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1122 Commits

Author SHA1 Message Date
Michael Oborne 306e2e3f7d 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
Michael Oborne 3d85f99546 remove gps callback in wait loop 2011-12-31 09:35:40 +08:00
Randy Mackay a2edba69b1 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
Jason Short 7adc80c513 removed newlines to clean up code 2011-12-29 23:02:01 -08:00
Randy Mackay bbe6dea980 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
Andrew Tridgell 074fd31506 Baro: fixed MS5611 example sketch 2011-12-28 21:49:29 +11:00
Andrew Tridgell 820153d7ae compass: show timing in compass test 2011-12-28 21:44:18 +11:00
Andrew Tridgell f871235480 Baro: show timing in baro test 2011-12-28 21:43:52 +11:00
Andrew Tridgell 8f74631882 DCM: don't use compass unless its healthy 2011-12-28 20:41:54 +11:00
Andrew Tridgell 7c098491b9 I2C: fixed some warnings 2011-12-28 20:41:53 +11:00
Andrew Tridgell 5f38663d44 desktop: exclude I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell e1c9c063a5 MPU6k: don't init the Wire library 
we don't use Wire any more
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 7ba744a11a I2C: convert barometer library to new I2C library 
this also adds a healthy attribute and error checking
 2011-12-28 20:41:53 +11:00
Andrew Tridgell acf4e9b61d I2C: convert compass code to new I2C library 
this also adds a healthy attribute, and error checking on all I2C
calls
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 8ee336e715 I2C: imported the I2C library from Wayne Truchsess 
this gives us a more robust interface, including timeouts
 2011-12-28 20:28:31 +11:00
Andrew Tridgell e7dab19260 TimerProcess: prevent a race in setting up the timer callbacks 2011-12-28 16:00:49 +11:00
Andrew Tridgell 5e4f66e525 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
Andrew Tridgell bd9488f1e4 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell 6ca613337b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell 18d26dc74e MPU6000: minor fixes 
the hardware functions should be private, and cs_pin should be uint8_t
 2011-12-28 16:00:48 +11:00
Andrew Tridgell 4d71482d1c TimerProcess: check for duplicate registrations 
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
Andrew Tridgell dbaa6fb6d2 TimerProcess: make some variables uint8_t 
save a couple of bytes
 2011-12-28 16:00:48 +11:00
Mike Smith 3582ad4e20 Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell 637d4675e1 added in DataFlash.cpp 
forgot this ....
 2011-12-26 19:34:06 +11:00
Andrew Tridgell 9bb0bd0341 desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell a39a470d75 desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell 977326e991 dataflash: reworked classes to move most code to parent class 
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
Andrew Tridgell 13b2ddcbe1 dataflash: fixed APM2 flash logging 
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
Andrew Tridgell 04daeab7c0 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 10ca54ef8f MPU6000: use data ready interrupt to prevent stale data 
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
Andrew Tridgell 760aa62c75 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay 4620186328 Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay c24b5229e1 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
Andrew Tridgell b72f9c2e9f added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell f11a5edbc7 removed dead test program 
this one doesn't build, and has been replaced by IMU_MPU6000_test
 2011-12-24 18:11:04 +11:00
Andrew Tridgell 8780a60234 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell e7720254dd AP_Baro: update MS5611 driver for new ap_proceduce prototype 
this saves calling millis() quite so often
 2011-12-21 23:31:38 +11:00
Andrew Tridgell f97b405b56 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell 79d6c21dde PeriodicProcess: added set_failsafe() call 
this adds an optional failsafe function that will be called in the
timer loop
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 11b8d56434 added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell bc9e943969 rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 97f8d21c1b added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell 59d2d2d783 fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell e7568db237 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell 6efa2e53cb AP_Math: re-work polygon algorithm for perfect precision 
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
Randy Mackay e070109e21 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell a3a0e5646f polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Michael Oborne 92886cfa10 make file relax 2011-12-17 20:42:51 +08:00
Michael Oborne f4b7aea1ee add relax 2011-12-17 16:53:14 +08:00
Andrew Tridgell bb0f179495 AP_Baro: fixed temperature on MS5611 
this caused a 2x scaling of altitude
 2011-12-17 14:58:58 +11:00