Andrew Tridgell
2bed1dcfd5
desktop: first version of register level SITL support
...
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
2011-11-25 20:00:18 -08:00
Pat Hickey
0549a50e9e
APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple
...
* I have not tested any of these on real hardware.
2011-11-25 20:00:18 -08:00
Pat Hickey
718f3dee00
APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits.
2011-11-25 20:00:18 -08:00
Andrew Tridgell
67e5c89226
compass: added AP_COMPASS_APM2_SHIELD
...
this makes the orientation clearer
2011-11-25 20:00:18 -08:00
Andrew Tridgell
2259bacd67
barometer: fixed for purple build
2011-11-25 20:00:18 -08:00
Andrew Tridgell
e3a74626d6
barometer: support 'make purple' for barometer example code
2011-11-25 20:00:18 -08:00
Andrew Tridgell
252e858011
fixed InertialSensor stub build
2011-11-25 20:00:18 -08:00
Pat Hickey
48f92c49fa
hil-sensors: added stub libraries for InertialSensor and PeriodicProcess
...
* Also added dummy ivar to APM_BMP085_hil
2011-11-25 20:00:18 -08:00
Andrew Tridgell
1a8a1973a1
AP_IMU: fixed shim driver prototype
2011-11-25 20:00:18 -08:00
Andrew Tridgell
bbd6a6cdbb
desktop: fixed build with updated dataflash interface
2011-11-25 20:00:17 -08:00
Andrew Tridgell
55bd85fe90
desktop: make AP_InertialSensor pure virtual
...
fixed a link error in Desktop build
thanks to Pat for the C++ foo
2011-11-25 20:00:17 -08:00
Andrew Tridgell
01cd9cc6d6
dataflash: fixed datatypes to be compatible with desktop build
2011-11-25 20:00:17 -08:00
Andrew Tridgell
da50903649
desktop: make DataFlash for Desktop build replace APM1 build
2011-11-25 20:00:17 -08:00
Andrew Tridgell
3b5c124fc6
make configure default to 2560
...
1280 is less common for devs these days
2011-11-25 20:00:17 -08:00
Pat Hickey
afef359ee9
purple: rework DataFlash to separate purple and APM1 hardware support
...
the purple support is still a work in progress, but the APM1 support
should be fine
2011-11-25 20:00:16 -08:00
Pat Hickey
c65a8c4616
build: added jtag-program make target
...
useful for when you have hosed your USB
2011-11-25 20:00:16 -08:00
Pat Hickey
433caaedc0
purple: rework AP_IMU library to use AP_IntertialSensor library
...
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
2011-11-25 20:00:16 -08:00
Pat Hickey
db8708911a
purple: added AP_InertialSensor library
...
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
2011-11-25 20:00:16 -08:00
Pat Hickey
ce4547a1a5
purple: rework the RC_Channel library for the APM_RC changes
2011-11-25 20:00:16 -08:00
Pat Hickey
d62ddd30f9
RangeFinder: rework to use AnalogSource library
...
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
2011-11-25 20:00:16 -08:00
Pat Hickey
0caf351c32
purple: Added AnalogSource library
...
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
2011-11-25 20:00:16 -08:00
Pat Hickey
6d876bc54d
AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register
...
this makes it possible to build the ADC library when another driver
may also want that interrupt
2011-11-25 20:00:16 -08:00
Pat Hickey
7474a8be53
purple: added PeriodicProcess library
...
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
2011-11-25 20:00:16 -08:00
Pat Hickey
812d35a442
purple: added ISR_Registry() library
...
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
2011-11-25 20:00:16 -08:00
Pat Hickey
5cb60f76cf
purple: rework APM_RC library for purple hardware
...
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
2011-11-25 20:00:16 -08:00
Pat Hickey
004a4425cd
barometer: add purple_hardware option to Init()
...
this allows selection of right hardware at Init() time
2011-11-25 20:00:15 -08:00
Jason Short
6ecb6f21a6
increased filter
2011-11-25 11:34:05 -08:00
James Goppert
65e8b587f9
Working on comments.
2011-11-24 15:54:08 -05:00
James Goppert
d31b1b31f4
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-24 14:28:25 -05:00
James Goppert
fc84c15426
Separated controller block class.
...
Also improved documentation of AP_ControllerBlock.
2011-11-24 13:28:14 -05:00
James Goppert
aaca5094b6
Removed old variable from hal.
2011-11-24 02:08:27 -05:00
Wenyao Xie
3c217d4186
Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error.
2011-11-22 16:42:51 -05:00
Andrew Tridgell
154c55c9dc
desktop: more fixes for DataFlash filesystem changes
2011-11-20 19:06:24 +11:00
James Goppert
50e8de999f
Fixed most of quad guidance issues.
2011-11-19 23:34:14 -05:00
James Goppert
7a742c4a2a
Working on memory problem.
2011-11-19 22:20:06 -05:00
James Goppert
1c5db5e963
Bug located in quad position loop, improved hil.
2011-11-19 21:39:14 -05:00
James Goppert
cc66b43d12
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-18 14:36:47 -05:00
Andrew Tridgell
927c2dbd67
desktop: added support for new DataFlash functions
2011-11-18 17:50:12 +11:00
Doug Weibel
a11ea12ca8
Change to logging file system.
...
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this. Just making this commit in case I need to roll back
2011-11-17 21:25:51 -07:00
Jason Short
7f2ec90703
Upped pressure filter a bit
2011-11-17 11:12:18 -08:00
Wenyao Xie
6c51157b2d
Working on new hil message for mavlink.
2011-11-15 17:15:54 -05:00
Andrew Tridgell
8a3ea5bfff
desktop: when in the CLI, use blocking writes
...
this prevents us missing information from the logs
2011-11-11 09:53:46 +11:00
Andrew Tridgell
34af368b8a
desktop: don't start alarm till setup() has finished
2011-11-10 21:57:47 +11:00
Jason Short
34e6b3535d
MAV_CMD_DO_SET_ROI
2011-11-09 12:07:57 -08:00
Andrew Tridgell
af1ddacc1b
desktop: don't alarm in CLI
...
loop() is not called in menu system
2011-11-10 00:14:04 +11:00
Andrew Tridgell
3303c09a9d
desktop: exit if loop() doesn't run for 5 seconds
...
this should stop runaway processes
2011-11-09 19:40:34 +11:00
Andrew Tridgell
c30af84897
desktop: force awk on macos
...
this may help on jasons box
2011-11-09 17:21:53 +11:00
Andrew Tridgell
4b50d2e639
desktop: exit on EOF from stdin
2011-11-09 17:21:53 +11:00
Jason Short
d5fb801678
Removed debugging code from APM_PI
2011-11-08 14:41:21 -08:00
Andrew Tridgell
5a45f9cd25
desktop: fixed malloc cast
2011-11-09 08:47:49 +11:00
Andrew Tridgell
11c908c7b4
desktop: be more careful with signed/unsigned in DataFlash
2011-11-09 08:44:19 +11:00
Andrew Tridgell
d8d5f97a0a
desktop: use less stack
...
this avoids a problem on cygwin on windows
2011-11-09 08:09:56 +11:00
Andrew Tridgell
389e2ff03e
desktop: another MacOS fix
2011-11-08 18:07:19 +11:00
Andrew Tridgell
b2254016e1
desktop: make desktop build more portable
...
this should help on MacOS
thanks to MikeS for his assistance
2011-11-08 17:26:53 +11:00
Andrew Tridgell
3b52687342
dataflash: type fixup for ReadInt()
2011-11-08 17:26:53 +11:00
Andrew Tridgell
f073837ea7
desktop: use the libc printf engine
...
getting ftoa_engine right was too much work
2011-11-08 11:59:30 +11:00
Andrew Tridgell
6b583869c0
desktop: fixed ultoa_invert()
...
the string was backwards
2011-11-08 11:13:48 +11:00
Andrew Tridgell
fd3154f20d
desktop: improved ftoa_engine.c
...
this still doesn't perfectly match the assembler, but its closer
2011-11-08 11:05:36 +11:00
Andrew Tridgell
ecf3d26f43
barometer: fixed a build warning
2011-11-08 11:05:36 +11:00
Jason Short
34a53f6f7d
Removed some old debug prints from motors.pde
...
added ability to not increment I term for traversals.
2011-11-07 14:32:39 -08:00
Andrew Tridgell
acad6b37c4
autotest: fill flash with 0xff on erase
2011-11-07 23:42:18 +11:00
Andrew Tridgell
a199835632
Desktop: added -w option to wipe eeprom and dataflash
2011-11-07 22:56:13 +11:00
Andrew Tridgell
eb0756f362
Desktop: added support for DataFlash in Desktop build
...
this will allow Jason to look at the logs of the quad sim
2011-11-07 22:56:13 +11:00
Andrew Tridgell
ee99ec839b
digital.c for CLI
2011-11-07 22:56:13 +11:00
Andrew Tridgell
5410dff523
DataFlash: use CPU independent data types
...
this ensures that the DataFlash API is consistent for different CPU
architectures, which matters for the Desktop build, and will matter
for ARM and other CPUs later
2011-11-07 22:56:13 +11:00
Andrew Tridgell
b314fd8cd3
Desktop: enable the CLI in desktop build
...
this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI
2011-11-07 22:56:13 +11:00
Andrew Tridgell
75d7ee01d1
desktop: fixed 2 crashes in the menu code
...
handle an empty line gracefully, and use pgm_read_pointer() for
functions pointers in progmem
2011-11-07 22:56:13 +11:00
Andrew Tridgell
152da9c91b
added pgm_read_pointer()
...
this will be used by the menu code to make reading pointers from
progmem portable
2011-11-07 22:56:13 +11:00
Andrew Tridgell
11109e4a03
force LANG=C for MacOS awk
2011-11-07 13:33:38 +11:00
Doug Weibel
d4fff166cf
Add an accessor for the DCM drift correction integrator to monitor performance
...
Also made the get_health accessor an inline function.
2011-11-05 09:02:23 -06:00
Doug Weibel
beb6c4dbf4
Changed the DCM drift correction integrator limit to a vector magnitude of 30 degrees/second.
...
The drift correction integrator limit previously was near/at the gyro saturation limit. If we have that much drift there is a serious hardware problem. 30 degrees/second is arbitrary but should handle all temperature variation, etc.
2011-11-05 09:01:20 -06:00
Doug Weibel
b105e7fd41
In case of DCM renorm "blow-up" reset the drift correction integrators
...
This should aid in recovery if we loose the AHRS solution and have to force to initial orientation. Also removed some old commented out code moved to the IMU object
2011-11-05 08:59:16 -06:00
James Goppert
f7c60e1ac7
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 21:58:10 -04:00
Andrew Tridgell
e5654ccd04
desktop: fixed TCP buffering issue with HIL
...
the TCP layer was buffering the servo updates, which caused very poor HIL flight
2011-11-02 09:38:44 +11:00
Simon Salykov
389b89056a
Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed
...
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar
2011-11-01 19:09:57 +01:00
Jason Short
53d7cac075
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 09:30:54 -07:00
Jason Short
c3d8775797
Baro
...
Minimized the baro filtering to use a new approach to rate control. Redid the state machine so the temp is sampled more often.
2011-11-01 09:22:21 -07:00
Amilcar Lucas
01df18b292
Added camera and/or antenna mount support.
...
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
2011-10-31 22:55:58 +01:00
Amilcar Lucas
c73b3c7235
Update the SIL README file
2011-10-31 21:56:25 +01:00
James Goppert
ed0722e298
ArduPlane cmake build working.
2011-10-31 13:18:48 -04:00
James Goppert
249ce91d78
Switching to new eclipse project style.
2011-10-30 22:57:34 -04:00
Michael Oborne
12d8b2cb9e
prevent div by 0
2011-10-30 21:28:39 +08:00
Andrew Tridgell
cdc677ab83
added desktop header
2011-10-30 17:31:32 +11:00
Andrew Tridgell
d74a223f7e
make desktop serial more responsive
2011-10-30 13:00:54 +11:00
Andrew Tridgell
3991f9eff3
move g_rc_function[] to RC_Channel library
...
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
2011-10-29 18:42:18 +11:00
Andrew Tridgell
e3c5177967
merge NULL ptr mavlink array fix
...
this fixes a segfault in ArduPlane when using a NULL pointer for
satellite_prn in GPS status
2011-10-29 18:29:18 +11:00
Andrew Tridgell
8cc449dc43
updated to latest upstream mavlink headers
...
this includes the new APM_Camera headers from ardupilotmega.xml
2011-10-29 18:07:09 +11:00
James Goppert
57301ce647
Cleaned up AP_GPS formatting.
2011-10-28 14:52:50 -04:00
James Goppert
dd0ac600b3
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-28 14:45:01 -04:00
James Goppert
585507f188
Clean up formatting for AP_Common
2011-10-28 14:43:43 -04:00
Michael Oborne
1c72598393
Fix HIL DCM to match actual
2011-10-28 17:40:18 +08:00
Andrew Tridgell
8eb74df024
minor mavlink 1.0 updates
2011-10-28 15:54:22 +11:00
James Goppert
02ab5bea78
APO multiple mode handling added.
2011-10-27 19:42:57 -04:00
James Goppert
18c3eaf479
Fixed APO bug in current waypoint update.
2011-10-27 17:23:08 -04:00
James Goppert
7da0daa9d0
Adding bash formatting script using astyle.
2011-10-27 16:30:15 -04:00
James Goppert
3de8533c5e
Merge https://code.google.com/p/ardupilot-mega
2011-10-27 16:21:44 -04:00
James Goppert
5d9c37bbed
Fixed APO controller bug preventing motor arming.
2011-10-27 16:19:42 -04:00
Jason Short
003e6e06a1
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
...
Conflicts:
libraries/APM_PI/APM_PI.cpp
2011-10-27 12:41:00 -07:00
Jason Short
3b3f6bd168
RC_Channel Dead zone
...
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
2011-10-27 11:34:00 -07:00
James Goppert
2507b801f0
Fixed APO examples.
2011-10-26 14:59:40 -04:00
James Goppert
f0fe8ecb90
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-26 13:25:49 -04:00
James Goppert
8cd9ced373
Further APO controller cleanup.
2011-10-26 13:25:06 -04:00
jasonshort
d8a0ce6933
Just in case the Min and Max functions are not playing nice with AP_Var
2011-10-26 16:48:50 +00:00
Jason Short
07c1e6facd
AP_PI AP_Var change
...
using the If statement rather than Max to avoid potential AP_Var issues. I don't know if this is a real prob or not. Just being careful.
2011-10-26 09:46:16 -07:00
James Goppert
18e8bb3d6a
APO formatting.
2011-10-26 12:31:11 -04:00
James Goppert
dd4ff8c0aa
Updated APO Controllers.
2011-10-25 19:40:07 -04:00
James Goppert
97ef98fa8f
Further abstracted APO Controllers
...
Currently APO quad/plane/tank need to be updated
for new controller changes.
2011-10-25 18:53:39 -04:00
Andrew Tridgell
31747d5607
imported custom_mode size fix
2011-10-24 13:41:15 +11:00
Andrew Tridgell
8b135a5be3
fixed mavlink10 desktop build
2011-10-24 13:09:19 +11:00
Andrew Tridgell
14f8c71932
import latest MAVLink 1.0 headers and XML
2011-10-24 12:20:46 +11:00
Andrew Tridgell
0c672d6885
updated to latest mavlink 1.0 messages
2011-10-24 10:20:36 +11:00
Andrew Tridgell
9644ff5c01
mavlink: added mavlink10 target for desktop build
2011-10-24 10:20:36 +11:00
Andrew Tridgell
314a4158d6
mavlink: make it possible to build with mavlink 1.0 headers
2011-10-24 10:20:36 +11:00
Andrew Tridgell
f6385dd1a2
mavlink: import latest mavlink 0.9 headers
2011-10-24 10:20:36 +11:00
Andrew Tridgell
615d96ab81
mavlink: import mavlink 1.0 message definitions
2011-10-24 10:20:35 +11:00
Andrew Tridgell
ac2e129996
mavlink: import mavlink 1.0 includes
2011-10-24 10:20:35 +11:00
Andrew Tridgell
d6479367b3
RC_Channel_aux is needed for ArduPlane build
2011-10-24 10:20:19 +11:00
James Goppert
986fca3116
Corrected battery monitoring in apo.
2011-10-20 02:28:47 -04:00
James Goppert
9e9da38c67
Arming fixes.
2011-10-19 20:09:06 -04:00
James Goppert
73c3f1098a
Added loop priority, fixed arming bug for apo.
2011-10-19 13:22:29 -04:00
James Goppert
8397fea4f4
More cleanup.
2011-10-19 00:31:59 -04:00
James Goppert
a48206f468
Some cleanup.
2011-10-19 00:25:00 -04:00
James Goppert
dcc2c2c0cf
Added arming mechanism.
2011-10-19 00:21:19 -04:00
James Goppert
9573b60ac9
Incorporated dcm changes from arducopter into apo.
2011-10-18 22:00:24 -04:00
James Goppert
0bb0059d35
Updated apo rates.
2011-10-18 20:11:14 -04:00
Andrew Tridgell
ce1abb974b
desktop: refactor the TCP code
...
this supports all 3 serial ports, plus cleans up the code
2011-10-17 19:32:48 +11:00
James Goppert
0a0bbb8afe
Updated ArduRover/ ArduBoat for new apo changes.
...
Still need to add arming/ disarming to rover/boat controllers.
2011-10-16 03:15:22 -04:00
James Goppert
955d159c91
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-16 02:58:38 -04:00
James Goppert
0283b8c695
Added battery monitoring, arming to apo.
...
Arming added for quadrotor. Need to add to rover still. Battery
monitoring added with auto shut-off in quadrotor controller.
Finally split apo header and source files to allow faster
compiling/ fix cyclic header inclusions.
2011-10-16 02:55:34 -04:00
Jason Short
995be48a2d
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-15 13:09:18 -07:00
Jason Short
23c0bb9814
Updates to guided mode from Michael O.
...
removed or commented unused static vars
2011-10-15 13:09:04 -07:00
James Goppert
dfb71226eb
APO quad stabilized flight working well.
2011-10-14 18:28:29 -04:00
Michael Oborne
6987e6c4b2
hil sensor cleanup
2011-10-14 18:14:32 +08:00
Michael Oborne
b02c3608ef
fix delta time in imu shim
2011-10-13 22:36:51 +08:00
Michael Oborne
392160314e
Sensor hil fix's
2011-10-13 22:22:03 +08:00
Michael Oborne
d89e944254
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-13 17:49:35 +08:00
James Goppert
76a3625024
Got APO quad stabilized flight to hover.
...
Needs more gain tuning.
2011-10-12 20:05:01 -04:00
Michael Oborne
a3de6667ca
fastserial tcp
2011-10-13 07:25:30 +08:00
Michael Oborne
8536452c5a
Desktop: cygwin fixs for AP and AC SIL
2011-10-11 20:30:34 +08:00
Andrew Tridgell
19666f5a43
desktop: more cygwin fixes
2011-10-11 21:33:31 +11:00
Andrew Tridgell
e991d81eee
desktop: removed the need for libbsd
...
this should help the cygwin build that MikeO is working on
2011-10-11 21:04:07 +11:00
Andrew Tridgell
e2c6dc68a2
desktop: added Makefile.desktop
2011-10-11 20:53:43 +11:00
Andrew Tridgell
93d09039ce
desktop: fixed a warning
2011-10-11 20:53:43 +11:00
Andrew Tridgell
99f0e92531
desktop: silence an implicit cast warning
2011-10-11 20:53:43 +11:00
Andrew Tridgell
3633d846f6
desktop: make the main loop a bit more responsive
...
this introduces less delays on linux than usleep()
2011-10-11 17:49:40 +11:00
Andrew Tridgell
6f44415b19
desktop: make ISRs normal C++ functions
...
this will make it possible to add an abstract register simulation
class that allows us to intercept device IO
2011-10-11 17:49:40 +11:00
Andrew Tridgell
74a85a1f3e
update README with build and usage information
2011-10-11 17:49:40 +11:00
Andrew Tridgell
52dc221969
support building with common Makefile.desktop
2011-10-11 17:49:40 +11:00
Michael Oborne
ec7fa70fd6
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-11 08:05:14 +08:00
Andrew Tridgell
ed2bec75b9
added build makefiles
2011-10-10 07:18:38 +11:00