Pat Hickey
5ac21b71ce
AP_OpticalFlow_test: fix build with NULL semaphore.
2012-10-09 11:36:21 -07:00
Pat Hickey
26ba391cd4
AP_OpticalFlow_ADNS3080: has private AP_Semaphore* _semaphore
...
Semaphore can be null, handled correctly if it is. Rather than check for
which SPI bus the sensor is using, just check whether semaphore is not null
before using it. More general and flexible.
2012-10-09 11:35:59 -07:00
Pat Hickey
6fc0d22671
AP_Semaphore.h: proper h macros
2012-10-09 11:12:11 -07:00
Pat Hickey
b2b0b70d03
AP_Semaphore_test: instantiate AP_Semaphore_spi3 locally.
2012-10-09 11:05:34 -07:00
Pat Hickey
c20a401c6a
AP_Semaphore: do not instantiate or export a global spi3 semaphore.
2012-10-09 11:02:35 -07:00
Pat Hickey
dfcbb6d9e9
AP_Semaphore_test: bugfix to extern semaphore, add Makefile for builds.
2012-10-09 10:55:50 -07:00
Pat Hickey
5796ee91ca
AP_Semaphore: make into separate library rather than part of AP_Common
2012-10-09 10:55:06 -07:00
rmackay9
c320938ff2
AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability.
...
Resolves climb-on-yaw problem.
2012-10-09 15:48:15 +09:00
rmackay9
e33d314f1d
AP_AHRS_MPU6000: resolve compiler warning re shadowing
2012-10-06 13:22:43 +09:00
rmackay9
b9963f5b5c
DataFlash: modified to use AP_Semaphore for SPI3 bus when required.
...
Also fixed test sketch which seemed broken.
2012-10-06 12:41:50 +09:00
rmackay9
f9b16a9a50
AP_OpticalFlow: modified to use AP_Semaphore for SPI3 bus when required
2012-10-06 12:41:42 +09:00
rmackay9
23442f9caf
AP_Semaphore: added new library to help remove conflicts over SPI bus
2012-10-06 12:41:35 +09:00
rmackay9
670fcbb634
AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter
...
_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
2012-09-30 00:21:18 +09:00
rmackay9
35cb7ff7e5
AP_PeriodicProcessStub: fixed build due to missing reference to _suspended
2012-09-29 14:41:25 +09:00
rmackay9
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
c007a19200
AP_PeriodicProcess: added running() method which tells the caller whether the timer is suspended or not
2012-09-29 13:47:55 +09:00
rmackay9
00e79e7915
AP_TimerProcess: added simple example sketch
2012-09-29 13:23:51 +09:00
rmackay9
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
921ab3fe12
ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)
2012-09-28 18:34:23 +09:00
rmackay9
a7c2ea1891
AP_OpticalFlow: save and restore SPI bus speed to remove conflict with dataflash that runs at 8Mhz
2012-09-28 17:29:45 +09:00
rmackay9
6ed59fba91
AP_Motors: enable throttle curve by default
2012-09-25 23:36:35 +09:00
Andrew Tridgell
9f9d570597
MAVLink: comm_get_txspace should return 0 on error
...
it is used in expressions that add constants
2012-09-25 07:20:43 +10:00
Andrew Tridgell
14b1674c3e
PeriodProcess: fixed build warning
2012-09-25 07:10:35 +10:00
Andrew Tridgell
81fd4b3a3c
OpticalFlow: fixed SITL build
2012-09-25 07:10:22 +10:00
Andrew Tridgell
608cc60689
GPS: fixed SIRF auto detect code
2012-09-25 07:10:07 +10:00
Andrew Tridgell
89fa234233
SPI3: fixed the build
2012-09-25 07:03:23 +10:00
rmackay9
a75e93da06
AP_TimerProcess: add one additional slot for optical flow
2012-09-24 18:39:28 +09:00
rmackay9
163a7841f6
AP_OpticalFlow: small fixes to test sketch to make it work with modified lib
2012-09-24 18:39:22 +09:00
rmackay9
cb584f81fb
AP_OpticalFlow: remove APM2 version of library now that AP_OpticalFlow_ADNS3080 class can autodetect which SPI bus the sensor is on
2012-09-24 18:39:17 +09:00
rmackay9
4d3d13582b
AP_OpticalFlow_ADNS3080: detect if optical flow sensor is on standard or secondary SPI bus
2012-09-24 18:39:12 +09:00
rmackay9
ca383b393d
AP_OpticalFlow: use AP_PeriodicProcess to read at 20hz
2012-09-24 18:39:07 +09:00
rmackay9
96bb6e9c70
SPI3: add new library to make use of secondary SPI bus
2012-09-24 18:39:01 +09:00
rmackay9
bc2aa84394
AP_Motors: remove stray debug message re set-up of throttle curve
2012-09-23 12:25:31 +09:00
rmackay9
e4c8eaa181
AP_Airspeed: fixed constructor compile error in example sketch
2012-09-23 11:44:28 +09:00
Andrew Tridgell
e5846bd965
AP_Baro: removed _sync_access check
...
this isn't needed as the common variables are already protected by
cli()/sei()
2012-09-20 17:34:33 +10:00
Andrew Tridgell
7b4dc246f8
RC_Channel: don't force radio_out in enable_aux_servos()
...
this is called regularly, and causes the servo to twitch
2012-09-20 17:34:32 +10:00
Andrew Tridgell
ccf8ba3ce9
DCM: limit the contribution of the baro to vertical acceleration
...
limit to a max of 0.5g
2012-09-20 17:34:32 +10:00
Andrew Tridgell
458a42654b
DCM: disable use of baro for vertical accel by default
...
this has caused problems with too many users
2012-09-20 17:34:32 +10:00
rmackay9
50a97f3092
AP_GPS: added get_lag method to return expected lag from the GPS.
2012-09-20 15:48:22 +09:00
rmackay9
30aa104000
AP_LeadFilter: moved lag to be a parameter passed into the get_position function.
...
This saves 4 bytes of memory and will work better with the way we initialise the gps.
2012-09-20 15:27:27 +09:00
rmackay9
2110231ee3
AP_LeadFilter: bug fix so velocity * _lag is used (otherwise we are assuming a 1sec lag)
2012-09-20 13:17:42 +09:00
rmackay9
2c36693a50
AP_LeadFilter: added set_lag feature to allow us to adjust it for different GPSs
2012-09-20 13:10:24 +09:00
Robert Lefebvre
9e32d45d7b
Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges.
2012-09-19 20:43:58 -04:00
Andrew Tridgell
e761645e24
AP_Param: added find_by_index()
2012-09-20 07:42:35 +10:00
Andrew Tridgell
728b3a133e
GPS: disable auto detection of NMEA and SiRF on a 1280 board
...
saves a bit more flash space
2012-09-19 19:36:48 +10:00
Andrew Tridgell
0c864fd4dc
AP_Airspeed: a bit more filtering
...
this helps reduce noise at low speed
2012-09-19 16:23:25 +10:00
rmackay9
93ae29a3e9
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
Andrew Tridgell
7e544e8ead
MPU6k: save 72 bytes of memory
...
the buffer can be on the stack
2012-09-18 13:58:50 +10:00
Andrew Tridgell
78a95290a3
SITL: prevent a fd leak in GPS code
2012-09-17 14:45:48 +10:00
Andrew Tridgell
59b44816ec
GPS: replaced the GPS auto-detect mechanism
...
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup
The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
2012-09-17 14:45:47 +10:00
Andrew Tridgell
8620a036de
RC_Channel_aux: minor cleanups
...
remove unused enable_out_ch() and enable k_manual channels. This
ensures k_manual channels used for bottle drop are initialised
correctly to trim output
2012-09-16 15:50:13 +10:00
Andrew Tridgell
bd31f340a7
RC_Channel: support channel reversal on range channels
...
this makes it possible to have a reverse throttle in ArduPlane
2012-09-16 15:06:26 +10:00
rmackay9
303ca11c4c
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
Michael Oborne
94f956a0ca
fix AP attitude hil - with randys help
2012-09-15 16:47:18 +08:00
rmackay9
9e66b555cb
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
rmackay9
1c9fe3b1b6
AP_AHRS: fix to allow example sketch to compile
2012-09-13 16:45:52 +09:00
Andrew Tridgell
ba9543ee04
GPS: NMEA bug fix from Alexey Kozin
...
thanks Alexey!
2012-09-12 15:04:24 +10:00
Andrew Tridgell
fba1692d69
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
2012-09-12 14:42:04 +10:00
Andrew Tridgell
b787dc8cce
APM: added wdt.h for SITL build of APM
2012-09-10 15:52:53 +10:00
rmackay9
9f1033dc42
AP_InertialSensor_Stub: added num_samples_available method to fix HIL build
2012-09-10 11:38:13 +09:00
rmackay9
130f3b0030
AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called
2012-09-10 11:38:08 +09:00
rmackay9
7a265dbf61
AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete
2012-09-10 11:38:03 +09:00
rmackay9
55ef1e0a29
AP_PeriodicProcess: queue_process changes to suspend other processes before running queued process
...
Also restored suspend_timer to void return type
2012-09-10 11:37:58 +09:00
rmackay9
6ea5c21f7c
AP_ADC: added num_samples_available to allow main loop to be synced with arrival of new sensor data for Oilpan.
2012-09-10 11:37:43 +09:00
rmackay9
fc4ff007e6
AP_IMU: added num_samples_available to allow main loop timing to be synced with arrival of new data from IMU.
2012-09-10 11:37:38 +09:00
rmackay9
0a6219695b
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
...
This reduces the delay between when data arrives and when it is used
by up to 1ms.
Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
2012-09-10 11:37:33 +09:00
Craig Elder
90b74f5bab
APM_RC: fixed noisy PWM output on startup for APM2
...
This reduces the number of rubbish pulses on the APM2 PWM output pins
on startup, which should help with booting some cheaper ESCs.
Thanks to Randy for the idea!
2012-09-10 08:09:28 +10:00
Andrew Tridgell
4c07add542
AP_Camera: updated for new RC_Channel_aux API
2012-09-08 15:13:06 +10:00
Andrew Tridgell
f41270a3ce
AP_Mount: updated for new RC_Channel_aux API
2012-09-08 15:12:52 +10:00
Andrew Tridgell
3b97339104
RC_Channel: simplified RC_Channel_aux and fixed issue 725
...
it is perfectly valid to configure two RC channels with the same
function, especially when that function is manual output (ie. copy
input to output)
This removes the g_rc_function[] indirection array
2012-09-08 15:12:28 +10:00
Andrew Tridgell
de28cc8b28
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
2012-09-08 11:37:07 +10:00
Andrew Tridgell
8458607928
APM_OBC: changed termination servo values, and added loop counter
2012-09-08 11:37:00 +10:00
Andrew Tridgell
fa84ba451a
APM_OBM: Failsafe board sketch
...
this combines with the OBC failsafe module
2012-09-08 10:07:17 +10:00
Andrew Tridgell
cca04d195a
APM_OBC: handle separate terminate pin correctly
2012-09-08 10:07:14 +10:00
Andrew Tridgell
13145e4c01
OBC: added FS_TERM_PIN option
...
this sets a pin for flight termination
2012-09-08 10:07:08 +10:00
Andrew Tridgell
3a1ff7bdd9
Mavlink: enable MAVLINK_SEPARATE_HELPERS
...
this fixes a seq number problem with SIMSTATE packets
2012-09-08 10:06:19 +10:00
Andrew Tridgell
6922dcdea2
Compass: added compass.accumulate() API
...
this allows us to accumulate mag readings using spare CPU cycles
2012-09-08 10:05:54 +10:00
rmackay9
5994117f6f
RC_Channel_aux: bug fix which could cause channel to be assigned to the wrong function and miss others
2012-09-02 12:46:04 +09:00
Andrew Tridgell
d5b218c80b
SITL: use AP_Declination code to get right compass dec for autotest
2012-08-29 13:33:01 +10:00
Pat Hickey
7b3009a238
APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg
...
* Previously had the ICR register for ch1/2/9 (on timer5) swapped with
ch3/4/10 (on timer1).
* This bug probably didn't make a difference in operation since
SetFastOutputChannels is typically only used for copters, where at
least CH1,2,3,4 would be set to fast all at once.
2012-08-28 17:12:41 -07:00
Andrew Tridgell
e2b8817a89
APM: added the ability to forcibly crash the plane on OBC failsafe breach
...
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.
To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
2012-08-28 20:18:24 +10:00
Andrew Tridgell
71500347ec
APM_OBC: don't use _saved_wp when zero
2012-08-28 20:18:23 +10:00
Andrew Tridgell
d13d117e61
APM: removed reset_I() and instead auto-reset integrator in PID library
...
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
Andrew Tridgell
dd7c815c5f
SITL: zero wind for first 15s
...
this allows for airspeed calibration on startup
2012-08-28 20:18:23 +10:00
rmackay9
c965963d7b
AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop
2012-08-28 17:02:07 +09:00
Craig Elder
2da75b3c3c
Revert "APM1: Delay serial3 init to not brick Xbee radios"
...
This reverts commit 25d14a9d6a4a1ea60eb78485296298c98c1595d0.
2012-08-27 15:00:23 -07:00
Amilcar Lucas
b48a1f1fc4
ArduPlane: Fix 1280 builds
...
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
2012-08-27 01:33:45 +02:00
Amilcar Lucas
769f04b7d6
Improve comments, no functional changes
2012-08-27 01:32:27 +02:00
Amilcar Lucas
7a0c47d049
Improve comment aligment
2012-08-27 00:37:10 +02:00
Andrew Tridgell
747a926809
APM_OBC: ensure pins are setup as outputs
...
constructor is run before parameters are loaded
2012-08-25 17:49:26 +10:00
Andrew Tridgell
2be785899b
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
Andrew Tridgell
697b2074a5
SITL: added SIM_WIND_* parameters
...
this allows control of the simulated wind during a flight
2012-08-25 17:49:26 +10:00
Craig Elder
b2c38d7dd4
APM1: Delay serial3 init to not brick Xbee radios
2012-08-24 17:55:20 -07:00
Andrew Tridgell
8b53f1272a
AHRS: new functions to support APM_Control library
2012-08-22 12:42:37 +10:00
Jonathan Challinger
59875f8d53
APM_Control: added new APM controllers library
...
See
http://www.challinger.us/2012/07/16/tuning-arduplane-roll-and-pitch-controllers/
for details
2012-08-22 12:39:07 +10:00
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uncrustify libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde
2012-08-21 19:00:18 -07:00
uncrustify
fce9044fb4
uncrustify libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
2012-08-21 19:00:17 -07:00
uncrustify
4a7e79b3ac
uncrustify libraries/AP_AnalogSource/AnalogSource.h
2012-08-21 19:00:17 -07:00
uncrustify
46eeaffdf1
uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.h
2012-08-21 19:00:17 -07:00
uncrustify
d7fe646829
uncrustify libraries/AP_AnalogSource/AP_AnalogSource_ADC.h
2012-08-21 19:00:17 -07:00
uncrustify
3c1a4b249a
uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
2012-08-21 19:00:17 -07:00
uncrustify
e9b5e28b40
uncrustify libraries/AP_AnalogSource/examples/AnalogSource_Arduino/AnalogSource_Arduino.pde
2012-08-21 19:00:17 -07:00
uncrustify
90419ad834
uncrustify libraries/AP_Airspeed/AP_Airspeed.h
2012-08-21 19:00:17 -07:00
uncrustify
37c79f5501
uncrustify libraries/AP_Airspeed/AP_Airspeed.cpp
2012-08-21 19:00:17 -07:00
uncrustify
3c2873b4f5
uncrustify libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde
2012-08-21 19:00:17 -07:00
uncrustify
d6d7606c84
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
2012-08-21 18:59:34 -07:00
uncrustify
9e4e08699d
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
2012-08-21 18:59:34 -07:00
uncrustify
6327305116
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
2012-08-21 18:59:13 -07:00
uncrustify
fc11f7e3f0
uncrustify libraries/AP_ADC/AP_ADC_HIL.h
2012-08-21 18:59:13 -07:00
uncrustify
f302ee3d7f
uncrustify libraries/AP_ADC/AP_ADC.h
2012-08-21 18:59:13 -07:00
uncrustify
44941072dc
uncrustify libraries/AP_ADC/AP_ADC_ADS7844.h
2012-08-21 18:59:13 -07:00
uncrustify
149e222e6a
uncrustify libraries/AP_ADC/AP_ADC_HIL.cpp
2012-08-21 18:59:13 -07:00
uncrustify
7b41104d7e
uncrustify libraries/AP_ADC/AP_ADC.cpp
2012-08-21 18:59:13 -07:00
uncrustify
79b370cf1d
uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp
2012-08-21 18:59:13 -07:00
uncrustify
796d23277c
uncrustify libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde
2012-08-21 18:59:13 -07:00
uncrustify
6c5757e775
uncrustify libraries/AC_PID/AC_PID.h
2012-08-21 18:59:13 -07:00
uncrustify
fc9f1a8216
uncrustify libraries/AC_PID/AC_PID.cpp
2012-08-21 18:59:13 -07:00
uncrustify
7c4f980638
uncrustify libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde
2012-08-21 18:59:13 -07:00
Andrew Tridgell
6d28b3519f
AHRS: removed AP_AHRS_Quaternion
...
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
2012-08-22 10:41:31 +10:00
Andrew Tridgell
ddf9541c0a
AP_GPS: fixed build of new MTK code
2012-08-22 10:02:21 +10:00
Craig Elder
2493ffaad1
GPS: Corrections to Media Tek GPS Driver. Change to 5Hz and SBAS
2012-08-22 09:56:25 +10:00
Robert Lefebvre
575b99b4be
TradHeli: Creating Flybar Acro mode.
2012-08-21 16:54:01 -04:00
Andrew Tridgell
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
Andrew Tridgell
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
Andrew Tridgell
ac72db8f00
AHRS: added set_fast_gains() method
...
this will be used by arducopter on the ground
2012-08-21 15:38:06 +10:00
Robert Lefebvre
bf6c934c32
Changing TradHeli param motors.acro_mode to motors.flybar_mode to better reflect it's intent.
2012-08-20 23:13:50 -04:00
Robert Lefebvre
e6b5af7143
Adding new Trad Heli parameters.
2012-08-20 16:45:19 -04:00
rmackay9
9b3ced93ee
AP_Compass: fix for mismatching set_initial_location parameters (forgot to change long to int32_t in .cpp file)
2012-08-18 20:41:38 +09:00
rmackay9
c10d01f24b
AP_GPS: revert delay callback to be "unsigned long"
2012-08-18 20:33:45 +09:00
rmackay9
2b24e422de
DataFlash: revert delay callbacks to use "unsigned long"
2012-08-18 20:28:31 +09:00
rmackay9
20cb2e56a0
DataFlash: change "unsigned long" to "uint32_t" in callback functions
2012-08-18 19:22:14 +09:00
rmackay9
94552b57a7
DataFlash: replaced "int" with "int16_t"
2012-08-18 18:31:20 +09:00
rmackay9
976679208c
AP_Common: change a few more "int" to "int16_t"
2012-08-18 18:05:18 +09:00
rmackay9
71f12fbc9b
AP_Compass: replace "long" with "int32_t"
2012-08-18 16:58:16 +09:00
rmackay9
8a29f47ce0
AP_GPS: replaced "int" with "int16_t" and "long" with "int32_t"
2012-08-18 16:35:38 +09:00
Andrew Tridgell
c9ba693e1f
AP_Baro: the HIL baro needs to inherit calibrate() from the parent class
...
this was what caused the renorm errors
2012-08-18 16:32:23 +10:00
Andrew Tridgell
14cdbd36cb
AHRS: check for bad values in the error before they can affect DCM
...
this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
2012-08-18 13:54:11 +10:00
Andrew Tridgell
81cd4b6c13
Filter: ensure the derivative filter never returns an invalid number
2012-08-18 13:54:11 +10:00
rmackay9
2e77691ca1
AP_Limits: change order of initialisation of class variables to remove compiler warnings.
2012-08-18 12:51:32 +09:00
Michael Oborne
bcceedffab
Fix Airspeed use use
2012-08-18 08:30:15 +08:00
Andrew Tridgell
d9cc967508
AHRS: force an extra read of the compass on startup
...
the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.
Thanks to Randy and Jason for the bug report!
2012-08-17 17:57:39 +10:00
Andrew Tridgell
e171720608
DataFlash: fixed SITL build
2012-08-17 16:27:19 +10:00
Andrew Tridgell
34a1297842
SITL: added SIM_ENGINE_MUL
...
this allows for simulated engine failures
2012-08-17 14:22:08 +10:00
Jason Short
bd91215770
Dataflash fix for missing card error
2012-08-16 15:37:28 -07:00
Andrew Tridgell
82954f823b
SITL: make abs() 16 bit in SITL
...
this will help us find abs() bugs in autotest
2012-08-16 15:18:17 +10:00
Andrew Tridgell
6300fa7399
math: more abs() fixes
...
abs() is 16 bit
2012-08-16 15:17:42 +10:00
Jason Short
a66e43aff1
Location Lib : Abs was overflowing causing bad comparison
2012-08-15 22:01:51 -07:00
Jason Short
ff38dadd00
Location Lib. Potential fix for bad angle and distance calcs.
...
last_lat changed to int32_t since it can be negative.
2012-08-15 21:36:55 -07:00
Jason Short
3ca57ac105
DataFlash : Removed Chip Erase - relying on Block erase only
2012-08-15 21:04:24 -07:00
Jason Short
ce2a608706
Dataflash Logs : Fixed block erase on APM2
...
Byte order for 512 vs 528 was reversed.
2012-08-15 21:04:24 -07:00
Andrew Tridgell
034fb5b194
APM: fixed hil build
2012-08-16 12:53:37 +10:00
Andrew Tridgell
73dcbc24c3
Quaternion: we no longer support acceleration in the GPS driver
...
remove the linear acceleration compensation code
2012-08-15 20:07:53 +10:00
Andrew Tridgell
2d47bd0386
GPS: support getting raw velocity values from a UBlox
...
this may give better velocity numbers than the value from COG
2012-08-15 20:06:35 +10:00
Andrew Tridgell
47be6d8ad1
AP_Airspeed: remove airspeed filter and run at 10Hz
...
this saves on the filter memory, and gives just as good a result
2012-08-15 12:39:35 +10:00
Andrew Tridgell
a4b1b9f0a4
AP_AnalogSource: make read_average() return a float
...
this allows it to take advantage of better than 1 bit resolution by
averaging
2012-08-15 12:39:35 +10:00
Andrew Tridgell
299711f4a9
MAVLink: added FENCE_ACTION_REPORT
2012-08-15 12:39:35 +10:00
Andrew Tridgell
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
...
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
Andrew Tridgell
2865434d02
APM: added 'OBC' failsafe module for ArduPlane
...
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.
This includes:
- manual pin
- heartbeat pin
- waypoint for heartbeat failure
- waypoint for GPS failure
2012-08-15 12:39:34 +10:00
Pat Hickey
99e96031f2
APM_RC_APM2: updated comments for clarity
2012-08-13 15:34:17 -07:00
rmackay9
cf943255a5
AP_RC_Channel: deleted this library as nobody seems to be using it.
...
Everyone is using RC_Channel instead which includes parameters.
2012-08-13 16:36:10 +09:00
rmackay9
35e7a6e018
GPS_IMU: deleted this empty library as nobody seems to be using it.
2012-08-13 16:35:29 +09:00
rmackay9
59cb6e5dba
Waypoints: deleted this library as nobody seems to be using it.
2012-08-13 16:35:08 +09:00
rmackay9
62c3ea9ea1
Trig_LUT: deleted this library as nobody seems to be using it
2012-08-13 16:34:50 +09:00
rmackay9
004c8bd5ed
AP_EEPROMB: deleted this library as nobody seems to be using it.
2012-08-13 16:34:33 +09:00
rmackay9
3482f05b48
APM_RC: rename example sketch directories for APM2 so they can be opened easily from arduino ide
2012-08-13 11:50:53 +09:00
Andrew Tridgell
48e275e22d
AHRS: avoid a compiler bug in quaternion code
...
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
Andrew Tridgell
19a5d11669
AHRS: use airspeed for wind in forward flight
...
when not turning we can use the airspeed sensor directly to calculate
the wind speed.
2012-08-12 10:54:25 +10:00
Andrew Tridgell
f5b7ae213c
AHRS: added AHRS_GPS_USE parameter
...
this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
4951d686f6
Mavlink: re-generate with WIND message
2012-08-11 22:06:03 +10:00
Andrew Tridgell
8d914b14e4
Mavlink: added WIND message
...
this allows us to log the wind estimation result
2012-08-11 22:06:03 +10:00
Andrew Tridgell
779dacfd24
AHRS: added wind estimation code
...
this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
0ba57d05eb
AP_Math: added matrix column extraction functions
2012-08-11 22:06:02 +10:00
Amilcar Lucas
c7d1974741
RC_Channel_aux: cycle thru all functions except k_none and k_nr_aux_servo_functions
...
Probably makes no difference because g_rc_function[k_none] == NULL
2012-08-11 13:43:21 +02:00
Andrew Tridgell
af4071894e
AHRS: added long-term dead-reckoning
...
this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
Andrew Tridgell
618f43bef6
AP_GPS: added last_ground_speed() method
...
used for dead-reckoning in AHRS
2012-08-11 11:59:47 +10:00
Andrew Tridgell
8a6fcf998b
AP_GPS: fixed types to be stdint types
2012-08-11 11:59:03 +10:00
Andrew Tridgell
3419d8e006
SITL: fill in SIMSTATE.lat and SIMSTATE.lng
2012-08-11 11:58:25 +10:00
Andrew Tridgell
d46b7a67b7
MAVLink: re-generate MAVLink C code
2012-08-11 11:58:06 +10:00
Andrew Tridgell
d9ad1c8616
MAVLink: added SIMSTATE.lat and SIMSTATE.lng
...
this allows us to display both true and estimated position on the
groundstation
2012-08-11 11:57:45 +10:00
Andrew Tridgell
87fca1985f
AP_Math: added location_update() and location_offset() functions
...
these will be used by AHRS dead reckoning
2012-08-11 11:56:54 +10:00
Andrew Tridgell
f95b06a880
AHRS: make airspeed sensor available to AHRS
...
this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
Andrew Tridgell
b01907cf23
ACM: fixed HIL build
2012-08-11 08:34:16 +10:00
Jason Short
e12ce1d5a7
MOTORS Mixer: temp removal of Yaw Contrib code
2012-08-09 17:00:11 -07:00
Jason Short
52b2aacf28
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
Amilcar Lucas
32e354be4e
AP_Mount: Reduce parameter name length, to allow MNT2_* strings to be smaller than the limit of 15 characters
2012-08-10 00:16:52 +02:00
Andrew Tridgell
f812fc921f
build: fixed more build warnings
2012-08-09 16:19:39 +10:00
Andrew Tridgell
0763bbd1af
MPU6000: fixed some build warnings
2012-08-09 16:19:21 +10:00
Andrew Tridgell
c70bae9617
AP_MetaClass: fixed a warning
2012-08-09 16:19:04 +10:00
Andrew Tridgell
7f4b7703c1
AP_Param: fixed some build warnings
2012-08-09 16:18:53 +10:00
Andrew Tridgell
6213032957
MAVLink: removed obsolete files
2012-08-09 15:25:49 +10:00
Andrew Tridgell
5d1d9e9042
MAVLink: added generator.sh script
...
this is used to re-generate our MAVLink C code
2012-08-09 15:25:06 +10:00
Andrew Tridgell
dc47074dbd
MAVLink: removed the need for Mavlink_compat.h
...
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
2012-08-09 12:22:46 +10:00
Andrew Tridgell
2a7b298bbc
MAVLink: moved mavlink variables back to library
...
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
2012-08-09 12:06:21 +10:00
Amilcar Lucas
0b0b9c29a2
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
530ea0bebd
AP_Mount: Enable Joystick speed code, now that the framework supports more than 16 parameters per group.
...
Save some bytes by skiping the redundant *_rc_in initialization in the AP_Mount() constructor
2012-08-08 22:45:36 +02:00
Andrew Tridgell
a8c99f3887
SITL: fixed deletion of eeprom.bin
...
with the new AP_Param constructor order, we need to erase rather than
unlink the eeprom
2012-08-08 18:01:06 +10:00
Andrew Tridgell
dcc50b5705
AP_Airspeed: removed values passed to constructor
2012-08-08 16:38:39 +10:00
Andrew Tridgell
e6e25525bc
AP_Param: avoid saving values within 0.01% of the default value
...
this saves some more space due to rounding errors
2012-08-08 13:13:30 +10:00
