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2562 Commits

Author SHA1 Message Date
Pat Hickey d422ab7806 AP_HAL: Extend Scheduler to support defered timer procs 
* based on queue_proc from AP_PeriodicProcess
 2012-12-20 14:51:26 +11:00
Pat Hickey 53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 9aada26e34 AP_Declination: translated to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 5d40074e4e AP_Baro: port to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey c56c4ae240 Various example sketches: hal.uart0->begin(115200) is redundant. use console. 
just assume uart0 is initialized by the HAL, because it is. DRY.
also, don't ever use uart0 explicitly in example sketches, use console
and let the hal figure it out.
 2012-12-20 14:51:25 +11:00
Pat Hickey 11cfde1e46 AP_HAL_AVR: I2CDriver initialize in HAL init 
* Makes more sense to have everything set to go by the time we're in setup.
 2012-12-20 14:51:25 +11:00
Pat Hickey ce8dc5fd5c AP_AnalogSource: obsoleted by AP_HAL. Renamed to AP_ADC_AnalogSource. 2012-12-20 14:51:25 +11:00
Pat Hickey dfc8e91fd3 AP_Airspeed: port to AP_HAL 2012-12-20 14:51:25 +11:00
Pat Hickey 84e0dd406e Filter: ported to AP_HAL 2012-12-20 14:51:25 +11:00
Pat Hickey 30deb76ea3 AP_ADC: ported to AP_HAL 
AP_ADC_test run on bench with APM1, looks ok.
 2012-12-20 14:51:25 +11:00
Pat Hickey 050a878935 AC_PID: Ported to AP_HAL. 2012-12-20 14:51:25 +11:00
Pat Hickey 73ccfaf2d7 AP_HAL: implement DigitalSource abstraction 
* GPIO's complement to AnalogSource
 2012-12-20 14:51:25 +11:00
Pat Hickey deb96143d3 AP_GPS_IMU: fix type punning warnings by using memcpy 2012-12-20 14:51:25 +11:00
Pat Hickey 9ed023aeb4 AP_GPS: Builds under AP_HAL. Not tested. 2012-12-20 14:51:25 +11:00
Pat Hickey e83504f80d AP_HAL_AVR LCDTest: fix build 2012-12-20 14:51:25 +11:00
Pat Hickey 6d9ac42618 GCS Console: add lib implementing message handling from DATA16 and DATA32 msgs 
console demonstrates simple loopback
works with our branch of mavproxy at the moment
 2012-12-20 14:51:25 +11:00
Pat Hickey 40734bc2f2 AP_HAL_AVR Console: bugfix on buffer bytes free vs used 
* had them reversed. doh
 2012-12-20 14:51:25 +11:00
Pat Hickey fd89bacbc8 GCS_MAVLink: wibble to mavlink_helpers.h to fix build. 2012-12-20 14:51:25 +11:00
Pat Hickey 2a72c7e730 GCS_MAVLink: Regenerate mavlink1.0 implementation 
created using:
mavgen.py --lang=C --wire-protocol=1.0 --output=./include/mavlink/v1.0 ./message_definitions/ardupilotmega.xml
mavlink repo commit 79cabfe956464c8f745807a6e65062ac3fc09193
 2012-12-20 14:51:25 +11:00
Pat Hickey a86a696311 GCS_Mavlink: add the DATA16 and DATA32 messages definitions to ardupilotmega.xml 2012-12-20 14:51:24 +11:00
Pat Hickey ed19ff7f2f GCS_Console example: implement a trivial mavlink gcs 
* Just heartbeats and sends a single parameter down
* all other messages unimplemented
* console is dumped to statustext at the moment (that will change soon)
 2012-12-20 14:51:24 +11:00
Pat Hickey 6661f827fa GCS_MAVLink: port to work with AP_HAL class rather than FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey f2b21ecc41 AP_Param: Port to work with AP_HAL class instead of FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey 7dbe198e5c AP_Math: port to work on coreless arduino (AP_HAL) 2012-12-20 14:51:24 +11:00
Pat Hickey 52adb462a9 AP_HAL_AVR: Finished implementation of AVRConsoleDriver 2012-12-20 14:51:24 +11:00
Pat Hickey 98f86d0288 AP_HAL_AVR: Console more complete, but still not 100% 2012-12-20 14:51:24 +11:00
Pat Hickey 6f4d208ffc AP_HAL_AVR: fixup in vprintf header 2012-12-20 14:51:24 +11:00
Pat Hickey f889d5ac13 AP_HAL_AVR: trivial ConsoleDriver implementation 
* user backend unimplemented. will do that next.
 2012-12-20 14:51:24 +11:00
Pat Hickey 017f592eef AP_HAL: add ConsoleDriver interface 2012-12-20 14:51:24 +11:00
Pat Hickey a3a6482fd3 AP_HAL_AVR: vprintf implementation exists outside of class hierchary. 
* Makes it easier to mix into other classes.
 2012-12-20 14:51:24 +11:00
Pat Hickey 36154559fc AP_HAL: change txspace from a BetterStream method to a Stream method. 2012-12-20 14:51:24 +11:00
Pat Hickey 72f8667d9c AP_HAL_AVR: AnalogIn implemented 2012-12-20 14:51:23 +11:00
Pat Hickey 279a755ab3 AP_HAL: AnalogIn interface fleshed out 2012-12-20 14:51:23 +11:00
Pat Hickey 01e34825f3 AP_HAL_AVR: Scheduler unit tests 2012-12-20 14:51:22 +11:00
Pat Hickey ba7a596ec3 AP_HAL_AVR: Scheduler extensions implemented 2012-12-20 14:51:22 +11:00
Pat Hickey 6671310399 AP_HAL Scheduler: interface has AP_PeriodicProcess functionality 2012-12-20 14:51:22 +11:00
Pat Hickey a1863ec1f5 AP_HAL_AVR ISRRegistry: use AP_HAL::Proc types instead of private typedef 2012-12-20 14:51:22 +11:00
Pat Hickey af68c09591 AP_HAL Namespace: typedef Proc and TimedProc 2012-12-20 14:51:22 +11:00
Pat Hickey 229f58412b AP_HAL_AVR Storage: commit test 2012-12-20 14:51:22 +11:00
Pat Hickey 187571cca9 AP_HAL Scheduler fixes & AP_HAL_AVR Scheduler changed to match 2012-12-20 14:51:22 +11:00
Pat Hickey 2adfc4fbc5 AP_HAL Scheduler add method register_delay_callback (unimplemented) 2012-12-20 14:51:22 +11:00
Pat Hickey 1d89419059 AP_HAL: Scheduler should use stdint types, conform names 2012-12-20 14:51:22 +11:00
Pat Hickey a9dff1ad25 AP_HAL_AVR: bugfix to SPIDriver.cpp 
* Had freq set to 10 mhz, not 1mhz... stupid mistake.
 2012-12-20 14:51:22 +11:00
Pat Hickey 177da8ea5b AP_HAL_AVR: Bugfix to SPIDriver_MPU6000 (works now) 2012-12-20 14:51:22 +11:00
Pat Hickey 8ffec83b73 DataFlash: fixes to lib include and make the test smaller 2012-12-20 14:51:22 +11:00
Pat Hickey 06441b4117 AP_HAL_AVR Dataflash implemented, tested for APM2 
* Need to get my APM1 board from home to test it on there...
 2012-12-20 14:51:21 +11:00
Pat Hickey 9beba972c8 AP_HAL_AVR: Dataflash instances stubbed out based on /libraries/DataFlash 2012-12-20 14:51:21 +11:00
Pat Hickey 34ec5081e2 AP_HAL: Dataflash interface populated 2012-12-20 14:51:21 +11:00
Pat Hickey 3b697fe299 AP_HAL: rename Log to Dataflash 
* I'd love to build a proper abstraction for logging, but I don't have the
  time to do so right now.
* The dataflash libs need to be pushed into the AP_HAL_AVR anyway, so I'll
  do that now and replace the interface with a better logging driver later.
 2012-12-20 14:51:21 +11:00
Pat Hickey 5d2327f52f AP_HAL: Don't need a separate Console class, BetterStream will do. 2012-12-20 14:51:21 +11:00
Pat Hickey 261ef791a7 AP_HAL Storage: trivial interface and implementation wraps avr/eeprom funcs 2012-12-20 14:51:21 +11:00
Pat Hickey b0d8f43111 AP_HAL_AVR: Implemented SPIDriver based on Arduino, but it doesn't work yet 
* I don't have an APM2.5 board I can easily connect a logic analyzer to see
  the traffic on the bus...
 2012-12-20 14:51:21 +11:00
Pat Hickey b2a34800e2 AP_HAL_AVR RCPassthroughTest: write to upper (>8) channels as well. 2012-12-20 14:51:21 +11:00
Pat Hickey 1f670b4ce2 AP_HAL_AVR: bugfix to RCOutput_APM1 driver CH5 and CH6 
* copypasted the code from RCOutputAPM1 and forgot to fix the io pins
  to initialize properly
 2012-12-20 14:51:21 +11:00
Pat Hickey ad64fd2924 AP_HAL_AVR: RCOutput_APM2, bugfix to get_freq on CH_10 and CH_11 2012-12-20 14:51:21 +11:00
Pat Hickey 875e928628 AP_HAL_AVR: mostly working implementation of RCOutput_APM1.cpp 
* CH5 and CH6 output doesn't work at the moment. not sure why
 2012-12-20 14:51:21 +11:00
Pat Hickey d8ceb427f4 AP_HAL_AVR wibble: s/OUT/CH_/g to be more clear 
* also, correct my poor german, h/t acfoltzer
 2012-12-20 14:51:21 +11:00
Pat Hickey 5445ad02f8 AP_HAL_AVR: RCOutput tested implementation for APM2 2012-12-20 14:51:21 +11:00
Pat Hickey 0f96c93362 AP_HAL_AVR: Add RCPassthroughTest test sketch 2012-12-20 14:51:21 +11:00
Pat Hickey 25bc452608 AP_HAL_AVR RCInput: fixes found in testing 
* On APM1, I was able to test with the failsafe (i.e. all channels giving
  fixed values) but not with a real receiver
 2012-12-20 14:51:21 +11:00
Pat Hickey 71ea0fc755 AP_HAL_AVR example RCInputTest created 
* input works for APM2, but valid() isnt quite working yet
 2012-12-20 14:51:20 +11:00
Pat Hickey ec0fddd49a AP_HAL_AVR: HAL_AVR initializes rcin and rcout 2012-12-20 14:51:20 +11:00
Pat Hickey 776a1074c9 AP_HAL_AVR: check in utility/ISRRegistry 2012-12-20 14:51:20 +11:00
Pat Hickey 064faafdd3 AP_HAL_AVR: stub RCOutput implementations for APM1 and APM2 2012-12-20 14:51:20 +11:00
Pat Hickey acfbddef0d AP_HAL: proper RCOutput interface specification 2012-12-20 14:51:20 +11:00
Pat Hickey fc2e1455a9 AP_HAL_AVR: proper RCInput implementations for APM1 and APM2 2012-12-20 14:51:20 +11:00
Pat Hickey fb6abbe191 AP_HAL: proper RCInput interface specification 2012-12-20 14:51:20 +11:00
Pat Hickey 2c14a77693 AP_HAL_AVR: add ISRRegistry class, member of HAL_AVR 
* derived from Arduino_Mega_ISR_Registry class
 2012-12-20 14:51:20 +11:00
Pat Hickey db76562cd5 AP_HAL: global rename PPMInput -> RCInput, PWMOutput -> RCOutput 
* for clarity. nobody cares that PPM/PWM is the implementation, and with
  sbus etc it might not be
 2012-12-20 14:51:20 +11:00
Pat Hickey 46f31aa69c AP_HAL_AVR: Implement I2CDriver based on libraries/I2C 
* Removed a ton of code we don't need from that driver, which should make
  writing new drivers easier.
 2012-12-20 14:51:20 +11:00
Pat Hickey e14729e7d9 AP_HAL_AVR: FastSerial port passes FastSerial example sketch tests 2012-12-20 14:51:20 +11:00
Pat Hickey cae931a93a AP_HAL_AVR UARTDriver does basic hello world printing 
* will import more complex tests next
 2012-12-20 14:51:20 +11:00
Pat Hickey 83887cfc87 AP_HAL_APM: basic LiquidCrystal based sketch to test hal gpio & scheduler 2012-12-20 14:51:20 +11:00
Pat Hickey e9c5f07db2 AP_HAL: Working GPIO interface & implementation 
* actually, tested the output only... gotta do input next
 2012-12-20 14:51:20 +11:00
Pat Hickey 474f57a90a AP_HAL_AVR: Blink sketch - first working code on coreless 2012-12-20 14:51:20 +11:00
Pat Hickey ea8242ace1 AP_HAL: Add scheduler interface, move Arduino init code to implementation 2012-12-20 14:51:19 +11:00
Pat Hickey 59a94d5aac AP_HAL_AVR: implement ::init method in derived HAL_AVR class. 
* Implementation of ::init taken from Arduino core. Not tested yet
 2012-12-20 14:51:19 +11:00
Pat Hickey 18329b1a5d AP_HAL: add virtual init method to HAL class 2012-12-20 14:51:19 +11:00
Pat Hickey 3b2719dd8c AP_HAL_AVR: build APM1 example sketch with no Arduio core via nocore.inoflag 2012-12-20 14:51:19 +11:00
Pat Hickey 75279dfa43 AP_HAL_AVR: header include fixups 2012-12-20 14:51:19 +11:00
Pat Hickey 0d342a3293 AP_Common: use EXCLUDECORE macro to hack some debug messages away 2012-12-20 14:51:19 +11:00
Pat Hickey 7854c54880 Arduino.mk: when core is excluded, add -DEXCLUDECORE to flags 2012-12-20 14:51:19 +11:00
Pat Hickey 4493dbb4d2 Arduino.mk: support nocore.inoflag to do coreless builds of each sketch 2012-12-20 14:51:19 +11:00
Pat Hickey 8eb9b39a44 AP_HAL_AVR move library classes to their own AP_HAL_AVR namespace 2012-12-20 14:51:19 +11:00
Pat Hickey afd1f36400 AP_HAL: add BetterStream, Stream, and Print interfaces 
* BetterStream Means AP_HAL depends on AP_Common, for now, in order to have
  the AVR specific pgm_char_t defined.
  I'll need to factor that out in the future but for now it can stay
 2012-12-20 14:51:19 +11:00
Pat Hickey b34d4cdb17 Remove empty AP_Var_menufuncs.cpp 2012-12-20 14:51:19 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Pat Hickey c4dbe8c627 AP_Param: move from AP_Common to its own library 2012-12-20 14:51:19 +11:00
Pat Hickey e82d1402ef AP_Loop: moved to APO library, which is the only code that uses it 2012-12-20 14:51:19 +11:00
Pat Hickey 29a425c0dd AP_HAL: import utility Print, Stream, and BetterStream headers 2012-12-20 14:51:18 +11:00
Pat Hickey 00920b0483 AP_HAL_AVR: Stub implementations of AP_HAL_AVR concrete classes 2012-12-20 14:51:18 +11:00
Pat Hickey dc03b1190f AP_HAL: Stub implementations of pure virtual AP_HAL classes 2012-12-20 14:51:18 +11:00
Craig@3DR 2586c7a32a Updated the MediaTek configuration 
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
 2012-12-11 15:35:52 -08:00
rmackay9 24317e721b AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
rmackay9 a38db6744f AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
rmackay9 6cf94e20e7 AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9 395eb25041 ThirdOrderCompFilter: delete because now combined with AP_InertialNav library 2012-12-10 00:48:43 +09:00
rmackay9 154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 a84d9110bd AP_Buffer: add size 5 float fifo buffer to predeclared types 2012-12-10 00:41:59 +09:00
rmackay9 49619b15dd RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch 2012-12-09 16:42:58 +09:00
rmackay9 b4e5176e2a ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre 0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
rmackay9 35f94a6f71 AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5) 2012-12-07 12:57:12 +09:00
rmackay9 d11ee04888 AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo. 
Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
 2012-12-06 17:46:09 +09:00
rmackay9 eac26b2313 RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called. 2012-12-06 17:41:42 +09:00
rmackay9 e6686dcab8 ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes. 2012-12-06 10:24:58 +09:00
rmackay9 06d1c6b0c1 AP_Buffer: bug fix to allow buffer to completely fill up. 
Also removed redundant _tail parameter which saves 1 byte.
 2012-12-06 10:18:00 +09:00
rmackay9 8b5f66255e AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:35:55 +09:00
rmackay9 a92b7f3477 AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:20:31 +09:00
Robert Lefebvre a5c4e65cdf ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -05:00
Andrew Tridgell 3b18c57691 AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell d2f9a705ea MAVLink: clarify frame of reference for HIL_STATE 2012-12-03 23:31:34 +11:00
Andrew Tridgell 15abc784ec MAVLink: use a smaller maximum payload to reduce memory 
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
 2012-12-03 23:28:23 +11:00
Andrew Tridgell 5e77119377 AP_InertialSensor: fixed stub driver to work correctly with sensors HIL 2012-12-03 23:27:21 +11:00
Andrew Tridgell b237c0583d AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 2012-11-30 07:15:19 +11:00
Andrew Tridgell 4f868e04cc AP_InertialSensor: return the example sample count in Oilpan 2012-11-30 07:15:19 +11:00
Andrew Tridgell c7dd042909 InertialNav: update example for new interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 51080d3e9e AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 089ae0f9f3 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00
Andrew Tridgell 951e764442 SITL: prevent the GPS pipe filling up and delaying GPS readings 2012-11-28 14:23:53 +11:00
Andrew Tridgell 471ed9429a SITL: cleanup RC control for rover support 
added vehicle type, and setup right initial throttle
 2012-11-28 09:35:42 +11:00
Andrew Tridgell 5e7ca5b0f8 AC_PID: suppress the derivative immediately after reset 
use _last_derivative == NAN to flag that the derivative is invalid
 2012-11-27 18:45:49 +11:00
Andrew Tridgell 816fe9d35a PID: use NAN to flag a D reset 
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
 2012-11-27 18:41:31 +11:00
Andrew Tridgell eac1ad49d6 AC_PID: save 8 bytes per AC_PID object 
we don't need the _derivative or _output variables
 2012-11-27 18:06:22 +11:00
Andrew Tridgell 1dad9e4e94 AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell eb1d5c2c68 AHRS: improved docs for AHRS_GPS_USE 
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
 2012-11-27 15:41:52 +11:00
Andrew Tridgell 5b4321d367 cleanup: removed unused AP_PID library 2012-11-27 13:39:45 +11:00
Andrew Tridgell f6fce1e238 PID: don't reset _last_error on reset_I() 
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers

Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
 2012-11-27 13:35:09 +11:00
Robert Lefebvre 1d12b781a0 AC_PID: Create Leaky Integrator Function. 2012-11-26 21:01:20 -05:00
Robert Lefebvre 6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Andrew Tridgell 1059ef2a54 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Michael Oborne 1a3a7d173a AP remove debug include 2012-11-26 19:02:17 +08:00
Michael Oborne ed61ef61ed AP: fix ap hil. 2012-11-26 18:53:51 +08:00
Andrew Tridgell 471d672e54 examples: mark some examples as unable to build 
some are not worth fixing. Some can't build on 1280/2560
 2012-11-24 21:09:55 +11:00
Andrew Tridgell 9c3865b924 RC_Channel: fixed example build 2012-11-24 21:09:00 +11:00
Andrew Tridgell 5a0632340c Filter: fixed example build 2012-11-24 21:08:48 +11:00
Andrew Tridgell e7ad044019 DigitalWriteFast: fixed example build 2012-11-24 21:08:36 +11:00
Andrew Tridgell 2f8e467ab2 RangeFinder: fixed example build 2012-11-24 21:08:25 +11:00
Andrew Tridgell a096a3fda1 AP_PID: fixed example build 2012-11-24 21:08:14 +11:00
Andrew Tridgell 7ea18d5a61 AP_InertialSensor: fixed example build 2012-11-24 21:08:06 +11:00
Andrew Tridgell 57d3609d00 AP_GPS: fixed examples build 2012-11-24 21:07:53 +11:00
Andrew Tridgell 3552f3f9c5 AP_Baro: fixed example build 2012-11-24 21:07:41 +11:00
Andrew Tridgell eb5ac90e12 AC_PID: fixed example build 2012-11-24 21:07:34 +11:00
rmackay9 74daf73c49 AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G 
Note: Z offsets do tend to be larger than x and y offsets
 2012-11-23 00:34:42 +09:00
Andrew Tridgell 2e63b3ae8e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell d5e1a75616 APM_RC: fixed APM1 example sketch 2012-11-22 15:42:33 +11:00
Andrew Tridgell d0a2feb99c APM_RC: added a test for ISR masking in APM_RC 2012-11-22 15:42:33 +11:00
rmackay9 e32e0b03b4 DigitalWriteFast: added keywords for syntax colouring in Arduino IDE 2012-11-22 12:25:57 +09:00
Andrew Tridgell 0dc8dd5394 SITL: run the timer_scheduler() when there are no SITL packets 
otherwise we can block in the ADC code
 2012-11-21 22:20:14 +11:00
Andrew Tridgell a71c7b336d Revert "APM_RC: Modified get_last_update() to be more interrupt friendly" 
This reverts commit 50ba0ce4fa41c6d4101dff8da17c267a65750522.

It didn't build, and I want to do a release based on tested code
 2012-11-21 21:48:02 +11:00
Andrew Tridgell 11141d0af0 INS: make it possible to do accel cal on a different serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell d44ceb3fa5 FastSerial: added a vprintf_P() function 
used by CLI on UART2
 2012-11-21 21:41:34 +11:00
Andrew Tridgell ba4b9b9961 AP_Menu: allow menus to work on ports other than UART0 2012-11-21 21:41:34 +11:00
John Arne Birkeland e194c6c740 APM_RC: Modified get_last_update() to be more interrupt friendly 2012-11-21 10:34:04 +01:00
Andrew Tridgell d2170230f4 RC_Channel: added aileron_with_input aux function 2012-11-21 13:34:26 +11:00
Andrew Tridgell 07f5baea9e SITL: added in recursion check in timer_handler() 2012-11-21 09:10:10 +11:00
Andrew Tridgell 833d433caf Semaphore: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell 6836a986f3 PeriodicProcess: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell f843705da3 INS: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell e331634bc5 AP_Baro: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:17 +11:00
Andrew Tridgell fc63087cb8 AnalogSource: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:09 +11:00
Andrew Tridgell c1a02e49a0 ADC: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:30:03 +11:00
Andrew Tridgell ccb1f1722e SITL: fixed a interrupt recursion bug 
this can be triggered by the timer scheduler re-enabling interrupts
 2012-11-20 22:29:26 +11:00
Andrew Tridgell 3c88b0d204 AP_Param: fixed Vector3f elements with 16 character names 2012-11-20 22:27:11 +11:00
Andrew Tridgell b0713ba412 AP_Param: support up to 16 character parameter names 
MAVLink allows for 16 chars, with no null termination if all 16 are
used
 2012-11-20 21:35:22 +11:00
Andrew Tridgell a7e537d6c0 INS: set the acceptable calibration error equal on all axes 2012-11-20 19:28:49 +11:00
Andrew Tridgell 40fc0feaf9 INS: show calibration values on failure 
this will help debug bad calibrations
 2012-11-20 19:28:15 +11:00
Andrew Tridgell 85e050f16c INS: get check for send_msg the right way around! 
I broke this in my previous commit
 2012-11-20 19:10:30 +11:00
Andrew Tridgell fd3993287d INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell 9c811671f1 INS: make calibrate_accel() return a bool 
this will allow APM to auto set MANUAL_LEVEL to 1
 2012-11-20 18:32:27 +11:00
Andrew Tridgell 152c12c283 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell 3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 8ccac5da3d AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
Andrew Tridgell 5a214acca3 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 17c115d2aa 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 7181780d3a DigitalWriteFast: added README about license and author 2012-11-19 08:46:47 +11:00
Andrew Tridgell 8311062610 AP_OpticalFlow: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell 10b8030e62 AP_Limits: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell fe23d27904 SITL: added SREG declaration 2012-11-19 08:42:36 +11:00
Andrew Tridgell 9e9c08b6d7 DigitalWriteFast: fixed memory cast to work on SITL build 2012-11-19 08:25:53 +11:00
Andrew Tridgell 8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
rmackay9 67fadd337d DigitalWriteFast: first addition of lib to speed up read and writes of analog pins 2012-11-19 01:07:10 +09:00
rmackay9 957d366cca Filter: improved low pass filter allows setting gain using time_step and cutoff freq 2012-11-19 01:06:06 +09:00
rmackay9 01dc9fbe3e APM_RC: allow ppm sum for as few as 5 channels 2012-11-16 11:07:11 +09:00
rmackay9 47b1bc30d3 APM_RC: fix _last_update definition to resolve build error 2012-11-16 10:00:56 +09:00
John Arne Birkeland 4258490cd8 APM_RC - Interupt safe get_last_update(); 2012-11-15 22:42:28 +01:00
rmackay9 73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
Andrew Tridgell 8561f08b2f 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 e9e01ae28a SITL: fixed build with new sonar driver 2012-11-13 15:12:38 +11:00
rmackay9 4bfd3d5a29 AP_RangeFinder_MaxsonarI2CXL: fix compiler error re undefine I2c 2012-11-12 12:23:46 +09:00
rmackay9 f68523b39b AP_RangeFinder_MaxsonarI2CXL: resolve shadowed variable compiler warning 2012-11-12 10:41:09 +09:00
Andrew Tridgell daa4712078 AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell 27ff999319 I2C:: catch some more types of I2C errors for error count 2012-11-12 11:25:07 +11:00
Andrew Tridgell 8c2dadc12f AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
rmackay9 321d40f73a AP_RangeFinder: added support for MaxBotix XL I2C sonar 2012-11-12 00:25:29 +09:00
rmackay9 71a0022f34 AP_IMU: delete now that all functionality is moved to AP_InertialSensor 2012-11-11 22:44:36 +09:00
Jason Short c848fe18a5 APM1 Dataflash update 
My data flash would never erase, this fixed it.
 2012-11-09 22:15:16 -08:00
John Arne Birkeland 97d85de361 Optimized APM_RC.InputCh() to prevent global interrupt disable each time a value is read. 2012-11-08 01:03:24 +01:00
rmackay9 50a4838879 AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9 56f88821e9 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 41489f34f9 AC_PID: fixed example sketch's compile errors 2012-11-07 23:34:10 +09:00
rmackay9 6bbf66697b AP_Mount: resolve compiler warning about unused mount_open variable 2012-11-07 23:29:25 +09:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 61dd405910 AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9 5f34d41b59 ThirdOrderCompFilter3D: fix compiler error 2012-11-07 19:47:48 +09:00
rmackay9 1c7118a2d1 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 d9b4407e64 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 68bdf93a4d APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9 7f190b8494 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9 dc7146c9ce ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9 48f1955f8e AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9 83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9 49de46a548 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 403721f8ca 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 736cb4c34b 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 cd0672ce94 SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell fe47990dab 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 f58abb7550 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 ef919c4e36 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 d57566ad0e 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 6a24bdec05 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 984b1086cb 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 72e97c6dfc 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 6f9fa7d3b3 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 ea40432235 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell e74e730992 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 3fd07805a7 AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9 d6324b3964 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
rmackay9 9e3824a09b AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
rmackay9 0159d8bd35 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 024e5c3cc7 RC_Channel: added set_radio() and set_radio_to_trim() functions 2012-10-31 12:43:53 +11:00
Xichen Shi 8c46fced16 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 09485ddc5f AP_OpticalFlow: fix example sketch to work with modified AP_Opticalflow library after memory saves 2012-10-22 16:41:45 +09:00
rmackay9 79fc5f072e AP_Curve: replace Serial.print with Serial.print_P to save 18 bytes of memory 2012-10-22 16:40:57 +09:00
rmackay9 57439b662c AP_OpticalFlow: change Serial.print to Serial.print_P to save 27 bytes 2012-10-22 16:37:24 +09:00
rmackay9 bff3417d29 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 d728ccb620 AP_Menu unit test fixup 2012-10-18 21:08:37 -07:00
Pat Hickey 1bf21aae20 AP_Menu: create new library with menu from AP_Common 2012-10-18 20:50:16 -07:00
Andrew Tridgell eb0dd45a11 Desktop: fixed build with recent SPI changes 2012-10-19 11:21:42 +11:00
rmackay9 0bcf581a17 Desktop: fix build error 2012-10-18 19:33:31 +09:00
rmackay9 3f7b2dbda7 Desktop: add AP_Semaphore to list of includes for DataFlash_APM1.cpp 2012-10-18 19:25:53 +09:00
rmackay9 1958169e30 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 17afd075c1 DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow 2012-10-18 17:03:50 +09:00
rmackay9 a1b4531545 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 785d9ca6a7 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 a53cbc08f3 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 a979fb6014 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 5642922ca7 RC_Channel: simplify the example 
use an array of channels
 2012-10-16 15:50:54 +11:00
Andrew Tridgell 86b509a609 RC_Channel: ensure _reverse is not 0 
this caused the example to fail
 2012-10-16 15:50:29 +11:00
Pat Hickey f48568c9a6 MultiFastSerial example sketch: notes on fatal error in avr-gcc 4.5.x 2012-10-15 20:42:19 -07:00