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2242 Commits

Author SHA1 Message Date
Andrew Tridgell 2a70138ad1 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell f2744f8ff7 INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 317b719a62 AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
Andrew Tridgell 41baa09c96 AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P 
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
 2012-11-19 22:50:05 +11:00
Andrew Tridgell df19bef23c SITL: don't define __AVR_ATmega2560__ on desktop build 
this allows us to properly separate the desktop build in the code
 2012-11-19 09:03:35 +11:00
Andrew Tridgell 1229cb06c0 DigitalWriteFast: added README about license and author 2012-11-19 08:46:47 +11:00
Andrew Tridgell 7800b27b42 AP_OpticalFlow: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell 859401f334 AP_Limits: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell 0534406f6d SITL: added SREG declaration 2012-11-19 08:42:36 +11:00
Andrew Tridgell 7c90931306 DigitalWriteFast: fixed memory cast to work on SITL build 2012-11-19 08:25:53 +11:00
Andrew Tridgell 85b87b752a APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
rmackay9 55e47f5504 DigitalWriteFast: first addition of lib to speed up read and writes of analog pins 2012-11-19 01:07:10 +09:00
rmackay9 85a77554e1 Filter: improved low pass filter allows setting gain using time_step and cutoff freq 2012-11-19 01:06:06 +09:00
rmackay9 2374806bfc APM_RC: allow ppm sum for as few as 5 channels 2012-11-16 11:07:11 +09:00
rmackay9 25d404587c APM_RC: fix _last_update definition to resolve build error 2012-11-16 10:00:56 +09:00
John Arne Birkeland 47d2602019 APM_RC - Interupt safe get_last_update(); 2012-11-15 22:42:28 +01:00
rmackay9 414f9b9759 ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
Andrew Tridgell e28cbed1e9 AP_AHRS: prevent a large delta_t from affecting DCM solution 
this should fix large changes in attitude directly after arming
ArduCopter
 2012-11-13 15:33:10 +11:00
Andrew Tridgell a523c319ce SITL: fixed build with new sonar driver 2012-11-13 15:12:38 +11:00
rmackay9 48fcf1ee8b AP_RangeFinder_MaxsonarI2CXL: fix compiler error re undefine I2c 2012-11-12 12:23:46 +09:00
rmackay9 7681e25d99 AP_RangeFinder_MaxsonarI2CXL: resolve shadowed variable compiler warning 2012-11-12 10:41:09 +09:00
Andrew Tridgell 7868d5ed3d AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell d43f61de3c I2C:: catch some more types of I2C errors for error count 2012-11-12 11:25:07 +11:00
Andrew Tridgell 9b42a97de9 AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
rmackay9 242ab5325f AP_RangeFinder: added support for MaxBotix XL I2C sonar 2012-11-12 00:25:29 +09:00
rmackay9 fb91be06f2 AP_IMU: delete now that all functionality is moved to AP_InertialSensor 2012-11-11 22:44:36 +09:00
Jason Short efeffc1c4b APM1 Dataflash update 
My data flash would never erase, this fixed it.
 2012-11-09 22:15:16 -08:00
John Arne Birkeland 77c35d0ae4 Optimized APM_RC.InputCh() to prevent global interrupt disable each time a value is read. 2012-11-08 01:03:24 +01:00
rmackay9 caeeca3c3c AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9 4053346022 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9 93010fc79f AC_PID: fixed example sketch's compile errors 2012-11-07 23:34:10 +09:00
rmackay9 34ae673058 AP_Mount: resolve compiler warning about unused mount_open variable 2012-11-07 23:29:25 +09:00
rmackay9 56f374fc7d AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 3fcc38315f AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9 4ad8c402b0 ThirdOrderCompFilter3D: fix compiler error 2012-11-07 19:47:48 +09:00
rmackay9 c717d333b0 AP_Baro: added get_last_update which returns the time the barometer sensor was last read 2012-11-07 19:21:25 +09:00
rmackay9 e2b1cb7e8d AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 575382b5f4 APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9 ebf3e609a2 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9 9b4d107e96 ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9 4a6261af64 AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9 8ab0611261 AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9 e835cef181 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
Andrew Tridgell 85054c1541 AP_AnalogSource: allow for the 'NONE' pin in Arduino ADC 
This allows us to have a configuration parameter for a pin which
defaults to -1, meaning not to read a pin at all. It will always
return 0
 2012-11-06 21:45:40 +11:00
Andrew Tridgell 33338e7173 AP_Var: move the MetaClass lib into AP_Var 
AP_Var is the only one that uses it, and it generates warnings in our
build if we leave it in AP_Common
 2012-11-06 21:42:54 +11:00
Andrew Tridgell c14788240f SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell 2d1b68fb22 AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell 3a1f85a4b0 RC_Channel: added pwm_to_angle_dz() function 
will be used by k_aileron in APM
 2012-11-05 23:37:25 +11:00
Andrew Tridgell df96832900 AP_Param: fixed a bug with setting nested parameters 
This bug meant that setting a parameter in a parent class for a doubly
nested parameter group, where the parameter index in the parent class
is 4 or greater would actually set the first element in that parent
class.

At the moment only one parameter fits these narrow constraints - the
RCn_DZ element of the RC_Channel_aux class. So if someone set RC5_DZ
to 17 in ArduPlane it would actually set RC5_MIN to 17.
 2012-11-05 22:08:43 +11:00
Andrew Tridgell c1fbad52c0 RC_Channel: removed set_filter() and scale_output 
these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
 2012-11-05 20:49:42 +11:00
Andrew Tridgell 7a679dc19a AP_AHRS: require at least 6 satellites to use the GPS for velocity 
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
 2012-11-05 20:07:37 +11:00
Andrew Tridgell 1cbd8ba7b3 AP_GPS_UBLOX: ask for nav settings every 20 seconds 
this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 2ed3c84a8c AP_GPS: start detection timer on first bytes 
this prevents a uBlox plugged in late from being detected as a NMEA
GPS
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 1fcf6ebca7 AP_GPS: removed shadowed class variable _nav_setting 
this caused a uBlox to incorrectly configure as "portable" instead of
airborne if the detection took more than 2 seconds. That led to
terrible performance.
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 3c025c6113 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell 5d2bfab23c AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
rmackay9 f32c1ce80a AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9 19a2b368e5 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
rmackay9 1e0cf2644d AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
rmackay9 d74636b980 AP_Motors: bug fix to reached_limits so by default it returns true if any limits have been breached 2012-10-31 22:00:17 +09:00
Andrew Tridgell 8deba5f43b RC_Channel: added set_radio() and set_radio_to_trim() functions 2012-10-31 12:43:53 +11:00
Xichen Shi f1fd7479bd APM: Added functionality to use differential spoilers in elevon mode 
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
 2012-10-31 12:43:42 +11:00
rmackay9 514cd728a0 AP_OpticalFlow: fix example sketch to work with modified AP_Opticalflow library after memory saves 2012-10-22 16:41:45 +09:00
rmackay9 a3f1aa0c7b AP_Curve: replace Serial.print with Serial.print_P to save 18 bytes of memory 2012-10-22 16:40:57 +09:00
rmackay9 00279c6d3a AP_OpticalFlow: change Serial.print to Serial.print_P to save 27 bytes 2012-10-22 16:37:24 +09:00
rmackay9 eaf75d3be4 AP_Limit_Geofence: reduce maximum number of fence points to 6 from 20 to save memory 2012-10-22 16:34:25 +09:00
Pat Hickey 53c471e8fc AP_Menu unit test fixup 2012-10-18 21:08:37 -07:00
Pat Hickey 7f06fa94a5 AP_Menu: create new library with menu from AP_Common 2012-10-18 20:50:16 -07:00
Andrew Tridgell 44f49aafb6 Desktop: fixed build with recent SPI changes 2012-10-19 11:21:42 +11:00
rmackay9 96470e2d49 Desktop: fix build error 2012-10-18 19:33:31 +09:00
rmackay9 4055066779 Desktop: add AP_Semaphore to list of includes for DataFlash_APM1.cpp 2012-10-18 19:25:53 +09:00
rmackay9 0722d671d6 SPI3: add checks that SPI bus has been initialised to reduce possibility of interfering with UART3 on APM1 2012-10-18 19:17:24 +09:00
rmackay9 2428cc647c DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow 2012-10-18 17:03:50 +09:00
rmackay9 a7d9e181d3 AP_OpticalFlow: added ability to pass in semaphores for main spi bus to stop conflicts with dataflash on APM1 2012-10-18 17:02:45 +09:00
rmackay9 5f2c900797 DataFlash_APM2: renamed semaphore to spi3_semaphore to make it more obvious which semaphore is required. 2012-10-18 17:00:05 +09:00
Andrew Tridgell 890bed4918 GPS: avoid output delays in the GPS auto detection 
this sends out the GPS init strings in 16 byte chunks to avoid causing
timing glitches when no GPS is attached
 2012-10-18 16:18:32 +11:00
Andrew Tridgell f541b2a081 AP_AnalogSource: added set_pin() interface 
this allows pin numbers to be changed at runtime
 2012-10-16 17:20:15 +11:00
Andrew Tridgell dac569a393 RC_Channel: simplify the example 
use an array of channels
 2012-10-16 15:50:54 +11:00
Andrew Tridgell bad02cab04 RC_Channel: ensure _reverse is not 0 
this caused the example to fail
 2012-10-16 15:50:29 +11:00
Pat Hickey 8577a0c7a1 MultiFastSerial example sketch: notes on fatal error in avr-gcc 4.5.x 2012-10-15 20:42:19 -07:00
Pat Hickey 2dace5cf5f FastSerial example sketch: Depend on AP_Common for PSTR definitions 2012-10-15 20:42:18 -07:00
Pat Hickey def4ffbe86 AP_Common: PSTR def has specific version for avr-gcc 4.6 compatibility 
* Also a small change in FastSerial/vprintf.cpp, which duplicates the
  PSTR definition
* Won't effect others using earlier versions of avr-gcc
 2012-10-15 20:42:18 -07:00
Pat Hickey 5dd12bbe9d RC_Channel unit test: fixed build, functionality still wrong 2012-10-15 10:37:29 -07:00
Pat Hickey 2c9678bf01 MultiFastSerial test: make it easier to observe which serial port causes crash 2012-10-14 21:08:33 -07:00
Pat Hickey afcc3c735a FastSerial: add extra example sketch MultiFastSerial to test multiple ports 2012-10-14 18:58:12 -07:00
rmackay9 1df891e2ce 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 c56f3a9f8c AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00
Andrew Tridgell 0a80b69e62 AP_OBC: fixed resume on GPS loss 2012-10-11 11:51:24 +11:00
Pat Hickey 5743418f53 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 0c44d02239 AP_DataFlash_test wibble 2012-10-09 11:39:09 -07:00
Pat Hickey 00243e3c6c 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 39be6be363 AP_OpticalFlow_test: fix build with NULL semaphore. 2012-10-09 11:36:21 -07:00
Pat Hickey e8cceff543 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 14d52e0c03 AP_Semaphore.h: proper h macros 2012-10-09 11:12:11 -07:00
Pat Hickey 23f0758e04 AP_Semaphore_test: instantiate AP_Semaphore_spi3 locally. 2012-10-09 11:05:34 -07:00
Pat Hickey 3b3c918cf7 AP_Semaphore: do not instantiate or export a global spi3 semaphore. 2012-10-09 11:02:35 -07:00
Pat Hickey fd5106db02 AP_Semaphore_test: bugfix to extern semaphore, add Makefile for builds. 2012-10-09 10:55:50 -07:00
Pat Hickey a28099b04c AP_Semaphore: make into separate library rather than part of AP_Common 2012-10-09 10:55:06 -07:00
rmackay9 cfc55afb41 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 8ae437dc23 AP_AHRS_MPU6000: resolve compiler warning re shadowing 2012-10-06 13:22:43 +09:00