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2107 Commits

Author SHA1 Message Date
rmackay9 c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
Andrew Tridgell 00bf548f87 AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00
Andrew Tridgell e8c4dedcd7 AP_OBC: fixed resume on GPS loss 2012-10-11 11:51:24 +11:00
Pat Hickey 8a6017ea48 AP_ADC_test: fix build of test regressions. 
I'm not convinced I was able to make the timing test meaningful.
Someone should please lookinto this.
 2012-10-09 15:23:40 -07:00
Pat Hickey aa210d7e99 AP_DataFlash_test wibble 2012-10-09 11:39:09 -07:00
Pat Hickey 605f89fa69 DataFlash_APM2: private AP_Semaphore* rather than use extern AP_Semaphore_spi3 
The AP_Semaphore* argument to the constructor can be null (and is by
default for compatibility). Semaphore is only used when non-null.
 2012-10-09 11:38:52 -07:00
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