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2670 Commits

Author SHA1 Message Date
Andrew Tridgell faf58a355b airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Andrew Tridgell 47da2ec992 ADC: change adc.Ch() to return a float 
this gives us a bit more precision in airspeed measurement, and costs
us virtually nothing as we are converting to float immediately after
getting the value
 2011-12-12 15:14:55 +11:00
Andrew Tridgell 43a53aa303 dcm: fixed an uninitialised variable 
if no compass and not in motion the DCM we would multiply by an
uninitialised number
 2011-12-11 15:21:10 -08:00
Andrew Tridgell bb861117a3 apm2: fixed for new barometer code 2011-12-11 15:21:10 -08:00
Pat Hickey 85b82e75f6 ArduPlane: update AP_Baro construtors and initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 5819f99986 AP_Baro_MS5611: Asynchronous operation, plus c++ style changes. 
Yeah, I know this was a big change to make all at once.
 2011-12-11 15:21:10 -08:00
Pat Hickey 3d882c4d49 AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations 
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
 2011-12-11 15:21:10 -08:00
Pat Hickey d5386b8bb8 AP_Baro_BMP085: move apm2_hardware flag from init to constructor. 2011-12-11 15:21:10 -08:00
Pat Hickey 6710cf5c5a Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey a7b9c8b9cd AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks. 2011-12-11 15:21:10 -08:00
Pat Hickey 67436d7ff2 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey bd00b629e7 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey 82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 12222550cf AP_Baro_BMP085: Delete commented out code 
* If its important to get old code back, thats why version control exists
 2011-12-11 15:21:09 -08:00
Pat Hickey 9a9b63259a AP_Baro_BMP085: implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey 45cbb24ba5 AP_Baro_MS5611: init must also perform SPI.begin 2011-12-11 15:21:09 -08:00
Pat Hickey a75257f102 AP_Baro_MS5611: CS pin is arduino pin 40 2011-12-11 15:21:09 -08:00
Pat Hickey 7b708f8054 AP_Baro_MS5611: Implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey 41ecb0fef4 AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private. 2011-12-11 15:21:09 -08:00
Pat Hickey 264cb1a26e AP_Baro_MS5611: conform to AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey c3aab6af83 AP_Baro: Create virtual interface 2011-12-11 15:21:09 -08:00
Pat Hickey 5fd8fea957 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey 6f27c4c779 ArduPlane: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 0b0922d04c ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 63d3b6a278 ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes 2011-12-11 15:21:09 -08:00
Pat Hickey 84cb023b12 AP_Baro_MS5611: renamed class implementation from APM_MS5611 2011-12-11 15:21:09 -08:00
Pat Hickey 3d93eb9534 AP_Baro_MS5611.h: reorganized 
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
 2011-12-11 15:21:09 -08:00
Pat Hickey 8f16b736a4 AP_Baro_MS5611: Overwrote with Jose Julio's latest files. 2011-12-11 15:21:09 -08:00
Pat Hickey 698a231dd6 ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey f5720be81f AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers. 2011-12-11 15:21:09 -08:00
Pat Hickey e8e4881da8 AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085. 2011-12-11 15:21:09 -08:00
Pat Hickey 917418994d BMP085 fix line endings 2011-12-11 15:21:09 -08:00
Pat Hickey 7b51a2c42a AP_Baro: move all APM_BMP085 files inside AP_Baro 2011-12-11 15:21:09 -08:00
Pat Hickey cca6b2f98c Added AP_Baro and AP_Baro_MS5611 classes. 
Incomplete and does not work.
 2011-12-11 15:21:08 -08:00
Pat Hickey 05b6f4be81 ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey 273492bc66 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short 4efbae4a1c Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short c01361a79d removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short b442a1b23c added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short 4ff5d5016a fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay 26705111e1 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short a0cef1cc88 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short 37f1a574fa Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short 64cb2a54cf eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short f71949de2e Cleaned up mission 3 2011-12-10 20:43:39 -08:00
Jason Short 9c3475f168 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short 2b06a54fc5 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00