rmackay9
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
rmackay9
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
rmackay9
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
rmackay9
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
Andrew Tridgell
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
...
this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
Andrew Tridgell
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
...
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
Andrew Tridgell
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
...
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
Andrew Tridgell
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
Andrew Tridgell
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
...
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
Andrew Tridgell
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
Andrew Tridgell
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
...
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
Andrew Tridgell
007a6b8958
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1d95137b71
SITL: added -C option to desktop mode
...
this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
Andrew Tridgell
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
Andrew Tridgell
c63ca9c697
DCM: tidy up use of error_course and in_motion
...
in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
Andrew Tridgell
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
...
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
Andrew Tridgell
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
...
this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
Andrew Tridgell
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
...
this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
Andrew Tridgell
df6013616e
AP_Math: added rotmat <-> euler functions
...
these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
Andrew Tridgell
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
...
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
Andrew Tridgell
8190204287
AP_Math: added safe_sqrt() function
...
this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
Andrew Tridgell
0acea11152
DCM: tidy up the nan checking in DCM
...
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
Andrew Tridgell
b4c8d6491a
DCM: added matrix recovery on reset
...
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
Andrew Tridgell
1a32ececb4
AP_Math: added a safe_asin() function
...
this adds range checking to asin()
2012-02-24 11:52:55 +11:00
Andrew Tridgell
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
Jason Short
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
Andrew Tridgell
8707965c15
DCM: changed the sense of floating point range comparison
...
This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
Andrew Tridgell
9caa4aeb44
DCM: range check the matrix before calculating pitch
...
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
Andrew Tridgell
13693e1a04
DCM: reset more values on renorm blowup
...
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
Andrew Tridgell
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
...
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
Andrew Tridgell
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
Jason Short
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
Randy Mackay
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
...
also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
Andrew Tridgell
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
...
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
Andrew Tridgell
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
Andrew Tridgell
371a91cfcf
IMU: move _sensor_cal to general IMU class
...
this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
Andrew Tridgell
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
Andrew Tridgell
70a135c47c
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
Andrew Tridgell
e656928c01
AP_Param: added a set_and_save_ifchanged() method
...
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
Andrew Tridgell
6f080742b8
AP_Param: added an initialised() method
...
this will be used by the compass code
2012-02-18 10:51:57 +11:00
justinbeech
5255512bf9
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
...
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
Jason Short
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
Andrew Tridgell
3fbb5a2d6c
ADC: on channel overflow we should not zero last_ch6_micros
...
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
Jason Short
8e88d9e19e
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
Michael Oborne
b020a87c13
eedump ap param in perl
2012-02-15 21:31:58 +08:00
Andrew Tridgell
bc89b53bdc
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
Andrew Tridgell
63d768143d
Compass: enable compass offsets for HIL compass
...
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
Andrew Tridgell
7d21692301
fixed dump size
2012-02-15 10:44:09 +11:00
Andrew Tridgell
d2cc6740f0
show group_element too
2012-02-15 10:42:21 +11:00
Andrew Tridgell
aaba4db144
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
Andrew Tridgell
812b7ae5ae
SITL: catch floating point errors
...
if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c39914e734
DCM: added a SITL_debug() for DCM normalisation errors
...
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7355f5613c
added SITL_debug() macro
...
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
Andrew Tridgell
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
Andrew Tridgell
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Andrew Tridgell
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
e70e1814ac
AP_Baro: fixed some signed/unsigned warnings
...
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
Andrew Tridgell
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
Andrew Tridgell
e7e7450f90
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c497ad9b7e
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
Andrew Tridgell
845d056c18
fixed PID initialisation
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c6b6898266
RC_Channel_aux: catch invalid function settings
...
a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
Andrew Tridgell
d41c56214c
fixed types in GPS detect code
...
using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
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
Andrew Tridgell
6cf7015859
added indexes to group info structures
2012-02-13 16:22:52 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
db8a58f994
fixed build on arduino 1.0
2012-02-13 16:22:52 +11:00
Andrew Tridgell
170fdef857
convert APM_PI library to AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
74e0d2ef2a
convert AC_PID library to AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
4a9cb731d4
fixed missing return in D value
2012-02-13 16:22:52 +11:00
Andrew Tridgell
c4b7a3116a
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
Andrew Tridgell
df77c462a4
fixed initialisation of RC_Channel class
2012-02-13 16:22:51 +11:00
Andrew Tridgell
244d2055ff
AP_Param: fixed desktop build
2012-02-13 16:22:51 +11:00
Andrew Tridgell
c195be594a
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
Andrew Tridgell
34bc88eab5
AP_Param: added generic cast_to_float
2012-02-13 16:22:51 +11:00
Andrew Tridgell
a1057fe738
AP_Param: disable debug ready for production
2012-02-13 16:22:51 +11:00
Andrew Tridgell
7ffb9b462d
AP_Param: make ptype in first() and next() optional
2012-02-13 16:22:51 +11:00
Andrew Tridgell
5c3e059eea
adapt Mavlink_compat.h to AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
dff75dba96
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
Andrew Tridgell
b6ee5ca982
added nested group support and validation
2012-02-13 16:22:51 +11:00
Andrew Tridgell
30c76664ce
added size of Vector6f
2012-02-13 16:22:51 +11:00
Andrew Tridgell
fc0f1c52ca
modify RC_Channel for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
013d66527d
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
78564f6a92
modify the IMU code for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
32d997b95f
modify the compass code for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
2154288e2b
hacks to get AP_Param to compile
2012-02-13 16:22:50 +11:00
Andrew Tridgell
937f8a4741
new AP_Param subsystem
2012-02-13 16:22:50 +11:00
justinbeech
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
analoguedevices
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
Michael Oborne
651bd6953b
fix uint > int issue - for hil
2012-02-11 11:35:59 +08:00
Pat Hickey
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
Randy Mackay
2f25c1f9f1
AC_PID Library - added example sketch
2012-02-05 17:35:15 +09:00
Randy Mackay
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
Jason Short
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