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4743 Commits

Author SHA1 Message Date
Paul Riseborough
c28e89e4b7 AP_NavEKF: bug fixes for height fusion and covariance initialisation 2014-02-15 05:28:08 +11:00
Paul Riseborough
aed6c79135 AP_NavEKF: Added gyro bias variance scale for on-ground 2014-02-15 05:28:08 +11:00
Paul Riseborough
cb42e1e490 AP_NavEKF: Added public function to get NED position 2014-02-15 05:28:08 +11:00
Paul Riseborough
2c567cd721 AP_NavEKF: Added tuning parameter for onGround yaw gyro variance 2014-02-15 05:28:08 +11:00
Paul Riseborough
9515f6c745 AP_NavEKF: Cleaned up on-ground state and covariance update logic 2014-02-15 05:28:08 +11:00
Andrew Tridgell
9c5647eef3 AP_NavEKF: stop log for gdb friendly playback 2014-02-15 05:28:08 +11:00
Andrew Tridgell
117b77460e HAL_Linux: added stop_clock hack! 2014-02-15 05:28:08 +11:00
Andrew Tridgell
4adf6000f3 AP_NavEKF: only build on fast CPUs 2014-02-15 05:28:08 +11:00
Paul Riseborough
1647ba9bd0 AP_NavEKF: Reduced heading drift on ground 2014-02-15 05:28:08 +11:00
Paul Riseborough
63d8b1bb0b AP_NavEKF: Scheduler Improvements 2014-02-15 05:28:07 +11:00
Andrew Tridgell
df42dd691c AP_NavEKF: added perf counters on PX4 2014-02-15 05:28:07 +11:00
Andrew Tridgell
3d6cb9eade AP_NavEKF: use float arrays when not doing bounds checking 
g++ is doing a lousy job of inlining VectorN, so avoid it when we
don't need bounds checking for production code
 2014-02-15 05:28:07 +11:00
Andrew Tridgell
c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +11:00
Andrew Tridgell
010250a966 AP_NavEKF: use quaternion normalize and cleanup sqrt calls 2014-02-15 05:28:07 +11:00
Paul Riseborough
406fb31a57 AP_NavEKF: Load levelling scheduler - first attempt 2014-02-15 05:28:07 +11:00
Andrew Tridgell
68283b7aa1 GCS_MAVLink: new ekf header 2014-02-15 05:28:07 +11:00
Andrew Tridgell
163cfd839d AP_NavEKF: enable airspeed and fix getLLH() 2014-02-15 05:28:07 +11:00
Andrew Tridgell
b4153c4d32 GCS_MAVLink: added EKF message for debugging 2014-02-15 05:27:54 +11:00
Andrew Tridgell
4771a4fc77 AP_NavEKF: use radians values from AHRS directly 2014-02-15 05:27:53 +11:00
Paul Riseborough
6b798d2821 AP_NavEKF: first working GPS + Mag fusion 2014-02-15 05:27:53 +11:00
Paul Riseborough
bccadb6e25 AP_NavEKF: first working GPS fusion 2014-02-15 05:27:53 +11:00
Andrew Tridgell
90cd04def3 AP_NavEKF: fixed build for non-Linux 2014-02-15 05:27:53 +11:00
Andrew Tridgell
0b71618f4f AP_NavEKF: use vectorN to make indexes safe 2014-02-15 05:27:53 +11:00
Andrew Tridgell
e972acbc9f AP_NavEKF: removed delay callback 2014-02-15 05:27:53 +11:00
Andrew Tridgell
8f16647a0c AP_NavEKF: added write_flot valgrind functions 2014-02-15 05:27:53 +11:00
Andrew Tridgell
a8ddd51355 AP_NavEKF: added pause to gnuplot scripts 2014-02-15 05:27:53 +11:00
Andrew Tridgell
4298625daf AP_NavEKF: added convenient plotting scripts 2014-02-15 05:27:53 +11:00
Paul Riseborough
fca1090694 AP_NavEKF: debug updates 2014-02-15 05:27:53 +11:00
Andrew Tridgell
95f51123d7 AP_NavEKF: added plot.dat output 2014-02-15 05:27:53 +11:00
Andrew Tridgell
050b0fb9f1 AP_NavEKF: fixed compass declination, baro cal and time shift 
now runs much faster
 2014-02-15 05:27:53 +11:00
Andrew Tridgell
776cedf368 AP_NavEKF: try running EKF on log data 2014-02-15 05:27:52 +11:00
Andrew Tridgell
ffce1f64cc AP_NavEKF: added euler angle functions 2014-02-15 05:27:52 +11:00
Andrew Tridgell
977ad4bbf6 AP_NavEKF: added dataflash log reader 
this gives log playback into HIL
 2014-02-15 05:27:52 +11:00
Andrew Tridgell
f3dfde2025 AP_NavEKF: initial test sketch for NavEKF 2014-02-15 05:27:52 +11:00
Paul Riseborough
361bb5b18f AP_NavEKF: Updated comments in header file 2014-02-15 05:27:52 +11:00
Paul Riseborough
00df068967 AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix 2014-02-15 05:27:52 +11:00
Andrew Tridgell
eb505eef91 AP_NavEKF: fixed build for APM environment 2014-02-15 05:27:52 +11:00
Paul Riseborough
0dd5463e77 AP_NavEKF : Changed file and variable names 2014-02-15 05:27:52 +11:00
Paul Riseborough
1e993d2ef5 AP_NavEKF: Added constructor for measurements 2014-02-15 05:27:52 +11:00
Paul Riseborough
4a7f81e50a AP_NavEKF: Corrected height update timeout error 2014-02-15 05:27:51 +11:00
Paul Riseborough
0f3ebb8e31 AP_NavEKF: Updated measurement fusion control 2014-02-15 05:27:51 +11:00
Paul Riseborough
c557bd7df5 AP_NavEKF: Updated GPS input processing 2014-02-15 05:27:51 +11:00
Paul Riseborough
1d4b040c67 AP_NavEKF: Inertial Navigation Code - 24 State EKF 
initial version converted from matlab
 2014-02-15 05:27:51 +11:00
Andrew Tridgell
03cc777991 AP_Airspeed: added last_update_ms() interface 2014-02-15 05:27:51 +11:00
Andrew Tridgell
e7cf07dfb7 DataFlash: added Columns column to FMT 2014-02-15 05:27:51 +11:00
Andrew Tridgell
1e0f3f5398 AP_Math: make to_euler() const 2014-02-15 05:27:51 +11:00
Andrew Tridgell
90c41981ac AP_Math: added quaternion normalization 2014-02-15 05:27:51 +11:00
Randy Mackay
9e31f0b985 AC_WPNav: use PosControl accessor 
Saves 2bytes of RAM
 2014-02-15 05:27:50 +11:00
Randy Mackay
78c12eaebf AC_PosControl: get_pos_xy_kP accessor method 2014-02-15 05:27:50 +11:00
Randy Mackay
8d6eb1eceb MotorsMatrix: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay
134289af38 TradHeli: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay
1bee56877c CoaxCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay
3fad8e3630 SingleCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay
0edf039155 AP_MotorsTri: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay
96d433c63e AP_Motors: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay
8baf5ebf4a AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr 2014-02-15 05:27:49 +11:00
Randy Mackay
f216cffb77 AC_AttControl: use motor accessors to set roll, pitch, yaw, thr 
Saves 8bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay
415e48de19 TriCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay
01d30271d8 SingleCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay
18d3907928 TradHeli: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay
cf1d6854b9 AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels 2014-02-15 05:27:49 +11:00
Randy Mackay
2f4fe3e192 AP_Motors: accessors to set roll, pitch, yaw, throttle 
This saves 16bytes of RAM and slightly reduces the dependence upon the
RC_Channel class as the interface.
 2014-02-15 05:27:49 +11:00
Randy Mackay
98224db1e4 AC_AttControl: Leaonard's rate feedforward 
Also saves 24bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay
2c6470f87b AP_MotorsMatrix: remove unused _num_motors 
Saves 1 byte of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay
32a0992985 MatrixMotors: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay
2f3fc3a3ce Single: remove use of motor_out array 
Also allow fins to move when throttle at zero
 2014-02-15 05:27:48 +11:00
Randy Mackay
a036009524 AP_MotorsTri: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay
83321b8786 AP_Motors: remove motor_out array 
Saves 16bytes of RAM
 2014-02-15 05:27:48 +11:00
Randy Mackay
5f89e9e746 AC_AttControl: bug fix to yaw rate limit 2014-02-15 05:27:48 +11:00
Randy Mackay
d76180d605 AC_AttControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
8b8d6a8e01 AC_PosControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
598a1b1f43 AC_Circle: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
64cfcb2308 AC_WPNav: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay
082c5021ee AC_AttControlHeli: add comments 2014-02-15 05:27:47 +11:00
Randy Mackay
17177adccf AC_Circle: remove debug comment 2014-02-15 05:27:46 +11:00
Randy Mackay
37cfbc9ad5 AP_Math: float versions of wrap_360 and wrap_180 2014-02-15 05:27:45 +11:00
Randy Mackay
a7504faa7d TradHeli: empty angle_boost for trad heli 2014-02-15 05:27:44 +11:00
Randy Mackay
80ec61f217 TradHeli: make accessor methods const 2014-02-15 05:27:43 +11:00
Randy Mackay
48a0917670 Copter: make motors armed call const 2014-02-15 05:27:43 +11:00
Randy Mackay
eda376c7f6 AC_AttControl: init_targets() clears body frame angle errors 
This should ensure that we don't get sudden jerks when entering acro
mode
 2014-02-15 05:27:43 +11:00
Randy Mackay
2643ee9724 AC_AttControl_Heli: adjust for new slew_yaw param 2014-02-15 05:27:43 +11:00
Randy Mackay
2db24659d0 AC_AttControl: add slew_yaw 2014-02-15 05:27:42 +11:00
Randy Mackay
959f5ec3b2 AC_AttControl: tradheli add RATE_RP_MAX 2014-02-15 05:27:42 +11:00
Randy Mackay
2dae0d68c5 AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params 
These replace the ANGLE_RATE_MAX parameter from the main code
 2014-02-15 05:27:42 +11:00
Randy Mackay
c2efb91ece AC_AttControl: trad heli angle boost 2014-02-15 05:27:42 +11:00
Randy Mackay
ebbff24a04 AC_AttControl: trad heli yaw 2014-02-15 05:27:42 +11:00
Randy Mackay
4f738ffdba AC_AttControl: add trad heli support 2014-02-15 05:27:42 +11:00
Randy Mackay
551836c49d AC_PosControl: make some methods const 2014-02-15 05:27:40 +11:00
Randy Mackay
a2b017abd2 AC_AttControl: add rateef_rpy 
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
 2014-02-15 05:27:40 +11:00
Randy Mackay
468be05867 AC_AttControl: make ahrs, ins objects const 2014-02-15 05:27:40 +11:00
Randy Mackay
864f64b61a AC_Circle: circle control library 2014-02-15 05:27:40 +11:00
Randy Mackay
35ef9c73d1 AC_Sprayer: minor comment fix 2014-02-15 05:27:40 +11:00
Randy Mackay
4c02212404 AC_Fence: minor comment fix 2014-02-15 05:27:39 +11:00
Randy Mackay
d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +11:00
Randy Mackay
26b257c8ba AC_AttControl: alternative get_stopping_point_z 2014-02-15 05:27:39 +11:00
Randy Mackay
fc427967ae AC_WPNav: set wp origin to horiz and vert stopping point 
Also bug fix to set pos_control's down speed as a negative number
 2014-02-15 05:27:39 +11:00
Randy Mackay
1b8791a142 AC_PosControl: remove debug 2014-02-15 05:27:39 +11:00
Randy Mackay
4cd45e2edf AC_WPNav: remove debug 2014-02-15 05:27:38 +11:00
Randy Mackay
4003b4da9b AC_AttControl: leonard's body frame rate controller 2014-02-15 05:27:38 +11:00
Randy Mackay
171203370f AC_PosControl: add accessor for speed_up and down 2014-02-15 05:27:37 +11:00
Randy Mackay
1596d83d02 AC_WPNav: move leashes to AC_PosControl 2014-02-15 05:27:37 +11:00
Randy Mackay
de34359808 AC_PosControl: recalculate leash when speed or accel modified 2014-02-15 05:27:37 +11:00
Randy Mackay
ba3ba9e157 AC_AttControl: bug fix for yaw target handling 2014-02-15 05:27:37 +11:00
Randy Mackay
0d4ba04e75 AC_WPNav: make advance_wp_target private 2014-02-15 05:27:37 +11:00
Randy Mackay
80ae3dca2e AC_PosControl: remove debug 2014-02-15 05:27:36 +11:00
Randy Mackay
b9ae3ce2ff AC_PosControl: fixed example sketch 2014-02-15 05:27:36 +11:00
Randy Mackay
0c8cbba644 AC_WPNav: remove xy pos controller 2014-02-15 05:27:36 +11:00
Randy Mackay
9fe4d883d0 AC_AttControl: accessor for lean angle max 2014-02-15 05:27:35 +11:00
Randy Mackay
bbcf8cc84c AC_PosControl: add horizontal pos control 2014-02-15 05:27:35 +11:00
Randy Mackay
2984e492df AC_WPNav: add reference to AC_PosControl 
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
 2014-02-15 05:27:35 +11:00
Randy Mackay
0e0a15f4a8 AC_AttControl: add high level angle controllers 2014-02-15 05:27:35 +11:00
Randy Mackay
3ce1c0a9d5 AC_PosControl: add get_alt_error method 2014-02-15 05:27:34 +11:00
Randy Mackay
a0298aee29 AP_Motors: expose throttle min and max 2014-02-15 05:27:34 +11:00
Randy Mackay
89b7e6b1c8 AC_AttControl: implement angle_boost 2014-02-15 05:27:34 +11:00
Randy Mackay
8988b48ad8 AC_PosControl: add init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay
dcac124105 AC_PosControl: add throttle controller 2014-02-15 05:27:33 +11:00
Randy Mackay
05bb943a69 AC_AttControl: first draft of PosControl class 2014-02-15 05:27:33 +11:00
Randy Mackay
b7565affcd INS: add support for 400hz for PX4 2014-02-15 05:27:33 +11:00
Randy Mackay
0521806cc6 AP_Vehicle: add multicopter parameters 2014-02-15 05:27:32 +11:00
Randy Mackay
715c8eaf02 AC_AttitudeControl: first draft of library 2014-02-15 05:27:32 +11:00
Andrew Tridgell
d853d65b84 AP_Airspeed: added ARSPD_TUBE_ORDER parameter 
This allows for either order of tube connection by default, but the
order can be specified if need be
 2014-02-15 05:12:15 +11:00
Andrew Tridgell
bea0a46410 AP_HAL: added servorail_voltage and power_status_flags() API on AnalogIn 2014-02-15 05:00:09 +11:00
Andrew Tridgell
ce43e674fe DataFlash: added power status logging 2014-02-15 05:00:09 +11:00
Andrew Tridgell
87355127ca GCS_MAVLink: added send_power_status() 2014-02-15 05:00:09 +11:00
Andrew Tridgell
8797f38038 GCS_MAVLink: regenerate MAVLink headers 2014-02-15 05:00:08 +11:00
Andrew Tridgell
0cbd5a2ef0 GCS_MAVLink: added POWER_STATUS message 2014-02-15 05:00:08 +11:00
Andrew Tridgell
63910bf8cd DataFlash: work around a NuttX bug 
the seek offset of files can get badly mucked up when it crosses
cluster boundaries. We need to fix this in NuttX, but meanwhile this
works around the bug. It seems that doing a lseek(fd, 0, SEEK_CUR)
fixes the seek offset in the file.

The bug seems to first happen at an offset of 315392. It also
doesn't happen every time - it is more likely to happen on the first
log download after booting
 2014-02-15 05:00:08 +11:00
Andrew Tridgell
0aebc18b3f GCS_MAVLink: return early from log send if no log data to send 2014-02-14 21:51:00 +11:00
Andrew Tridgell
1497c33178 GCS_MAVLink: run a bit faster on serial ports with flow control 
with flow control we can afford to push the radio a bit harder
 2014-02-14 21:51:00 +11:00
Andrew Tridgell
7c1b9b344f AP_HAL: added get_flow_control() API 2014-02-14 21:51:00 +11:00
Andrew Tridgell
81c5edbdb5 GCS_MAVLink: fixed a log download bug for repeated downloads 
we were not resetting the offset to 0 correctly
 2014-02-14 21:50:59 +11:00
Andrew Tridgell
dcd7f9d26d AP_Airspeed: use raw (signed) airspeed 
this allows us to detect when the user has the ports the wrong way
around, and mark the sensor unhealthy
 2014-02-14 21:50:59 +11:00
Andrew Tridgell
1849db7074 AP_HAL: added board_voltage AnalogIn method 
this makes it easier to get the board voltage from any library,
without having to allocate another analog channel object
 2014-02-14 21:25:38 +11:00
Andrew Tridgell
4e2e685d7a HAL_PX4: better fix for IFLOW on all ports 
the tcsetattr() call fails to apply the baudrate if the port has no
RTS pin and we ask for IFLOW. So just make a separate call.
 2014-02-12 17:47:23 +11:00
Andrew Tridgell
b2cdd39a99 HAL_PX4: don't enable IFLOW on ports without flow control 
this should have been harmless, but breaks the GPS on Pixhawk. This
disables it until we work out why.
 2014-02-12 17:32:07 +11:00
Andrew Tridgell
35791e1f05 AP_Airspeed: fixed get_temperature on PX4 2014-02-12 13:46:15 +11:00
Andrew Tridgell
ccb7dc640d AP_HAL: fixed a build warning 2014-02-12 10:51:58 +11:00
Andrew Tridgell
c93794999e HAL_PX4: remove an old conditional define 2014-02-11 15:58:25 +11:00
Andrew Tridgell
8095eb0bee AP_BoardConfig: added BRD_SAFETYENABLE option 
this allows the safety switch to be disabled on startup
 2014-02-11 15:58:25 +11:00
Andrew Tridgell
439a075b30 AP_HAL: added force_safety_off rcoutput function 
this forces the safety switch off, enabling PWM on the IO board
 2014-02-11 15:58:25 +11:00
Dan Neault
262d384025 Coax: Yaw fix 
Was using _rc_yaw servo_out instead of pwm_out to modify motors.
Corrected and less touchy in Yaw
 2014-02-11 11:05:02 +09:00
Andrew Tridgell
fce464597a AP_BoardConfig: PX4v1 does not have hw flow control on UART5 2014-02-11 12:11:26 +11:00
Andrew Tridgell
1b5d5dd8c4 AP_BoardConfig: set flow control to AUTO by default 2014-02-11 12:11:26 +11:00
Andrew Tridgell
c5c1d1358a HAL_PX4: added automatic hardware flow control detection 
this allows us to detect if hardware flow control is not available and
automatically disable it
 2014-02-11 12:11:26 +11:00
Randy Mackay
a0369b85d1 LowPassFilter: make methods non-virtual 
No classes inherit from this class so no need for set_cutoff_frequency,
set_time_constant and reset(T) to be declared virtual.  Saves 6 bytes of
RAM.
 2014-02-10 20:47:05 +09:00
Randy Mackay
38222d65e9 DerivativeFilter: update and slope non-virtual 
No classes inherit from DerivativeFilter so no need to be virtual.
Saves 4bytes of RAM.
 2014-02-10 20:47:02 +09:00
Randy Mackay
4040be9990 FilterWithBuffer: make get_sample non-virtual 
virtual added to apply() and reset() declaration inline with base class.
This should have no impact on memory usage or functionality
 2014-02-10 20:47:00 +09:00
Randy Mackay
6cee33b6fd AP_Curve: remove virtual from method declarations 2014-02-10 17:28:11 +09:00
Randy Mackay
4c38999ca6 Maxsonar Test: remove raw from output to user 2014-02-10 15:00:08 +09:00
Randy Mackay
e1fabadd3c MaxsonarI2C: read method returns int16_t 2014-02-10 14:59:46 +09:00
Randy Mackay
ab22d11110 MaxsonarRFinder: convert_raw returns int16_t 2014-02-10 14:59:27 +09:00
Randy Mackay
32820b4260 PulsedLightRFinder: read method returns int16_t 2014-02-10 14:58:27 +09:00
Randy Mackay
bf3fa8b99b RangeFinder: remove raw_value from SharpGP2Y 2014-02-10 14:57:17 +09:00
Randy Mackay
8d54e50897 RangeFinder: remove raw_value, orientation variables 
This saves 10bytes of RAM
 2014-02-10 14:56:52 +09:00
Randy Mackay
d19b566d97 OptFlow: remove unused variables 
Saves 24bytes RAM by removing several static variables that were used
only for internal calculations
 2014-02-10 13:53:49 +09:00
Andrew Tridgell
b907263685 AP_BoardConfig: added BRD_SER1_RTSCTS and BRD_SER2_RTSCTS 
used to enable flow control on telemetry ports
 2014-02-10 12:57:19 +11:00
Andrew Tridgell
3e637ac5d9 AP_HAL: added enable_flow_control() option in AP_HAL 2014-02-10 12:54:50 +11:00
Randy Mackay
c9415a08f1 AC_WPNav: use ahrs trig values 2014-02-08 18:16:47 +09:00
Randy Mackay
98d667c916 AHRS_HIL: call update_trig 2014-02-08 18:16:44 +09:00
Randy Mackay
6946d68318 AHRS_DCM: call update_trig 2014-02-08 18:16:42 +09:00
Randy Mackay
3dc6ea682c AHRS: add update_trig 
Calculates helper trig values including cos_roll, cos_pitch
 2014-02-08 18:16:39 +09:00
Andrew Tridgell
a95a3142e0 AP_InertialSensor: use fixed size arrays 
apparently helps SITL build on MacOS
 2014-02-08 19:32:26 +11:00
Bill Bonney
82ea5926a8 OptFlow: update function added to fix compiler error 2014-02-08 11:53:04 +09:00
Randy Mackay
14409ee20f Copter: disable aux channels used for motors 2014-02-07 22:04:27 +09:00
Randy Mackay
7c25247c87 Copter: disable aux channel 7 for SingleCopter 
Move servo range setup to AP_MotorsSingle
 2014-02-07 22:04:26 +09:00
Randy Mackay
9b594dc5e1 Copter: disable aux channel ch7 for Tri 2014-02-07 22:04:24 +09:00
Randy Mackay
1426078cdb TradHeli: disable aux channels 7 and 8 2014-02-07 22:04:23 +09:00
Paul Riseborough
bc311542ab AP_TECS : Fixed bug preventing accel launch detection when not using AS sensor 2014-02-07 19:20:54 +11:00
Dneault
5213ec4aa6 Coax: servos to ch1, ch2, motors to ch3, ch4 2014-02-07 12:36:19 +09:00
Randy Mackay
f60d94c4ab Coax: remove unused servo3, servo4 
Removed commented out code
 2014-02-07 12:36:06 +09:00
Dneault
f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Andrew Tridgell
00d2d5946c RC_Channel: added disable_aux_channel() 
this will be used by copter to ensure motor channels are not enabled
for aux functions
 2014-02-06 21:30:55 +11:00
Andrew Tridgell
b4208c7fc0 RC_Channel: added flaperon1 and flaperon2 function outputs 2014-02-06 12:35:32 +11:00
Andrew Tridgell
698736b66d RC_Channel: simplify the setup of aux channels 
avoid the nasty mess of #if lines, as the info is in the constructor
anyway
 2014-02-06 10:17:16 +11:00
Andrew Tridgell
264c092aa6 AP_ServoRelayEvents: fixed disabling repeated events on set_servo() 2014-02-06 10:03:26 +11:00
Randy Mackay
a963ec7e3b AP_Math: bug fix to wrap_360 and wrap_180 
angles above 720deg and below 3200deg might not have been properly
wrapped.
wrap_360_cd could return 36000 when really this should be wrapped back
to zero.
 2014-02-03 12:56:56 +09:00
Andrew Tridgell
688f61c087 AP_Param: expose check_var_info() as a public symbol 2014-01-31 13:07:41 +11:00
Andrew Tridgell
c0e548fc60 AP_Notify: fixed example build 2014-01-30 13:33:59 +11:00
Andrew Tridgell
93070a673e AP_Math: fixed example build 2014-01-30 13:33:46 +11:00
Andrew Tridgell
045efdb084 AP_InertialSensor: fixed example builds 2014-01-30 13:33:38 +11:00
Andrew Tridgell
a339ec25c8 AP_Airspeed: fixed example build 2014-01-30 13:33:29 +11:00
Andrew Tridgell
cf1f05a198 AP_Airspeed: expose get_temperature() 2014-01-28 10:35:35 +11:00
Andrew Tridgell
fc3ed61e67 DataFlash: added baro dataflash logging 2014-01-28 10:35:18 +11:00
Andrew Tridgell
8f3071b1b8 AP_Arming: more detail in ARMING_CHECK docs 2014-01-25 22:22:50 +11:00
Andrew Tridgell
23d8bfa976 AP_Notify: reduce the latency in the main task of LED updates 
the ioctl now gets called in a IO timer callback
 2014-01-24 10:40:39 +11:00
Andrew Tridgell
0d174db05b AP_Math: added equality operator for VectorN 2014-01-24 10:37:08 +11:00
Andrew Tridgell
aae0e3c0e5 AP_Arming: allow checking of pre-arm without reporting 
useful for updating AP_Notify LEDs
 2014-01-23 21:39:55 +11:00
Andrew Tridgell
330a4649fd AP_Notify: fixed LED colour for no-GPS and armed 2014-01-23 21:39:31 +11:00
Andrew Tridgell
58d3729d16 AP_InertialSensor: fixed default health functions 
this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
 2014-01-22 22:08:28 +11:00
Andrew Tridgell
54562b0b9a AP_Compass: prevent bad initial values from affecting HMC5883 calibration 
the first couple of values after we enter strap mode may be low, but
just above our 0.7 threshold. We now discard the first two values to
prevent these affecting the average.

Also added some commented out debug code and a comment on the scaling
of the calibration code
 2014-01-22 17:15:34 +11:00
Andrew Tridgell
67aab44566 AP_ServoRelayEvents: library for handling servo and relay events 2014-01-20 17:06:29 +11:00
Andrew Tridgell
4aa901f203 AP_Relay: added enabled() API 2014-01-20 17:06:29 +11:00
Andrew Tridgell
55b604b147 AP_Camera: updates for relay API change 2014-01-20 17:06:29 +11:00
Andrew Tridgell
e42ba853ec AP_Relay: enable up to 4 relay pins 2014-01-20 17:06:29 +11:00
Andrew Tridgell
b5822cd549 AP_BoardConfig: board specific config library 
used to control board specific parameters, such as PWM output count
 2014-01-20 17:06:28 +11:00
Andrew Tridgell
99b41f110f HAL_PX4: enable the FMU PWM pins to be used as GPIO when needed 2014-01-20 17:06:28 +11:00
Paul Riseborough
f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Don Gagne
68b3b31499 Param doc typo 2014-01-18 10:18:58 +09:00
Andrew Tridgell
fc6ce42a28 HAL_AVR: fixed build 2014-01-17 15:00:20 +11:00
Randy Mackay
965e5b2dfd INS: check for good calibration for 10seconds 
Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration.  This restores the total time to 10
seconds.
 2014-01-17 12:48:11 +09:00
Andrew Tridgell
87cc95dd7f AP_HAL: removed unused enable_mask and disable_mask functions 2014-01-16 17:16:17 +11:00
Randy Mackay
1f76ada9dd INS: shortened gyro calibration 
Removed delays before calibration, reduced number of samples taken,
widened convergence criteria
 2014-01-16 13:40:49 +09:00
Andrew Tridgell
e1f06c532a HAL_PX4: more checking of IO results in eeprom driver 2014-01-16 13:11:14 +11:00
Andrew Tridgell
3ae6f03761 HAL_PX4: be less verbose about disarmed PWM setup 2014-01-16 13:11:13 +11:00
Andrew Tridgell
db1d438e97 HAL_PX4: implement set_safety_pwm() API 
used to set PWM on motors when disarmed
 2014-01-15 22:25:50 +11:00
Andrew Tridgell
5e39b6fb11 AP_HAL: added set_safety_pwm() API 2014-01-15 22:25:22 +11:00
Andrew Tridgell
64fbadcc21 HAL_PX4: use eeprom on PX4 FMUv1 as well 
this means we no longer store params on SD at all
 2014-01-15 19:33:13 +11:00
Randy Mackay
0a3559813a AC_WPNav: accessor for loiter speed 2014-01-15 15:22:30 +09:00
Andrew Tridgell
376ab30366 HAL_PX4: disable rename of old parameter file for now 
be nice to release candidate users
 2014-01-14 22:00:56 +11:00
Andrew Tridgell
461638780b HAL_AVR: fixed warning on memcheck build 2014-01-14 21:27:52 +11:00
Andrew Tridgell
626086063e HAL_PX4: added a signature to FRAM 
this makes for more reliable update
 2014-01-14 15:06:51 +11:00
Andrew Tridgell
921f923c5f DataFlash: reset write log on new log 2014-01-14 14:28:56 +11:00
Andrew Tridgell
b5a16a07d3 GCS_MAVLink: support LOG_REQUEST_END 2014-01-14 13:51:20 +11:00
Andrew Tridgell
ef28d087d2 DataFlash: added logging_started() API 2014-01-14 13:51:06 +11:00
Andrew Tridgell
f6db03dfb0 DataFlash: don't fsync on SITL 
this makes it much faster on virtual machines
 2014-01-14 12:46:26 +11:00
Andrew Tridgell
b4b66210ff DataFlash: improve reliability of microSD for logs 2014-01-14 12:46:26 +11:00
Andrew Tridgell
b88bb0751c HAL_PX4: added support for MTD (FRAM) parameters 
this allows us to store parameters and waypoints in FRAM, and
auto-upgrade from microSD
 2014-01-14 12:46:26 +11:00
Andrew Tridgell
e78e35f3bd HAL_PX4: try to use uppercase names on NuttX microSD card 2014-01-14 12:46:26 +11:00
Andrew Tridgell
cb23298384 DataFlash: try to keep dataflash writes aligned 
also rename lastlog.txt to LASTLOG.TXT as NuttX seems to get less
corruption with VFAT filenames that don't need uppercase mappings
 2014-01-14 12:46:26 +11:00
Randy Mackay
fb0fe3793c AP_Notify: external LEDs blink while initialising 2014-01-13 23:31:32 +09:00
Andrew Tridgell
63586e3e23 HAL_PX4: fixed build for new PX4Firmware 2014-01-13 13:54:51 +11:00
JakobSt
986417067e AP_GPS: Improved accuracy of NMEA driver 
The conversion of ret (32bit-integer) to float reduced accuracy to ~9cm or ~22cm. Now it's ~1cm.
 2014-01-13 09:58:30 +11:00
Robert Lefebvre
d441354961 TradHeli: Minor change to two param defaults 
Also one param name in the code clarified.
 2014-01-10 10:52:17 +09:00
Don Gagne
1db3c6e688 AP_Arming: param doc fixes 
These were confusing the parser, or just incorrect
 2014-01-10 10:40:53 +09:00
Don Gagne
e68cf2d1c5 Plane: Fix parameter documentation 
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.

merge with below
 2014-01-09 14:02:21 +09:00
Randy Mackay
3823eed865 OptFlow: update example sketch to work with shrunken library 2014-01-09 12:31:51 +09:00
Randy Mackay
8caa5159f8 OptFlow: shrink lib by removing unused functions 
Saves 46bytes of RAM and 1k of flash
 2014-01-09 12:31:48 +09:00
Randy Mackay
a53d1075ec DataFlash: add EnableWrites method 
This method allows temporarily suspending writes to the dataflash which
will be used in ArduCopter to ensure no messages are written while the
copter is disarmed
 2014-01-07 22:43:44 +09:00
Andrew Tridgell
4519aa8867 DataFlash: only fsync every 10 seconds 
prevents too much work in SITL
 2014-01-04 08:15:38 +11:00
Andrew Tridgell
89676be825 HAL_PX4: fixed RCInput race condition 
the number of channels could be zero with thread switch at the wrong
time
 2013-12-31 22:25:16 +11:00
Andrew Tridgell
a2997704eb HAL_PX4: removed code which drops throttle to 900 on loss of RC 
rely on vehicle code checking for last data coming in
 2013-12-31 10:58:49 +11:00
Andrew Tridgell
a8946a5f31 HAL_Linux: fixed build 2013-12-31 10:28:38 +11:00
Andrew Tridgell
8019d45200 DataFlash: use HAL_OS_POSIX_IO 2013-12-31 10:28:38 +11:00
Andrew Tridgell
5e3c4441dc AP_Baro: use HAL_CPU_CLASS in baro driver 2013-12-31 10:28:37 +11:00
Andrew Tridgell
ea649e036b AP_HAL: added HAL_CPU_CLASS define for selecting algorithms 
this will make it easier to select the appropiate level of algorithm
for a CPU
 2013-12-31 10:28:37 +11:00
Andrew Tridgell
4c99d09265 AP_Math: fixed build of vectorN class on PX4 2013-12-31 10:28:27 +11:00
Andrew Tridgell
bc2d17e76e AP_Compass: added vector compass setHIL method 2013-12-30 14:35:24 +11:00
Andrew Tridgell
e7a1331b81 AP_GPS: allow HIL GPS to show no lock 2013-12-30 14:35:20 +11:00
Andrew Tridgell
ecbfdfba6c HAL_Linux: implement time_shift() API 2013-12-30 14:35:12 +11:00
Andrew Tridgell
7e1e10f941 AP_HAL: added time_shift() scheduler API 
used for log replay
 2013-12-30 14:35:09 +11:00
Andrew Tridgell
96df09fd08 AP_Math: add const to quaternion API 2013-12-30 14:33:17 +11:00
Andrew Tridgell
2e9744d0b3 AP_Math: prevent transpose usage error in matrix API 2013-12-30 14:33:17 +11:00
Andrew Tridgell
2c1e0ba130 AP_Math: added vectorN class, and index checking 2013-12-30 14:33:17 +11:00
Andrew Tridgell
a96840e194 AP_AHRS: changed default GPS lag to 1 sample 
this is based on detailed logs from a LEA-6H and NEO-7N
 2013-12-30 10:33:48 +11:00
Andrew Tridgell
2ce1b14cbb GCS_MAVLink: removed unused variable 2013-12-29 18:39:12 +11:00
Andrew Tridgell
828eed1984 AP_Math: allow vector3 and matrix3 objects to be used as arrays 2013-12-29 18:39:09 +11:00
Andrew Tridgell
519a26691e AP_GPS: make last_message_time_ms const 2013-12-29 18:39:07 +11:00
Andrew Tridgell
410d356979 AP_AHRS: make airspeed_estimate const 2013-12-29 18:39:01 +11:00
Andrew Tridgell
87226fed97 GCS_MAVLink: avoid log scans when possible 
don't scan logs when the GCS sends a new data request
 2013-12-29 15:00:19 +11:00
Andrew Tridgell
a43e0f6f31 DataFlash: stop logging when erasing logs 2013-12-29 15:00:15 +11:00