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7387 Commits

Author SHA1 Message Date
Randy Mackay 0056bfadd7 Copter: rename ROLL_PITCH_LOITER 
new name ROLL_PITCH_LOITER_INAV makes it more clear that it should only
be used with the new inertial nav loiter controllers
 2013-01-25 23:27:31 +09:00
Andrew Tridgell d7409b6a25 HAL_PX4: startup in low priority to fix CLI 
this ensures that tight sensor loops in setup() can run without
sleeping
 2013-01-25 20:44:36 +11:00
Andrew Tridgell 7359348e2c HAL_PX4: added support for /fs/microsd/APM/nostart 
prevents APM startup
 2013-01-25 20:44:36 +11:00
Andrew Tridgell 8f2f4b1bc5 HAL_PX4: use write() to /dev/pwm_output for servo output 
this lowest the cost of PWM output a lot, but relies on the new I2C
based IO firmware
 2013-01-25 20:44:36 +11:00
Andrew Tridgell 9178022a73 Plane: don't change trims if radio_in is zero 2013-01-25 20:44:36 +11:00
Andrew Tridgell 9b4c75c66b RC_Channel: don't change trim if radio in is zero 2013-01-25 20:44:36 +11:00
Randy Mackay b74fe10aa9 Copter: set each flight mode's nav_mode 
Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
 2013-01-25 15:57:55 +09:00
Randy Mackay aaecc25ac7 Copter: leonard's inav2 
Moved loiter controller to navigation.pde
 2013-01-25 15:16:35 +09:00
Randy Mackay fd02cfe706 Copter: added set_nav_mode to control initialisation of nav controllers 
Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
 2013-01-25 15:16:29 +09:00
Randy Mackay 8af605cafc Copter: set update rate to 50hz during esc calibration 
Also modified some comments in the code re the esc calibration
 2013-01-25 11:34:48 +09:00
Andrew Tridgell f9d43f4c3e HAL_PX4: prevent loop() overruns using hrt 
this ensures if loop() takes more than 1 second, the main task gets
its priority dropped until loop() completes
 2013-01-24 15:04:57 +11:00
Andrew Tridgell 70227d5d93 HAL_PX4: added scheduler performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell 0e79b93289 HAL_PX4: added storage performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell fc8065b50f HAL_PX4: added UART performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell 6cf1d5e1ff HAL_PX4: handle IO errors on microsd 
this should handle EINTR gracefully
 2013-01-24 15:04:57 +11:00
Randy Mackay deafbf1f56 Copter: inav loiter comment changes 
removed unused get_loiter_vel function
 2013-01-24 11:14:38 +09:00
Randy Mackay 542e2e1358 AP_PerfMon: fixes to make it work under AP_HAL (almost) 2013-01-23 21:22:17 +09:00
Andrew Tridgell 966b9b9b9c HAL_PX4: format panic messages with a newline 2013-01-23 16:54:44 +11:00
Andrew Tridgell c9799fb2b7 HAL_PX4: writing more than 512 bytes at a time can cause IO errors 
the vfat fs in NuttX is really very picky!
 2013-01-23 16:54:44 +11:00
Randy Mackay 68fc9ac1d8 Copter: add "f" to end of float constants 
This is a small performance improvement for the px4
 2013-01-23 14:51:37 +09:00
Andrew Tridgell 952df2fced HAL_PX4: new buffered storeage driver for microsd cards 
this does all IO in the timer thread, avoids writes that don't change
data, and does all writes in multiples of 128 byte chunks. This should
be about as friendly to SD cards as we can get.
 2013-01-23 16:37:40 +11:00
Randy Mackay 911e090e07 Copter: typo fixed for trad heli config 2013-01-23 12:35:10 +09:00
Randy Mackay 9a09f086d2 Copter: Leonard Hall's inertial nav ver 2 2013-01-23 12:34:49 +09:00
Andrew Tridgell 7ab3d93ed4 Plane: fixed typo 2013-01-23 10:06:22 +11:00
Andrew Tridgell 49356b790b Plane: limit number of bytes read per GCS check 2013-01-23 09:35:06 +11:00
Andrew Tridgell 47cc247046 Copter: limit number of bytes read per GCS check 2013-01-23 09:34:54 +11:00
Andrew Tridgell f72b532405 HAL_PX4: ensure all writes go via buffers 
this prevents output corruption by direct fd writes
 2013-01-23 09:22:51 +11:00
Andrew Tridgell 2a10727902 HAL_PX4: run timer thread as SCHED_FIFO 
this ensures it never yields to the main thread, which would break our
locking assumptions
 2013-01-23 09:21:50 +11:00
Andrew Tridgell 930e79a9e1 HAL_PX4: fixed rcin->valid() for RC override input 2013-01-23 07:57:59 +11:00
Andrew Tridgell 06e63d3167 HAL_PX4: use pthread_yield() in main loop 
this lowers the latency of the main loop somewhat
 2013-01-23 07:36:13 +11:00
Andrew Tridgell 6e8501603c HAL_PX4: avoid RCOutput ioctl unless values change 
this lowers latency somewhat
 2013-01-23 07:29:59 +11:00
Andrew Tridgell 89cb3fbd61 HAL_PX4: fixed blocking IO in UART driver 2013-01-22 21:52:21 +11:00
Andrew Tridgell 6ffa18fa61 HAL_PX4: rewrite UART driver to be much more efficient 
this does the IO in the timer thread, and uses buffers in the main
task to avoid system call costs in the flight code.

The cost of PX4 read and write system calls is quite high - about 10
to 15 usec. We can't afford to pay that per byte
 2013-01-22 21:22:01 +11:00
Andrew Tridgell 37be83994f SITL: allow motor multiplier to work on quad simulation 2013-01-22 21:22:01 +11:00
Andrew Tridgell f0469a21f2 AP_Baro: fixed timestamp on baro for PX4 
milliseconds not microseconds
 2013-01-22 21:22:01 +11:00
Andrew Tridgell 80eaa52ed8 AP_Compass: use report timestamp on PX4 for accurate timing 2013-01-22 21:22:01 +11:00
rmackay9 ab1978ad50 Copter: Leonard Hall's inertial nav based loiter 2013-01-22 18:38:00 +09:00
rmackay9 6f1035debc InertialNav: added 300ms timeout after which error from gps heading will be set to zero 2013-01-22 18:37:54 +09:00
Jonathan Challinger 6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell 546ed19ffc HAL_PX4: improved efficiency of serial writes 
use buffer at a time writes when possible, and use O_NONBLOCKING to
avoid txspace()
 2013-01-22 10:50:26 +11:00
Andrew Tridgell 18cfd29f2f HAL_PX4: added a read buffer to the UART driver 
this lowers the average cost of reading bytes by a large amount, and
prevents the GPS driver from chewing lots of time.
 2013-01-22 10:34:04 +11:00
Andrew Tridgell f303554259 Copter: run serial0 at 57600 on PX4 2013-01-22 09:50:22 +11:00
Andrew Tridgell 0b03df4e69 Rover: run serial0 at 57600 on PX4 2013-01-22 09:50:12 +11:00
Andrew Tridgell 346f6cb903 build: fixed dependency generation for PX4 build 2013-01-22 09:49:57 +11:00
Andrew Tridgell 9efcdd7926 build: add CONFIG_APM=y to build 
this allows us to disable some of the larger apps in the px4 build, to
save flash space
 2013-01-22 07:49:12 +11:00
Andrew Tridgell db0bd86317 HAL_PX4: name the eeprom file after the sketch 
this makes it easier to switch between ArduPlane and ArduCopter
 2013-01-21 22:04:17 +11:00
Andrew Tridgell f60d657f72 AP_InertialSensor: added timer for accumulating samples for PX4 
this makes the driver much more tolerant of sketch timing errors
 2013-01-21 21:51:32 +11:00
Andrew Tridgell 3d0cb755d2 AP_InertialSensor: user a timer to drive data collection on PX4 
this reduces the chance of missing a sample if the main sketch is a
bit slow
 2013-01-21 19:44:01 +11:00
Andrew Tridgell b9b3ef91a1 AP_Baro: added timer to PX4 driver 
this gives us more samples when main sketch is reading slowly
 2013-01-21 18:20:05 +11:00
Andrew Tridgell 1188c9e335 HAL_PX4: added Util instance 
this fixes hal.util->vsnprintf_P()
 2013-01-21 17:10:42 +11:00