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2156 Commits

Author SHA1 Message Date
rmackay9 e2b1cb7e8d 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 575382b5f4 APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9 ebf3e609a2 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9 9b4d107e96 ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9 4a6261af64 AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9 8ab0611261 AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9 e835cef181 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 85054c1541 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 33338e7173 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 c14788240f SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell 2d1b68fb22 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 3a1f85a4b0 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 df96832900 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 c1fbad52c0 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 7a679dc19a 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 1cbd8ba7b3 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 2ed3c84a8c 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 1fcf6ebca7 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 3c025c6113 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell 5d2bfab23c 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 f32c1ce80a AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9 19a2b368e5 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
rmackay9 1e0cf2644d AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
rmackay9 d74636b980 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 8deba5f43b RC_Channel: added set_radio() and set_radio_to_trim() functions 2012-10-31 12:43:53 +11:00
Xichen Shi f1fd7479bd 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 514cd728a0 AP_OpticalFlow: fix example sketch to work with modified AP_Opticalflow library after memory saves 2012-10-22 16:41:45 +09:00
rmackay9 a3f1aa0c7b AP_Curve: replace Serial.print with Serial.print_P to save 18 bytes of memory 2012-10-22 16:40:57 +09:00
rmackay9 00279c6d3a AP_OpticalFlow: change Serial.print to Serial.print_P to save 27 bytes 2012-10-22 16:37:24 +09:00
rmackay9 eaf75d3be4 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 53c471e8fc AP_Menu unit test fixup 2012-10-18 21:08:37 -07:00
Pat Hickey 7f06fa94a5 AP_Menu: create new library with menu from AP_Common 2012-10-18 20:50:16 -07:00
Andrew Tridgell 44f49aafb6 Desktop: fixed build with recent SPI changes 2012-10-19 11:21:42 +11:00
rmackay9 96470e2d49 Desktop: fix build error 2012-10-18 19:33:31 +09:00
rmackay9 4055066779 Desktop: add AP_Semaphore to list of includes for DataFlash_APM1.cpp 2012-10-18 19:25:53 +09:00
rmackay9 0722d671d6 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 2428cc647c DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow 2012-10-18 17:03:50 +09:00
rmackay9 a7d9e181d3 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 5f2c900797 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 890bed4918 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 f541b2a081 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 dac569a393 RC_Channel: simplify the example 
use an array of channels
 2012-10-16 15:50:54 +11:00
Andrew Tridgell bad02cab04 RC_Channel: ensure _reverse is not 0 
this caused the example to fail
 2012-10-16 15:50:29 +11:00
Pat Hickey 8577a0c7a1 MultiFastSerial example sketch: notes on fatal error in avr-gcc 4.5.x 2012-10-15 20:42:19 -07:00
Pat Hickey 2dace5cf5f FastSerial example sketch: Depend on AP_Common for PSTR definitions 2012-10-15 20:42:18 -07:00
Pat Hickey def4ffbe86 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 5dd12bbe9d RC_Channel unit test: fixed build, functionality still wrong 2012-10-15 10:37:29 -07:00
Pat Hickey 2c9678bf01 MultiFastSerial test: make it easier to observe which serial port causes crash 2012-10-14 21:08:33 -07:00
Pat Hickey afcc3c735a FastSerial: add extra example sketch MultiFastSerial to test multiple ports 2012-10-14 18:58:12 -07:00
rmackay9 1df891e2ce 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