c6ee948d60
AP_GPS: added get_lag method to return expected lag from the GPS.
2012-09-20 15:48:22 +09:00
53aced1def
AP_LeadFilter: moved lag to be a parameter passed into the get_position function.
...
This saves 4 bytes of memory and will work better with the way we initialise the gps.
2012-09-20 15:27:27 +09:00
d97ab4f490
AP_LeadFilter: bug fix so velocity * _lag is used (otherwise we are assuming a 1sec lag)
2012-09-20 13:17:42 +09:00
f002d6e9a6
AP_LeadFilter: added set_lag feature to allow us to adjust it for different GPSs
2012-09-20 13:10:24 +09:00
739d31f06e
Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges.
2012-09-19 20:43:58 -04:00
0922b82d42
AP_Param: added find_by_index()
2012-09-20 07:42:35 +10:00
8a33e2ba37
GPS: disable auto detection of NMEA and SiRF on a 1280 board
...
saves a bit more flash space
2012-09-19 19:36:48 +10:00
f3f9d644d9
AP_Airspeed: a bit more filtering
...
this helps reduce noise at low speed
2012-09-19 16:23:25 +10:00
aaab3c08aa
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
3306ba95a7
MPU6k: save 72 bytes of memory
...
the buffer can be on the stack
2012-09-18 13:58:50 +10:00
2bc1d4a5ae
SITL: prevent a fd leak in GPS code
2012-09-17 14:45:48 +10:00
c62197370a
GPS: replaced the GPS auto-detect mechanism
...
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup
The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
2012-09-17 14:45:47 +10:00
08cf9823fd
RC_Channel_aux: minor cleanups
...
remove unused enable_out_ch() and enable k_manual channels. This
ensures k_manual channels used for bottle drop are initialised
correctly to trim output
2012-09-16 15:50:13 +10:00
644b3c6e17
RC_Channel: support channel reversal on range channels
...
this makes it possible to have a reverse throttle in ArduPlane
2012-09-16 15:06:26 +10:00
9965dd8b1a
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
f9c11627a5
fix AP attitude hil - with randys help
2012-09-15 16:47:18 +08:00
54d07f6d04
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
3c0153e9dc
AP_AHRS: fix to allow example sketch to compile
2012-09-13 16:45:52 +09:00
efabf7403e
GPS: NMEA bug fix from Alexey Kozin
...
thanks Alexey!
2012-09-12 15:04:24 +10:00
715541b508
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
2012-09-12 14:42:04 +10:00
f5efb25e62
APM: added wdt.h for SITL build of APM
2012-09-10 15:52:53 +10:00
8624b0138e
AP_InertialSensor_Stub: added num_samples_available method to fix HIL build
2012-09-10 11:38:13 +09:00
d8142c2351
AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called
2012-09-10 11:38:08 +09:00
bd3eab7c0f
AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete
2012-09-10 11:38:03 +09:00
b1b3b806ad
AP_PeriodicProcess: queue_process changes to suspend other processes before running queued process
...
Also restored suspend_timer to void return type
2012-09-10 11:37:58 +09:00
5a3645d36a
AP_ADC: added num_samples_available to allow main loop to be synced with arrival of new sensor data for Oilpan.
2012-09-10 11:37:43 +09:00
38feee9c61
AP_IMU: added num_samples_available to allow main loop timing to be synced with arrival of new data from IMU.
2012-09-10 11:37:38 +09:00
3901387c8d
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
...
This reduces the delay between when data arrives and when it is used
by up to 1ms.
Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
2012-09-10 11:37:33 +09:00
b667c6eb8c
APM_RC: fixed noisy PWM output on startup for APM2
...
This reduces the number of rubbish pulses on the APM2 PWM output pins
on startup, which should help with booting some cheaper ESCs.
Thanks to Randy for the idea!
2012-09-10 08:09:28 +10:00
5060b8bd2e
AP_Camera: updated for new RC_Channel_aux API
2012-09-08 15:13:06 +10:00
540f7894dc
AP_Mount: updated for new RC_Channel_aux API
2012-09-08 15:12:52 +10:00
89dc79fded
RC_Channel: simplified RC_Channel_aux and fixed issue 725
...
it is perfectly valid to configure two RC channels with the same
function, especially when that function is manual output (ie. copy
input to output)
This removes the g_rc_function[] indirection array
2012-09-08 15:12:28 +10:00
8f70a24fd4
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
2012-09-08 11:37:07 +10:00
c983de9d8b
APM_OBC: changed termination servo values, and added loop counter
2012-09-08 11:37:00 +10:00
9d6bce87dc
APM_OBM: Failsafe board sketch
...
this combines with the OBC failsafe module
2012-09-08 10:07:17 +10:00
8836851243
APM_OBC: handle separate terminate pin correctly
2012-09-08 10:07:14 +10:00
6a90b7722a
OBC: added FS_TERM_PIN option
...
this sets a pin for flight termination
2012-09-08 10:07:08 +10:00
2e7939cbf4
Mavlink: enable MAVLINK_SEPARATE_HELPERS
...
this fixes a seq number problem with SIMSTATE packets
2012-09-08 10:06:19 +10:00
b555d86ec0
Compass: added compass.accumulate() API
...
this allows us to accumulate mag readings using spare CPU cycles
2012-09-08 10:05:54 +10:00
20936fb87d
RC_Channel_aux: bug fix which could cause channel to be assigned to the wrong function and miss others
2012-09-02 12:46:04 +09:00
39a4c6e861
SITL: use AP_Declination code to get right compass dec for autotest
2012-08-29 13:33:01 +10:00
0cef8ea12d
APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg
...
* Previously had the ICR register for ch1/2/9 (on timer5) swapped with
ch3/4/10 (on timer1).
* This bug probably didn't make a difference in operation since
SetFastOutputChannels is typically only used for copters, where at
least CH1,2,3,4 would be set to fast all at once.
2012-08-28 17:12:41 -07:00
7ab7770c3d
APM: added the ability to forcibly crash the plane on OBC failsafe breach
...
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.
To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
2012-08-28 20:18:24 +10:00
60a6fed34a
APM_OBC: don't use _saved_wp when zero
2012-08-28 20:18:23 +10:00
fc942b2ff9
APM: removed reset_I() and instead auto-reset integrator in PID library
...
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
aaa4e64238
SITL: zero wind for first 15s
...
this allows for airspeed calibration on startup
2012-08-28 20:18:23 +10:00
67252c8a9b
AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop
2012-08-28 17:02:07 +09:00
a4834b5219
Revert "APM1: Delay serial3 init to not brick Xbee radios"
...
This reverts commit 25d14a9d6a4a1ea60eb78485296298c98c1595d0.
2012-08-27 15:00:23 -07:00
90aa5f2004
ArduPlane: Fix 1280 builds
...
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
2012-08-27 01:33:45 +02:00
25916e9a92
Improve comments, no functional changes
2012-08-27 01:32:27 +02:00
rmackay9
Robert Lefebvre
Andrew Tridgell
Michael Oborne
Craig Elder
Pat Hickey
Amilcar Lucas