP_HAL 2012-12-20 14:51:30 +11:00
Pat Hickey c393374d4c AP_OpticalFlow: ported to AP_HAL 
* 78 wide
* remove SPI.h, SPI3.h, and FastSerial.h dependencies (though not objects)
* gotta totally refactor HAL SPI driver to fix the rest
 2012-12-20 14:51:30 +11:00
Pat Hickey a38ce8962e AP_Rangefinder: ported to AP_HAL. Only officially supports MaxsonarXL. 2012-12-20 14:51:30 +11:00
Pat Hickey 47f555feac AP_HAL_AVR: I2CDriver increments lockup count on any error 
tridge made these changes to the "I2c" lib in a3589f2956
 2012-12-20 14:51:30 +11:00
Pat Hickey 93f6267334 AP_HAL_AVR: create ArduCopterLibs test sketch 
* used to make sure all ArduCopter deps build
 2012-12-20 14:51:30 +11:00
Pat Hickey c1114168e4 AP_Baro tests rebase fixups 2012-12-20 14:51:29 +11:00
Pat Hickey e787b5ccd9 AP_Buffer: ported to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey c9541d3b00 AP_HAL: added begin_atomic and end_atomic to scheduler 2012-12-20 14:51:29 +11:00
Pat Hickey 197a685923 AP_Semaphore: ported to AP_HAL 
* improved readability of test output
 2012-12-20 14:51:29 +11:00
Pat Hickey f490f2432d Arduino.mk: norelax.inoflag will disable -Wl,--relax on a per sketch basis 
* Some weird avr-ld bug that hits on 4.6.2 Fedora. Didn't have time to
  investigate further.
 2012-12-20 14:51:29 +11:00
Pat Hickey 9bf69d4e0d AP_AHRS: port to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey 6cc231ae7d AP_Mount: ported to AP_HAL 
I do not have the hardware required to test this
 2012-12-20 14:51:29 +11:00
Pat Hickey eefb0f4515 APM_OBC: translate to AP_HAL, make trivial test sketch to test build 2012-12-20 14:51:29 +11:00
Pat Hickey 3b1150d857 AP_Menu: ported to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey ec53515648 AP_Param: eeprom translated to use AP_HAL. No unit tests available! 2012-12-20 14:51:29 +11:00
Pat Hickey 87c55f68c2 AP_HAL_AVR Storage: conform to new API 2012-12-20 14:51:29 +11:00
Pat Hickey 7908e41416 AP_HAL Storage: use a int type rather than pointer type for location 2012-12-20 14:51:29 +11:00
Andrew Tridgell c4d9b5e328 AP_HAL_PX4: added stdio.h 2012-12-20 14:51:29 +11:00
Andrew Tridgell 2669c33476 AP_HAL_PX4: added main program as include 2012-12-20 14:51:29 +11:00
Andrew Tridgell 28353cd683 AP_Progmem: check for PX4FMU_BUILD explicitly 2012-12-20 14:51:29 +11:00
Andrew Tridgell 3a2e138994 AP_Common: no c++ magic for PX4 build 2012-12-20 14:51:28 +11:00
Pat Hickey be00b2f681 AP_HAL_PX4: brief disclaimer 2012-12-20 14:51:28 +11:00
Andrew Tridgell c5221c34a5 HAL_AVR: don't auto build PX4 stuff yet 2012-12-20 14:51:28 +11:00
Pat Hickey 64a79f3598 AP_HAL_PX4: Stub Console implemented 2012-12-20 14:51:28 +11:00
Pat Hickey 166eff180d AP_Progmem Identity: switch to straight typedef of prog_char_t to char 2012-12-20 14:51:28 +11:00
Pat Hickey 9f69254c00 AP_Progmem: identity to use regular strings as PSTRs 2012-12-20 14:51:28 +11:00
Andrew Tridgell e9d41312ca HAL_AVR: automatically find tests to build 2012-12-20 14:51:28 +11:00
Pat Hickey 2d363e0683 AP_HAL_PX4: trivial console header 2012-12-20 14:51:28 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey a399851ca2 AP_HAL: Depend on AP_Progmem rather than AP_Common to provide pstr 2012-12-20 14:51:28 +11:00
Pat Hickey 5c738810e2 AP_Progmem created: progmem macros per specific platform 
* derived from AP_Common
 2012-12-20 14:51:28 +11:00
Pat Hickey a2f97ac7c7 AP_Common.cpp: Delete empty cpp file 2012-12-20 14:51:28 +11:00
Pat Hickey f58935d1e7 AP_Common c++ lib: eliminate freeMemory and displayMemory 
* also, no more error message in pure virtual call
 2012-12-20 14:51:28 +11:00
Pat Hickey 9f9c183a4d remove AP_Vector.h as deprecated 2012-12-20 14:51:28 +11:00
Pat Hickey 925223341d remove AP_Var: deprecated 2012-12-20 14:51:28 +11:00
Pat Hickey 488fb9750b remove AP_MetaClass as deprecated 2012-12-20 14:51:27 +11:00
Pat Hickey d50d0682e9 remove APO library: deprecated 2012-12-20 14:51:27 +11:00
Pat Hickey 668caa4a2e Fix calls to AP_HAL::Scheduler::register_timer_process 2012-12-20 14:51:27 +11:00
Pat Hickey bae7e4b88e AP_HAL Scheduler: simplify register_timer_process, min time for delay cb 2012-12-20 14:51:27 +11:00
Pat Hickey 6a59ad143e AP_Curve: made into its own library 2012-12-20 14:51:27 +11:00
Andrew Tridgell 53105efbcd HAL_AVR: more uart0 -> console changes 2012-12-20 14:51:27 +11:00
Andrew Tridgell d133f15f57 HAL_AVR: use hal.console instead of hal.uart0 2012-12-20 14:51:27 +11:00
Andrew Tridgell ecd67ad79b HAL_AVR: added more build examples 2012-12-20 14:51:27 +11:00
Andrew Tridgell 87e300b119 AP_HAL: added double print functions 
this copes with the fact that the compiler doesn't really know that
float and double are the same things
 2012-12-20 14:51:27 +11:00
Andrew Tridgell e663f5feab HAL_AVR: use ccache if available 2012-12-20 14:51:27 +11:00
Andrew Tridgell f269172d96 HAL_AVR: fixed build of remaining HAL_AVR examples 2012-12-20 14:51:27 +11:00
Andrew Tridgell 978c7ae329 HAL_AVR: added build_all.sh script 2012-12-20 14:51:27 +11:00
Andrew Tridgell 49e1f452e1 HAL_AVR: fixed I2C example build 2012-12-20 14:51:27 +11:00
Pat Hickey f8047f158d Arduino.mk: Changes to asm opts for compatibility with avr-gcc4.6 
* Need to make sure these are compatible with older toolchains
  before pushing to master
 2012-12-20 14:51:26 +11:00
Pat Hickey 1cd09be2fd AP_HAL_AVR: proper empty uart for APM1 vs APM2 
* APM1 uses uart2 as a spi port (dataflash)
* APM2 uses uart3 as a spi port (dataflash)
 2012-12-20 14:51:26 +11:00
Pat Hickey de81267bd5 AP_HAL_AVR: utility/vprintf.cpp fixed for avr-gcc 4.6 2012-12-20 14:51:26 +11:00
Pat Hickey afa1143506 RC_Channel: ported to AP_HAL 
* keeping everyone honest
* remove second unmaintained unit test:  No idea wtf is going on in there.
 2012-12-20 14:51:26 +11:00
Pat Hickey c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 95a13bdbd2 APM_Control: ported to AP_HAL 
Unable to test since there are no unit tests.
 2012-12-20 14:51:26 +11:00
Pat Hickey 9f9dfc7c63 AP_Limits: fix spacing to 80 columns, use standard cpp header guard conventions 
* No idea what was going on there. Confusing.
 2012-12-20 14:51:26 +11:00
Pat Hickey 3503c7627a AP_LeadFitler: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 4acf2c8591 AP_InertialSensor: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 11bf533c57 AP_HAL_AVR: implement GPIO::attach_interrupt just for interrupt 6 2012-12-20 14:51:26 +11:00
Pat Hickey 7480707f9e AP_HAL: Add attach_interrupt method to GPIO 2012-12-20 14:51:26 +11:00
Pat Hickey d422ab7806 AP_HAL: Extend Scheduler to support defered timer procs 
* based on queue_proc from AP_PeriodicProcess
 2012-12-20 14:51:26 +11:00
Pat Hickey 53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 9aada26e34 AP_Declination: translated to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 5d40074e4e AP_Baro: port to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey c56c4ae240 Various example sketches: hal.uart0->begin(115200) is redundant. use console. 
just assume uart0 is initialized by the HAL, because it is. DRY.
also, don't ever use uart0 explicitly in example sketches, use console
and let the hal figure it out.
 2012-12-20 14:51:25 +11:00
Pat Hickey 11cfde1e46 AP_HAL_AVR: I2CDriver initialize in HAL init 
* Makes more sense to have everything set to go by the time we're in setup.
 2012-12-20 14:51:25 +11:00
Pat Hickey ce8dc5fd5c AP_AnalogSource: obsoleted by AP_HAL. Renamed to AP_ADC_AnalogSource. 2012-12-20 14:51:25 +11:00
Pat Hickey dfc8e91fd3 AP_Airspeed: port to AP_HAL 2012-12-20 14:51:25 +11:00
Pat Hickey 84e0dd406e Filter: ported to AP_HAL 2012-12-20 14:51:25 +11:00
Pat Hickey 30deb76ea3 AP_ADC: ported to AP_HAL 
AP_ADC_test run on bench with APM1, looks ok.
 2012-12-20 14:51:25 +11:00
Pat Hickey 050a878935 AC_PID: Ported to AP_HAL. 2012-12-20 14:51:25 +11:00
Pat Hickey 73ccfaf2d7 AP_HAL: implement DigitalSource abstraction 
* GPIO's complement to AnalogSource
 2012-12-20 14:51:25 +11:00
Pat Hickey deb96143d3 AP_GPS_IMU: fix type punning warnings by using memcpy 2012-12-20 14:51:25 +11:00
Pat Hickey 9ed023aeb4 AP_GPS: Builds under AP_HAL. Not tested. 2012-12-20 14:51:25 +11:00
Pat Hickey e83504f80d AP_HAL_AVR LCDTest: fix build 2012-12-20 14:51:25 +11:00
Pat Hickey 6d9ac42618 GCS Console: add lib implementing message handling from DATA16 and DATA32 msgs 
console demonstrates simple loopback
works with our branch of mavproxy at the moment
 2012-12-20 14:51:25 +11:00
Pat Hickey 40734bc2f2 AP_HAL_AVR Console: bugfix on buffer bytes free vs used 
* had them reversed. doh
 2012-12-20 14:51:25 +11:00
Pat Hickey fd89bacbc8 GCS_MAVLink: wibble to mavlink_helpers.h to fix build. 2012-12-20 14:51:25 +11:00
Pat Hickey 2a72c7e730 GCS_MAVLink: Regenerate mavlink1.0 implementation 
created using:
mavgen.py --lang=C --wire-protocol=1.0 --output=./include/mavlink/v1.0 ./message_definitions/ardupilotmega.xml
mavlink repo commit 79cabfe956464c8f745807a6e65062ac3fc09193
 2012-12-20 14:51:25 +11:00
Pat Hickey a86a696311 GCS_Mavlink: add the DATA16 and DATA32 messages definitions to ardupilotmega.xml 2012-12-20 14:51:24 +11:00
Pat Hickey ed19ff7f2f GCS_Console example: implement a trivial mavlink gcs 
* Just heartbeats and sends a single parameter down
* all other messages unimplemented
* console is dumped to statustext at the moment (that will change soon)
 2012-12-20 14:51:24 +11:00
Pat Hickey 6661f827fa GCS_MAVLink: port to work with AP_HAL class rather than FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey f2b21ecc41 AP_Param: Port to work with AP_HAL class instead of FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey 7dbe198e5c AP_Math: port to work on coreless arduino (AP_HAL) 2012-12-20 14:51:24 +11:00
Pat Hickey 52adb462a9 AP_HAL_AVR: Finished implementation of AVRConsoleDriver 2012-12-20 14:51:24 +11:00
Pat Hickey 98f86d0288 AP_HAL_AVR: Console more complete, but still not 100% 2012-12-20 14:51:24 +11:00
Pat Hickey 6f4d208ffc AP_HAL_AVR: fixup in vprintf header 2012-12-20 14:51:24 +11:00
Pat Hickey f889d5ac13 AP_HAL_AVR: trivial ConsoleDriver implementation 
* user backend unimplemented. will do that next.
 2012-12-20 14:51:24 +11:00
Pat Hickey 017f592eef AP_HAL: add ConsoleDriver interface 2012-12-20 14:51:24 +11:00
Pat Hickey a3a6482fd3 AP_HAL_AVR: vprintf implementation exists outside of class hierchary. 
* Makes it easier to mix into other classes.
 2012-12-20 14:51:24 +11:00
Pat Hickey 36154559fc AP_HAL: change txspace from a BetterStream method to a Stream method. 2012-12-20 14:51:24 +11:00
Pat Hickey 72f8667d9c AP_HAL_AVR: AnalogIn implemented 2012-12-20 14:51:23 +11:00
Pat Hickey 279a755ab3 AP_HAL: AnalogIn interface fleshed out 2012-12-20 14:51:23 +11:00
Pat Hickey 01e34825f3 AP_HAL_AVR: Scheduler unit tests 2012-12-20 14:51:22 +11:00
Pat Hickey ba7a596ec3 AP_HAL_AVR: Scheduler extensions implemented 2012-12-20 14:51:22 +11:00
Pat Hickey 6671310399 AP_HAL Scheduler: interface has AP_PeriodicProcess functionality 2012-12-20 14:51:22 +11:00
Pat Hickey a1863ec1f5 AP_HAL_AVR ISRRegistry: use AP_HAL::Proc types instead of private typedef 2012-12-20 14:51:22 +11:00
Pat Hickey af68c09591 AP_HAL Namespace: typedef Proc and TimedProc 2012-12-20 14:51:22 +11:00
Pat Hickey 229f58412b AP_HAL_AVR Storage: commit test 2012-12-20 14:51:22 +11:00
Pat Hickey 187571cca9 AP_HAL Scheduler fixes & AP_HAL_AVR Scheduler changed to match 2012-12-20 14:51:22 +11:00
Pat Hickey 2adfc4fbc5 AP_HAL Scheduler add method register_delay_callback (unimplemented) 2012-12-20 14:51:22 +11:00
Pat Hickey 1d89419059 AP_HAL: Scheduler should use stdint types, conform names 2012-12-20 14:51:22 +11:00
Pat Hickey a9dff1ad25 AP_HAL_AVR: bugfix to SPIDriver.cpp 
* Had freq set to 10 mhz, not 1mhz... stupid mistake.
 2012-12-20 14:51:22 +11:00
Pat Hickey 177da8ea5b AP_HAL_AVR: Bugfix to SPIDriver_MPU6000 (works now) 2012-12-20 14:51:22 +11:00
Pat Hickey 8ffec83b73 DataFlash: fixes to lib include and make the test smaller 2012-12-20 14:51:22 +11:00
Pat Hickey 06441b4117 AP_HAL_AVR Dataflash implemented, tested for APM2 
* Need to get my APM1 board from home to test it on there...
 2012-12-20 14:51:21 +11:00
Pat Hickey 9beba972c8 AP_HAL_AVR: Dataflash instances stubbed out based on /libraries/DataFlash 2012-12-20 14:51:21 +11:00
Pat Hickey 34ec5081e2 AP_HAL: Dataflash interface populated 2012-12-20 14:51:21 +11:00
Pat Hickey 3b697fe299 AP_HAL: rename Log to Dataflash 
* I'd love to build a proper abstraction for logging, but I don't have the
  time to do so right now.
* The dataflash libs need to be pushed into the AP_HAL_AVR anyway, so I'll
  do that now and replace the interface with a better logging driver later.
 2012-12-20 14:51:21 +11:00
Pat Hickey 5d2327f52f AP_HAL: Don't need a separate Console class, BetterStream will do. 2012-12-20 14:51:21 +11:00
Pat Hickey 261ef791a7 AP_HAL Storage: trivial interface and implementation wraps avr/eeprom funcs 2012-12-20 14:51:21 +11:00
Pat Hickey b0d8f43111 AP_HAL_AVR: Implemented SPIDriver based on Arduino, but it doesn't work yet 
* I don't have an APM2.5 board I can easily connect a logic analyzer to see
  the traffic on the bus...
 2012-12-20 14:51:21 +11:00
Pat Hickey b2a34800e2 AP_HAL_AVR RCPassthroughTest: write to upper (>8) channels as well. 2012-12-20 14:51:21 +11:00
Pat Hickey 1f670b4ce2 AP_HAL_AVR: bugfix to RCOutput_APM1 driver CH5 and CH6 
* copypasted the code from RCOutputAPM1 and forgot to fix the io pins
  to initialize properly
 2012-12-20 14:51:21 +11:00
Pat Hickey ad64fd2924 AP_HAL_AVR: RCOutput_APM2, bugfix to get_freq on CH_10 and CH_11 2012-12-20 14:51:21 +11:00
Pat Hickey 875e928628 AP_HAL_AVR: mostly working implementation of RCOutput_APM1.cpp 
* CH5 and CH6 output doesn't work at the moment. not sure why
 2012-12-20 14:51:21 +11:00
Pat Hickey d8ceb427f4 AP_HAL_AVR wibble: s/OUT/CH_/g to be more clear 
* also, correct my poor german, h/t acfoltzer
 2012-12-20 14:51:21 +11:00
Pat Hickey 5445ad02f8 AP_HAL_AVR: RCOutput tested implementation for APM2 2012-12-20 14:51:21 +11:00
Pat Hickey 0f96c93362 AP_HAL_AVR: Add RCPassthroughTest test sketch 2012-12-20 14:51:21 +11:00
Pat Hickey 25bc452608 AP_HAL_AVR RCInput: fixes found in testing 
* On APM1, I was able to test with the failsafe (i.e. all channels giving
  fixed values) but not with a real receiver
 2012-12-20 14:51:21 +11:00
Pat Hickey 71ea0fc755 AP_HAL_AVR example RCInputTest created 
* input works for APM2, but valid() isnt quite working yet
 2012-12-20 14:51:20 +11:00
Pat Hickey ec0fddd49a AP_HAL_AVR: HAL_AVR initializes rcin and rcout 2012-12-20 14:51:20 +11:00
Pat Hickey 776a1074c9 AP_HAL_AVR: check in utility/ISRRegistry 2012-12-20 14:51:20 +11:00
Pat Hickey 064faafdd3 AP_HAL_AVR: stub RCOutput implementations for APM1 and APM2 2012-12-20 14:51:20 +11:00
Pat Hickey acfbddef0d AP_HAL: proper RCOutput interface specification 2012-12-20 14:51:20 +11:00
Pat Hickey fc2e1455a9 AP_HAL_AVR: proper RCInput implementations for APM1 and APM2 2012-12-20 14:51:20 +11:00
Pat Hickey fb6abbe191 AP_HAL: proper RCInput interface specification 2012-12-20 14:51:20 +11:00
Pat Hickey 2c14a77693 AP_HAL_AVR: add ISRRegistry class, member of HAL_AVR 
* derived from Arduino_Mega_ISR_Registry class
 2012-12-20 14:51:20 +11:00
Pat Hickey db76562cd5 AP_HAL: global rename PPMInput -> RCInput, PWMOutput -> RCOutput 
* for clarity. nobody cares that PPM/PWM is the implementation, and with
  sbus etc it might not be
 2012-12-20 14:51:20 +11:00
Pat Hickey 46f31aa69c AP_HAL_AVR: Implement I2CDriver based on libraries/I2C 
* Removed a ton of code we don't need from that driver, which should make
  writing new drivers easier.
 2012-12-20 14:51:20 +11:00
Pat Hickey e14729e7d9 AP_HAL_AVR: FastSerial port passes FastSerial example sketch tests 2012-12-20 14:51:20 +11:00
Pat Hickey cae931a93a AP_HAL_AVR UARTDriver does basic hello world printing 
* will import more complex tests next
 2012-12-20 14:51:20 +11:00
Pat Hickey 83887cfc87 AP_HAL_APM: basic LiquidCrystal based sketch to test hal gpio & scheduler 2012-12-20 14:51:20 +11:00
Pat Hickey e9c5f07db2 AP_HAL: Working GPIO interface & implementation 
* actually, tested the output only... gotta do input next
 2012-12-20 14:51:20 +11:00
Pat Hickey 474f57a90a AP_HAL_AVR: Blink sketch - first working code on coreless 2012-12-20 14:51:20 +11:00
Pat Hickey ea8242ace1 AP_HAL: Add scheduler interface, move Arduino init code to implementation 2012-12-20 14:51:19 +11:00
Pat Hickey 59a94d5aac AP_HAL_AVR: implement ::init method in derived HAL_AVR class. 
* Implementation of ::init taken from Arduino core. Not tested yet
 2012-12-20 14:51:19 +11:00
Pat Hickey 18329b1a5d AP_HAL: add virtual init method to HAL class 2012-12-20 14:51:19 +11:00
Pat Hickey 3b2719dd8c AP_HAL_AVR: build APM1 example sketch with no Arduio core via nocore.inoflag 2012-12-20 14:51:19 +11:00
Pat Hickey 75279dfa43 AP_HAL_AVR: header include fixups 2012-12-20 14:51:19 +11:00
Pat Hickey 0d342a3293 AP_Common: use EXCLUDECORE macro to hack some debug messages away 2012-12-20 14:51:19 +11:00
Pat Hickey 7854c54880 Arduino.mk: when core is excluded, add -DEXCLUDECORE to flags 2012-12-20 14:51:19 +11:00
Pat Hickey 4493dbb4d2 Arduino.mk: support nocore.inoflag to do coreless builds of each sketch 2012-12-20 14:51:19 +11:00
Pat Hickey 8eb9b39a44 AP_HAL_AVR move library classes to their own AP_HAL_AVR namespace 2012-12-20 14:51:19 +11:00
Pat Hickey afd1f36400 AP_HAL: add BetterStream, Stream, and Print interfaces 
* BetterStream Means AP_HAL depends on AP_Common, for now, in order to have
  the AVR specific pgm_char_t defined.
  I'll need to factor that out in the future but for now it can stay
 2012-12-20 14:51:19 +11:00
Pat Hickey b34d4cdb17 Remove empty AP_Var_menufuncs.cpp 2012-12-20 14:51:19 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Pat Hickey c4dbe8c627 AP_Param: move from AP_Common to its own library 2012-12-20 14:51:19 +11:00
Pat Hickey e82d1402ef AP_Loop: moved to APO library, which is the only code that uses it 2012-12-20 14:51:19 +11:00
Pat Hickey 29a425c0dd AP_HAL: import utility Print, Stream, and BetterStream headers 2012-12-20 14:51:18 +11:00
Pat Hickey 00920b0483 AP_HAL_AVR: Stub implementations of AP_HAL_AVR concrete classes 2012-12-20 14:51:18 +11:00
Pat Hickey dc03b1190f AP_HAL: Stub implementations of pure virtual AP_HAL classes 2012-12-20 14:51:18 +11:00
Craig@3DR 2586c7a32a Updated the MediaTek configuration 
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
 2012-12-11 15:35:52 -08:00
rmackay9 24317e721b AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
rmackay9 a38db6744f AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
rmackay9 6cf94e20e7 AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9 395eb25041 ThirdOrderCompFilter: delete because now combined with AP_InertialNav library 2012-12-10 00:48:43 +09:00
rmackay9 154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 a84d9110bd AP_Buffer: add size 5 float fifo buffer to predeclared types 2012-12-10 00:41:59 +09:00
rmackay9 49619b15dd RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch 2012-12-09 16:42:58 +09:00
rmackay9 b4e5176e2a ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre 0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
rmackay9 35f94a6f71 AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5) 2012-12-07 12:57:12 +09:00
rmackay9 d11ee04888 AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo. 
Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
 2012-12-06 17:46:09 +09:00
rmackay9 eac26b2313 RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called. 2012-12-06 17:41:42 +09:00
rmackay9 e6686dcab8 ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes. 2012-12-06 10:24:58 +09:00
rmackay9 06d1c6b0c1 AP_Buffer: bug fix to allow buffer to completely fill up. 
Also removed redundant _tail parameter which saves 1 byte.
 2012-12-06 10:18:00 +09:00
rmackay9 8b5f66255e AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:35:55 +09:00
rmackay9 a92b7f3477 AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:20:31 +09:00
Robert Lefebvre a5c4e65cdf ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -05:00
Andrew Tridgell 3b18c57691 AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell d2f9a705ea MAVLink: clarify frame of reference for HIL_STATE 2012-12-03 23:31:34 +11:00
Andrew Tridgell 15abc784ec MAVLink: use a smaller maximum payload to reduce memory 
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
 2012-12-03 23:28:23 +11:00
Andrew Tridgell 5e77119377 AP_InertialSensor: fixed stub driver to work correctly with sensors HIL 2012-12-03 23:27:21 +11:00
Andrew Tridgell b237c0583d AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 2012-11-30 07:15:19 +11:00
Andrew Tridgell 4f868e04cc AP_InertialSensor: return the example sample count in Oilpan 2012-11-30 07:15:19 +11:00
Andrew Tridgell c7dd042909 InertialNav: update example for new interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 51080d3e9e AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 089ae0f9f3 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00
Andrew Tridgell 951e764442 SITL: prevent the GPS pipe filling up and delaying GPS readings 2012-11-28 14:23:53 +11:00
Andrew Tridgell 471ed9429a SITL: cleanup RC control for rover support 
added vehicle type, and setup right initial throttle
 2012-11-28 09:35:42 +11:00
Andrew Tridgell 5e7ca5b0f8 AC_PID: suppress the derivative immediately after reset 
use _last_derivative == NAN to flag that the derivative is invalid
 2012-11-27 18:45:49 +11:00
Andrew Tridgell 816fe9d35a PID: use NAN to flag a D reset 
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
 2012-11-27 18:41:31 +11:00
Andrew Tridgell eac1ad49d6 AC_PID: save 8 bytes per AC_PID object 
we don't need the _derivative or _output variables
 2012-11-27 18:06:22 +11:00
Andrew Tridgell 1dad9e4e94 AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell eb1d5c2c68 AHRS: improved docs for AHRS_GPS_USE 
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
 2012-11-27 15:41:52 +11:00
Andrew Tridgell 5b4321d367 cleanup: removed unused AP_PID library 2012-11-27 13:39:45 +11:00
Andrew Tridgell f6fce1e238 PID: don't reset _last_error on reset_I() 
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers

Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
 2012-11-27 13:35:09 +11:00
Robert Lefebvre 1d12b781a0 AC_PID: Create Leaky Integrator Function. 2012-11-26 21:01:20 -05:00
Robert Lefebvre 6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Andrew Tridgell 1059ef2a54 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Michael Oborne 1a3a7d173a AP remove debug include 2012-11-26 19:02:17 +08:00
Michael Oborne ed61ef61ed AP: fix ap hil. 2012-11-26 18:53:51 +08:00
Andrew Tridgell 471d672e54 examples: mark some examples as unable to build 
some are not worth fixing. Some can't build on 1280/2560
 2012-11-24 21:09:55 +11:00
Andrew Tridgell 9c3865b924 RC_Channel: fixed example build 2012-11-24 21:09:00 +11:00
Andrew Tridgell 5a0632340c Filter: fixed example build 2012-11-24 21:08:48 +11:00
Andrew Tridgell e7ad044019 DigitalWriteFast: fixed example build 2012-11-24 21:08:36 +11:00
Andrew Tridgell 2f8e467ab2 RangeFinder: fixed example build 2012-11-24 21:08:25 +11:00
Andrew Tridgell a096a3fda1 AP_PID: fixed example build 2012-11-24 21:08:14 +11:00
Andrew Tridgell 7ea18d5a61 AP_InertialSensor: fixed example build 2012-11-24 21:08:06 +11:00
Andrew Tridgell 57d3609d00 AP_GPS: fixed examples build 2012-11-24 21:07:53 +11:00
Andrew Tridgell 3552f3f9c5 AP_Baro: fixed example build 2012-11-24 21:07:41 +11:00
Andrew Tridgell eb5ac90e12 AC_PID: fixed example build 2012-11-24 21:07:34 +11:00
rmackay9 74daf73c49 AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G 
Note: Z offsets do tend to be larger than x and y offsets
 2012-11-23 00:34:42 +09:00
Andrew Tridgell 2e63b3ae8e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell d5e1a75616 APM_RC: fixed APM1 example sketch 2012-11-22 15:42:33 +11:00
Andrew Tridgell d0a2feb99c APM_RC: added a test for ISR masking in APM_RC 2012-11-22 15:42:33 +11:00
rmackay9 e32e0b03b4 DigitalWriteFast: added keywords for syntax colouring in Arduino IDE 2012-11-22 12:25:57 +09:00
Andrew Tridgell 0dc8dd5394 SITL: run the timer_scheduler() when there are no SITL packets 
otherwise we can block in the ADC code
 2012-11-21 22:20:14 +11:00
Andrew Tridgell a71c7b336d Revert "APM_RC: Modified get_last_update() to be more interrupt friendly" 
This reverts commit 50ba0ce4fa41c6d4101dff8da17c267a65750522.

It didn't build, and I want to do a release based on tested code
 2012-11-21 21:48:02 +11:00
Andrew Tridgell 11141d0af0 INS: make it possible to do accel cal on a different serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell d44ceb3fa5 FastSerial: added a vprintf_P() function 
used by CLI on UART2
 2012-11-21 21:41:34 +11:00
Andrew Tridgell ba4b9b9961 AP_Menu: allow menus to work on ports other than UART0 2012-11-21 21:41:34 +11:00
John Arne Birkeland e194c6c740 APM_RC: Modified get_last_update() to be more interrupt friendly 2012-11-21 10:34:04 +01:00
Andrew Tridgell d2170230f4 RC_Channel: added aileron_with_input aux function 2012-11-21 13:34:26 +11:00
Andrew Tridgell 07f5baea9e SITL: added in recursion check in timer_handler() 2012-11-21 09:10:10 +11:00
Andrew Tridgell 833d433caf Semaphore: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell 6836a986f3 PeriodicProcess: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell f843705da3 INS: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell e331634bc5 AP_Baro: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:17 +11:00
Andrew Tridgell fc63087cb8 AnalogSource: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:09 +11:00
Andrew Tridgell c1a02e49a0 ADC: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:30:03 +11:00
Andrew Tridgell ccb1f1722e SITL: fixed a interrupt recursion bug 
this can be triggered by the timer scheduler re-enabling interrupts
 2012-11-20 22:29:26 +11:00
Andrew Tridgell 3c88b0d204 AP_Param: fixed Vector3f elements with 16 character names 2012-11-20 22:27:11 +11:00
Andrew Tridgell b0713ba412 AP_Param: support up to 16 character parameter names 
MAVLink allows for 16 chars, with no null termination if all 16 are
used
 2012-11-20 21:35:22 +11:00
Andrew Tridgell a7e537d6c0 INS: set the acceptable calibration error equal on all axes 2012-11-20 19:28:49 +11:00
Andrew Tridgell 40fc0feaf9 INS: show calibration values on failure 
this will help debug bad calibrations
 2012-11-20 19:28:15 +11:00
Andrew Tridgell 85e050f16c INS: get check for send_msg the right way around! 
I broke this in my previous commit
 2012-11-20 19:10:30 +11:00
Andrew Tridgell fd3993287d INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell 9c811671f1 INS: make calibrate_accel() return a bool 
this will allow APM to auto set MANUAL_LEVEL to 1
 2012-11-20 18:32:27 +11:00
Andrew Tridgell 152c12c283 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell 3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 8ccac5da3d AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
Andrew Tridgell 5a214acca3 AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P 
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
 2012-11-19 22:50:05 +11:00
Andrew Tridgell 17c115d2aa SITL: don't define __AVR_ATmega2560__ on desktop build 
this allows us to properly separate the desktop build in the code
 2012-11-19 09:03:35 +11:00
Andrew Tridgell 7181780d3a DigitalWriteFast: added README about license and author 2012-11-19 08:46:47 +11:00
Andrew Tridgell 8311062610 AP_OpticalFlow: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell 10b8030e62 AP_Limits: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell fe23d27904 SITL: added SREG declaration 2012-11-19 08:42:36 +11:00
Andrew Tridgell 9e9c08b6d7 DigitalWriteFast: fixed memory cast to work on SITL build 2012-11-19 08:25:53 +11:00
Andrew Tridgell 8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
rmackay9 67fadd337d DigitalWriteFast: first addition of lib to speed up read and writes of analog pins 2012-11-19 01:07:10 +09:00
rmackay9 957d366cca Filter: improved low pass filter allows setting gain using time_step and cutoff freq 2012-11-19 01:06:06 +09:00
rmackay9 01dc9fbe3e APM_RC: allow ppm sum for as few as 5 channels 2012-11-16 11:07:11 +09:00
rmackay9 47b1bc30d3 APM_RC: fix _last_update definition to resolve build error 2012-11-16 10:00:56 +09:00
John Arne Birkeland 4258490cd8 APM_RC - Interupt safe get_last_update(); 2012-11-15 22:42:28 +01:00
rmackay9 73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
Andrew Tridgell 8561f08b2f AP_AHRS: prevent a large delta_t from affecting DCM solution 
this should fix large changes in attitude directly after arming
ArduCopter
 2012-11-13 15:33:10 +11:00
Andrew Tridgell e9e01ae28a SITL: fixed build with new sonar driver 2012-11-13 15:12:38 +11:00
rmackay9 4bfd3d5a29 AP_RangeFinder_MaxsonarI2CXL: fix compiler error re undefine I2c 2012-11-12 12:23:46 +09:00
rmackay9 f68523b39b AP_RangeFinder_MaxsonarI2CXL: resolve shadowed variable compiler warning 2012-11-12 10:41:09 +09:00
Andrew Tridgell daa4712078 AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell 27ff999319 I2C:: catch some more types of I2C errors for error count 2012-11-12 11:25:07 +11:00
Andrew Tridgell 8c2dadc12f AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
rmackay9 321d40f73a AP_RangeFinder: added support for MaxBotix XL I2C sonar 2012-11-12 00:25:29 +09:00
rmackay9 71a0022f34 AP_IMU: delete now that all functionality is moved to AP_InertialSensor 2012-11-11 22:44:36 +09:00
Jason Short c848fe18a5 APM1 Dataflash update 
My data flash would never erase, this fixed it.
 2012-11-09 22:15:16 -08:00
John Arne Birkeland 97d85de361 Optimized APM_RC.InputCh() to prevent global interrupt disable each time a value is read. 2012-11-08 01:03:24 +01:00
rmackay9 50a4838879 AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9 56f88821e9 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9 41489f34f9 AC_PID: fixed example sketch's compile errors 2012-11-07 23:34:10 +09:00
rmackay9 6bbf66697b AP_Mount: resolve compiler warning about unused mount_open variable 2012-11-07 23:29:25 +09:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 61dd405910 AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9 5f34d41b59 ThirdOrderCompFilter3D: fix compiler error 2012-11-07 19:47:48 +09:00
rmackay9 1c7118a2d1 AP_Baro: added get_last_update which returns the time the barometer sensor was last read 2012-11-07 19:21:25 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 68bdf93a4d APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9 7f190b8494 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9 dc7146c9ce ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9 48f1955f8e AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9 83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9 49de46a548 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
Andrew Tridgell 403721f8ca AP_AnalogSource: allow for the 'NONE' pin in Arduino ADC 
This allows us to have a configuration parameter for a pin which
defaults to -1, meaning not to read a pin at all. It will always
return 0
 2012-11-06 21:45:40 +11:00
Andrew Tridgell 736cb4c34b AP_Var: move the MetaClass lib into AP_Var 
AP_Var is the only one that uses it, and it generates warnings in our
build if we leave it in AP_Common
 2012-11-06 21:42:54 +11:00
Andrew Tridgell cd0672ce94 SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell fe47990dab AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell f58abb7550 RC_Channel: added pwm_to_angle_dz() function 
will be used by k_aileron in APM
 2012-11-05 23:37:25 +11:00
Andrew Tridgell ef919c4e36 AP_Param: fixed a bug with setting nested parameters 
This bug meant that setting a parameter in a parent class for a doubly
nested parameter group, where the parameter index in the parent class
is 4 or greater would actually set the first element in that parent
class.

At the moment only one parameter fits these narrow constraints - the
RCn_DZ element of the RC_Channel_aux class. So if someone set RC5_DZ
to 17 in ArduPlane it would actually set RC5_MIN to 17.
 2012-11-05 22:08:43 +11:00
Andrew Tridgell d57566ad0e RC_Channel: removed set_filter() and scale_output 
these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
 2012-11-05 20:49:42 +11:00
Andrew Tridgell 6a24bdec05 AP_AHRS: require at least 6 satellites to use the GPS for velocity 
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
 2012-11-05 20:07:37 +11:00
Andrew Tridgell 984b1086cb AP_GPS_UBLOX: ask for nav settings every 20 seconds 
this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 72e97c6dfc AP_GPS: start detection timer on first bytes 
this prevents a uBlox plugged in late from being detected as a NMEA
GPS
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 6f9fa7d3b3 AP_GPS: removed shadowed class variable _nav_setting 
this caused a uBlox to incorrectly configure as "portable" instead of
airborne if the detection took more than 2 seconds. That led to
terrible performance.
 2012-11-05 14:58:40 +11:00
Andrew Tridgell ea40432235 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell e74e730992 AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
rmackay9 3fd07805a7 AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9 d6324b3964 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
rmackay9 9e3824a09b AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
rmackay9 0159d8bd35 AP_Motors: bug fix to reached_limits so by default it returns true if any limits have been breached 2012-10-31 22:00:17 +09:00
Andrew Tridgell 024e5c3cc7 RC_Channel: added set_radio() and set_radio_to_trim() functions 2012-10-31 12:43:53 +11:00
Xichen Shi 8c46fced16 APM: Added functionality to use differential spoilers in elevon mode 
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
 2012-10-31 12:43:42 +11:00
rmackay9 09485ddc5f AP_OpticalFlow: fix example sketch to work with modified AP_Opticalflow library after memory saves 2012-10-22 16:41:45 +09:00
rmackay9 79fc5f072e AP_Curve: replace Serial.print with Serial.print_P to save 18 bytes of memory 2012-10-22 16:40:57 +09:00
rmackay9 57439b662c AP_OpticalFlow: change Serial.print to Serial.print_P to save 27 bytes 2012-10-22 16:37:24 +09:00
rmackay9 bff3417d29 AP_Limit_Geofence: reduce maximum number of fence points to 6 from 20 to save memory 2012-10-22 16:34:25 +09:00
Pat Hickey d728ccb620 AP_Menu unit test fixup 2012-10-18 21:08:37 -07:00
Pat Hickey 1bf21aae20 AP_Menu: create new library with menu from AP_Common 2012-10-18 20:50:16 -07:00
Andrew Tridgell eb0dd45a11 Desktop: fixed build with recent SPI changes 2012-10-19 11:21:42 +11:00
rmackay9 0bcf581a17 Desktop: fix build error 2012-10-18 19:33:31 +09:00
rmackay9 3f7b2dbda7 Desktop: add AP_Semaphore to list of includes for DataFlash_APM1.cpp 2012-10-18 19:25:53 +09:00
rmackay9 1958169e30 SPI3: add checks that SPI bus has been initialised to reduce possibility of interfering with UART3 on APM1 2012-10-18 19:17:24 +09:00
rmackay9 17afd075c1 DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow 2012-10-18 17:03:50 +09:00
rmackay9 a1b4531545 AP_OpticalFlow: added ability to pass in semaphores for main spi bus to stop conflicts with dataflash on APM1 2012-10-18 17:02:45 +09:00
rmackay9 785d9ca6a7 DataFlash_APM2: renamed semaphore to spi3_semaphore to make it more obvious which semaphore is required. 2012-10-18 17:00:05 +09:00
Andrew Tridgell a53cbc08f3 GPS: avoid output delays in the GPS auto detection 
this sends out the GPS init strings in 16 byte chunks to avoid causing
timing glitches when no GPS is attached
 2012-10-18 16:18:32 +11:00
Andrew Tridgell a979fb6014 AP_AnalogSource: added set_pin() interface 
this allows pin numbers to be changed at runtime
 2012-10-16 17:20:15 +11:00
Andrew Tridgell 5642922ca7 RC_Channel: simplify the example 
use an array of channels
 2012-10-16 15:50:54 +11:00
Andrew Tridgell 86b509a609 RC_Channel: ensure _reverse is not 0 
this caused the example to fail
 2012-10-16 15:50:29 +11:00
Pat Hickey f48568c9a6 MultiFastSerial example sketch: notes on fatal error in avr-gcc 4.5.x 2012-10-15 20:42:19 -07:00
Pat Hickey e84a467311 FastSerial example sketch: Depend on AP_Common for PSTR definitions 2012-10-15 20:42:18 -07:00
Pat Hickey 76e93e9fd7 AP_Common: PSTR def has specific version for avr-gcc 4.6 compatibility 
* Also a small change in FastSerial/vprintf.cpp, which duplicates the
  PSTR definition
* Won't effect others using earlier versions of avr-gcc
 2012-10-15 20:42:18 -07:00
Pat Hickey 2936dbb9de RC_Channel unit test: fixed build, functionality still wrong 2012-10-15 10:37:29 -07:00
Pat Hickey d75ca684cc MultiFastSerial test: make it easier to observe which serial port causes crash 2012-10-14 21:08:33 -07:00
Pat Hickey 930d387b8d FastSerial: add extra example sketch MultiFastSerial to test multiple ports 2012-10-14 18:58:12 -07:00
rmackay9 c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
Andrew Tridgell 00bf548f87 AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00
Andrew Tridgell e8c4dedcd7 AP_OBC: fixed resume on GPS loss 2012-10-11 11:51:24 +11:00
Pat Hickey 8a6017ea48 AP_ADC_test: fix build of test regressions. 
I'm not convinced I was able to make the timing test meaningful.
Someone should please lookinto this.
 2012-10-09 15:23:40 -07:00
Pat Hickey aa210d7e99 AP_DataFlash_test wibble 2012-10-09 11:39:09 -07:00
Pat Hickey 605f89fa69 DataFlash_APM2: private AP_Semaphore* rather than use extern AP_Semaphore_spi3 
The AP_Semaphore* argument to the constructor can be null (and is by
default for compatibility). Semaphore is only used when non-null.
 2012-10-09 11:38:52 -07:00
Pat Hickey 5ac21b71ce AP_OpticalFlow_test: fix build with NULL semaphore. 2012-10-09 11:36:21 -07:00
Pat Hickey 26ba391cd4 AP_OpticalFlow_ADNS3080: has private AP_Semaphore* _semaphore 
Semaphore can be null, handled correctly if it is. Rather than check for
which SPI bus the sensor is using, just check whether semaphore is not null
before using it. More general and flexible.
 2012-10-09 11:35:59 -07:00
Pat Hickey 6fc0d22671 AP_Semaphore.h: proper h macros 2012-10-09 11:12:11 -07:00
Pat Hickey b2b0b70d03 AP_Semaphore_test: instantiate AP_Semaphore_spi3 locally. 2012-10-09 11:05:34 -07:00
Pat Hickey c20a401c6a AP_Semaphore: do not instantiate or export a global spi3 semaphore. 2012-10-09 11:02:35 -07:00
Pat Hickey dfcbb6d9e9 AP_Semaphore_test: bugfix to extern semaphore, add Makefile for builds. 2012-10-09 10:55:50 -07:00
Pat Hickey 5796ee91ca AP_Semaphore: make into separate library rather than part of AP_Common 2012-10-09 10:55:06 -07:00
rmackay9 c320938ff2 AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability. 
Resolves climb-on-yaw problem.
 2012-10-09 15:48:15 +09:00
rmackay9 e33d314f1d AP_AHRS_MPU6000: resolve compiler warning re shadowing 2012-10-06 13:22:43 +09:00
rmackay9 b9963f5b5c DataFlash: modified to use AP_Semaphore for SPI3 bus when required. 
Also fixed test sketch which seemed broken.
 2012-10-06 12:41:50 +09:00
rmackay9 f9b16a9a50 AP_OpticalFlow: modified to use AP_Semaphore for SPI3 bus when required 2012-10-06 12:41:42 +09:00
rmackay9 23442f9caf AP_Semaphore: added new library to help remove conflicts over SPI bus 2012-10-06 12:41:35 +09:00
rmackay9 670fcbb634 AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter 
_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
 2012-09-30 00:21:18 +09:00
rmackay9 35cb7ff7e5 AP_PeriodicProcessStub: fixed build due to missing reference to _suspended 2012-09-29 14:41:25 +09:00
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9 c007a19200 AP_PeriodicProcess: added running() method which tells the caller whether the timer is suspended or not 2012-09-29 13:47:55 +09:00
rmackay9 00e79e7915 AP_TimerProcess: added simple example sketch 2012-09-29 13:23:51 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9 921ab3fe12 ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts) 2012-09-28 18:34:23 +09:00
rmackay9 a7c2ea1891 AP_OpticalFlow: save and restore SPI bus speed to remove conflict with dataflash that runs at 8Mhz 2012-09-28 17:29:45 +09:00
rmackay9 6ed59fba91 AP_Motors: enable throttle curve by default 2012-09-25 23:36:35 +09:00
Andrew Tridgell 9f9d570597 MAVLink: comm_get_txspace should return 0 on error 
it is used in expressions that add constants
 2012-09-25 07:20:43 +10:00
Andrew Tridgell 14b1674c3e PeriodProcess: fixed build warning 2012-09-25 07:10:35 +10:00
Andrew Tridgell 81fd4b3a3c OpticalFlow: fixed SITL build 2012-09-25 07:10:22 +10:00
Andrew Tridgell 608cc60689 GPS: fixed SIRF auto detect code 2012-09-25 07:10:07 +10:00
Andrew Tridgell 89fa234233 SPI3: fixed the build 2012-09-25 07:03:23 +10:00
rmackay9 a75e93da06 AP_TimerProcess: add one additional slot for optical flow 2012-09-24 18:39:28 +09:00
rmackay9 163a7841f6 AP_OpticalFlow: small fixes to test sketch to make it work with modified lib 2012-09-24 18:39:22 +09:00
rmackay9 cb584f81fb AP_OpticalFlow: remove APM2 version of library now that AP_OpticalFlow_ADNS3080 class can autodetect which SPI bus the sensor is on 2012-09-24 18:39:17 +09:00
rmackay9 4d3d13582b AP_OpticalFlow_ADNS3080: detect if optical flow sensor is on standard or secondary SPI bus 2012-09-24 18:39:12 +09:00
rmackay9 ca383b393d AP_OpticalFlow: use AP_PeriodicProcess to read at 20hz 2012-09-24 18:39:07 +09:00
rmackay9 96bb6e9c70 SPI3: add new library to make use of secondary SPI bus 2012-09-24 18:39:01 +09:00
rmackay9 bc2aa84394 AP_Motors: remove stray debug message re set-up of throttle curve 2012-09-23 12:25:31 +09:00
rmackay9 e4c8eaa181 AP_Airspeed: fixed constructor compile error in example sketch 2012-09-23 11:44:28 +09:00
Andrew Tridgell e5846bd965 AP_Baro: removed _sync_access check 
this isn't needed as the common variables are already protected by
cli()/sei()
 2012-09-20 17:34:33 +10:00
Andrew Tridgell 7b4dc246f8 RC_Channel: don't force radio_out in enable_aux_servos() 
this is called regularly, and causes the servo to twitch
 2012-09-20 17:34:32 +10:00
Andrew Tridgell ccf8ba3ce9 DCM: limit the contribution of the baro to vertical acceleration 
limit to a max of 0.5g
 2012-09-20 17:34:32 +10:00
Andrew Tridgell 458a42654b DCM: disable use of baro for vertical accel by default 
this has caused problems with too many users
 2012-09-20 17:34:32 +10:00
rmackay9 50a97f3092 AP_GPS: added get_lag method to return expected lag from the GPS. 2012-09-20 15:48:22 +09:00
rmackay9 30aa104000 AP_LeadFilter: moved lag to be a parameter passed into the get_position function. 
This saves 4 bytes of memory and will work better with the way we initialise the gps.
 2012-09-20 15:27:27 +09:00
rmackay9 2110231ee3 AP_LeadFilter: bug fix so velocity * _lag is used (otherwise we are assuming a 1sec lag) 2012-09-20 13:17:42 +09:00
rmackay9 2c36693a50 AP_LeadFilter: added set_lag feature to allow us to adjust it for different GPSs 2012-09-20 13:10:24 +09:00
Robert Lefebvre 9e32d45d7b Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges. 2012-09-19 20:43:58 -04:00
Andrew Tridgell e761645e24 AP_Param: added find_by_index() 2012-09-20 07:42:35 +10:00
Andrew Tridgell 728b3a133e GPS: disable auto detection of NMEA and SiRF on a 1280 board 
saves a bit more flash space
 2012-09-19 19:36:48 +10:00
Andrew Tridgell 0c864fd4dc AP_Airspeed: a bit more filtering 
this helps reduce noise at low speed
 2012-09-19 16:23:25 +10:00
rmackay9 93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
Andrew Tridgell 7e544e8ead MPU6k: save 72 bytes of memory 
the buffer can be on the stack
 2012-09-18 13:58:50 +10:00
Andrew Tridgell 78a95290a3 SITL: prevent a fd leak in GPS code 2012-09-17 14:45:48 +10:00
Andrew Tridgell 59b44816ec GPS: replaced the GPS auto-detect mechanism 
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup

The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
 2012-09-17 14:45:47 +10:00
Andrew Tridgell 8620a036de RC_Channel_aux: minor cleanups 
remove unused enable_out_ch() and enable k_manual channels. This
ensures k_manual channels used for bottle drop are initialised
correctly to trim output
 2012-09-16 15:50:13 +10:00
Andrew Tridgell bd31f340a7 RC_Channel: support channel reversal on range channels 
this makes it possible to have a reverse throttle in ArduPlane
 2012-09-16 15:06:26 +10:00
rmackay9 303ca11c4c HIL: changes to fix HIL for ArduCopter after recent timing changes. 
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
 2012-09-15 18:42:56 +09:00
Michael Oborne 94f956a0ca fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
rmackay9 1c9fe3b1b6 AP_AHRS: fix to allow example sketch to compile 2012-09-13 16:45:52 +09:00
Andrew Tridgell ba9543ee04 GPS: NMEA bug fix from Alexey Kozin 
thanks Alexey!
 2012-09-12 15:04:24 +10:00
Andrew Tridgell fba1692d69 AHRS: added AHRS_BARO_USE parameter 
allow disabling of the use of the barometer for vertical acceleration
compensation
 2012-09-12 14:42:04 +10:00
Andrew Tridgell b787dc8cce APM: added wdt.h for SITL build of APM 2012-09-10 15:52:53 +10:00
rmackay9 9f1033dc42 AP_InertialSensor_Stub: added num_samples_available method to fix HIL build 2012-09-10 11:38:13 +09:00
rmackay9 130f3b0030 AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called 2012-09-10 11:38:08 +09:00
rmackay9 7a265dbf61 AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete 2012-09-10 11:38:03 +09:00
rmackay9 55ef1e0a29 AP_PeriodicProcess: queue_process changes to suspend other processes before running queued process 
Also restored suspend_timer to void return type
 2012-09-10 11:37:58 +09:00
rmackay9 6ea5c21f7c AP_ADC: added num_samples_available to allow main loop to be synced with arrival of new sensor data for Oilpan. 2012-09-10 11:37:43 +09:00
rmackay9 fc4ff007e6 AP_IMU: added num_samples_available to allow main loop timing to be synced with arrival of new data from IMU. 2012-09-10 11:37:38 +09:00
rmackay9 0a6219695b AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately 
This reduces the delay between when data arrives and when it is used
by up to 1ms.

Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
 2012-09-10 11:37:33 +09:00
Craig Elder 90b74f5bab APM_RC: fixed noisy PWM output on startup for APM2 
This reduces the number of rubbish pulses on the APM2 PWM output pins
on startup, which should help with booting some cheaper ESCs.

Thanks to Randy for the idea!
 2012-09-10 08:09:28 +10:00
Andrew Tridgell 4c07add542 AP_Camera: updated for new RC_Channel_aux API 2012-09-08 15:13:06 +10:00
Andrew Tridgell f41270a3ce AP_Mount: updated for new RC_Channel_aux API 2012-09-08 15:12:52 +10:00
Andrew Tridgell 3b97339104 RC_Channel: simplified RC_Channel_aux and fixed issue 725 
it is perfectly valid to configure two RC channels with the same
function, especially when that function is manual output (ie. copy
input to output)

This removes the g_rc_function[] indirection array
 2012-09-08 15:12:28 +10:00
Andrew Tridgell de28cc8b28 AHRS: added AHRS_WIND_MAX option 
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
 2012-09-08 11:37:07 +10:00
Andrew Tridgell 8458607928 APM_OBC: changed termination servo values, and added loop counter 2012-09-08 11:37:00 +10:00
Andrew Tridgell fa84ba451a APM_OBM: Failsafe board sketch 
this combines with the OBC failsafe module
 2012-09-08 10:07:17 +10:00
Andrew Tridgell cca04d195a APM_OBC: handle separate terminate pin correctly 2012-09-08 10:07:14 +10:00
Andrew Tridgell 13145e4c01 OBC: added FS_TERM_PIN option 
this sets a pin for flight termination
 2012-09-08 10:07:08 +10:00
Andrew Tridgell 3a1ff7bdd9 Mavlink: enable MAVLINK_SEPARATE_HELPERS 
this fixes a seq number problem with SIMSTATE packets
 2012-09-08 10:06:19 +10:00
Andrew Tridgell 6922dcdea2 Compass: added compass.accumulate() API 
this allows us to accumulate mag readings using spare CPU cycles
 2012-09-08 10:05:54 +10:00
rmackay9 5994117f6f RC_Channel_aux: bug fix which could cause channel to be assigned to the wrong function and miss others 2012-09-02 12:46:04 +09:00
Andrew Tridgell d5b218c80b SITL: use AP_Declination code to get right compass dec for autotest 2012-08-29 13:33:01 +10:00
Pat Hickey 7b3009a238 APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg 
* Previously had the ICR register for ch1/2/9 (on timer5) swapped with
  ch3/4/10 (on timer1).
* This bug probably didn't make a difference in operation since
  SetFastOutputChannels is typically only used for copters, where at
  least CH1,2,3,4 would be set to fast all at once.
 2012-08-28 17:12:41 -07:00
Andrew Tridgell e2b8817a89 APM: added the ability to forcibly crash the plane on OBC failsafe breach 
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.

To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
 2012-08-28 20:18:24 +10:00
Andrew Tridgell 71500347ec APM_OBC: don't use _saved_wp when zero 2012-08-28 20:18:23 +10:00
Andrew Tridgell d13d117e61 APM: removed reset_I() and instead auto-reset integrator in PID library 
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
 2012-08-28 20:18:23 +10:00
Andrew Tridgell dd7c815c5f SITL: zero wind for first 15s 
this allows for airspeed calibration on startup
 2012-08-28 20:18:23 +10:00
rmackay9 c965963d7b AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop 2012-08-28 17:02:07 +09:00
Craig Elder 2da75b3c3c Revert "APM1: Delay serial3 init to not brick Xbee radios" 
This reverts commit 25d14a9d6a4a1ea60eb78485296298c98c1595d0.
 2012-08-27 15:00:23 -07:00
Amilcar Lucas b48a1f1fc4 ArduPlane: Fix 1280 builds 
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
 2012-08-27 01:33:45 +02:00
Amilcar Lucas 769f04b7d6 Improve comments, no functional changes 2012-08-27 01:32:27 +02:00
Amilcar Lucas 7a0c47d049 Improve comment aligment 2012-08-27 00:37:10 +02:00
Andrew Tridgell 747a926809 APM_OBC: ensure pins are setup as outputs 
constructor is run before parameters are loaded
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 2be785899b AHRS: added airspeed_estimate() function 
this allows the APM code to use an airspeed estimate for navigation
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 697b2074a5 SITL: added SIM_WIND_* parameters 
this allows control of the simulated wind during a flight
 2012-08-25 17:49:26 +10:00
Craig Elder b2c38d7dd4 APM1: Delay serial3 init to not brick Xbee radios 2012-08-24 17:55:20 -07:00
Andrew Tridgell 8b53f1272a AHRS: new functions to support APM_Control library 2012-08-22 12:42:37 +10:00
Jonathan Challinger 59875f8d53 APM_Control: added new APM controllers library 
See
http://www.challinger.us/2012/07/16/tuning-arduplane-roll-and-pitch-controllers/
for details
 2012-08-22 12:39:07 +10:00
uncrustify 08c8dffd48 uncrustify libraries/DataFlash/DataFlash.h 2012-08-21 19:19:52 -07:00
uncrustify 2e97fd3e9f uncrustify libraries/DataFlash/DataFlash.cpp 2012-08-21 19:19:52 -07:00
uncrustify 744ad19630 uncrustify libraries/AP_Motors/AP_MotorsHeli.h 2012-08-21 19:19:52 -07:00
uncrustify b1b1975018 uncrustify libraries/AP_Motors/AP_MotorsHeli.cpp 2012-08-21 19:19:52 -07:00
uncrustify 40a4777d31 uncrustify libraries/AP_Limits/AP_Limit_Geofence.cpp 2012-08-21 19:19:52 -07:00
uncrustify 97035fbead uncrustify libraries/AP_GPS/GPS.h 2012-08-21 19:19:52 -07:00
uncrustify 20d1a94778 uncrustify libraries/AP_GPS/AP_GPS_IMU.h 2012-08-21 19:19:52 -07:00
uncrustify 4cd477d13d uncrustify libraries/AP_GPS/AP_GPS_IMU.cpp 2012-08-21 19:19:52 -07:00
uncrustify 6c885df832 uncrustify libraries/AP_GPS/AP_GPS_UBLOX.cpp 2012-08-21 19:19:52 -07:00
uncrustify a48aa18d6f uncrustify libraries/AP_GPS/AP_GPS_MTK16.cpp 2012-08-21 19:19:52 -07:00
uncrustify 03b42037a0 uncrustify libraries/AP_GPS/AP_GPS_NMEA.h 2012-08-21 19:19:51 -07:00
uncrustify da81115079 uncrustify libraries/AP_GPS/AP_GPS_NMEA.cpp 2012-08-21 19:19:51 -07:00
uncrustify a8ed24da6c uncrustify libraries/AP_GPS/AP_GPS_SIRF.cpp 2012-08-21 19:19:51 -07:00
uncrustify 074f3ae872 uncrustify libraries/AP_GPS/AP_GPS_406.cpp 2012-08-21 19:19:51 -07:00
uncrustify 9ce7513096 uncrustify libraries/AP_GPS/AP_GPS_MTK.cpp 2012-08-21 19:19:51 -07:00
uncrustify 04e48ef878 uncrustify libraries/AP_Compass/Compass.h 2012-08-21 19:19:51 -07:00
uncrustify f3945772e9 uncrustify libraries/AP_Common/AP_Vector.h 2012-08-21 19:19:51 -07:00
uncrustify 953cab5c5f uncrustify libraries/AP_Common/AP_Test.h 2012-08-21 19:19:51 -07:00
uncrustify 4cd6657f70 uncrustify libraries/AP_Baro/AP_Baro_BMP085_hil.h 2012-08-21 19:19:51 -07:00
uncrustify e17fcbd9cb uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h 2012-08-21 19:19:51 -07:00
uncrustify af588679b9 uncrustify libraries/AP_AHRS/AP_AHRS.h 2012-08-21 19:19:51 -07:00
uncrustify 8c0e4f3987 uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h 2012-08-21 19:19:51 -07:00
uncrustify bc80148c75 uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h 2012-08-21 19:19:51 -07:00
uncrustify 31a4442904 uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp 2012-08-21 19:19:51 -07:00
uncrustify b1cf3f7f91 uncrustify libraries/RC_Channel/RC_Channel_aux.h 2012-08-21 19:04:32 -07:00
uncrustify 5564e0c440 uncrustify libraries/RC_Channel/RC_Channel.h 2012-08-21 19:04:31 -07:00
uncrustify fb2df43984 uncrustify libraries/RC_Channel/RC_Channel_aux.cpp 2012-08-21 19:04:31 -07:00
uncrustify e9fb7cfd92 uncrustify libraries/RC_Channel/RC_Channel.cpp 2012-08-21 19:04:31 -07:00
uncrustify 02877cfe28 uncrustify libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde 2012-08-21 19:04:31 -07:00
uncrustify b2ade84dbb uncrustify libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde 2012-08-21 19:04:31 -07:00
uncrustify 13e0dd2c70 uncrustify libraries/PID/PID.h 2012-08-21 19:04:31 -07:00
uncrustify 330c6c07e3 uncrustify libraries/PID/PID.cpp 2012-08-21 19:04:31 -07:00
uncrustify 84816966ec uncrustify libraries/PID/examples/pid/pid.pde 2012-08-21 19:04:31 -07:00
uncrustify 098bb9c2ea uncrustify libraries/memcheck/memcheck.h 2012-08-21 19:04:31 -07:00
uncrustify 2bbf7f2768 uncrustify libraries/memcheck/memcheck.cpp 2012-08-21 19:04:31 -07:00
uncrustify 7aa99f0752 uncrustify libraries/I2C/I2C.h 2012-08-21 19:04:30 -07:00
uncrustify 517530ba58 uncrustify libraries/I2C/I2C.cpp 2012-08-21 19:04:30 -07:00
uncrustify e1a905239e uncrustify libraries/I2C/examples/HMC5883L/HMC5883L.pde 2012-08-21 19:04:30 -07:00
uncrustify 84847da218 uncrustify libraries/Filter/Filter.h 2012-08-21 19:04:30 -07:00
uncrustify 5948f825ba uncrustify libraries/Filter/ModeFilter.h 2012-08-21 19:04:30 -07:00
uncrustify 406abb3fa0 uncrustify libraries/Filter/LowPassFilter.h 2012-08-21 19:04:30 -07:00
uncrustify c284fb144f uncrustify libraries/Filter/FilterWithBuffer.h 2012-08-21 19:04:30 -07:00
uncrustify dbba304af8 uncrustify libraries/Filter/AverageFilter.h 2012-08-21 19:04:30 -07:00
uncrustify 10acadef62 uncrustify libraries/Filter/DerivativeFilter.h 2012-08-21 19:04:30 -07:00
uncrustify 0afc8a5958 uncrustify libraries/Filter/DerivativeFilter.cpp 2012-08-21 19:04:29 -07:00
uncrustify 44598c1be7 uncrustify libraries/Filter/examples/Derivative/Derivative.pde 2012-08-21 19:04:29 -07:00
uncrustify 19ad85b27f uncrustify libraries/Filter/examples/Filter/Filter.pde 2012-08-21 19:04:29 -07:00
uncrustify d0a2877188 uncrustify libraries/Filter/examples/LowPassFilter/LowPassFilter.pde 2012-08-21 19:04:29 -07:00
uncrustify 9b44f5b741 uncrustify libraries/DataFlash/DataFlash_APM1.h 2012-08-21 19:04:23 -07:00
uncrustify c68a341633 uncrustify libraries/DataFlash/DataFlash_APM2.h 2012-08-21 19:04:23 -07:00
uncrustify 21337a39d3 uncrustify libraries/DataFlash/DataFlash_APM1.cpp 2012-08-21 19:04:23 -07:00
uncrustify eb9d6b259b uncrustify libraries/DataFlash/DataFlash_APM2.cpp 2012-08-21 19:04:23 -07:00
uncrustify 15d8ba45e3 uncrustify libraries/DataFlash/examples/DataFlash_test/DataFlash_test.pde 2012-08-21 19:04:10 -07:00
uncrustify 36a3fad796 uncrustify libraries/Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h 2012-08-21 19:04:10 -07:00
uncrustify dd3201e050 uncrustify libraries/AP_Relay/AP_Relay.h 2012-08-21 19:04:10 -07:00
uncrustify 06021825c8 uncrustify libraries/AP_Relay/AP_Relay.cpp 2012-08-21 19:04:10 -07:00
uncrustify c60cfb33f2 uncrustify libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h 2012-08-21 19:04:10 -07:00
uncrustify 9c45c74d97 uncrustify libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h 2012-08-21 19:04:10 -07:00
uncrustify c6f99a7b6e uncrustify libraries/AP_RangeFinder/RangeFinder.h 2012-08-21 19:04:10 -07:00
uncrustify b57832e19b uncrustify libraries/AP_RangeFinder/RangeFinder.cpp 2012-08-21 19:04:10 -07:00
uncrustify f8a27802f1 uncrustify libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp 2012-08-21 19:04:10 -07:00
uncrustify 605b3b6de2 uncrustify libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp 2012-08-21 19:04:10 -07:00
uncrustify 5abb025c9e uncrustify libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde 2012-08-21 19:04:10 -07:00
uncrustify 2b32044d6f uncrustify libraries/AP_PID/AP_PID.h 2012-08-21 19:04:10 -07:00
uncrustify 25eba0c383 uncrustify libraries/AP_PID/AP_PID.cpp 2012-08-21 19:04:10 -07:00
uncrustify 9c865a0d0d uncrustify libraries/AP_PID/examples/AP_pid/AP_pid.pde 2012-08-21 19:04:10 -07:00
uncrustify d952af79cc uncrustify libraries/AP_PeriodicProcess/PeriodicProcess.h 2012-08-21 19:04:10 -07:00
uncrustify ded021fa11 uncrustify libraries/AP_PeriodicProcess/AP_TimerProcess.h 2012-08-21 19:04:09 -07:00
uncrustify a24d925f52 uncrustify libraries/AP_PeriodicProcess/AP_PeriodicProcessStub.h 2012-08-21 19:04:09 -07:00
uncrustify aa2afece16 uncrustify libraries/AP_PeriodicProcess/AP_PeriodicProcessStub.cpp 2012-08-21 19:04:09 -07:00
uncrustify 621fafe370 uncrustify libraries/AP_PeriodicProcess/AP_TimerProcess.cpp 2012-08-21 19:04:09 -07:00
uncrustify d7d921119c uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.h 2012-08-21 19:04:09 -07:00
uncrustify 0db2404709 uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h 2012-08-21 19:04:09 -07:00
uncrustify ff94bd7696 uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow.h 2012-08-21 19:04:09 -07:00
uncrustify 80f5d0bb51 uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080_APM2.cpp 2012-08-21 19:04:09 -07:00
uncrustify b505b26226 uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp 2012-08-21 19:04:09 -07:00
uncrustify ce14ba0868 uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow.cpp 2012-08-21 19:04:09 -07:00
uncrustify 0fb7e82792 uncrustify libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde 2012-08-21 19:04:09 -07:00
uncrustify 4e3199a9e9 uncrustify libraries/AP_Navigation/Navigation.h 2012-08-21 19:04:09 -07:00
uncrustify c2ba76c2d3 uncrustify libraries/AP_Navigation/Navigation.cpp 2012-08-21 19:04:09 -07:00
uncrustify 41cefc68df uncrustify libraries/AP_Navigation/examples/Navigation_simple/Navigation_simple.pde 2012-08-21 19:04:09 -07:00
uncrustify fd9c31e39f uncrustify libraries/AP_Navigation/examples/Navigation/Navigation.pde 2012-08-21 19:04:09 -07:00
uncrustify 763d36ecf0 uncrustify libraries/APM_RC/APM_RC_APM2.h 2012-08-21 19:04:09 -07:00
uncrustify 0234d70511 uncrustify libraries/APM_RC/APM_RC.h 2012-08-21 19:04:08 -07:00
uncrustify 5af2e87786 uncrustify libraries/APM_RC/APM_RC_APM1.h 2012-08-21 19:04:08 -07:00
uncrustify 9365bf7126 uncrustify libraries/APM_RC/APM_RC_APM2.cpp 2012-08-21 19:04:08 -07:00
uncrustify 323bc2fb1b uncrustify libraries/APM_RC/APM_RC_APM1.cpp 2012-08-21 19:04:08 -07:00
uncrustify e0dea4c976 uncrustify libraries/APM_RC/examples/APM2_radio/APM2_radio.pde 2012-08-21 19:04:08 -07:00
uncrustify 41108c390e uncrustify libraries/APM_RC/examples/APM1_radio/APM1_radio.pde 2012-08-21 19:04:08 -07:00
uncrustify 466f76ebc1 uncrustify libraries/APM_PI/APM_PI.h 2012-08-21 19:04:08 -07:00
uncrustify 6c0c5f524b uncrustify libraries/APM_PI/APM_PI.cpp 2012-08-21 19:04:08 -07:00
uncrustify 7ffa44c324 uncrustify libraries/AP_Mount/AP_Mount.h 2012-08-21 19:04:08 -07:00
uncrustify ff555dfb7a uncrustify libraries/AP_Mount/AP_Mount.cpp 2012-08-21 19:04:08 -07:00
uncrustify 40dcf9e7a8 uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.h 2012-08-21 19:04:07 -07:00
uncrustify 3a5b8c5482 uncrustify libraries/AP_Motors/AP_MotorsOcta.h 2012-08-21 19:04:07 -07:00
uncrustify 4a44c6a1ba uncrustify libraries/AP_Motors/AP_MotorsTri.h 2012-08-21 19:04:07 -07:00
uncrustify d773a9c43b uncrustify libraries/AP_Motors/AP_Motors.h 2012-08-21 19:04:07 -07:00
uncrustify 4fe97c1e7b uncrustify libraries/AP_Motors/AP_MotorsMatrix.h 2012-08-21 19:04:07 -07:00
uncrustify b8cc5ac4af uncrustify libraries/AP_Motors/AP_MotorsY6.h 2012-08-21 19:04:07 -07:00
uncrustify 4cb9f57565 uncrustify libraries/AP_Motors/AP_MotorsHexa.h 2012-08-21 19:03:59 -07:00
uncrustify d3c856e889 uncrustify libraries/AP_Motors/AP_MotorsQuad.h 2012-08-21 19:03:59 -07:00
uncrustify 5ec922104a uncrustify libraries/AP_Motors/AP_MotorsHexa.cpp 2012-08-21 19:03:59 -07:00
uncrustify b982cca74e uncrustify libraries/AP_Motors/AP_Motors.cpp 2012-08-21 19:03:59 -07:00
uncrustify cc0c424eed uncrustify libraries/AP_Motors/AP_MotorsY6.cpp 2012-08-21 19:03:59 -07:00
uncrustify dc21cc1003 uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.cpp 2012-08-21 19:03:59 -07:00
uncrustify c7f8c4dfa7 uncrustify libraries/AP_Motors/AP_MotorsMatrix.cpp 2012-08-21 19:03:59 -07:00
uncrustify 6c33f81e9d uncrustify libraries/AP_Motors/AP_MotorsOcta.cpp 2012-08-21 19:03:59 -07:00
uncrustify 41c1205f26 uncrustify libraries/AP_Motors/AP_MotorsQuad.cpp 2012-08-21 19:03:35 -07:00
uncrustify df5d1a8aef uncrustify libraries/AP_Motors/AP_MotorsTri.cpp 2012-08-21 19:03:35 -07:00
uncrustify 364b089bd3 uncrustify libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde 2012-08-21 19:03:35 -07:00
uncrustify 652b490345 uncrustify libraries/AP_Math/vector2.h 2012-08-21 19:03:34 -07:00
uncrustify 97994a4e3a uncrustify libraries/AP_Math/AP_Math.h 2012-08-21 19:03:34 -07:00
uncrustify 7e19ae5868 uncrustify libraries/AP_Math/matrix3.h 2012-08-21 19:03:34 -07:00
uncrustify 9bb0b42f28 uncrustify libraries/AP_Math/rotations.h 2012-08-21 19:03:34 -07:00
uncrustify 57d4db2be4 uncrustify libraries/AP_Math/vector3.h 2012-08-21 19:03:34 -07:00
uncrustify d50c606c97 uncrustify libraries/AP_Math/quaternion.h 2012-08-21 19:03:34 -07:00
uncrustify 9ccb38260d uncrustify libraries/AP_Math/polygon.h 2012-08-21 19:03:34 -07:00
uncrustify 533860dd73 uncrustify libraries/AP_Math/AP_Math.cpp 2012-08-21 19:03:34 -07:00
uncrustify b5bee9deff uncrustify libraries/AP_Math/polygon.cpp 2012-08-21 19:03:34 -07:00
uncrustify a208fbb2d9 uncrustify libraries/AP_Math/vector3.cpp 2012-08-21 19:03:34 -07:00
uncrustify 424baf3f29 uncrustify libraries/AP_Math/quaternion.cpp 2012-08-21 19:03:33 -07:00
uncrustify d6e803fd3c uncrustify libraries/AP_Math/matrix3.cpp 2012-08-21 19:03:33 -07:00
uncrustify 64eaadb332 uncrustify libraries/AP_Math/location.cpp 2012-08-21 19:03:33 -07:00
uncrustify d0d401581f uncrustify libraries/AP_Math/examples/location/location.pde 2012-08-21 19:03:33 -07:00
uncrustify 52dbb56bf0 uncrustify libraries/AP_Math/examples/rotations/rotations.pde 2012-08-21 19:03:33 -07:00
uncrustify 87c263fbb9 uncrustify libraries/AP_Math/examples/polygon/polygon.pde 2012-08-21 19:03:33 -07:00
uncrustify 86627c9a9d uncrustify libraries/AP_Math/examples/eulers/eulers.pde 2012-08-21 19:03:33 -07:00
uncrustify 6fc94828b8 uncrustify libraries/AP_Limits/AP_Limit_Geofence.h 2012-08-21 19:03:33 -07:00
uncrustify 4c8a9eb57d uncrustify libraries/AP_Limits/AP_Limit_Module.h 2012-08-21 19:03:33 -07:00
uncrustify f5ae336073 uncrustify libraries/AP_Limits/AP_Limit_Altitude.h 2012-08-21 19:03:32 -07:00
uncrustify 65e518faed uncrustify libraries/AP_Limits/AP_Limit_GPSLock.h 2012-08-21 19:03:32 -07:00
uncrustify 3aad66b909 uncrustify libraries/AP_Limits/AP_Limits.h 2012-08-21 19:03:32 -07:00
uncrustify 0fc400e43e uncrustify libraries/AP_Limits/AP_Limits.cpp 2012-08-21 19:03:32 -07:00
uncrustify 900ece6ef4 uncrustify libraries/AP_Limits/AP_Limit_Altitude.cpp 2012-08-21 19:03:32 -07:00
uncrustify 406eb1430c uncrustify libraries/AP_Limits/AP_Limit_GPSLock.cpp 2012-08-21 19:03:32 -07:00
uncrustify 065cdfe7d0 uncrustify libraries/AP_Limits/AP_Limit_Module.cpp 2012-08-21 19:03:32 -07:00
uncrustify fd41329e80 uncrustify libraries/AP_LeadFilter/AP_LeadFilter.h 2012-08-21 19:03:15 -07:00
uncrustify cdb6c60799 uncrustify libraries/AP_LeadFilter/AP_LeadFilter.cpp 2012-08-21 19:03:15 -07:00
uncrustify 966c0a0d1c uncrustify libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde 2012-08-21 19:03:14 -07:00
uncrustify ad51ac5e11 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h 2012-08-21 19:03:14 -07:00
uncrustify 323ab9acf4 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h 2012-08-21 19:03:14 -07:00
uncrustify 8e5a031987 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.h 2012-08-21 19:03:14 -07:00
uncrustify ac3960b3e7 uncrustify libraries/AP_InertialSensor/AP_InertialSensor.h 2012-08-21 19:03:14 -07:00
uncrustify e6c2616769 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp 2012-08-21 19:03:14 -07:00
uncrustify 77729b847f uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp 2012-08-21 19:03:14 -07:00
uncrustify 0c322fb18a uncrustify libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp 2012-08-21 19:03:14 -07:00
uncrustify 25eaeff6a8 uncrustify libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde 2012-08-21 19:03:14 -07:00
uncrustify c8ff85a598 uncrustify libraries/AP_IMU/AP_IMU_Shim.h 2012-08-21 19:03:13 -07:00
uncrustify 7f57d462d0 uncrustify libraries/AP_IMU/AP_IMU_INS.h 2012-08-21 19:03:13 -07:00
uncrustify 5601c52c46 uncrustify libraries/AP_IMU/IMU.h 2012-08-21 19:03:13 -07:00
uncrustify 5a2ec6843e uncrustify libraries/AP_IMU/AP_IMU_INS.cpp 2012-08-21 19:03:13 -07:00
uncrustify a5ed2f9a53 uncrustify libraries/AP_IMU/IMU.cpp 2012-08-21 19:03:13 -07:00
uncrustify 849c492a5d uncrustify libraries/AP_IMU/examples/IMU_Oilpan_test/IMU_Oilpan_test.pde 2012-08-21 19:03:13 -07:00
uncrustify 8e00b6d0a9 uncrustify libraries/AP_IMU/examples/IMU_MPU6000_test/IMU_MPU6000_test.pde 2012-08-21 19:03:13 -07:00
uncrustify d8200a6aea uncrustify libraries/AP_GPS/AP_GPS_HIL.h 2012-08-21 19:03:13 -07:00
uncrustify 8ad83695b8 uncrustify libraries/AP_GPS/AP_GPS_MTK16.h 2012-08-21 19:03:02 -07:00
uncrustify a91687f1cb uncrustify libraries/AP_GPS/AP_GPS_None.h 2012-08-21 19:03:02 -07:00
uncrustify c95fc7b166 uncrustify libraries/AP_GPS/AP_GPS_406.h 2012-08-21 19:02:53 -07:00
uncrustify 65f55328e2 uncrustify libraries/AP_GPS/AP_GPS.h 2012-08-21 19:02:53 -07:00
uncrustify 4950bf3b95 uncrustify libraries/AP_GPS/AP_GPS_UBLOX.h 2012-08-21 19:02:46 -07:00
uncrustify a8ad5f62a5 uncrustify libraries/AP_GPS/AP_GPS_MTK.h 2012-08-21 19:02:40 -07:00
uncrustify 9b3081345e uncrustify libraries/AP_GPS/AP_GPS_Auto.h 2012-08-21 19:02:40 -07:00
uncrustify a133b098a5 uncrustify libraries/AP_GPS/AP_GPS_SIRF.h 2012-08-21 19:02:40 -07:00
uncrustify 5c24c373d0 uncrustify libraries/AP_GPS/AP_GPS_Shim.h 2012-08-21 19:02:40 -07:00
uncrustify cdaf2f923d uncrustify libraries/AP_GPS/GPS.cpp 2012-08-21 19:02:32 -07:00
uncrustify c5451b0e9b uncrustify libraries/AP_GPS/AP_GPS_HIL.cpp 2012-08-21 19:02:12 -07:00
uncrustify b9d3f449b9 uncrustify libraries/AP_GPS/AP_GPS_Auto.cpp 2012-08-21 19:02:11 -07:00
uncrustify 9e43a9d090 uncrustify libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde 2012-08-21 19:01:35 -07:00
uncrustify 0f5aff35fc uncrustify libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde 2012-08-21 19:01:35 -07:00
uncrustify 1e8ea08bce uncrustify libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 9f2d71e544 uncrustify libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 12b5e53ce7 uncrustify libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde 2012-08-21 19:01:34 -07:00
uncrustify d6d51e4116 uncrustify libraries/AP_Declination/AP_Declination.h 2012-08-21 19:01:34 -07:00
uncrustify bcfff533f0 uncrustify libraries/AP_Declination/AP_Declination.cpp 2012-08-21 19:01:34 -07:00
uncrustify 6f4533c8a8 uncrustify libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 6bc9c5707f uncrustify libraries/AP_Compass/AP_Compass_HMC5843.h 2012-08-21 19:01:34 -07:00
uncrustify f534730fab uncrustify libraries/AP_Compass/AP_Compass_HIL.h 2012-08-21 19:01:21 -07:00
uncrustify 4f9c6bbb19 uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp 2012-08-21 19:01:20 -07:00
uncrustify 7840eebaef uncrustify libraries/AP_Compass/Compass.cpp 2012-08-21 19:01:20 -07:00
uncrustify d1190e1ed4 uncrustify libraries/AP_Compass/AP_Compass_HIL.cpp 2012-08-21 19:01:20 -07:00
uncrustify 53ef9e8b9e uncrustify libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde 2012-08-21 19:01:20 -07:00
uncrustify 4b60e53736 uncrustify libraries/AP_Common/AP_Loop.h 2012-08-21 19:01:03 -07:00
uncrustify 7d438cd65d uncrustify libraries/AP_Common/include/menu.h 2012-08-21 19:01:02 -07:00
uncrustify 6bb8e4e8ac uncrustify libraries/AP_Common/AP_Common.h 2012-08-21 19:01:02 -07:00
uncrustify 0c99546f45 uncrustify libraries/AP_Common/AP_MetaClass.h 2012-08-21 19:01:02 -07:00
uncrustify e79d9adea0 uncrustify libraries/AP_Common/c++.h 2012-08-21 19:00:52 -07:00
uncrustify 3a26b94af2 uncrustify libraries/AP_Common/tools/eedump.c 2012-08-21 19:00:51 -07:00
uncrustify 4a50e56a48 uncrustify libraries/AP_Common/tools/eedump_apparam.c 2012-08-21 19:00:51 -07:00
uncrustify 3e4507a4a2 uncrustify libraries/AP_Common/menu.cpp 2012-08-21 19:00:51 -07:00
uncrustify 09c4f76b57 uncrustify libraries/AP_Common/AP_Param.cpp 2012-08-21 19:00:51 -07:00
uncrustify c18e73a54d uncrustify libraries/AP_Common/c++.cpp 2012-08-21 19:00:51 -07:00
uncrustify ca476e5851 uncrustify libraries/AP_Common/examples/menu/menu.pde 2012-08-21 19:00:51 -07:00
Pat Hickey 42e24a869f uncrustify libraries/AP_Common/AP_Param.h with fixups by hand 2012-08-21 19:00:51 -07:00
uncrustify 6f09714618 uncrustify libraries/AP_Camera/AP_Camera.h 2012-08-21 19:00:51 -07:00
uncrustify 30107b9665 uncrustify libraries/AP_Camera/AP_Camera.cpp 2012-08-21 19:00:51 -07:00
uncrustify fa90f0b80f uncrustify libraries/AP_Baro/AP_Baro.h 2012-08-21 19:00:51 -07:00
uncrustify 1196285266 uncrustify libraries/AP_Baro/AP_Baro_MS5611.h 2012-08-21 19:00:50 -07:00
uncrustify cfcef93e16 uncrustify libraries/AP_Baro/AP_Baro_BMP085.h 2012-08-21 19:00:50 -07:00
uncrustify 5a99d6b697 uncrustify libraries/AP_Baro/AP_Baro_BMP085.cpp 2012-08-21 19:00:18 -07:00
uncrustify b0003c020f uncrustify libraries/AP_Baro/AP_Baro_MS5611.cpp 2012-08-21 19:00:18 -07:00
uncrustify b39411e8d4 uncrustify libraries/AP_Baro/AP_Baro_BMP085_hil.cpp 2012-08-21 19:00:18 -07:00
uncrustify 6f02a645c3 uncrustify libraries/AP_Baro/AP_Baro.cpp 2012-08-21 19:00:18 -07:00
uncrustify 12497c51b5 uncrustify libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde 2012-08-21 19:00:18 -07:00
uncrustify fce9044fb4 uncrustify libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde 2012-08-21 19:00:17 -07:00
uncrustify 4a7e79b3ac uncrustify libraries/AP_AnalogSource/AnalogSource.h 2012-08-21 19:00:17 -07:00
uncrustify 46eeaffdf1 uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.h 2012-08-21 19:00:17 -07:00
uncrustify d7fe646829 uncrustify libraries/AP_AnalogSource/AP_AnalogSource_ADC.h 2012-08-21 19:00:17 -07:00
uncrustify 3c1a4b249a uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp 2012-08-21 19:00:17 -07:00
uncrustify e9b5e28b40 uncrustify libraries/AP_AnalogSource/examples/AnalogSource_Arduino/AnalogSource_Arduino.pde 2012-08-21 19:00:17 -07:00
uncrustify 90419ad834 uncrustify libraries/AP_Airspeed/AP_Airspeed.h 2012-08-21 19:00:17 -07:00
uncrustify 37c79f5501 uncrustify libraries/AP_Airspeed/AP_Airspeed.cpp 2012-08-21 19:00:17 -07:00
uncrustify 3c2873b4f5 uncrustify libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde 2012-08-21 19:00:17 -07:00
uncrustify d6d7606c84 uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp 2012-08-21 18:59:34 -07:00
uncrustify 9e4e08699d uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp 2012-08-21 18:59:34 -07:00
uncrustify 6327305116 uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde 2012-08-21 18:59:13 -07:00
uncrustify fc11f7e3f0 uncrustify libraries/AP_ADC/AP_ADC_HIL.h 2012-08-21 18:59:13 -07:00
uncrustify f302ee3d7f uncrustify libraries/AP_ADC/AP_ADC.h 2012-08-21 18:59:13 -07:00
uncrustify 44941072dc uncrustify libraries/AP_ADC/AP_ADC_ADS7844.h 2012-08-21 18:59:13 -07:00
uncrustify 149e222e6a uncrustify libraries/AP_ADC/AP_ADC_HIL.cpp 2012-08-21 18:59:13 -07:00
uncrustify 7b41104d7e uncrustify libraries/AP_ADC/AP_ADC.cpp 2012-08-21 18:59:13 -07:00
uncrustify 79b370cf1d uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp 2012-08-21 18:59:13 -07:00
uncrustify 796d23277c uncrustify libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde 2012-08-21 18:59:13 -07:00
uncrustify 6c5757e775 uncrustify libraries/AC_PID/AC_PID.h 2012-08-21 18:59:13 -07:00
uncrustify fc9f1a8216 uncrustify libraries/AC_PID/AC_PID.cpp 2012-08-21 18:59:13 -07:00
uncrustify 7c4f980638 uncrustify libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde 2012-08-21 18:59:13 -07:00
Andrew Tridgell 6d28b3519f AHRS: removed AP_AHRS_Quaternion 
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
 2012-08-22 10:41:31 +10:00
Andrew Tridgell ddf9541c0a AP_GPS: fixed build of new MTK code 2012-08-22 10:02:21 +10:00
Craig Elder 2493ffaad1 GPS: Corrections to Media Tek GPS Driver. Change to 5Hz and SBAS 2012-08-22 09:56:25 +10:00
Robert Lefebvre 575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Andrew Tridgell 2985de279f AHRS: fixed duplicate gps_use variable in DCM 2012-08-21 20:17:03 +10:00
Andrew Tridgell 134cd51d17 AHRS: moved var_info[] into top level AP_AHRS class 2012-08-21 15:58:09 +10:00
Andrew Tridgell ac72db8f00 AHRS: added set_fast_gains() method 
this will be used by arducopter on the ground
 2012-08-21 15:38:06 +10:00
Robert Lefebvre bf6c934c32 Changing TradHeli param motors.acro_mode to motors.flybar_mode to better reflect it's intent. 2012-08-20 23:13:50 -04:00