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2923 Commits

Author SHA1 Message Date
Andrew Tridgell
2f111b857b AP_GPS: ported test code for PX4 2013-01-04 19:41:36 +11:00
Andrew Tridgell
f701d0cc85 AP_GPS: a couple more places where we should restart 
this prevents us losing a byte
 2013-01-04 19:40:49 +11:00
Andrew Tridgell
3bfff4bd6d AP_GPS: pragma pack is needed on ARM 
we rely on GPS data structures having byte alignment. Luckily GCC can
cope with this.
 2013-01-04 19:39:15 +11:00
Andrew Tridgell
741174f5d5 AP_Compass: first cut at a PX4 compass driver 2013-01-04 16:21:24 +11:00
Andrew Tridgell
2ac6541526 AP_Baro: added PX4 barometer driver 2013-01-04 14:58:24 +11:00
Andrew Tridgell
cf5d102912 AP_Common: added board ID for PX4 2013-01-04 14:26:28 +11:00
Andrew Tridgell
fd23f6bd33 InertialSensor: added PX4 example sketch 2013-01-04 14:26:14 +11:00
Andrew Tridgell
ae09b31176 AP_InertialSensor: added PX4 gyro/accel driver 2013-01-04 14:25:57 +11:00
Andrew Tridgell
9f423a24ad HAL_PX4: yield CPU in delay() 
this allows other apps to run
 2013-01-04 12:34:35 +11:00
Pat Hickey
bc3b6fcb9f AP_HAL_AVR_SITL: remove begin/end atomic, adjust timer procs 2013-01-03 17:33:14 -08:00
Pat Hickey
688ec864dc AP_HAL_AVR: deprecate begin/end atomic, timer procs run on resume 2013-01-03 17:33:14 -08:00
Pat Hickey
ea2a03344e AP_HAL Scheduler: remove begin_atomic and end_atomic from api 
* application-level atomic operations can now only be defined in
  terms of suspend/resume_timer_procs
 2013-01-03 17:33:14 -08:00
James Bielman
8f4a2e4c0e AP_HAL_SMACCM: Scheduler timer process implemented correctly. 
- Use "g_atomic" for suspend/resume timer procs.
 2013-01-03 17:33:13 -08:00
James Bielman
d84ba8ef59 Use HAL suspend/resume timer procs rather than atomic. 
- Preparation for removing begin/end atomic.
 2013-01-03 17:33:13 -08:00
James Bielman
578c4859e4 AP_HAL_SMACCM: Update to new semaphore interface. 
- Renamed files to match AVR HAL.
 2013-01-03 17:33:13 -08:00
Andrew Tridgell
155fca8a4b HAL_PX4: make APM sketches into daemons 
this also moves uartA onto UART5, allowing ttyS0 for nsh
 2013-01-04 11:14:35 +11:00
Pat Hickey
8503f3e2ae Optflow: uses new Semaphore 2013-01-03 13:48:07 -08:00
Pat Hickey
d808c19c10 AP_InertialSensor_MPU6000: uses new semaphores 
* some refactoring to fix differences between timerprocess
  and non-timerprocess usage
 2013-01-03 13:48:07 -08:00
Pat Hickey
5d91f342bb AP_Baro_MS5611: uses new semaphore lib 2013-01-03 13:48:07 -08:00
Pat Hickey
a556a95565 AP_ADC: uses new semaphore interface 2013-01-03 13:48:07 -08:00
Pat Hickey
390e96311e DataFlash: change to new style Semaphore library 2013-01-03 13:48:07 -08:00
Pat Hickey
f178d1bd02 AP_HAL_Empty: implement new Semaphore interface 2013-01-03 13:48:07 -08:00
Pat Hickey
2d6b649aa4 AP_HAL_AVR: Semaphore unit test 2013-01-03 13:48:07 -08:00
Pat Hickey
0029148b3a AP_HAL_AVR: Implements new Semaphore interface 2013-01-03 13:48:07 -08:00
Pat Hickey
74e2ba2168 AP_HAL_AVR Scheduler: _in_timer_proc is volatile protected 
* and AVRSemaphore is a friend, so it can read _in_timer_proc
  to know the current context.
 2013-01-03 13:48:07 -08:00
Pat Hickey
81d77d4a70 AP_HAL: New semaphore interface 
* it now looks like a semaphore!
 2013-01-03 13:48:07 -08:00
James Bielman
acf05a29ee AP_InertialSensor_MPU6000: Poll status register if there is no data ready pin. 2013-01-03 13:48:06 -08:00
James Bielman
264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
James Bielman
5753ae5692 AP_Baro: Add I2C support to MS5611 driver. 2013-01-03 13:48:06 -08:00
James Bielman
a4af314b57 Add AP_HAL_SMACCM implementation. 
- Add a board definition for SMACCMPilot.
- Support the SMACCM HAL in required utility libraries.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell
1fc95a2d45 HAL_PX4: support PPM RC Input 
HIL flying now works properly
 2013-01-04 08:31:23 +11:00
Andrew Tridgell
e729a8b277 AP_HAL: rename Semaphores cpp file to match header 2013-01-03 21:36:48 +11:00
Andrew Tridgell
38bccee230 HAL_PX4: initial RCInput driver (overrides only) 2013-01-03 21:30:35 +11:00
Andrew Tridgell
85007cb766 HAL_Empty: fixed throttle in Empty RCInput 2013-01-03 21:14:00 +11:00
Andrew Tridgell
d492b72a2c HAL_PX4: use /dev/ttyS0 for uartA 
this also changes txspace and available to use FIONWRITE and FIONREAD
 2013-01-03 21:12:10 +11:00
Andrew Tridgell
1e69b88261 HAL_PX4: use write() in panic() 
this allows panic from the UARTDriver
 2013-01-03 21:11:37 +11:00
Andrew Tridgell
ac7117245a HAL_PX4: added a storage driver 
stores 'eeprom' to a sdcard file
 2013-01-03 19:35:05 +11:00
Andrew Tridgell
b30fa6535b HAL_PX4: support reboot 2013-01-03 19:34:36 +11:00
Andrew Tridgell
c6c336a6e8 HAL_PX4: implement peek() and available() 
keep a 1 byte buffer
 2013-01-03 17:27:53 +11:00
Andrew Tridgell
cc7f4353b4 HAL_PX4: update simple example 2013-01-03 13:17:32 +11:00
Andrew Tridgell
b0f1ceb76b HAL_PX4: removed some files not needed any more 2013-01-03 13:17:11 +11:00
Andrew Tridgell
d9d5eb52bf HAL_PX4: use fd IO instead of stdio 
this allows for hal console output from within timers, which is very
handy for debugging
 2013-01-03 13:16:41 +11:00
Andrew Tridgell
c6305b5876 HAL_PX4: rework Scheduler using hrt calls 
thanks to Julian Oes for the suggestion
 2013-01-03 13:15:57 +11:00
Andrew Tridgell
9373a4e5b3 HAL_PX4: added a uartA driver 
uses stdin/stdout for IO
 2013-01-03 11:03:05 +11:00
Andrew Tridgell
2294acc652 AC_PID: fixed build on ARM 2013-01-02 22:09:02 +11:00
Andrew Tridgell
e7dea077b4 AP_Motors: fixed example sketch 2013-01-02 22:02:46 +11:00
Andrew Tridgell
5053fb8acc HAL_PX4: implement atomic operations 2013-01-02 21:45:17 +11:00
Andrew Tridgell
5a70f3becf HAL_PX4: added a scheduler implementation 2013-01-02 21:39:26 +11:00
Andrew Tridgell
e25e500516 AP_HAL: fixed SPI3 Semaphores.h 2013-01-02 21:07:25 +11:00
rmackay9
45b6dbf580 AP_Limit: small fixes to make parameter descriptions appear in mission planner 2013-01-02 18:50:03 +09:00
rmackay9
cf409abc63 AP_Mount: add parameter descriptions 2013-01-02 16:47:39 +09:00
rmackay9
e594f18b75 AP_InertialSensor: added parameter descriptions 2013-01-02 16:32:43 +09:00
Andrew Tridgell
a3c26d44e4 AP_HAL: rename Sempahore.h to Semaphores.h 
this is needed to allow build on MacOS, as its case-insensitive
filesystem picks up the NuttX semaphore.h
 2013-01-02 18:22:13 +11:00
rmackay9
55e6544e64 AP_InertialNav: added parameter descriptions 2013-01-02 16:17:00 +09:00
rmackay9
bf77a0f2e4 AP_Compass: added parameter descriptions 2013-01-02 16:08:44 +09:00
rmackay9
9e5861ccaf AP_AHRS: small fix to parameter comments 2013-01-02 16:08:38 +09:00
rmackay9
77331f6538 AP_AHRS: another attempt at updating the TRIM parameter descriptions 2013-01-02 15:47:59 +09:00
rmackay9
e6c10f4f0b AP_ARHS: add description to AHRS_TRIM parameters 2013-01-02 15:44:42 +09:00
Andrew Tridgell
374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell
2ba2e1c279 Derivative: removed reference to DESKTOP_BUILD 2013-01-02 15:40:01 +11:00
Andrew Tridgell
3f6f0b6d79 Oilpan: removed reference to DESKTOP_BUILD 2013-01-02 15:39:41 +11:00
Andrew Tridgell
f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
Andrew Tridgell
ba1a6eb073 AP_HAL: fixed SITL build 2013-01-02 14:48:15 +11:00
Andrew Tridgell
d0ae51e92a memcheck: fixed for PX4 build 2013-01-02 14:45:09 +11:00
Andrew Tridgell
f9ab781d57 APM_Control: include AP_Common.h 2013-01-02 14:45:09 +11:00
Andrew Tridgell
456e8bfb6e AP_Common: include stdlib.h for abs() 2013-01-02 14:45:09 +11:00
Andrew Tridgell
609ef220a6 AP_GPS: more state machine fixes for MTK19 GPS 2013-01-02 14:45:09 +11:00
Andrew Tridgell
ac8fcd5b23 AP_Common: include stdbool.h for ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
d6b00bd848 AP_ADC: fixed bool problem on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
d3f154bbae AP_HAL: include stdbool.h for ARM build 2013-01-02 14:45:09 +11:00
Andrew Tridgell
4764a03aaa AP_Param: fixed ARM PX4 build 2013-01-02 14:45:09 +11:00
Andrew Tridgell
3ac3aeb1b1 AHRS: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
5277dd4b0f APM_Control: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
eb74fddd9f AP_Math: added global GRAVITY_MSS define 2013-01-02 14:45:08 +11:00
Andrew Tridgell
6901c56a2e yaw fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell
583845cc17 ahrs fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell
5923808526 AP_Relay: allow for no relay pin 2013-01-02 14:45:08 +11:00
Andrew Tridgell
3a762f891e AP_Param: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
Andrew Tridgell
1b0670e67c AHRS: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
Andrew Tridgell
d55acbc00a AP_YawController: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
Andrew Tridgell
f7939ad179 AP_Relay: allow relay object in SITL 2013-01-02 10:19:43 +11:00
Andrew Tridgell
8d901b3f5a HAL_AVR: fixed a warning 2013-01-02 10:19:28 +11:00
Andrew Tridgell
c980b32319 GPS: fixed state machine logic errors in MTK19 driver 2013-01-02 10:12:55 +11:00
Andrew Tridgell
8c0d1d7084 GPS: fixed MTK19 driver for AP_HAL merge 2013-01-02 09:55:37 +11:00
rmackay9
92e271e517 AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1 2013-01-02 09:55:37 +11:00
rmackay9
af4d998697 AP_InertialNav: correct lat/lon to cm 2013-01-02 09:55:37 +11:00
Sandro Benigno
6abe1fe94f AP Camera changes required to work with modified AP_Relay lib. 2013-01-02 09:55:37 +11:00
Andrew Tridgell
0b2960e504 fixup relay merge 2013-01-02 09:55:37 +11:00
Sandro Benigno
cc7f26a99b New Relay class and the subclasses for APM1 and APM2. 
Updated AP_Camera class.
 2013-01-02 09:31:32 +11:00
Craig@3DR
2de676306e Improved parsing in auto detect 2013-01-02 09:24:31 +11:00
Craig@3DR
8cfefbc275 Updated rev number in driver 2013-01-02 09:22:21 +11:00
rmackay9
b8b17a4a70 ArduCopter: added AP_PerfMon library 2013-01-02 09:20:08 +11:00
rmackay9
bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
rmackay9
37b56662bd AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations 2013-01-02 09:19:39 +11:00
rmackay9
120b494d83 Filter: #include AP_Buffer.h no longer needed now that completementary filter has been moved to InertialNav library 2013-01-02 09:19:39 +11:00
rmackay9
3aca61cefb AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch) 2013-01-02 09:19:17 +11:00
rmackay9
41cc1c74d8 AP_InertialNav: increase time constant for Z axis to 7 seconds 2013-01-02 09:19:17 +11:00
rmackay9
a76aec675a AP_InertialSensor: resolved compile warning re uninitialised variable 2013-01-02 09:18:03 +11:00
rmackay9
90d7f00965 AP_GPS_MTK16: saved 22 bytes of ram by moving error message into program space. 
Perhaps there's no point in writing an error message to a console that likely nobody will be viewing anyway.
 2013-01-02 09:18:03 +11:00
rmackay9
811550cca6 AP_GPS_MTK19: small bug fix re "==" vs "=" 
Also saved 22 bytes of RAM by moving error message into program space.
 2013-01-02 09:16:48 +11:00
Craig@3DR
f778961acf Added support for Mediatek firmware Rev 1.9 2013-01-02 09:16:47 +11:00
rmackay9
557f4e65de AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2013-01-02 09:12:40 +11:00
rmackay9
1f7614929f AP_AHRS: save trim to eeprom when set_trim is called 2013-01-02 09:12:17 +11:00
rmackay9
e9fa5dec0f AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2013-01-02 09:11:25 +11:00
rmackay9
1c08f176ea AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2013-01-02 09:11:25 +11:00
Andrew Tridgell
18581d0220 HAL_AVR: change order of CS pin init - fixes APM2 boot problem 
We now init the MPU6k CS pin before the MS5611 CS pin. This should not
matter at all, but it turns out that it solves the APM2 boot
problem. We should investigate why, as this may indicate an electrical
problem.

Pair-Programmed-With: Pat Hickey
 2013-01-02 08:55:47 +11:00
Andrew Tridgell
57bf6531b4 Progmem: use right CONFIG_HAL_BOARD #ifdefs 2013-01-01 18:26:12 +11:00
Andrew Tridgell
da10e68e87 HAL_PX4: added basic console driver (output only) 2013-01-01 18:19:18 +11:00
Andrew Tridgell
0ef003a45f AP_HAL: added PX4 board support 2012-12-30 20:02:45 +11:00
Andrew Tridgell
24a291cf66 HAL_AVR: only build on APM boards 2012-12-30 20:02:45 +11:00
Andrew Tridgell
b41440175f HAL_PX4: started on new PX4 HAL structures 2012-12-30 20:02:45 +11:00
Andrew Tridgell
0adc4afcb5 InertialSensor: add reboot option in MPU6000 test 2012-12-27 21:29:00 +11:00
Andrew Tridgell
212728be34 InertialSensor: ensure MPU6000 is out of sleep mode before configuring 
the MPU6000 starts in sleep mode, and can take a while to wakeup
 2012-12-27 21:28:41 +11:00
Andrew Tridgell
091c14a33e SITL: disabled buffering on stdout 
this fixes the ArduPlane log dump
 2012-12-24 08:00:57 +11:00
Andrew Tridgell
0186fabb3b build: allow building with the "Empty" HAL 
useful for porting
 2012-12-24 07:30:50 +11:00
Andrew Tridgell
122b8716a7 InertialSensor: added auto reset of MPU6000 on startup failure 
this works around the problem of the MPU6000 failing to come up on DTR
reset or warm reboot
 2012-12-24 07:17:03 +11:00
Andrew Tridgell
44ad850542 InertialSensor: latch the data ready pin high on new data 
this ensures we don't miss a sample due to another source of delay
 2012-12-23 17:46:36 +11:00
Andrew Tridgell
fcb09c3993 InertialSensor: fixed example app for new syntax 2012-12-23 12:49:34 +11:00
Andrew Tridgell
e2edad8a3f InertialSensor: fixed last sample time in MPU6000 
we lost this in the final work on the DTR bug
 2012-12-23 08:59:35 +11:00
Andrew Tridgell
feb11f0bc9 PX4: mark example as nobuild for now 2012-12-22 14:40:10 +11:00
Andrew Tridgell
e7b915b0f4 AP_Math: fixed error comment 2012-12-22 12:52:42 +11:00
Andrew Tridgell
463a089e5c InertialNav: fixed example build 2012-12-22 12:50:31 +11:00
Andrew Tridgell
c3dc23d295 AP_HAL: fixed warning in progmem 2012-12-22 09:49:19 +11:00
Andrew Tridgell
1a53bc783c InertialSensor: poll data ready pin instead of an interrupt for MPU6k 2012-12-22 09:16:31 +11:00
Pat Hickey
563ca3f79b AP_HAL_AVR: expose gpio pin 70 for mpu6000 interrupt input 2012-12-22 09:11:14 +11:00
Pat Hickey
1678dcc6f0 AP_HAL: GPIO INTERRUPT defines 2012-12-22 09:11:11 +11:00
Andrew Tridgell
93040e5725 AP_HAL: removed the defer_timer_process() function 
this is now unused
 2012-12-21 20:01:42 +11:00
Andrew Tridgell
9548e7e79e InertialSensor: simplify the data_ready interrupt handling 
this avoids using the defer process code, and fixes a nasty bug that
caused the APM to lockup on reset
 2012-12-21 20:01:19 +11:00
Andrew Tridgell
c5ba33d39a AP_Baro: fixed MS5611 semaphore handling 2012-12-21 19:33:57 +11:00
Andrew Tridgell
47358929e2 HAL_AVR: fixed attach_interrupt race condition 2012-12-21 19:33:57 +11:00
Andrew Tridgell
8d47a739a1 SITL: fixed a return value in snprintf functions 2012-12-20 22:46:22 +11:00
Andrew Tridgell
cd430cb6a8 RC_Channel: added no_deadzone version of set_pwm() 2012-12-20 22:41:58 +11:00
Andrew Tridgell
f504e2ec67 InertialSensor: removed sample rate in example 
not needed any more
 2012-12-20 15:16:43 +11:00
Andrew Tridgell
9931009db2 Math: use pythagorous2() in some more places 2012-12-20 15:16:18 +11:00
Andrew Tridgell
13ea0bb5d8 AP_Camera: disable relay on APM2 2012-12-20 14:53:24 +11:00
Andrew Tridgell
4a6b46c661 AP_GPS: fixed multiple GPS detection bug 2012-12-20 14:53:24 +11:00
Andrew Tridgell
fb4540a349 DataFlash: disable some debug code 2012-12-20 14:53:24 +11:00
Andrew Tridgell
f549950a9c AP_GPS: remove some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
3aa39da6cd AP_Baro: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
e282554035 AHRS: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
a180437028 AP_Compass: disable auto-declination on 1280 
this saves a few k of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell
60d3df50ae AP_HAL: changed delay() to take a uint16_t 
this allows for up to 32 second delays, and saves a bit of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell
d8bed0c2aa AP_Math: fixed get_distance() function 2012-12-20 14:53:23 +11:00
Pat Hickey
6437bd3a08 AP_InertialSenor MPU6000 test: fixed for user interact changes 2012-12-20 14:53:23 +11:00
Pat Hickey
9055681b3a AP_InertialSensor: use AP_InertialSensor_UserInteract 
* permits polymorphic user interaction, so we can plug in a
  pure mavlink interface
 2012-12-20 14:53:23 +11:00
Pat Hickey
a2cf47e769 AP_InertialSensor: start implementing UserInteract 
* untested implementation in terms of BetterStream
 2012-12-20 14:53:23 +11:00
Pat Hickey
b2d69e6a8c AP_HAL_Empty: betterstreams get vprintfs 2012-12-20 14:53:23 +11:00
Pat Hickey
823efc4734 AP_HAL_AVR_SITL: implement BetterStream's vprintf methods 2012-12-20 14:53:22 +11:00
Pat Hickey
1ed6a49a7a AP_HAL_AVR: implementation for each BetterStream vprintf 
* had to rename the utility vprintf function calls to print_vprintf
  to make the naming work.
 2012-12-20 14:53:22 +11:00
Pat Hickey
7681fef988 AP_HAL: BetterStream gets vprintf and vprintf_P methods 2012-12-20 14:53:22 +11:00