7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
273a974814
SITL: add some magnetometer offsets
...
this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
6c20ff9492
AP_Param: allow dumping of AP_Vector3f
...
this means the 'show' command in the CLI shows the compass offsets now
2012-02-14 08:34:50 +11:00
4ec3857476
GPS: change back to 4Hz for MTK GPS
...
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
2012-02-13 22:50:20 +11:00
e70e1814ac
AP_Baro: fixed some signed/unsigned warnings
...
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
550b0be231
move AP_Var code and example into libraries/AP_Var
...
you can use AP_Var by defining USE_AP_VAR
2012-02-13 16:22:53 +11:00
e7e7450f90
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
c497ad9b7e
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
845d056c18
fixed PID initialisation
2012-02-13 16:22:53 +11:00
c6b6898266
RC_Channel_aux: catch invalid function settings
...
a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
d41c56214c
fixed types in GPS detect code
...
using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
ee2cb32a44
change back to 256 max variables in _var_info[]
...
this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
2012-02-13 16:22:52 +11:00
6cf7015859
added indexes to group info structures
2012-02-13 16:22:52 +11:00
7621b96a52
AP_Param: added group idx, and change packing of header elements
...
adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM
The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
2012-02-13 16:22:52 +11:00
711cee9dfa
fixed support for AP_PARAM_SPARE
...
spare group elements are needed if we remove a group parameter
2012-02-13 16:22:52 +11:00
db8a58f994
fixed build on arduino 1.0
2012-02-13 16:22:52 +11:00
170fdef857
convert APM_PI library to AP_Param
2012-02-13 16:22:52 +11:00
74e0d2ef2a
convert AC_PID library to AP_Param
2012-02-13 16:22:52 +11:00
4a9cb731d4
fixed missing return in D value
2012-02-13 16:22:52 +11:00
c4b7a3116a
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
df77c462a4
fixed initialisation of RC_Channel class
2012-02-13 16:22:51 +11:00
244d2055ff
AP_Param: fixed desktop build
2012-02-13 16:22:51 +11:00
c195be594a
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
34bc88eab5
AP_Param: added generic cast_to_float
2012-02-13 16:22:51 +11:00
a1057fe738
AP_Param: disable debug ready for production
2012-02-13 16:22:51 +11:00
7ffb9b462d
AP_Param: make ptype in first() and next() optional
2012-02-13 16:22:51 +11:00
5c3e059eea
adapt Mavlink_compat.h to AP_Param
2012-02-13 16:22:51 +11:00
dff75dba96
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
b6ee5ca982
added nested group support and validation
2012-02-13 16:22:51 +11:00
30c76664ce
added size of Vector6f
2012-02-13 16:22:51 +11:00
fc0f1c52ca
modify RC_Channel for AP_Param
2012-02-13 16:22:51 +11:00
013d66527d
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
78564f6a92
modify the IMU code for AP_Param
2012-02-13 16:22:51 +11:00
32d997b95f
modify the compass code for AP_Param
2012-02-13 16:22:51 +11:00
2154288e2b
hacks to get AP_Param to compile
2012-02-13 16:22:50 +11:00
937f8a4741
new AP_Param subsystem
2012-02-13 16:22:50 +11:00
4b0c71d6ac
Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements.
2012-02-13 00:00:06 +00:00
a07f37f1b4
Removed outdated comment:
...
" // deadzone moved to
//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
2012-02-11 16:51:02 +00:00
651bd6953b
fix uint > int issue - for hil
2012-02-11 11:35:59 +08:00
fb76aa9ca9
APM_RC_APM2: Add support for CH_10 and CH_11
...
* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11
* Only the code in enable_out, disable_out, and OutputCh needed to change.
* CH_10 and CH_11 always have an output period of 20ms (50Hz).
2012-02-06 22:11:01 -08:00
2f25c1f9f1
AC_PID Library - added example sketch
2012-02-05 17:35:15 +09:00
a694e16540
APM_PerfMon - removed because it's too big to use with our limited memory now anyway! I have a backup in case we need to resurrect it in the future.
2012-02-05 11:11:59 +09:00
5185901f79
Added D term to APM_PI - need to refactor this as a parent class and two child classes to save code space, remove dupes
2012-01-28 21:21:43 -08:00
b543bbf514
Arduino 1.0 - GPS_IMU - small fix to make it compile. Does anyone use this lib?!
2012-01-28 17:56:56 +09:00
8bcc567406
AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again
2012-01-28 17:54:20 +09:00
2e1e34fb9c
Arduino 1.0 - small fix to make AP_Baro_MS5611_test.pde compile under Arduino 1.0
2012-01-28 13:21:35 +09:00
52f6e56f72
AP_ADC library - tiny fix to make example sketch work after some changes to AP_PeriodicProcess library
2012-01-28 13:12:19 +09:00
98f3386ea0
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
443a9c0ea7
OpticalFlow - fixed minor compiler warnings and moved chip select to A3 for APM2
2012-01-26 23:35:49 +09:00
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
13caa24515
Optical Flow - added overflow check
2012-01-25 21:45:52 +09:00
ef60642bb2
APM_RC examples: add calls to enable_out after init
2012-01-24 09:09:08 -08:00
9bb92ff4ac
fixed example in PID library
2012-01-23 08:47:46 +11:00
a13e371d1e
APM_RC: PWM outputs are disabled by default on init
2012-01-22 12:03:11 -08:00
47204921e9
APM_RC enable_out and disable_out added to APM1 and APM2
...
* Outputs still enabled by default
2012-01-22 12:03:11 -08:00
0e58efca89
Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration.
2012-01-20 22:52:29 -08:00
e71266c258
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
20aef3a8b8
added a simple DCM library example
2012-01-18 21:25:19 +11:00
4b8e2e701c
fixed Oilpan test for new library structure
2012-01-18 20:31:58 +11:00
e109992c12
Add a CLI setup action to reset the magnetometer offsets
...
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI. Useful if you somehow get bad offsets or if you change magnetometer. If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values. I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
2012-01-15 16:15:08 -07:00
d79f62ce66
Teach the Makefile about the new Arduino sourcefile suffix
2012-01-15 11:51:38 -08:00
e68f9191c9
updated channel notes
2012-01-15 10:24:15 -08:00
817e7442bd
baro: fixed an integer overflow issue at high altitudes
...
the averaging array was using 16 bit numbers, but we are storing
numbers with 19 significant bits. That caused overflow at high
altitude, and some very interesting altitude graphs!
Thanks to Michael Oborne for spotting this in a log
2012-01-14 19:51:35 +11:00
4e9c668315
OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600
2012-01-14 12:34:29 +09:00
f4490b62c7
DCM: prevent a segmentation fault when compass is not enabled
...
when compass is disabled _compass is NULL
2012-01-13 15:48:07 +11:00
622217357c
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
a6e87915eb
desktop: floating point precision changes from Justin Beech
2012-01-11 21:31:59 +11:00
f43c29e840
fixed type error
2012-01-10 23:43:44 -08:00
ecaf5ac461
sensorSign swicth
2012-01-10 23:43:44 -08:00
d7d04f67e4
AP Rangefinder had some bad characters in it. Converted and cleaned the text files.
2012-01-10 23:42:26 -08:00
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
d015e0d6d9
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
...
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
22d2db53d8
Repair dataflash test
2012-01-08 21:29:19 -07:00
f6e268395f
allows main code to manually set the integrator value
2012-01-04 09:28:36 -08:00
54b91ce2f4
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
7aa294eca2
AP_Compass: when I2c fails, don't retry for 1s
2012-01-04 16:35:47 +11:00
a7a00a35ab
AP_Baro: when I2c fails, don't retry for 1s
2012-01-04 16:35:16 +11:00
65fbeea6d1
DataFlash: cope with older dataflash chips
...
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
2012-01-04 16:16:35 +11:00
6a279138e9
add gps character count.
...
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
2011-12-31 13:05:33 +08:00
e66e21cf20
remove gps callback in wait loop
2011-12-31 09:35:40 +08:00
19ed12444b
GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago.
2011-12-30 22:25:00 +09:00
3878ac01ef
removed newlines to clean up code
2011-12-29 23:02:01 -08:00
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
...
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
671d0b82ad
Baro: fixed MS5611 example sketch
2011-12-28 21:49:29 +11:00
5f0e070f4e
compass: show timing in compass test
2011-12-28 21:44:18 +11:00
c448e85ed1
Baro: show timing in baro test
2011-12-28 21:43:52 +11:00
669a129175
DCM: don't use compass unless its healthy
2011-12-28 20:41:54 +11:00
603b605eb1
I2C: fixed some warnings
2011-12-28 20:41:53 +11:00
f4e1f3d54d
desktop: exclude I2C library
2011-12-28 20:41:53 +11:00
9ef1c421bd
MPU6k: don't init the Wire library
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we don't use Wire any more
2011-12-28 20:41:53 +11:00
2960abf41f
I2C: convert barometer library to new I2C library
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this also adds a healthy attribute and error checking
2011-12-28 20:41:53 +11:00
f93c716126
I2C: convert compass code to new I2C library
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this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
632e74b76d
I2C: imported the I2C library from Wayne Truchsess
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this gives us a more robust interface, including timeouts
2011-12-28 20:28:31 +11:00
f8e1d88815
TimerProcess: prevent a race in setting up the timer callbacks
2011-12-28 16:00:49 +11:00
089470a671
DataFlash: moved high level logging logic to library
...
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.
This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
2011-12-28 16:00:48 +11:00
42eb62cc46
DataFlash: fixed sense of card detect
2011-12-28 16:00:48 +11:00
1cb8728a6b
MPU6000: protect the driver from double initialisation
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initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
f2bbfb1296
MPU6000: minor fixes
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the hardware functions should be private, and cs_pin should be uint8_t
2011-12-28 16:00:48 +11:00
d35113f8a6
TimerProcess: check for duplicate registrations
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if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
2011-12-28 16:00:48 +11:00
0a08a0b515
TimerProcess: make some variables uint8_t
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save a couple of bytes
2011-12-28 16:00:48 +11:00
ac3f7512cc
Fix issue #423 - FastSerial flush bug.
2011-12-26 15:52:21 -08:00
9f5718bcfa
added in DataFlash.cpp
...
forgot this ....
2011-12-26 19:34:06 +11:00
887ff43e1f
desktop: added attachInterrupt() support
2011-12-26 19:17:11 +11:00
22c8db774f
desktop: fixed for new DataFlash inheritance
2011-12-26 19:17:11 +11:00
dd26ef3089
dataflash: reworked classes to move most code to parent class
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this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.
This should prevent discrepancies creeping in between APM1 and APM2
support again
2011-12-26 19:17:11 +11:00
8bf05982ae
dataflash: fixed APM2 flash logging
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we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
2011-12-26 19:17:11 +11:00
df0d151891
MPU6000: change to 98Hz low pass filter
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based on recommendation from Pat
2011-12-26 19:17:11 +11:00
3ef707a2c3
MPU6000: use data ready interrupt to prevent stale data
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We listen for a data ready interrupt and only read new data in read()
if there is new data
2011-12-26 19:17:11 +11:00
71e08f8484
fixed the MPU6000 test sketch
2011-12-26 19:17:11 +11:00
af121c492d
Merge remote-tracking branch 'origin/master'
2011-12-25 12:34:16 +09:00
c3ea1ca5dc
AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch
2011-12-25 12:33:06 +09:00
7c0f39aec5
added MPU6000 test sketch
...
this doesn't work yet - Pat, any idea why?
2011-12-25 12:03:39 +11:00
09c97bb367
removed dead test program
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this one doesn't build, and has been replaced by IMU_MPU6000_test
2011-12-24 18:11:04 +11:00
f587a01165
ADC: update for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
5b75458502
AP_Baro: update MS5611 driver for new ap_proceduce prototype
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this saves calling millis() quite so often
2011-12-21 23:31:38 +11:00
cef1c4c558
MPU6k: update driver for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
8cc2b7669b
PeriodicProcess: added set_failsafe() call
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this adds an optional failsafe function that will be called in the
timer loop
2011-12-21 23:31:38 +11:00
845683a56c
added comment in polygon code
2011-12-21 23:31:38 +11:00
eac625ba8f
rollover is not a bug
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subtracting unsigned numbers does the right thing
2011-12-21 23:31:38 +11:00
eec5f000b5
added code format markers to AP_InertialSensor library
2011-12-21 23:31:38 +11:00
614aeb274c
fixed build of IMU_MPU6000_test
2011-12-21 23:31:38 +11:00
b52cd45670
fixed comment
2011-12-19 20:52:59 +11:00
7c9c26e2b7
AP_Math: re-work polygon algorithm for perfect precision
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using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
2011-12-19 18:52:56 +11:00
a51e868766
AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1)
2011-12-18 14:15:50 +09:00
7442ba31d8
polygon: improve the speed and precision of the polygon algorithm
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now takes 156 usec per test, with a 11 point boundary
2011-12-18 12:59:50 +11:00
3848f2094e
make file relax
2011-12-17 20:42:51 +08:00
fd35ba5976
add relax
2011-12-17 16:53:14 +08:00
0c8c707980
AP_Baro: fixed temperature on MS5611
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this caused a 2x scaling of altitude
2011-12-17 14:58:58 +11:00
3654c714e9
Revert "ADC: only read channels that are actually being used"
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This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
c18ad75504
Revert "ADC: added an enable_channel() API"
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This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
f6a7ad9fa6
Revert "ADC: fixed HIL build"
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This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.
ADC will now be disabled on APM2
2011-12-17 07:29:09 +11:00
7c939e83e0
AnalogSource: return a float from read() method
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this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
2011-12-17 07:29:09 +11:00
4bbd5392ef
removed AperiodicProcess code
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this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
04ec569313
ADC: fixed HIL build
2011-12-16 20:58:04 +11:00
658d1d2ba3
added missing mavlink headers
2011-12-16 20:53:26 +11:00
1ab2b416a3
geofence: store fence points as int32_t
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this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
2e2b320560
mavlink: include latest geofence message changes
2011-12-16 20:11:51 +11:00
3ddfc6664a
AP_Math: better polygon algorithm
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this one seems to do better with single precision floating point
2011-12-16 20:11:51 +11:00
686f96414c
MAVLink: update to latest mavlink XML
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this includes the geo-fencing messages
2011-12-16 20:11:51 +11:00
c56e5735c2
ADC: added an enable_channel() API
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enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
2011-12-16 20:09:40 +11:00
be1ba5354e
timer: enable interrupts during timer processing
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this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.
We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
2011-12-16 20:09:38 +11:00
af7e34fcc1
ADC: only read channels that are actually being used
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on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
2011-12-16 20:09:35 +11:00
9e9b229a1d
fixed formatting of ADC driver
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it was a nasty mix of DOS and UNIX
2011-12-16 20:09:29 +11:00
5b4717ea55
timers: change to 1kHz timer by default
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we were using a 227Hz timer, which is far too slow
2011-12-16 20:09:25 +11:00
6ad5df2958
desktop: fixed type of dword eeprom read
2011-12-16 20:09:18 +11:00
338fb1642a
AP_Math: make out vector and matrix elements used types with fixed sizes
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this prevents differences between CPU types
2011-12-16 20:09:11 +11:00
291aaffdd9
APM_RC_APM2: Remove OutputCh from ::Init()
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* These calls were off by one anyway, by using the channel numbers
as ints ant not CH_n macros, and that caused an ESC cal problem.
2011-12-15 13:47:43 -08:00
f4bd3cb5a2
AP_Math: added Polygon_complete() function
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used to veryify user supplied boundaries
2011-12-15 14:42:34 +11:00
cd9fb3c47a
AP_Math: added a Polygon_outside() function
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this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
2011-12-15 14:34:58 +11:00
621f21e4f5
DCM: added matrix_reset() method
2011-12-13 21:32:50 +11:00
919ae17473
IMU: abstract the setting of the LEDs in IMU initialisation
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we need this to cope with different LED pin assignments on APM1/APM2
2011-12-13 18:19:12 +11:00
9548366a91
autotest: make magnetic field point down
2011-12-12 22:14:01 +11:00
fa83de98c8
desktop: fixed build with new AP_Baro code
2011-12-12 15:14:55 +11:00
eaf134e47e
desktop: fixed desktop barometer code
2011-12-12 15:14:55 +11:00
de5c1c5147
barometer: fixed HIL barometer build
2011-12-12 15:14:55 +11:00
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
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
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
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
d5386b8bb8
AP_Baro_BMP085: move apm2_hardware flag from init to constructor.
2011-12-11 15:21:10 -08:00
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
a7b9c8b9cd
AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks.
2011-12-11 15:21:10 -08:00
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
9a9b63259a
AP_Baro_BMP085: implement AP_Baro interface
2011-12-11 15:21:09 -08:00
45cbb24ba5
AP_Baro_MS5611: init must also perform SPI.begin
2011-12-11 15:21:09 -08:00
a75257f102
AP_Baro_MS5611: CS pin is arduino pin 40
2011-12-11 15:21:09 -08:00
7b708f8054
AP_Baro_MS5611: Implement AP_Baro interface
2011-12-11 15:21:09 -08:00
41ecb0fef4
AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private.
2011-12-11 15:21:09 -08:00
264cb1a26e
AP_Baro_MS5611: conform to AP_Baro interface
2011-12-11 15:21:09 -08:00
c3aab6af83
AP_Baro: Create virtual interface
2011-12-11 15:21:09 -08:00
84cb023b12
AP_Baro_MS5611: renamed class implementation from APM_MS5611
2011-12-11 15:21:09 -08:00
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
8f16b736a4
AP_Baro_MS5611: Overwrote with Jose Julio's latest files.
2011-12-11 15:21:09 -08:00
f5720be81f
AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers.
2011-12-11 15:21:09 -08:00
e8e4881da8
AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085.
2011-12-11 15:21:09 -08:00
917418994d
BMP085 fix line endings
2011-12-11 15:21:09 -08:00
7b51a2c42a
AP_Baro: move all APM_BMP085 files inside AP_Baro
2011-12-11 15:21:09 -08:00
cca6b2f98c
Added AP_Baro and AP_Baro_MS5611 classes.
...
Incomplete and does not work.
2011-12-11 15:21:08 -08:00
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
e992b2e2a2
APM_RC: APM1 fast output speed increased to 400hz.
2011-12-10 13:06:06 -08:00
733000583d
APM_RC: APM2 fast output speed increased to 400hz.
2011-12-10 13:04:11 -08:00
8a0c6eba78
AP_IMU_INS: Eliminate init_accel from cold start.
...
* Bug reported by Jason, 10 Dec 11
2011-12-10 13:00:54 -08:00
f4ac36bd8b
ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.
...
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
2011-12-10 18:33:30 +09:00
11aad8817c
RangeFinder - fixed example sketch so it works again
2011-12-10 16:32:34 +09:00
ffb4492c16
RangeFinder - small bug fix to initialise prescale variable.
...
Fixed up example sketch so it compiles and works again!
2011-12-10 16:25:41 +09:00
8ef704face
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-07 20:59:15 -05:00
d6c904f398
Fixed along track bug.
2011-12-07 20:55:06 -05:00
87dec93974
Added APM2 support.
2011-12-07 19:19:30 -05:00
87735bcc9f
Added AP_Board to APO
2011-12-07 16:31:56 -05:00
98a26d19e6
Split P and I term
2011-12-06 21:10:30 -08:00
ae917f9e71
Split the P and I terms in PI
2011-12-06 21:08:47 -08:00
f371453159
APO velocity/ altitude working.
2011-12-06 19:38:23 -05:00
9fef8689d8
Fixed baro.
2011-12-06 18:56:16 -05:00
c26956af19
Fixed Barometer Altitude
2011-12-06 13:28:39 -05:00
80f5292d31
Fixed Barometer Reading
2011-12-06 13:26:07 -05:00
0db1a41316
Working on baromemter altitude
2011-12-05 20:57:19 -05:00
377aea7ef3
Sailboat wind measurement working.
2011-12-05 15:53:29 -05:00
11b857d487
fixed the desktop build
...
This fixes a vtable link bug
2011-12-05 18:06:58 +11:00
fbbf1aa4a2
Along track fix for negative.
2011-12-04 01:36:53 -05:00
28b835713a
Improved along track calculation for APO.
2011-12-04 01:25:14 -05:00
47e88b1f91
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-04 00:45:34 -05:00
e6aee7963f
Rover live test WORKS! "Murphy's Law is a turtle"
2011-12-03 22:42:08 -05:00
17fbbb4e7b
Access to _clamp val. May want to make a private member and write accessor.
2011-12-03 17:57:12 -08:00
d54d9b618c
Added faster conversion from and to degrees*100 / rads
2011-12-03 17:56:41 -08:00
b11b83e2cf
GPS: added FAKE_GPS_LOCK_TIME
...
this allows you to fake up a GPS lock after a specific number of
seconds
2011-12-04 09:06:57 +11:00
132f554787
Fixed apo live mode bugs for 2.0 update.
2011-12-03 15:38:37 -05:00
29c2dafb94
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-03 14:00:23 -05:00
dfd00becba
Changed BlockPIDDfb behaviour.
2011-12-03 12:13:11 -05:00
9dd2021ec8
autotest: support all 11 PWM output channels
...
this will allow for more complex aircraft
2011-12-02 22:45:48 +11:00
a0baf71322
autotest: switch to big-endian metric packets internally
...
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
2011-12-02 22:12:58 +11:00
3a377255f0
desktop: show the full path to the desktop executable
2011-12-02 21:46:55 +11:00
65cdeecdf0
desktop: added SO_REUSEADDR after accept()
2011-12-02 17:37:55 +11:00
d37b843361
desktop: fixed calculation of angular velocities
...
thanks to James Goppert for the frame conversion maths
2011-12-02 17:37:54 +11:00
ed26538c45
Commented out debugging in guide.
2011-11-29 18:08:50 -05:00
48ad2d1ed1
Merge branch 'master' of github.com:arktools/ardupilotone
...
Conflicts:
libraries/APO/AP_Guide.cpp
2011-11-29 18:06:38 -05:00
54775519d9
Working on yaw command.
2011-11-29 17:38:18 -05:00
35f74dd2db
Fixed guidance bugs in APO.
2011-11-29 17:37:42 -05:00
93550f4659
APO fixes.
2011-11-29 13:59:44 -05:00
1833f69961
Fixed apo radio error.
2011-11-28 12:29:05 -05:00
480f92294c
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-28 00:56:29 -05:00
59fc8e7a63
Updated apo for merge with apm 2.0 changes.
...
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
2011-11-28 00:53:30 -05:00
210536096f
desktop: improved the accuracy of the sensor emulation
2011-11-28 16:22:33 +11:00
ff727e87ca
ADC: remove a very small (0.2 degrees/s) bias in the ADC code
...
small bias from integer rounding
2011-11-28 16:22:33 +11:00
02ba05aa0f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-27 23:56:17 -05:00
21a27ee083
Fixed mode switching.
2011-11-27 23:55:28 -05:00
af075b6ab0
desktop: setup TCP sockets as non-blocking
...
the sendto() blocks unexpectedly on MacOS
2011-11-28 13:53:57 +11:00
833f5f5895
mavlink: move Mavlink_compat.h to common code
...
this will allow it to be used by ArduCopter
2011-11-28 13:53:57 +11:00
e965d95ba8
Added back the feature to prompt users when an invalid CLI command is entered.
...
Thanks to Yury Smirnov for this patch!
2011-11-26 21:10:53 -07:00
e2e613cdfc
upload: force hex file format for upload
...
this should fix a problem with hex file format detection on MacOS
2011-11-27 09:36:10 +11:00
dff3be2017
desktop: build fix for fjall
2011-11-26 18:24:29 +11:00
0e8a17f645
desktop: fixed desktop build for strlcat_P() changes
2011-11-26 17:18:09 +11:00
e9c7f8de21
AP_Common: added typesafe wrapper for memcpy_P()
2011-11-26 17:17:50 +11:00
57c4385a18
AP_Common: replace strlcat_P() with a C implementation
...
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
2011-11-26 17:02:56 +11:00
d496a2d1fe
desktop: added framerate and initial height code
...
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
2011-11-25 20:00:19 -08:00
a44720d7bb
desktop: fixed swap_float()
...
get indexes right
2011-11-25 20:00:19 -08:00
dba786198e
desktop: import updated DataFlash code
...
this fixes a logging bug
2011-11-25 20:00:19 -08:00
78af52083b
desktop: fixed ADC value for airspeed
2011-11-25 20:00:19 -08:00
a9dfc68bc0
libraries: rename purple to APM2
2011-11-25 20:00:19 -08:00
8e5f64f8b6
DataFlash_Purple: added new logging methods needed for ArduPlane
...
builds, but not tested yet
2011-11-25 20:00:18 -08:00
49b768f2f3
DataFlash_APM1: re-add defines lost from merge
2011-11-25 20:00:18 -08:00
65f2549825
desktop: fixed desktop build
...
vtable error
2011-11-25 20:00:18 -08:00
7e64cfcc93
desktop: normalise roll and pitch rates
2011-11-25 20:00:18 -08:00
0ef727d707
desktop: added SKETCH as a define
...
useful for automatically handling copter vs plane
2011-11-25 20:00:18 -08:00
2bed1dcfd5
desktop: first version of register level SITL support
...
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
2011-11-25 20:00:18 -08:00
0549a50e9e
APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple
...
* I have not tested any of these on real hardware.
2011-11-25 20:00:18 -08:00
718f3dee00
APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits.
2011-11-25 20:00:18 -08:00
67e5c89226
compass: added AP_COMPASS_APM2_SHIELD
...
this makes the orientation clearer
2011-11-25 20:00:18 -08:00
2259bacd67
barometer: fixed for purple build
2011-11-25 20:00:18 -08:00
e3a74626d6
barometer: support 'make purple' for barometer example code
2011-11-25 20:00:18 -08:00
252e858011
fixed InertialSensor stub build
2011-11-25 20:00:18 -08:00
48f92c49fa
hil-sensors: added stub libraries for InertialSensor and PeriodicProcess
...
* Also added dummy ivar to APM_BMP085_hil
2011-11-25 20:00:18 -08:00
1a8a1973a1
AP_IMU: fixed shim driver prototype
2011-11-25 20:00:18 -08:00
bbd6a6cdbb
desktop: fixed build with updated dataflash interface
2011-11-25 20:00:17 -08:00
55bd85fe90
desktop: make AP_InertialSensor pure virtual
...
fixed a link error in Desktop build
thanks to Pat for the C++ foo
2011-11-25 20:00:17 -08:00
01cd9cc6d6
dataflash: fixed datatypes to be compatible with desktop build
2011-11-25 20:00:17 -08:00
da50903649
desktop: make DataFlash for Desktop build replace APM1 build
2011-11-25 20:00:17 -08:00
3b5c124fc6
make configure default to 2560
...
1280 is less common for devs these days
2011-11-25 20:00:17 -08:00
afef359ee9
purple: rework DataFlash to separate purple and APM1 hardware support
...
the purple support is still a work in progress, but the APM1 support
should be fine
2011-11-25 20:00:16 -08:00
c65a8c4616
build: added jtag-program make target
...
useful for when you have hosed your USB
2011-11-25 20:00:16 -08:00
433caaedc0
purple: rework AP_IMU library to use AP_IntertialSensor library
...
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
2011-11-25 20:00:16 -08:00
db8708911a
purple: added AP_InertialSensor library
...
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
2011-11-25 20:00:16 -08:00
ce4547a1a5
purple: rework the RC_Channel library for the APM_RC changes
2011-11-25 20:00:16 -08:00
d62ddd30f9
RangeFinder: rework to use AnalogSource library
...
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
2011-11-25 20:00:16 -08:00
0caf351c32
purple: Added AnalogSource library
...
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
2011-11-25 20:00:16 -08:00
6d876bc54d
AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register
...
this makes it possible to build the ADC library when another driver
may also want that interrupt
2011-11-25 20:00:16 -08:00
7474a8be53
purple: added PeriodicProcess library
...
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
2011-11-25 20:00:16 -08:00
812d35a442
purple: added ISR_Registry() library
...
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
2011-11-25 20:00:16 -08:00
5cb60f76cf
purple: rework APM_RC library for purple hardware
...
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
2011-11-25 20:00:16 -08:00
004a4425cd
barometer: add purple_hardware option to Init()
...
this allows selection of right hardware at Init() time
2011-11-25 20:00:15 -08:00
6ecb6f21a6
increased filter
2011-11-25 11:34:05 -08:00
65e8b587f9
Working on comments.
2011-11-24 15:54:08 -05:00
d31b1b31f4
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-24 14:28:25 -05:00
fc84c15426
Separated controller block class.
...
Also improved documentation of AP_ControllerBlock.
2011-11-24 13:28:14 -05:00
aaca5094b6
Removed old variable from hal.
2011-11-24 02:08:27 -05:00
3c217d4186
Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error.
2011-11-22 16:42:51 -05:00
154c55c9dc
desktop: more fixes for DataFlash filesystem changes
2011-11-20 19:06:24 +11:00
50e8de999f
Fixed most of quad guidance issues.
2011-11-19 23:34:14 -05:00
7a742c4a2a
Working on memory problem.
2011-11-19 22:20:06 -05:00
1c5db5e963
Bug located in quad position loop, improved hil.
2011-11-19 21:39:14 -05:00
cc66b43d12
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-18 14:36:47 -05:00
927c2dbd67
desktop: added support for new DataFlash functions
2011-11-18 17:50:12 +11:00
a11ea12ca8
Change to logging file system.
...
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this. Just making this commit in case I need to roll back
2011-11-17 21:25:51 -07:00
7f2ec90703
Upped pressure filter a bit
2011-11-17 11:12:18 -08:00
6c51157b2d
Working on new hil message for mavlink.
2011-11-15 17:15:54 -05:00
8a3ea5bfff
desktop: when in the CLI, use blocking writes
...
this prevents us missing information from the logs
2011-11-11 09:53:46 +11:00
34af368b8a
desktop: don't start alarm till setup() has finished
2011-11-10 21:57:47 +11:00
34e6b3535d
MAV_CMD_DO_SET_ROI
2011-11-09 12:07:57 -08:00
af1ddacc1b
desktop: don't alarm in CLI
...
loop() is not called in menu system
2011-11-10 00:14:04 +11:00
3303c09a9d
desktop: exit if loop() doesn't run for 5 seconds
...
this should stop runaway processes
2011-11-09 19:40:34 +11:00
c30af84897
desktop: force awk on macos
...
this may help on jasons box
2011-11-09 17:21:53 +11:00
4b50d2e639
desktop: exit on EOF from stdin
2011-11-09 17:21:53 +11:00
d5fb801678
Removed debugging code from APM_PI
2011-11-08 14:41:21 -08:00
5a45f9cd25
desktop: fixed malloc cast
2011-11-09 08:47:49 +11:00
11c908c7b4
desktop: be more careful with signed/unsigned in DataFlash
2011-11-09 08:44:19 +11:00
d8d5f97a0a
desktop: use less stack
...
this avoids a problem on cygwin on windows
2011-11-09 08:09:56 +11:00
389e2ff03e
desktop: another MacOS fix
2011-11-08 18:07:19 +11:00
b2254016e1
desktop: make desktop build more portable
...
this should help on MacOS
thanks to MikeS for his assistance
2011-11-08 17:26:53 +11:00
3b52687342
dataflash: type fixup for ReadInt()
2011-11-08 17:26:53 +11:00
f073837ea7
desktop: use the libc printf engine
...
getting ftoa_engine right was too much work
2011-11-08 11:59:30 +11:00
6b583869c0
desktop: fixed ultoa_invert()
...
the string was backwards
2011-11-08 11:13:48 +11:00
fd3154f20d
desktop: improved ftoa_engine.c
...
this still doesn't perfectly match the assembler, but its closer
2011-11-08 11:05:36 +11:00
ecf3d26f43
barometer: fixed a build warning
2011-11-08 11:05:36 +11:00
34a53f6f7d
Removed some old debug prints from motors.pde
...
added ability to not increment I term for traversals.
2011-11-07 14:32:39 -08:00
acad6b37c4
autotest: fill flash with 0xff on erase
2011-11-07 23:42:18 +11:00
a199835632
Desktop: added -w option to wipe eeprom and dataflash
2011-11-07 22:56:13 +11:00
eb0756f362
Desktop: added support for DataFlash in Desktop build
...
this will allow Jason to look at the logs of the quad sim
2011-11-07 22:56:13 +11:00
ee99ec839b
digital.c for CLI
2011-11-07 22:56:13 +11:00
5410dff523
DataFlash: use CPU independent data types
...
this ensures that the DataFlash API is consistent for different CPU
architectures, which matters for the Desktop build, and will matter
for ARM and other CPUs later
2011-11-07 22:56:13 +11:00
b314fd8cd3
Desktop: enable the CLI in desktop build
...
this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI
2011-11-07 22:56:13 +11:00
75d7ee01d1
desktop: fixed 2 crashes in the menu code
...
handle an empty line gracefully, and use pgm_read_pointer() for
functions pointers in progmem
2011-11-07 22:56:13 +11:00
152da9c91b
added pgm_read_pointer()
...
this will be used by the menu code to make reading pointers from
progmem portable
2011-11-07 22:56:13 +11:00
11109e4a03
force LANG=C for MacOS awk
2011-11-07 13:33:38 +11:00
d4fff166cf
Add an accessor for the DCM drift correction integrator to monitor performance
...
Also made the get_health accessor an inline function.
2011-11-05 09:02:23 -06:00
beb6c4dbf4
Changed the DCM drift correction integrator limit to a vector magnitude of 30 degrees/second.
...
The drift correction integrator limit previously was near/at the gyro saturation limit. If we have that much drift there is a serious hardware problem. 30 degrees/second is arbitrary but should handle all temperature variation, etc.
2011-11-05 09:01:20 -06:00
b105e7fd41
In case of DCM renorm "blow-up" reset the drift correction integrators
...
This should aid in recovery if we loose the AHRS solution and have to force to initial orientation. Also removed some old commented out code moved to the IMU object
2011-11-05 08:59:16 -06:00
f7c60e1ac7
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 21:58:10 -04:00
e5654ccd04
desktop: fixed TCP buffering issue with HIL
...
the TCP layer was buffering the servo updates, which caused very poor HIL flight
2011-11-02 09:38:44 +11:00
389b89056a
Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed
...
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar
2011-11-01 19:09:57 +01:00
53d7cac075
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 09:30:54 -07:00
c3d8775797
Baro
...
Minimized the baro filtering to use a new approach to rate control. Redid the state machine so the temp is sampled more often.
2011-11-01 09:22:21 -07:00
01df18b292
Added camera and/or antenna mount support.
...
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
2011-10-31 22:55:58 +01:00
c73b3c7235
Update the SIL README file
2011-10-31 21:56:25 +01:00
ed0722e298
ArduPlane cmake build working.
2011-10-31 13:18:48 -04:00
249ce91d78
Switching to new eclipse project style.
2011-10-30 22:57:34 -04:00
12d8b2cb9e
prevent div by 0
2011-10-30 21:28:39 +08:00
cdc677ab83
added desktop header
2011-10-30 17:31:32 +11:00
d74a223f7e
make desktop serial more responsive
2011-10-30 13:00:54 +11:00
3991f9eff3
move g_rc_function[] to RC_Channel library
...
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
2011-10-29 18:42:18 +11:00
e3c5177967
merge NULL ptr mavlink array fix
...
this fixes a segfault in ArduPlane when using a NULL pointer for
satellite_prn in GPS status
2011-10-29 18:29:18 +11:00
8cc449dc43
updated to latest upstream mavlink headers
...
this includes the new APM_Camera headers from ardupilotmega.xml
2011-10-29 18:07:09 +11:00
57301ce647
Cleaned up AP_GPS formatting.
2011-10-28 14:52:50 -04:00
dd0ac600b3
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-28 14:45:01 -04:00
585507f188
Clean up formatting for AP_Common
2011-10-28 14:43:43 -04:00
1c72598393
Fix HIL DCM to match actual
2011-10-28 17:40:18 +08:00
8eb74df024
minor mavlink 1.0 updates
2011-10-28 15:54:22 +11:00
02ab5bea78
APO multiple mode handling added.
2011-10-27 19:42:57 -04:00
18c3eaf479
Fixed APO bug in current waypoint update.
2011-10-27 17:23:08 -04:00
7da0daa9d0
Adding bash formatting script using astyle.
2011-10-27 16:30:15 -04:00
3de8533c5e
Merge https://code.google.com/p/ardupilot-mega
2011-10-27 16:21:44 -04:00
5d9c37bbed
Fixed APO controller bug preventing motor arming.
2011-10-27 16:19:42 -04:00
003e6e06a1
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
...
Conflicts:
libraries/APM_PI/APM_PI.cpp
2011-10-27 12:41:00 -07:00
3b3f6bd168
RC_Channel Dead zone
...
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
2011-10-27 11:34:00 -07:00
2507b801f0
Fixed APO examples.
2011-10-26 14:59:40 -04:00
f0fe8ecb90
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-26 13:25:49 -04:00
8cd9ced373
Further APO controller cleanup.
2011-10-26 13:25:06 -04:00
d8a0ce6933
Just in case the Min and Max functions are not playing nice with AP_Var
2011-10-26 16:48:50 +00:00
07c1e6facd
AP_PI AP_Var change
...
using the If statement rather than Max to avoid potential AP_Var issues. I don't know if this is a real prob or not. Just being careful.
2011-10-26 09:46:16 -07:00
18e8bb3d6a
APO formatting.
2011-10-26 12:31:11 -04:00
dd4ff8c0aa
Updated APO Controllers.
2011-10-25 19:40:07 -04:00
97ef98fa8f
Further abstracted APO Controllers
...
Currently APO quad/plane/tank need to be updated
for new controller changes.
2011-10-25 18:53:39 -04:00
31747d5607
imported custom_mode size fix
2011-10-24 13:41:15 +11:00
8b135a5be3
fixed mavlink10 desktop build
2011-10-24 13:09:19 +11:00
14f8c71932
import latest MAVLink 1.0 headers and XML
2011-10-24 12:20:46 +11:00
0c672d6885
updated to latest mavlink 1.0 messages
2011-10-24 10:20:36 +11:00
9644ff5c01
mavlink: added mavlink10 target for desktop build
2011-10-24 10:20:36 +11:00
314a4158d6
mavlink: make it possible to build with mavlink 1.0 headers
2011-10-24 10:20:36 +11:00
f6385dd1a2
mavlink: import latest mavlink 0.9 headers
2011-10-24 10:20:36 +11:00
615d96ab81
mavlink: import mavlink 1.0 message definitions
2011-10-24 10:20:35 +11:00
ac2e129996
mavlink: import mavlink 1.0 includes
2011-10-24 10:20:35 +11:00
d6479367b3
RC_Channel_aux is needed for ArduPlane build
2011-10-24 10:20:19 +11:00
986fca3116
Corrected battery monitoring in apo.
2011-10-20 02:28:47 -04:00
9e9da38c67
Arming fixes.
2011-10-19 20:09:06 -04:00
73c3f1098a
Added loop priority, fixed arming bug for apo.
2011-10-19 13:22:29 -04:00
8397fea4f4
More cleanup.
2011-10-19 00:31:59 -04:00
a48206f468
Some cleanup.
2011-10-19 00:25:00 -04:00
dcc2c2c0cf
Added arming mechanism.
2011-10-19 00:21:19 -04:00
9573b60ac9
Incorporated dcm changes from arducopter into apo.
2011-10-18 22:00:24 -04:00
0bb0059d35
Updated apo rates.
2011-10-18 20:11:14 -04:00
ce1abb974b
desktop: refactor the TCP code
...
this supports all 3 serial ports, plus cleans up the code
2011-10-17 19:32:48 +11:00
0a0bbb8afe
Updated ArduRover/ ArduBoat for new apo changes.
...
Still need to add arming/ disarming to rover/boat controllers.
2011-10-16 03:15:22 -04:00
955d159c91
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-16 02:58:38 -04:00
0283b8c695
Added battery monitoring, arming to apo.
...
Arming added for quadrotor. Need to add to rover still. Battery
monitoring added with auto shut-off in quadrotor controller.
Finally split apo header and source files to allow faster
compiling/ fix cyclic header inclusions.
2011-10-16 02:55:34 -04:00
995be48a2d
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-15 13:09:18 -07:00
23c0bb9814
Updates to guided mode from Michael O.
...
removed or commented unused static vars
2011-10-15 13:09:04 -07:00
dfb71226eb
APO quad stabilized flight working well.
2011-10-14 18:28:29 -04:00
6987e6c4b2
hil sensor cleanup
2011-10-14 18:14:32 +08:00
b02c3608ef
fix delta time in imu shim
2011-10-13 22:36:51 +08:00
392160314e
Sensor hil fix's
2011-10-13 22:22:03 +08:00
d89e944254
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-13 17:49:35 +08:00
76a3625024
Got APO quad stabilized flight to hover.
...
Needs more gain tuning.
2011-10-12 20:05:01 -04:00
a3de6667ca
fastserial tcp
2011-10-13 07:25:30 +08:00
8536452c5a
Desktop: cygwin fixs for AP and AC SIL
2011-10-11 20:30:34 +08:00
19666f5a43
desktop: more cygwin fixes
2011-10-11 21:33:31 +11:00
e991d81eee
desktop: removed the need for libbsd
...
this should help the cygwin build that MikeO is working on
2011-10-11 21:04:07 +11:00
e2c6dc68a2
desktop: added Makefile.desktop
2011-10-11 20:53:43 +11:00
93d09039ce
desktop: fixed a warning
2011-10-11 20:53:43 +11:00
99f0e92531
desktop: silence an implicit cast warning
2011-10-11 20:53:43 +11:00
3633d846f6
desktop: make the main loop a bit more responsive
...
this introduces less delays on linux than usleep()
2011-10-11 17:49:40 +11:00
6f44415b19
desktop: make ISRs normal C++ functions
...
this will make it possible to add an abstract register simulation
class that allows us to intercept device IO
2011-10-11 17:49:40 +11:00
74a85a1f3e
update README with build and usage information
2011-10-11 17:49:40 +11:00
52dc221969
support building with common Makefile.desktop
2011-10-11 17:49:40 +11:00
ec7fa70fd6
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-11 08:05:14 +08:00
ed2bec75b9
added build makefiles
2011-10-10 07:18:38 +11:00
d47e43e0c4
APO GPS bug fix.
2011-10-09 15:57:29 -04:00
5c16a380c0
Fixed APO bug.
2011-10-09 11:46:56 -04:00
67630d42e7
opticalflow: use the right path for SPI.h
2011-10-09 22:40:00 +11:00
6899189395
added a README
2011-10-09 22:16:14 +11:00
ab755ab11f
use ifdef for DESKTOP_BUILD
2011-10-09 22:16:14 +11:00
95475c6221
use nanosleep() instead of usleep()
2011-10-09 22:16:14 +11:00
41d734846e
fixed millis() and micros()
2011-10-09 22:16:14 +11:00
320d4a330b
desktop: use a bit less CPU
2011-10-09 22:16:13 +11:00
ea2823cd5f
desktop: use non-blocking IO
2011-10-09 22:16:13 +11:00
e3fd61d758
desktop: expand eeprom to 4k initial size
2011-10-09 22:16:13 +11:00
dfef42ff48
desktop: flush all serial writes
2011-10-09 22:16:13 +11:00
4109374959
first rough build for desktop CPUs
...
this allows ArduPlane to build and startup on 'desktop' systems (eg. a
Linux box). Very rough for now, and only for HIL so far
2011-10-09 22:16:13 +11:00
e177800116
fixed PROGMEM declaration for desktop build
2011-10-09 22:16:13 +11:00
e6e9334e4c
memcheck: allow memcheck to build on desktop systems
2011-10-09 22:16:12 +11:00
a3e6f5d51f
initialise spare bits in AP_Var headers
...
if we ever need these bits, it would be nice to know that they are
zero in existing eeproms
2011-10-09 22:09:00 +11:00
cb8f8ec083
fastserial: allow vprintf() to build without assembler
2011-10-09 22:08:59 +11:00
88668dd2d1
ap_common: use intptr_t for pointer casts
...
this allows building on systems with pointers that aren't 16 bits long
2011-10-09 22:08:59 +11:00
298cc51118
modefilter: fixed type to be consistent with declaration
2011-10-09 22:08:59 +11:00
f39deb3589
GPS: fixed type to be consistent with declaration
2011-10-09 22:08:59 +11:00
09bd94cd6d
eeprom: fixed types to be consistent with declarations
2011-10-09 22:08:59 +11:00
6689a99a66
Updated APO, HIL working well, live mode ready to test
2011-10-06 19:17:49 -04:00
a02ce5aed7
Reducing copy ctor calls in apo.
2011-10-06 12:00:45 -04:00
f988623dab
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-03 13:22:59 -04:00
684599cd21
Cleanup of AP_RcChannel, removed scaled class.
2011-10-03 13:22:23 -04:00
a751208f9f
More improvements to MS Windows
...
Now the avr-gdb, avrdude and avarice tools do not need to be in the path.
2011-10-03 19:16:55 +02:00
c678452fe1
Added AP_RcChannel_Scaled to APO
2011-10-03 12:42:27 -04:00
c59c0c2502
Spellcheck apo library
2011-10-03 12:50:41 +02:00
85588cb02e
Fix serial port on windows
2011-10-03 12:10:27 +02:00
c6722112e7
Make it work on windows "out-of-the-box"
2011-10-03 12:08:19 +02:00
286dd7c949
Removed extra waypoint loading.
2011-10-02 23:32:12 -04:00
8464093c18
APM_RC: Cosmetic changes to increase readability and some minor optimizations
2011-10-02 18:05:00 +02:00
c46fe580c2
Implement relay get()
2011-10-02 02:28:40 +02:00
4b35757a1e
Moved relay control functions to it's own library
2011-10-02 01:00:27 +02:00
eba281e3de
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-01 15:55:31 -07:00
945a7c13a7
Heavy Accel Filter + mild Gyro Filter. To use, filter_result must be set to true on ADC. Off by default.
2011-10-01 15:44:53 -07:00
fcbbc89251
Added a comment to the BOARD type of teh make configure output file
2011-10-02 00:04:21 +02:00
d327bdde80
Fix Arduino version detection on some systems
2011-10-02 00:03:57 +02:00
e5c473637f
Merge remote-tracking branch 'origin/master'
2011-10-01 21:56:29 +09:00
1ff58aaa81
AP_Optflow - small fix to lat/lon calculation and made example sketch work again
2011-10-01 21:51:14 +09:00
cf59e8ad82
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-30 18:40:40 -07:00
9a4bd31a8b
Minimized the accel_filtered vector to be faster and more accurate.
...
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
2011-09-30 18:40:29 -07:00
ac3e73f5c0
Optional recursion added.
2011-09-30 17:17:51 -04:00
10fec5e534
Updated cmake.
2011-09-30 16:55:27 -04:00
4c30b544dc
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-29 23:27:36 -07:00
df1a39f650
Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller
...
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
2011-09-29 23:27:23 -07:00
7b08185d83
Optimized PI loop
2011-09-29 22:37:56 -07:00
9a2da8f22f
Arduino version directory updated to lib/version.txt
...
Also updated cmake files.
2011-09-29 22:10:26 -04:00
112d5e9531
Improvements to cmake.
2011-09-29 21:23:26 -04:00
126508514a
Added cmake files.
2011-09-29 14:16:36 -04:00
3a00ceb593
Added ArduBoat/ ArduRover/ and APO library.
2011-09-29 14:12:15 -04:00
e384390ec0
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-26 22:12:52 -07:00
1243e76f29
Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth.
2011-09-26 22:12:39 -07:00
af105c6967
fix quotes and indentation
2011-09-27 04:40:00 +02:00
f7a307e349
Added override for mega upload protocol.
2011-09-26 20:29:09 -04:00
a3152b2410
Moved mavlink_check_target() to the libraries/.
...
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
2011-09-24 14:40:07 +02:00
90a3a5b1e5
Modified Arduino.mk to use correct upload protocol if not overrided.
...
The previous comment of upload protocol not working cannot be verified on
linux. If this problem persists on cygwin, please override with
UPLOAD_PROTOCOL=arduino in the enivornment before calling Arduino.mk
2011-09-22 13:35:26 -04:00
39cefe9554
RC_Channel tweaks. using Radio_trim rather than 1500 in Raw output. Cleaned up line in calc PWM to be easier to read.
2011-09-21 14:52:20 -07:00
13e83aed2f
changed PI to float
2011-09-19 14:41:32 -07:00
3b4743ef03
changed PI Library to take Float for DeltaTime
...
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
2011-09-19 14:02:42 -07:00
cc4bae4b42
fixed inconsistent linefeeds in ADC code
...
the linefeeds had bacome inconsistent in this library, making some
editors fail to load the code
2011-09-19 11:04:02 +10:00
e40fe2293b
MAVLink: enable separate MAVLink helpers
...
this makes the core MAVLink functions into library calls, instead of
being inlined. The resulting code size doesn't change, but it means we
can safely call MAVLink functions from multiple places without causing
undue code bloat
2011-09-18 11:03:27 +10:00
c9d9ee0d3b
Merge some small misc improvements from APM_Camera branch
2011-09-17 20:25:31 +02:00
f1974cac21
fixed ArduCopter HIL build
2011-09-17 14:58:02 +10:00
a13c68a404
fixed build of OpticalFlow code
2011-09-17 14:58:02 +10:00
a828d00125
ADC: randomise the sampling rate
...
this is based on suggestions from Kari and Mike, and should reduce the
aliasing effects we get from the simple averaging
2011-09-17 14:58:02 +10:00
465c10a31f
build: cope with more depths for libraries
...
this finds the libraries at more levels up from the current directory
2011-09-17 14:58:02 +10:00
1b5c7e8a90
ADC: show timing information in ADC test
2011-09-17 14:58:02 +10:00
4a7c9c406f
show noise levels in ADC test
2011-09-17 14:58:02 +10:00
2ae78e197e
ADC: the bottom 3 bits of ADC output are always zero
...
its a 12 bit ADC .... silly of me to think the bottom 3 bits are
valid!
2011-09-17 14:58:02 +10:00
812cd3562f
updated ADC test for new API
2011-09-17 14:58:02 +10:00
1c5e8f0381
change ADC sample rate to 1kHz
...
this costs us about 9% of our CPU, but should make aliasing much less
of a problem.
2011-09-17 14:58:02 +10:00
55bcb8a1c0
RangeFinder: use new ADC interface
...
the new interface gives values 8 times as large as previously
2011-09-17 14:58:02 +10:00
d96fbf8acf
DCM: re-work the DCM to use the new IMU/ADC features
...
this gives us higher resolution DCM calculations, with much more
accurate timing of the update delta time.
2011-09-17 14:58:02 +10:00
bb35fdec10
IMU: re-work the IMU library to take advantage of the ADC Ch6() call
...
This changes the IMU code to read 6 synchronised ADC channels at one
time, giving us matching values, and exposing the exact averaging time
to callers
2011-09-17 14:58:02 +10:00
8a31af801f
ADC: re-work for ADC code for full resolution and accurate timing
...
this changes the ADC code to return the full resolution of the
sensors. It also adds a new Ch6() interface that returns 6 channels at
once, so the IMU can read 3 accelerometers and 3 gyros at once, and
get the exact time that the values were accumulated over
2011-09-17 14:58:02 +10:00
1b1f955b86
GPS: change example serial rate to 115200
...
this matches default for AP/AC
2011-09-17 14:58:02 +10:00
89f664e3b0
barometer: print a message on barometer init in example code
...
this helps track down initialisation problems
2011-09-17 14:58:02 +10:00
5d61e9289c
added sin and cos yaw from DCM, renamed "get" function because it doesn't return a value.
2011-09-16 19:24:57 -07:00
1f52ad27d9
roughed in an expo option idea
...
made min and max values 1100, 1900
removed hard coded init for camera values
2011-09-16 19:06:53 -07:00
867e01cab5
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-16 18:35:14 -07:00
9a508a20f4
Integration of optical flow
...
bug fixes for new Simple mode
increased Baro filter by 2 fields
2011-09-15 23:33:00 -07:00
45c4872e6d
Issue #415 : Modified spotlight search string. Added UPLOAD_PROTOCOL parameter to makefile to use different programmer.
2011-09-15 22:38:22 +03:00
f79d4caeff
Add options to generate assembly listings for all of the compiled
...
files. This is a possible starting point for a tool to analyse the
call graph and stack usage of APM.
It's also interesting by itself.
2011-09-14 22:39:34 -07:00
7bb800aafc
Merge branch 'master' of https://code.google.com/p/ardupilot-mega/
2011-09-14 16:02:21 +02:00
9f028bb5a0
Adding CMake support
2011-09-14 15:44:55 +02:00
c58b563584
Revert more of 6dcbc7f44bc0.
...
Fix an issue with initialization of channels that on-line changed their function.
For the curious people that the code size overhead of having any aux channel do any function (with this code) is 44 bytes.
To see wich code I'm talking about, do a git diff 05057ac2d455..this_commit (replace this commit with the commit hash of this commit)
2011-09-13 14:01:35 +02:00
ef955eace4
These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy
2011-09-13 01:54:47 +02:00
dd843d18ec
Added support for routing any function to any of the aux. servos.
...
This is a manual merge from the APM_Camera branch.
It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0
2011-09-13 01:24:06 +02:00
bca934b538
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-09-12 12:57:56 -07:00
4a2f58b013
Cleaned up guided mode
...
Reduced ADC filter to 3 from 6 to increase speed of filter.
2011-09-12 12:57:36 -07:00
e84a422bd4
GNU sed wants -r, Darwin/BSD sed wants -E.
2011-09-12 18:43:31 +00:00
f7f745055d
Use the G_RC_AUX macro when possible. Added more comments. Remove unused code
2011-09-12 20:21:12 +02:00
ae77029c98
Reinstate a Cygwin workround that was backed out by the previous changes.
...
Not all platforms support (or require) the -r argument to sed.
2011-09-11 22:20:54 -07:00
7e3983210c
Merge branch 'APM_Camera' of https://code.google.com/p/ardupilot-mega/
...
Conflicts:
ArduPlane/ArduPlane.pde
libraries/AP_Camera/AP_Camera.h
libraries/AP_Mount/AP_Mount.cpp
libraries/AP_Mount/AP_Mount.h
2011-09-12 00:31:18 +02:00
b8832fe9ab
Use G_RC_AUX macro to simplify accessing the auxiliary servos
2011-09-12 00:02:47 +02:00
69a9f44fee
This is ugly, but it fixes compilation on arduino
2011-09-11 23:25:06 +02:00
5a27954e26
Moved update_aux_servo_function() to the RC_Channel_aux.* files.
...
This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong
2011-09-11 23:07:30 +02:00
e8fcf72966
Added a state machine intended to run at 250hz to the DCM. Spread load of DCM out to lower CPU.
2011-09-11 11:03:55 -07:00
966f9f962a
Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ?
2011-09-11 19:13:01 +02:00
7544b9abd3
Make the switch case complete
2011-09-11 18:32:24 +02:00
59bd4d731a
Fix RC range reversal
2011-09-11 04:12:46 +02:00
a0dc3b552e
I do not understand this, but it looks like it needs int8 here
2011-09-11 02:41:48 +02:00
5bf21d5159
Fix manual values mapping
2011-09-11 02:36:39 +02:00
a78de771d4
Moved enum values around to make code simpler to read and use
2011-09-11 02:34:47 +02:00
93e13ace97
Added comments and TODO
2011-09-10 23:57:27 +02:00
6d059b8eba
Revert "added support for AP_ADC MAVLink packet"
...
This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.
I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
2011-09-10 22:00:29 +02:00
4c8bbb23f4
Revert "added support for AP_ADC MAVLink packet"
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This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.
I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
2011-09-10 23:29:16 +10:00
bf7d62e788
mavlink: import new version with AP_ADC packet
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this adds the AP_ADC packet which gives us raw ADC values
2011-09-10 14:17:45 +02:00
b977007bdf
Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable
2011-09-10 13:26:29 +02:00
cba78a29ab
Again remove some more files from the APM_Camera branch
2011-09-10 12:51:48 +02:00
7a0f19d49d
mavlink: import new version with AP_ADC packet
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this adds the AP_ADC packet which gives us raw ADC values
2011-09-10 19:06:46 +10:00
a540f60cc8
These files are not meant to be in master, they should only be in the APM_Camera branch for now
2011-09-09 16:37:42 +02:00
9e80f2e920
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port
2011-09-09 16:18:38 +02:00
581603c3b7
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port
2011-09-09 16:02:22 +02:00
3b80bc8c58
Adding reverse to Channel Raw output (unscaled output) to fix camera reversing.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3297 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-08 04:58:42 +00:00
7977cddc13
updated make file for cygwin compatibility
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3277 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-05 17:15:01 +00:00
f61aa4d68c
updated XML MAVLink definitions
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3272 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-05 06:19:39 +00:00
2e3ae1a30e
Changed bit shifts to division, relying on the compiler.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3265 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-05 04:32:17 +00:00
fc0c75963b
renamed ACM_PI to APM_PI to fix build
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the library name needs to match the header name for the arduino build
to work
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3254 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-05 01:15:24 +00:00
2ebcc08b06
Adding ACM_PI
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3253 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-05 00:56:50 +00:00
f2ea0b4fd8
BetterSerial has txspace() now
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3248 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 22:52:22 +00:00
6cfb9a9c2b
replace space() with txspace()
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space() was actually intended to be tx buffer space, it just had a
bug. The name txspace() is clearer however, and should prevent
confusion as to which buffer its for
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3247 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 22:52:11 +00:00
2dde50366f
added comm_get_txspace() to GCS_MAVLink
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this gives us the number of bytes available in the transmit buffer for
a mavlink channel
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3246 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 21:23:24 +00:00
85a8d1b5c5
added txspace() method to FastSerial
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this returns the number of bytes available in the transmit buffer
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3245 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 21:23:15 +00:00
e7b71b3cb6
fixed spelling
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3244 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 21:23:06 +00:00
58e9a913a1
Added two filters to the RawTemp and RawPress values to increase accuracy from noisy temp sensor.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3242 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 17:47:50 +00:00
5f8ac1d269
Reverted to older PID. Restored the older filter, and removed PI command. I am no longer using PID for the quad and have switched to PIPI loops which perform much better. The D term in this class is not that great.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3241 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 17:47:07 +00:00
b8538ed5fb
shrink the size of mavlink_message_t using max dialect message size
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this makes mavlink_message_t much smaller, but setting
MAVLINK_MAX_PAYLOAD_LEN to the maximum message size in this
dialect. This saves us 320 bytes of memory
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3239 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 08:51:51 +00:00
d5821bb54f
import new mavlink version
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3238 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 08:50:24 +00:00
ada9c36e0c
AP_RangeFinder - removed LV version because we use XL which covers both types of sonars
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3237 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 06:55:58 +00:00
a2589c3573
AP_Var: added EEPROM wear levelling
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This adds a variable length dummy variable at the front of the EEPROM
when we erase it, which has the effect of moving the location of any
hot variables within the EEPROM. This should improve EEPROM
life. Thanks to Mike for the implementation.
Pair-Programmed-With: Mike Smith
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3234 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 06:39:57 +00:00
3255503032
AP_Var: avoid wearing out EEPROM by re-writing the same value
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when saving a variable, this avoids EEPROM wear by checking if the
existing value is already the same as the value being written, and
avoiding the write.
Thanks to Mike Smith for the implementation
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3233 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 06:39:49 +00:00
cb4c53eddd
AP_Var: fixed a logic bug in APVar::key()
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We were using && instead of & for a bit check. Thanks to Mike for
spotting this!
Pair-Programmed-With: Mike Smith
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3232 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 06:39:40 +00:00
442e7ddc49
AP_Var: fill all of EEPROM with 0xFF on erase_all()
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This wipes all parameter values, and also clears out any waypoints as
the waypoint format could have changed between firmware revisions.
This also ensures that the AP_Var code can't re-use any key values
from the old EEPROM state, which makes us less dependent on the old
EEPROM being in a good state
Pair-Programmed-With: Mike Smith
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3231 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 06:39:28 +00:00
7ac3544573
dataflash: fixed some compiler warnings
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tmp is not needed
Pair-Programmed-With: Mike Smith
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3230 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 06:39:14 +00:00
2cbb662e1f
Fix NMEA GPS error
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3227 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 05:14:42 +00:00
86bc84c259
update "NO_GPS" issue as per Justin Beech
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3225 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-04 04:46:14 +00:00
5cac97ca8d
added memcheck library
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3206 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-01 00:50:31 +00:00
bba6b90104
mavlink: imported new version with MEMINFO message
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3205 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-01 00:50:13 +00:00
ca8141cfb6
imported new MAVLink implementation
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this new implementation reduces code size, and also reduces stack
usage, while avoiding the gcc union stack bug
Note that we will gain even more when we move to the new protocol
version, especially in terms of code size
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-31 05:23:18 +00:00
9f7631dc0f
Fixed debug command.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3196 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-30 17:33:51 +00:00
725ccbc109
update to arduino.mk file to allow easier use with cygwin.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3166 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-23 23:02:39 +00:00
9e36c13f9c
nightly check in, version not stable.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3164 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-23 20:36:30 +00:00
c140113583
Checkin before beddy byes
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3154 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-22 21:50:11 +00:00
f92e7323f5
Amilcar Lucas & Ritchie Wilson's camera code mixed in with ap_mount code, this needs to be separated.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3145 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 21:14:02 +00:00
2048d132b0
change of mind payloads should be split into their separate folders.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3144 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 19:58:15 +00:00
8c020108cb
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3143 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 19:55:54 +00:00
764619f6e7
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3142 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 19:33:32 +00:00
463dc4b533
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3141 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 18:49:42 +00:00
71725824e9
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3140 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 18:48:28 +00:00
3fa8b249e5
Payload libraries, code for things like camera control, mount control antenna control should go here.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3139 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-21 18:33:39 +00:00
9cdba838a6
removed AP_Common ref
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3102 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-14 19:27:40 +00:00
9336fa9bd1
upped D filter to 6
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3096 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-14 05:44:29 +00:00
eb8de79be4
Compass: added a gain multiplier
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this adjusts the calibration based on the change in gain between
calibration and runtime
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3090 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 10:39:11 +00:00
69b6e5225a
added SET_MAG_OFFSETS magnetometer message
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this allows reset of the mag offsets without wiping your EEPROM
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3088 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 09:00:21 +00:00
32c576f28c
Compass: several fixes to compass calibration code
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this changes the calibration code to require at least 5 good reads
from the compass during initialisation. The calibration is taken as
the average of the 5 values.
This also fixes the expected values for the 3 axes for the 5883 to
match reality.
We also save a bit of code space by adding a common rotate_for_5883L()
routine.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3087 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 08:17:25 +00:00
5ffd66bc83
MAVLink: added missing files from recent update
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thanks to Randy for spotting this
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3086 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 06:30:29 +00:00
1989497ae9
we don't have a separate 5883L driver any more
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3085 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 06:30:13 +00:00
9232a0f652
Compass: removed the old 5883L driver
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we now use a single driver for both mags
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3083 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 05:09:58 +00:00
1dcd7a358e
PID: fixed an uninitialised variable
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we did not initialise derivative to zero
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 04:46:21 +00:00
92822dbd6b
ModeFilter: fixed a shadowed variable
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mode is a member of the class already, so call the local variable
fmode
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3081 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 04:46:10 +00:00
6205752740
MAVLink: pull in latest changes from upstream MAVLink
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this gives us the new SENSOR_OFFSETS message for debugging sensor
calibration
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3080 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-13 04:45:48 +00:00
1d9bc92d41
Added a generic Sin and Cos look table. Not sure if it works yet as a library.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3075 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-11 22:31:15 +00:00
4f099ae158
cope with double initialisation of the compass
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if we've already initialised, then the orientation matrix will already
be right
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3072 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-10 14:07:15 +00:00
2995878e99
compass: add a small delay in compass init
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this adds a 50ms delay after setting the compass gains before reading
the compass. Added as paranoia after some strange results on a 5843
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3070 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-10 12:47:25 +00:00
998b00693c
AP_OpticalFlow - small but important fixes for position calcs
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3040 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-07 13:19:18 +00:00
22d6499ef7
perl version of eedump
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3037 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-07 10:36:31 +00:00
1e4f463298
Updated GCS_MAVLink to match mavlink master.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3017 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 08:18:08 +00:00
f951ffb602
IMU: fixed HIL init with callback
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2988 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 23:35:37 +00:00
22b5eb4273
GPS: added delay hook for GPS detection
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this allows for MAVLink to be up during GPS detection
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 22:34:37 +00:00
28cf3dfc79
IMU: added delay callback hooks to IMU initialisation
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this allows the imu init() call to use a custom replacement for
delay(), which will allow for the processing of MAVLink packets during
IMU initialisation
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2986 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 22:34:25 +00:00
f096d8cb23
OpticalFlow - add check to see if sensor has initialised correctly.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2974 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-31 04:31:36 +00:00
e63fc0fe68
removed scaling on control in because it might cause rounding issues.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2969 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 23:48:38 +00:00
e32f8057bb
Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2968 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 23:34:25 +00:00
ebf1697158
Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2965 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:35:36 +00:00
39677e7e66
Added some missing functions needed to get HIL to compile
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2964 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:34:23 +00:00
5c3837757a
Added ability to grab an unfiltered value from the ADC
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2963 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 20:33:45 +00:00
74edb558f4
GPS: fixed the GPS specific test programs
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This fixes the build
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2962 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 08:48:17 +00:00
7026405951
Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-29 21:52:37 +00:00
1dc0063e67
HIL: fixed radio_status in setHIL() for APM_RC
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thanks to Michael Oborne for noticing this!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2952 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-28 12:11:25 +00:00
b930b892c2
DataFlash library - changed to use standard arduino SPI library
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2928 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-19 23:00:18 +00:00
ab8d8fedb9
AP_OpticalFlow - fixes to position calculations (lat was reversed and would calculate position even with surface quality was very low)
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2913 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 21:51:27 +00:00
5c3113955d
doubled Slew rate limiter to 2 m/s max @ 10 hz.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2912 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 18:18:47 +00:00
f915eb7052
GPS-HIL: set new_data on setHIL()
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this fixes navigation for ACM in HIL
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2909 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-18 12:42:36 +00:00
de76785499
Added a slew rate limit
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reworked filter, same results, just wanted to get rid of modulus.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2900 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-17 19:05:18 +00:00
c22ebd22b4
compass: fixed a compiler warning
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2844 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-13 09:10:24 +00:00
d71ed55596
build: added EXTRAFLAGS to make rules
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this allows you to create a local makefile like this:
include Makefile
hil:
make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DSERIAL3_BAUD=115200"
and then use 'make hil'
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2843 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-13 09:07:09 +00:00
f6e5825349
Cleaned up or reverse code.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2842 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-13 05:54:40 +00:00
db2e139812
fixed 5843 detection code
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we were looking for the wrong regA value
Thanks to Chris for the debugging help! (and happy birthday!)
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2828 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 22:27:15 +00:00
ddb823829d
compass: added error checking on I2C transactions
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this adds error checking to all operations on the compass, to ensure
that we don't accept invalid data
This also fixes the calibration values for the 5883L to match the
recommended values in the spec
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2815 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 12:10:00 +00:00
a45c33727a
mavlink: fixed a signed/unsigned warning
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2814 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-09 12:09:50 +00:00
d18262b729
Added heavily filtered Accelerometer values for experimentation.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2779 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-08 03:58:19 +00:00
ce7dc48026
added ki_Yaw private variable and accessors.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2778 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-08 03:57:12 +00:00
8a0843e69a
Added a limit to the atan function to calc the heading. Just trying to avoid, bad values screwing up the DCM. - Jason
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2777 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-08 03:56:04 +00:00
45e57a0639
Commit test - just adding an unneeded comment
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2740 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 19:39:55 +00:00
02351bd23a
compass: fixed normal operation mode change for 5883L
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We need to set the right rates after config too. Thanks to Randy for
spotting this one
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2737 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 12:00:45 +00:00
cde84445b3
compass: fixed output rate and averaging for 5883L
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we need to setup the right output rate, or the compass gets very laggy
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2736 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-03 08:32:58 +00:00
8fcceaa919
AP_Compass: fixed calibration of 5883L compass
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this fixes a compass initialisation bug where if the first value from
the compass isn't in the right range we would set bad calibration
scaling factors.
This also changes the maximum acceptable calibration values to 2000,
which is needed for the 5883 compass
pair-programmed-with: Randy Mackay
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2718 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-02 11:31:38 +00:00
e9bb030fd4
AP_Compass: report compass initialisation failure
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don't just put out rubbish values
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2717 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-02 11:31:27 +00:00
fd2547216d
AP_Compass_test - added display to auto detected compass
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2716 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-01 16:26:27 +00:00
98632a97c0
temporally revert to prior version of Sonar class to narrow in on a bug.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2708 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-30 22:32:26 +00:00
f7ba02f825
AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2700 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:47:53 +00:00
151aa5d415
AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2699 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-28 16:30:42 +00:00
db0e5760a4
removed redundant FP calcs for speed up.
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added ability to alternate normalization and drift correction. Not fully implemented, needs further testing.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2691 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-26 22:54:08 +00:00
ebfb132f34
IMU speedup by shorting the temp calculation. If someone bothers to temp calibrate their sensors, they'll need to edit this shortcut.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2677 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-26 06:23:22 +00:00
569087199d
Add a simple tool for dumping AP_Var data from an EEPROM dump.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2676 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-25 07:56:38 +00:00
6959c2d6f9
Added debug/ upload targets to Arduino.mk
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2656 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-23 21:36:20 +00:00
f2457c94d9
Added config.mk file inclusion for global configurations settings on make based builds. See ArduPilotOne for scripts/configure to see an example. config.mk should be located in the temporary directory where the rest of the build results are placed.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2655 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-23 19:01:06 +00:00
8ab94794cd
Enable map file generation.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2636 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-22 05:54:55 +00:00
71d4015bc8
revert gps lib to 2602
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2608 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-21 01:38:31 +00:00
b99362dc18
remove static declaration from idleTimeout
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2607 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-21 01:26:57 +00:00
8a35079907
clean up idleTimeout
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2606 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-21 01:20:39 +00:00
0a0c6f9c26
Fix initialization of idleTimeout
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2602 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 21:11:45 +00:00
d090f92b66
Vector3<T>() { x = y = x = 0; }
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changed to :
Vector3<T>() { x = y = z = 0; }
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2600 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 16:31:31 +00:00
b70d2d4c29
update to Baro lib to remove temp filtering.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2569 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-18 05:08:48 +00:00
3c27be40fc
silly formatting
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2566 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 16:43:43 +00:00
16d1e5d0b8
removed some initial settings
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2565 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 16:35:11 +00:00
350b2c5ea2
added optimization note
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2564 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 16:34:23 +00:00
dafe217178
made timeout public, settable
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2563 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 16:33:08 +00:00
cb7da41e55
removed duplicate filter from ADC based input
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2562 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-16 16:30:37 +00:00
60ae24dca6
disable the re-ordered initialisation warnings
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these are not useful for us, and will always happen with our parameter
code
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2561 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-15 12:25:10 +00:00
24491fce74
fixed warnings in PID.h
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2560 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-15 12:25:00 +00:00
88b00edaf3
fixed warnings in AP_DCM
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2559 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-15 12:24:51 +00:00
439b65324d
fixed a warning in AP_Var.h
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index is in system headers as a string function
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2558 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-15 12:24:40 +00:00
153c166ef3
Based on Doug's recommendation - increased Accel weighting to .66 – 1.33 Gs
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2557 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-14 23:37:43 +00:00
e63fe14ce7
the temp change in the state machine didn't really help the altitude issue after all. Need more testing as the temp sway is the major factor in the lack of air pressure accuracy.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2556 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-14 15:46:38 +00:00
ab6bafbd5c
reworked filter on temperature.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2554 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-14 05:08:11 +00:00
65e161cbfb
removed filter on temp, was causing init problems.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2553 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-14 04:51:07 +00:00
d2330b4239
Adjusted the state machine to read the temperature less often (from twice a second to every 4 seconds). Added a small smoothing filter.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2552 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-12 23:57:36 +00:00
65345160d1
Implemented moving average filter to deal with noise issues on quads, default is a 6 member filter.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2551 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-12 23:50:15 +00:00
b07c32acd0
Added dynamic setting of kp_rollpitch, ki_rollpitch, kp_yaw.
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Added three constants for kp_rollpitch, (high, med -default, low)
Functionally equivalent to prior version.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2550 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-12 23:49:01 +00:00
4d6637389a
Add a method to BetterStream and FastSerial that can be used to report
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the amount of data that can be written without blocking.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2549 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-12 22:26:39 +00:00
8b18bd3481
Add clearOverride message to allow failsafe recovery from joystick control
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2540 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-11 23:59:35 +00:00
13203fd211
RC_Channel.h - small change to store _reverse setting to eeprom
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2528 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-10 03:33:31 +00:00
b640e7b68c
AP_Compass - added support for HMC5883L
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2461 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-01 13:21:20 +00:00
9b1be05369
AP_Compass - added support for HMC5883L
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2460 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-01 13:16:18 +00:00
65cb8d6bdb
AP_OpticalFlow - moved chip select pin so it doesn't interfere with AP_ADC
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2452 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-31 13:46:56 +00:00
530eeb4184
Fix bug for GCS joystick control
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2440 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-30 03:44:07 +00:00
5d5b51cbe6
Change setHIL to return a bool based on if GCS joystick control is active
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2423 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-27 23:15:29 +00:00
dd510e68ae
http://code.google.com/p/arducopter/issues/detail?id=161
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2395 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-24 05:17:12 +00:00
4017bb39d1
AP_OpticalFlow - fixed some bugs in get_position
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2380 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-22 14:44:51 +00:00
886032141a
Synced with mavlink dev branch, RC_CHANNELS_OVERRIDE packet added.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2344 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-18 03:24:31 +00:00
7bfeab7a6d
I am Adding A "PI" loop to the mix. This is a need for AC2. We can optimize the internals later, but I basically duped the get_PID and removed the D term internals.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2338 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-16 16:05:49 +00:00
4ce3cb9be8
AP_OpticalFlow - added set_orientation
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2245 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-11 12:49:19 +00:00
e6aa5fc927
Add hDOP for ublox gps driver
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2241 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-11 02:54:43 +00:00
a19b5a5c10
Add an alternate compass.calculate() function substituting 1 sqrt func for 4 trig funcs.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2221 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-08 18:15:29 +00:00
3fe8829396
Fixed script typo.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2188 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-07 20:51:19 +00:00
08e644d969
Updated mavlink to latest roi branch.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2187 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-07 20:49:13 +00:00
19e5cad091
changed a bool to uint8_t
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2120 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-06 17:51:26 +00:00
88a8c1113c
Added new output type AMGLE_RAW - this will ouput non-scaled PWM, better for copters than fixed wings.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2093 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-05 17:46:11 +00:00
063d6a1e9a
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2092 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-05 05:22:12 +00:00
e6c4595d3c
Massive warning fixes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2089 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-04 19:12:27 +00:00
9d089920ae
Suppress warnings from the Arduino core, since we can't do anything about them.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2076 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-03 05:04:27 +00:00
b56992c5dd
Libraries to support non AP_VAR usage. This is for Ardupilot legacy hardware.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2075 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-03 04:33:32 +00:00
6d4b77340b
fixed an overflow issue in AP_RC
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2074 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-03 04:32:37 +00:00
85d006c290
Re-order class members to avoid initializer-order warnings.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2073 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-02 05:56:21 +00:00
d257e12dc0
Re-order initialisers to suppress warnings
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2072 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-02 05:55:59 +00:00
b8cc8755f6
Rename some ctor arguments to suppress shadow-related warnings.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2071 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-02 05:55:34 +00:00
bad640fd27
added a few more warning flags for when building with the Makefile
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2070 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-02 05:50:13 +00:00
cec995adf7
Added const AP_Var access.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1958 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 19:29:33 +00:00
6d13081fcf
Removed APO lib.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1957 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 17:38:12 +00:00
80f941e8e0
Moved APO quad/ rover projects.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1956 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 17:14:54 +00:00
9b3510bd15
typo
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1955 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 04:55:51 +00:00
be601efae3
removed yaw towards WP option. Should now be handled with a mission script.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1954 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 04:55:07 +00:00
ceb1c1e81d
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1953 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 04:54:15 +00:00
ba4756bcaf
Heartbeat failsafe added for APO.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1940 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 03:38:41 +00:00
2e8904c120
APO comment fixes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1939 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 03:20:19 +00:00
6d53028345
Example cleanup for APO.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1938 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 03:05:15 +00:00
cb787573ef
Added Car/Quad APO examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1937 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 02:43:46 +00:00
3b87530b74
DataFlash - backed out recent changes to make it use SPI while I figure out the cause of some people's compile errors
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1936 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 02:27:18 +00:00
a840314b97
APO merge.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1935 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-01 02:05:17 +00:00
8d1f9c9fd9
AP_OpticalFlow - first draft of optical flow library for use with experimental ADNS3080 sensor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1933 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-30 08:29:28 +00:00
3ef57bf3bf
DataFlash - modified to use Arduino SPI interface instead of directly using registers. Also moved "dataflash_CS_inactive" calls to end of functions instead of beginning so that it doesn't monopolize the SPI bus.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1931 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-30 03:25:31 +00:00
f76f81cfd9
update dataflash for 528 and 512 byte pages
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1906 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-18 11:19:31 +00:00
edcc48c475
Removing BinComm because we're using MavLink now
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1905 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-18 02:51:19 +00:00
0f5505e529
just formatting
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1887 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 04:55:32 +00:00
ec42665831
my quicky GCS debug library
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1886 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 04:52:01 +00:00
e1d945812d
defaulted to 38400 baud
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1885 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 04:50:38 +00:00
ead4ce4344
Added more wp options
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1884 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 04:49:46 +00:00
2068c83cba
Fixed bug in compass tests, had it initialize fastserial.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1862 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-09 19:57:54 +00:00
90676903ba
Eclipse makefile support for examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1861 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-09 19:39:27 +00:00
58118ef9f0
Eclipse makefile support for examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1860 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-09 19:38:12 +00:00
5e726335fa
Fixed rc channel.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1850 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-06 01:19:03 +00:00
81c5770b77
GPS: fixed the idle timer
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we need to reset the idle timer only on good data, or a call to
init(). Otherwise we never use it.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1849 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-04 22:00:06 +00:00
eb6962568b
Removed AP_Controller.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1848 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-04 21:40:43 +00:00
f67c4d7c99
Fixed controller prototype for update.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1847 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-04 03:26:58 +00:00
2868181322
Updated Car controller demo.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1846 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-04 02:23:32 +00:00
b646cdd61a
AP_Controller update.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1845 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-04 02:22:55 +00:00
f4403be163
ADC Library - reimplement overflow
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1832 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-31 14:19:59 +00:00
ea4700ad6e
Fix adc issue causing serial problems/other issues. (DOUG please check)
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1829 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-29 11:16:21 +00:00
bff541a8a6
FastSerial Fix
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1826 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-29 00:08:27 +00:00
68e48de0f6
Temp revert to previous version, while I hunt down a bug.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1822 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-27 23:34:50 +00:00
3c54965c30
reformatted
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1817 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-26 21:05:02 +00:00
db3b7ba12a
Added back some APO libraries.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1813 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-25 17:08:35 +00:00
cdc5241363
Print the key associated with a variable when the variable is printed using AP_Var_menu_show.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1812 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-25 02:51:03 +00:00
0431b6dc69
Add an interface for locating a variable by key.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1811 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-25 02:46:45 +00:00
c7deedd785
Change waypoint/command storage to include options byte.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1809 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-23 03:29:46 +00:00
776b9b6f7a
added -Wformat in Arduino.mk
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when building with 'make' we get warnings related to printf() format
strings
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1798 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-21 07:26:03 +00:00
211de598c3
implemented typesafe PSTR()
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This makes PSTR() type safe by using a 1 byte wrapper
structure. Attempts to use the wrong varient of a print function will
generate a compilation error.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1797 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-21 07:25:48 +00:00
fd10614822
a basic mission uploader
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1796 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-21 00:51:43 +00:00
e7c0fea807
MavLink Update
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1795 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-20 23:28:42 +00:00
4e29176262
a basic mission uploader
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1794 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-20 21:56:48 +00:00
f5b1c84e2d
mavlink: sync with upstream
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this syncs with 7e1c274437f09a8a03a5bef990e14b93c8fc8b07 from
March 17 2011
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1782 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-18 01:34:13 +00:00
cc548e4c19
added dummy save() method to AP_IMU_Shim
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1781 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-18 01:34:00 +00:00
4c2e458be6
Mavlink update
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1777 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-16 10:09:22 +00:00
28011d8800
removed options - not going to go that route without proper GCS support.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1760 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-09 06:38:46 +00:00
d5ab8f3a79
Mavlink update
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1757 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-08 11:07:58 +00:00
967130ed7e
Add method definition for set_centripetal()
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1756 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-08 01:47:43 +00:00
b8e904bd54
Added Options Bitmask to Location Struct
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1741 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-03-05 04:39:23 +00:00
5f853768f4
Add member/method to allow HIL to override radio values
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1732 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-28 02:37:51 +00:00
0642e1144d
Fix imu_health metric
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1728 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-25 20:09:00 +00:00
85672b5ab2
Change gyro/accel calibration to guard against improper orientations or motion during cal
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1727 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-25 17:49:31 +00:00
c29ff2a99d
removed unused save_trim() function
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1716 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-23 05:17:24 +00:00
2989bf2cde
Fix hil issue
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1712 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-21 23:16:57 +00:00
1115986749
Fix ::set_and_save to return the result of the ::save call.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1707 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-21 05:12:58 +00:00
57bead1964
Fix the return value from ::save() on AP_Var_groups so that the caller can verify that a save was successful.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1706 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-21 05:11:02 +00:00
94537aa143
Increase the maximum save size to 64B, so that a Vector3f can be saved.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1704 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-21 04:42:28 +00:00
bd9f0f4647
added more time to IMU startup. added more accessors and removed private flag.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1702 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-20 23:10:18 +00:00
0ff00e3a53
added names to output in show
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1698 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-20 03:46:18 +00:00
d036cb9360
Fix AP_Var::load - it has to ask the serialiser, not the unserialiser, for the variable's size.
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Fix AP_Float16 - scaling was being done in the wrong direction, and the unserialiser wasn't reporting errors.
Add test cases for the above.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1696 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-20 00:38:09 +00:00
7dc91e5dcb
Consolidating APO.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1691 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 21:36:29 +00:00
053e747428
quick.fix
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1688 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 21:01:32 +00:00
95462e0bdd
quick.fix
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1687 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 21:01:07 +00:00
caf6a3dc0f
Added setHIL to GPS.cpp
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1686 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 18:33:42 +00:00
4c79a2c9a5
Mavlink update.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1685 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 17:54:14 +00:00
b268578975
fix compass shim
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1684 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 10:04:00 +00:00
caf9fe5777
fix imu shim
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1683 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 09:52:59 +00:00
3c330fc211
Added MAV_CMD_NAV_R_WAYPOINT, MAV_CONDITION_ANGLE
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1679 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 03:59:06 +00:00
2c4fc16ce8
Added MAV_CMD_NAV_R_WAYPOINT, MAV_CONDITION_ANGLE
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1678 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 03:58:48 +00:00
385e3af27e
Added accessors declination.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1677 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 03:57:53 +00:00
e6e161d56d
Added accessors back for Accels. I need them there until we need to find another solution.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1676 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-19 03:57:19 +00:00
c1c2021719
Correct factoring issue for AP_GPS_IMU XPlane HIL interface.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1673 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-17 21:36:56 +00:00
72d9f52d3b
Small bug fix for HIL gps when using auto-detect
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1663 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-16 18:19:07 +00:00
ad13b691de
DCM needs a reference to a pointer so that we can change the GPS under it during init.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1662 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-16 07:54:48 +00:00
f8f0027c7f
Add a little code to track the amount of memory used by AP_Var subclasses.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1661 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-16 07:01:17 +00:00
6e0d023c95
Add saturation and sink blocks.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1660 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-15 03:10:01 +00:00
dd51139b36
AP_Controller working.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1659 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-15 00:57:23 +00:00
57892082b2
Debugging controller.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1658 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 21:02:35 +00:00
92bfbb1ca4
Use a more explicit loop termination condition.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1657 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 17:49:02 +00:00
a8d6b839a5
Don't return a name for a variable if it has no name, even if it's in a group that does have a name.
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When displaying variables, don't display variables with no name, or that are groups.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1656 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 17:44:33 +00:00
b750e2b006
Variable names must be PROGMEM strings.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1655 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 17:43:33 +00:00
099ca305c9
Add a constant that can be used to identify groups.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1653 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 07:11:42 +00:00
223af24398
Use AP_Var to store PID scaling values.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:45:31 +00:00
8e7301b4d3
Use AP_Var to store channel calibration.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1651 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:43:44 +00:00
ddfab124cd
Use AP_Var to store accel/gyro calibration.
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Refactor AP_IMU_Oilpan and remove all the old EEPROM code.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1650 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:42:37 +00:00
b9152dc544
Line ending property changes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1649 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:27:07 +00:00
dee05d1838
::transposed does not change the matrix; make it const.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:26:05 +00:00
1f04ecbfdb
Major update including AP_Var support.
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Most of the compass functionality is now abstracted in a base class, with the various sub-classes implementing just their unique functionality.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1647 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:25:20 +00:00
90bae93a50
Eclipse project config changes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1646 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 03:16:03 +00:00
3dbffbfcb4
Add a template AP_VarS that handles arbitrary structure/class types.
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Note that the object must still be <= 32 bytes in size to be saved/loaded.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1644 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 01:47:24 +00:00
1f56ef5f21
updated formatting, baud
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1643 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 00:43:35 +00:00
6512531bf9
updated formatting, baud
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1642 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 00:43:11 +00:00
17804fbc29
Speed IMU initialization
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1641 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-13 23:25:04 +00:00
2dc7621e4e
Change ADC overflow correction
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1640 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-13 23:24:37 +00:00
1e63c2f368
AP_RcChannel demos updated for AP_Var.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1632 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-13 01:24:32 +00:00
89eaff17bc
Mavlink update
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1630 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-11 11:04:52 +00:00
7d80ff5dc8
Fix Mavlink include
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1628 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-11 00:04:39 +00:00
3e65cdf689
Fix for log() being a bad idea.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1617 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-09 23:15:11 +00:00
d81237d43f
MavLink Update
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1616 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 23:16:58 +00:00
fac0e0a1d9
Add code for auto magnetometer offset nulling.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1615 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 20:17:16 +00:00
107e06d849
Implement a cast_to_float method for convenience; at a cost of a couple of bytes in the vtable this will save many callers having to play type introspection games.
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It might be possible to implement a set of virtual cast operator overrides, but only float lets us return NAN to indicate that a cast can't be made, so for now we'll stick with just this one.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1614 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 10:17:45 +00:00
56eea84a89
Correct knots -> m/sec conversion. Thanks to Paul M. for spotting this.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1613 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 07:06:47 +00:00
ef95309e9a
APO Compiling with new AP_Var!
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1612 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-08 01:58:51 +00:00
d4007c3fca
Working on updating AP_Controller/RC_Channel for new AP_Var
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1611 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-07 23:33:12 +00:00
d5e48364a1
Change MediaTek timestamps to millisecond Time of Day
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Add epoch method to return timestamp epoch.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1589 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-01 23:50:36 +00:00
ff5ce694a2
Add a template AP_VarA that defines a variable that is an array of some basic type. This is like AP_VarT for arrays, with minor changes in behaviour consistent with the difference between regular variables and arrays.
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Note that AP_VarA arrays are still limited by the constraints on the total size of a variable (AP_Var::k_size_max).
Add a basic unit test for arrays; more are needed.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1579 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-30 20:58:34 +00:00
072103ef07
Comments, minor consting, use a better target for sizeof in AP_VarT
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1578 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-30 20:14:42 +00:00
f6dec2503e
Minor whitespace fixes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1577 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-30 20:13:07 +00:00
343c6565db
Add FinishWrite method to the DataFlash class to support using an index system.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1575 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-30 01:53:04 +00:00
fba3e62135
Add reversing for PWM outputs in angle_to_pwm case.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1566 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-27 18:16:22 +00:00
b8e53931b9
Started updating AP_Controller and AP_RcChannel for AP_Var
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1559 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-26 07:05:22 +00:00
0ed855541f
Mavlink update
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1555 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-25 00:31:38 +00:00
0913a26513
Try to pre-empt subsequent inclusions of wiring.h by grabbing it here and giving ourselves a chance to undo some of the less well-advised macros it defines.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1554 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-24 02:44:31 +00:00
95d6e2cac0
fixed a scaling bug in imax
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1553 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-24 02:07:25 +00:00
d38874cd05
Move the unit test framework out of the unit tests. Add unit tests for the k_typeid_* constants.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1543 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 23:59:26 +00:00
27c36583d0
Add a function to AP_Var for finding a variable by name. It is not efficient, but convenient for e.g. interactive use.
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Add pseudo-constant copies of the AP_Meta_calss::Type_id for the standard AP_VarT subclasses. This makes checking the type of a possible AP_Var much cheaper than calling ::meta_cast, as there is no object con/destruction involved.
Add some helper functions for manipulating AP_Vars from Menu interfaces.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1541 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 23:58:07 +00:00
7f5b882e1a
Don't include AP_Vector (in preparation for retirement) and AP_Loop (because it's not being used by APM*). Interested clients can still include AP_Loop if they need it.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1540 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 23:48:07 +00:00
ce651511d7
Rename AP_Meta_class::AP_Type_id to AP_Meta_class::Type_id in keeping with the coding standard.
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Add a non-static version of AP_Meta_class::meta_cast that can be used against any subclass object directly.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1539 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 23:46:58 +00:00
fd83ba7753
Fix a serious typo, add more documentation.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1538 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 20:33:20 +00:00
e2f15b3b97
Move the Test unit test framework out into its own header, so that it can be used by other libraries.
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Add some documentation explaining how it is used.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1537 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 20:26:11 +00:00
b8598c7ef6
Simplify AP_Var_group::_serialize_unserialize slightly by removing some variables.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1535 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 10:04:24 +00:00
8de4cc56da
Improve performance when saving a number of variables that don't have space allocated in the EEPROM. This avoids scanning the entire EEPROM every time a variable that has not yet had space allocated is written.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1534 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 09:56:58 +00:00
82fdeb11bb
Fix ::save_all/::load_all so that they check the correct criteria for opt-out. Now load/save_all work.
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Fix prototype for AP_Var_group::serialize so that it's called correctly when saving a group. Now group load/save works.
Add load/save_all and group load/save unit tests.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1533 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 09:27:58 +00:00
3adec05593
Fixes for EEPROM space allocation and mapping.
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- We can't count on the first EEPROM scan knowing about everything; new variables may be constructed later so be willing to go back and re-scan the EEPROM if we encounter a new variable that hasn't been loaded yet.
- Sort out where _key actually points (the variable's data) in the EEPROM and get everyone to use the same interpretation.
- Fix return values from ::save and ::load.
- Make it possible to re-save after ::erase_all by de-locating all variables before the EEPROM is blown away.
- Fix args to eeprom_read_block/eeprom_write_block so that we don't spam random memory.
Add unit tests for basic save/load operations.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1532 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 08:11:53 +00:00
1a2ce433e1
I never liked the plan that variable groups could only be statically scoped; it was much too fragile. These changes address that issue by splitting the global variable list into two lists, one for standalone variables (including groups), and one for variables that are members of a group.
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Now a variable belonging to a group can safely be constructed before the group it belongs to, and the group can be destroyed before its member variables. This greatly simplifies the AP_Var constructor(s).
Remove the lookup-by-index and lookup-by-key interfaces to AP_Var and replace them with first/next interfaces for all variables, and for variables belonging to a specific group. Document their usage. Add an accessor for the key associated with a variable so that search-by-key can be performed by a consumer. Throw away the lookup cache implementation, as it's not required anymore.
Re-layout the EEPROM variable header and tweak the EEPROM space allocator so that it's more resistant to interruptions during variable save.
Fix the global constants so that they work.
Add an interface for erasing all variables in EEPROM (only writes one byte).
Fix unit tests so that they work with the changed interfaces. Also tweak the unit test framework so that it doesn't inline all its code. This is a WIP - many more tests need to be written still.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1531 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 06:52:59 +00:00
8317c090da
Add a templated version of AP_Meta_class::meta_type_id so that you can get a type ID for any named type without having to have an instance of the type lying around. Update the comments about caching type IDs to reflect its availability.
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Fix the comments around AP_Meta_class::meta_cast; they were leftovers from an earlier implementation and entirely not helpful.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1530 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 06:44:07 +00:00
6cf396074b
Implement the missing AP_Var_group::*serialize functions.
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Rather than implementing empty default constructors, make sure that AP_Var and friends have useful default constructors instead. This works around AP_Meta_class::meta_cast requiring a default constructor without having empty ctors scattered around.
Add accessors to AP_Var so that the global variable list can be traversed and the group/variable relationship comprehended by outsiders.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1523 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-22 18:42:44 +00:00
d53844c52d
Implement a pure data serialisation load/save model for AP_Var.
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The format is a simple TLV format; a tag identifying the variable, a length for the variable, and then the actual data. This format could ultimately be extended to include waypoint/commands as well.
This allows us to load and save groups of variables to EEPROM without having to have a static EEPROM map.
Still needs unit tests and (probably) bugfixing.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1522 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-22 08:37:52 +00:00
8ec3a8de4a
Updated AP_RcChannel for AP_Var.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1509 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 04:56:45 +00:00
dbb40ad9a4
Reinstate Float loading and saving
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1507 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 22:57:48 +00:00
82e6e29d2f
Add initial values for scaling and dead zone to RC_Channel constructor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1506 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 04:05:48 +00:00
c9788d7b0b
Add back AP_GPS_IMU to provide Xplane functionality
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1504 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 01:50:34 +00:00
709b56f477
Added getter functions to accels
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1503 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 20:42:11 +00:00
ea3570ded0
Formatting and naming changes for conformance with the ArduPilot Coding Conventions.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1502 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 09:14:21 +00:00
91efbeac56
Deal more gracefully with the case where the incoming PPM stream has more than 8 channels encoded.
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This makes it possible to move one resistor on the APM board and feed it PPM directly from a receiver emitting a PPM stream.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1498 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-15 19:32:04 +00:00
e552b7c7e1
Update to current MAVLink dev branch protocol version. This has NOT been tested yet.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-12 08:57:54 +00:00
3f663597b5
Based on explaining AP_VarNoAddress to Doug, improve the description of the value.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1491 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-12 02:43:25 +00:00
3cdeffa372
Bring AP_GPS_Auto closer to ready for prime-time:
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- disable NMEA autodetection; false positives are still a risk
- trim down the console output to a minimum; we still need something to help users diagnose potential problems, but the old output was much too verbose
- rather than block forever, only do one autodetect pass for each ::read call. That's still too long (five seconds or so) but better than blocking forever.
- don't block forever if no GPS is attached.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1480 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 08:20:41 +00:00
b88cfe92f4
Extend the logic that preserves buffer sizing on re-begin by also avoiding freeing and re-allocating buffers when they don't change in size.
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This can make re-opening a port faster (as the free/malloc pair can be avoided) and possibly more robust (in the case where e.g. the heap has been corrupted).
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1479 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 08:17:31 +00:00
7cb9579edf
Update the NMEA example code in conjunction with the new parser.
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Added an init string for SiRF receivers that will bring them back out of the binary mode configuration that AP_GPS_Auto sets them to.
Picked up the GPS logging format from the AP_GPS_Auto test.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1469 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:57:16 +00:00
e27af48391
Implement a completely new NMEA parser based on the TinyGPS parser by Mikal Hart.
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Major new features:
- No RAM buffer for the NMEA message being parsed; saves 120 bytes of RAM.
- More robust parser, a little less likely to be confused by bad messages.
- Added configuration strings for SiRF, ublox and MediaTek GPS in NMEA mode to select just the messages of interest.
Note that the issue that TinyGPS has with co-ordinates with "different" numbers of decimal digits is addressed in this code.
Size is comparable to the old parser.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1468 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:55:45 +00:00
3ac2193d48
Add a delay after sending the GPS mode switch strings in an attempt to give any NMEA data time to drain before we attempt to sniff again.
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Otherwise, we can end up settling on NMEA as a mode just after switching a SiRF GPS to binary mode.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1467 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:50:42 +00:00
0b2e2c55f9
Add more unit tests for AP_Var.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1466 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:44:23 +00:00
e243149f61
Add more documentation for AP_MetaClass.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1465 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:43:41 +00:00
adb54428da
Add a new macro PROGMEM_STRING that can be used to define a constant string in program memory.
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This is a partial workaround for not being able to use PSTR at global scope, e.g. in an argument to a constructor; it makes the intent of the otherwise somewhat bulky declaration of the string more obvious.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1464 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:42:59 +00:00
afc68ba45c
Use operator new from AP_Common rather than our own. This also makes AP_Common available to the GPS drivers that work with AP_GPS_Auto.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1463 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:19:15 +00:00
c2c663a188
Add documentation and reformat closer to our current code standard.
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Add support for re-opening a port without changing the baudrate or buffer sizes. By passing zero for the parameters that aren't to be changed, code can reconfigure a port without needing to know how it was originally configured.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1462 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:17:03 +00:00
fa6ebd23d1
Add a date field to the standard GPS data. This may be zero, and its format is TBD (may be GPS-dependent).
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Increase the no-data timeout to slightly more than a second, so that GPS' with a 1Hz update rate don't cause problems.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1461 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 00:44:09 +00:00
f5ff57a5b7
AP_RangeFinder_test.pde - corrected some inaccurate comments in the code
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1459 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-09 14:20:26 +00:00
9e79b78d2a
Add a flags byte to variables, and implement a "no auto load" bit that opts variables out of load_all / save_all.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1449 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-05 17:56:46 +00:00
6c0fc63e61
Save AP_Var's initial value as a default value, and add a function for restoring the default value.
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Fix the AP_Var::lookup cache, which was very busted.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1448 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-05 09:25:07 +00:00
fe1311b2c4
More unit tests.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1447 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-05 07:40:35 +00:00
0f2a1ac411
Fix the assignment operator overload for AP_VarT so that direct assignments to the type work correctly.
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Add a variant of AP_Float that stores the value as Q5.10 (16-bit fixed-point) to save EEPROM space.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1446 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-05 07:40:06 +00:00
6ff11ea1fd
Simplify FastSerial::begin baudrate calculations in line with the changes made in Arduino-0022
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1424 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 18:41:27 +00:00
e47352e941
AP_RangeFinder - tiny bit of extra initialisation on table holding averages
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1419 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 14:33:29 +00:00
6425327190
Unit tests for scope-based address offsetting.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1418 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 08:50:24 +00:00
4545c3df80
Move the AP_Var ctor out of the class definition; it's big enough that we don't want to inline it.
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AP_Vars with either a name or an address are 'interesting' (the latter so we can save_all).
Add the concept of address offsets to scopes. Now we have a container that we can put AP_Vars into that can be moved around in the EEPROM. This will make it easier for things like the PID library which need to support multiple instances getting their parameters from different parts of the ROM.
Improve documentation.
Suck it up and admit that we aren't going to do "identity"-based addressing for the EEPROM and just call the property "address".
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1417 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 08:49:55 +00:00
158b3c91d3
Metaclass improvements:
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- Add a default ctor/dtor pair. The dtor ensures that all dtors are virtual, and guarantees that there is something in the dtor vtable slot for classes that don't implement their own.
- serialize must not alter the class, mark it const
- Improve documentation
- Fix handle validation to prevent trying to read 2 bytes beyond the end of memory
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1416 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 08:46:01 +00:00
6cf3a8cb71
Checking these in makes the libraries too bulky. We need to host them somewhere.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1413 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 06:22:02 +00:00
95674b8518
AP_RangeFinder - changes to allow sonar to work using pitot tube. Also moved most functionality into RangeFinder class instead of child classes.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1404 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-03 04:17:43 +00:00
45f8112244
Beef up the unit tests for AP_Var. Most of the basic functionality is now covered.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1403 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-03 02:29:17 +00:00
6c366f041d
Rename the base class for variables AP_Var; less confusing, less to type. Rename the template type instead.
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We don't need any of the arithmetic overloads, so strip them.
Fix includes.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1402 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-03 02:28:35 +00:00
a3ca869ca4
Don't allow the default serialize/unserialize to be inlined.
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Fix some includes and remove an old implementation of meta_cast.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1401 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-03 02:26:18 +00:00
1c22560133
Add the ability to find the sketchbook when called from a Makefile in a library example.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1400 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-02 22:16:21 +00:00
76dd412f7d
Following discussions with James, a complete rewrite of AP_Var.
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The overriding principle here is to keep the use of AP_Vars as simple as possible, whilst letting the implementation do useful things behind the scenes. To that end, we define AP_Float, AP_Int8, AP_Int16 and AP_Int32. These are strongly typed, so that there is no ambiguity about what a variable "really" is.
The classes behave like the variables they are storing; you can use an AP_Float in most places you would use a regular float; you can add to it, multiply by it, etc. If it has been given an address in EEPROM you can load and save it.
Variables can be given names, and if they are named then they can be looked up. This allows e.g. a GCS or a test tool to find and traffic in variables that it may not explicitly know about.
AP_Var does not attempt to solve the problem of EEPROM address space management.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1399 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-02 22:14:36 +00:00
935bcc036b
APM_Compass - moving to "legacy_do_not_use" directory
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1391 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-01 15:00:32 +00:00
0f0090ec6c
Don't define constant AP_Var's extern
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1381 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-01 00:31:39 +00:00
1f9bc81bd6
Added AP_Controller library.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1379 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-31 06:20:28 +00:00
8abc98be90
Updated docs.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1377 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 07:51:53 +00:00
19f6c999ce
We should call imu.update() before asking for accel/gyro values so that we get timely, fresh numbers.
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Most other consumers of the accel/gyro values should be asking us for them anyway. At that point, what they are getting are the values we sampled here.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1376 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 07:52:35 +00:00
f4511fa7e6
Fixed non-standard value in RcChannel examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1375 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 07:43:56 +00:00
d7c6bc7c16
Updated RcChannel examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1372 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 07:02:56 +00:00
b3089a9c73
Fixed casting issues with EEPROM Registry
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1371 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 06:46:40 +00:00
b9f3fb7d64
cosmetic
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1370 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 06:43:35 +00:00
9f11c97463
Fixed issues with RcChannel EEPROM var ownership.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1369 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 05:25:28 +00:00
c45249622c
Fix/improve depdendency handling. Deps are autogenerated on the first compile pass and consumed on subsequent builds. This helps work around the difficulty of building the 'clean' target with Eclipse.
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Don't depend on the build directory anywhere; we automake it as required.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1368 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 03:45:50 +00:00
6fe8418253
More awk-related changes. mawk hangs on the parser scripts, so try gawk; it's what we'll need for cygwin anyway.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1367 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 03:20:33 +00:00
0620d0c631
We need TOOLPATH even when ARDUINO is defined. Refactor.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1366 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 02:25:55 +00:00
338c60bfb1
Adjust the awk scanners to deal with the somewhat less featureful awk found on many Linux systems.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1365 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-30 02:16:01 +00:00
0b48a85ddf
Better TOOLPATH handling for Linux
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1364 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 23:13:44 +00:00
d32d2ded68
Try to find the AVR tools on Linux
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1363 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 22:39:39 +00:00
5c7cfa39f1
Add Eclipse project metadata.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1362 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 20:35:16 +00:00
240c345e22
Move Arduino.mk here. This library should always be present in a constant location for our projects.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1361 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 19:43:58 +00:00
d0540d7373
RcChannel now owns channel config params.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1354 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 08:26:21 +00:00
02d6b6414f
Make the GPS ctor protected so that it can't be accidentally constructed or copied.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1353 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 03:32:37 +00:00
b006aa6179
Back out the memset optimisation. It helps with code size but causes inexplicable link-time failures (undefined references to __cxa_pure_virtual).
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Thank you very much Mr GCC. Can I have my evening back?
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1352 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 03:09:29 +00:00
15748ea10f
Curse you, CodeLite.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1350 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 00:36:08 +00:00
4dfd88f287
Undo the ^M nonsense that CodeLite pulled.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1349 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 00:35:53 +00:00
22aa34c8b0
This shouldn't be here.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1348 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 00:33:21 +00:00
3d6075374c
Moved examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1347 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:56:12 +00:00
a537877b4c
Updated RcChannel examples.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1346 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:54:52 +00:00
3af04d124f
Break AP_Var and friends out into their own header.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1345 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:51:12 +00:00
59d7a235c8
Fix over-clever macro.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1344 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:50:50 +00:00
d5ffec8119
Update for changes to AP_IMU
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1343 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 23:41:26 +00:00
Andrew Tridgell
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