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1538 Commits

Author SHA1 Message Date
rmackay9 c62ce95768 AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
rmackay9 346ca5c865 DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus. 
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
 2012-04-21 20:14:45 +09:00
rmackay9 577f18a09c AP_OpticalFlow - updated test sketch to allow testing of APM2 version 2012-04-21 20:11:18 +09:00
rmackay9 e9fd7c955d AP_OpticalFlow - added support for optical flow for APM2 2012-04-21 20:10:35 +09:00
rmackay9 026cd4e64f AP_OpticalFlow - moved most pin definitions into .cpp file 2012-04-21 20:09:15 +09:00
James Goppert 750c30afc1 MAVLink update to 1.0.7 2012-04-20 12:31:50 -04:00
Andrew Tridgell 4652b30adf GPS: u-center config file for 3DR Ublox 2012-04-20 22:05:30 +10:00
Andrew Tridgell 0b194259be GPS: fixed auto GPS test 2012-04-20 22:05:30 +10:00
Andrew Tridgell 3141cfe059 GPS: detect new style 3DR UBlox 2012-04-20 22:05:30 +10:00
Andrew Tridgell 64d5f4c26a GPS: fixed the UBlox test code 2012-04-20 20:57:08 +10:00
James Goppert b5ca40e8c5 Updated MAVLink to 1.0.6 release. 2012-04-19 15:46:29 -04:00
Adam M Rivera 2c8cd0b07b AP_AHRS_HIL.h: Fixed HIL build by adding missing public property. 2012-04-16 10:26:14 -05:00
Andrew Tridgell a9de75156b AHRS: added AHRS_YAW_P parameter 
this allows users to change the yaw gain in DCM
 2012-04-16 20:55:13 +10:00
analoguedevices ce5d71c08c added missing #include 2012-04-09 14:32:54 +00:00
rmackay9 4dac4c4c11 AP_AHRS - changed parameter order to remove compiler warning 2012-04-09 17:37:11 +09:00
rmackay9 cc191b86c0 AP_Compass - changed parameter initialisation order to remove compiler warning 2012-04-09 17:37:02 +09:00
Andrew Tridgell 7921d33c40 MAVLink: imported new mavlink headers 
this adds local and remote radio noise levels
 2012-04-08 12:22:17 +10:00
rmackay9 1b4ac37e66 AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames. 2012-04-07 12:16:12 +09:00
rmackay9 e63e858b64 AP_MotorsOcta - V Frame - test order fix spotted by David Wiens 2012-04-07 08:11:28 +09:00
rmackay9 d0cbd577cd AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method. 2012-04-05 00:28:04 +09:00
rmackay9 c27b83c8a8 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
rmackay9 e9f0103063 AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino. 2012-04-05 00:06:33 +09:00
rmackay9 40e5a15452 AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function. 
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
 2012-04-04 23:59:51 +09:00
rmackay9 71ad185238 ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00
Andrew Tridgell 5ce5f3d176 MAVLink: import change to txbuf as a percentage 2012-04-02 11:18:53 +10:00
Andrew Tridgell 8a215c8b55 MAVLink: imported new headers, with RADIO packet 2012-04-01 21:44:44 +10:00
Andrew Tridgell 08b66e18b7 FastSerial: added set_blocking_writes() interface 
this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
 2012-03-30 17:46:20 +11:00
Andrew Tridgell c2ff66c9cd examples: fixed build of some examples with new AP_Declination code 2012-03-30 14:25:27 +11:00
Andrew Tridgell 825340d53d Compass: added COMPASS_AUTODEC option 
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library

when it is 0 we will use the value configured by the user
 2012-03-30 14:25:27 +11:00
Andrew Tridgell e4e052ff91 AP_Declination: save some more memory by putting the declination keys in progmem 
there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
 2012-03-30 14:25:27 +11:00
Andrew Tridgell edb627a5c1 AP_Declination: added timing information to declination test 2012-03-30 14:25:27 +11:00
Andrew Tridgell 01c4cde14f AP_Declination: fixed build under SITL 2012-03-30 14:25:27 +11:00
Adam M Rivera 9c414e9573 AP_Declination_test: Updated test with better print messages. 2012-03-30 14:25:26 +11:00
Adam M Rivera cff189e911 AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation. 2012-03-30 14:25:26 +11:00
Adam M Rivera 380b9ece44 AP_Declination: Updated comments to reflect new LUT size. 2012-03-30 14:25:06 +11:00
Adam M Rivera c04e074c89 AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes. 2012-03-30 14:21:58 +11:00
Adam M Rivera 662f11f801 AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT. 2012-03-30 14:21:58 +11:00
Adam M Rivera 0178906389 AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP. 2012-03-30 14:21:58 +11:00
Adam M Rivera 08259bb2de AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail. 2012-03-30 14:21:58 +11:00
Adam M Rivera 64c236800c AP_Declination: Moved check for y index of zero to after the y index is properly transformed. 2012-03-30 14:21:58 +11:00
Adam M Rivera e99d26cfa3 AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting. 2012-03-30 14:21:58 +11:00
Adam M Rivera d9c9e0e608 AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change. 2012-03-30 14:21:58 +11:00
Adam M Rivera 8b1c383f97 AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly. 2012-03-30 14:21:57 +11:00
Adam M Rivera c0813f8d62 AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular. 2012-03-30 14:21:57 +11:00
Adam M Rivera 289d7a2784 AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps. 2012-03-30 14:21:57 +11:00
Adam M Rivera 63ce400f77 AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array. 2012-03-30 14:21:57 +11:00
Adam M Rivera 782c1aaaa3 AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before. 2012-03-30 14:21:57 +11:00
Adam M Rivera 9888a4730f AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype. 2012-03-30 14:21:57 +11:00
Adam M Rivera d883bdf75e AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range. 2012-03-30 14:21:57 +11:00
Adam M Rivera 719636d00c AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t. 2012-03-30 14:21:57 +11:00
Andrew Tridgell 071f89df2e AHRS: fixed error_yaw reporting with 2 MAVLink connections 
when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.

This ensures we give the last value after the counter is reset
 2012-03-29 12:39:53 +11:00
Andrew Tridgell 20941c15c3 Compass: fixed a comment 2012-03-29 12:39:53 +11:00
Andrew Tridgell 79deeef0a0 Compass: added some more comments 
explain the algorithm a bit more
 2012-03-29 12:39:53 +11:00
rmackay9 fd5e1c2f7b Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use 2012-03-28 22:02:52 +09:00
rmackay9 99cdc69110 AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up 2012-03-28 22:00:57 +09:00
Andrew Tridgell 972bdcfa39 SITL: add magnetic field noise to the simulated compass 2012-03-28 20:55:27 +11:00
Andrew Tridgell dc127fe749 SITL: ensure we don't run the sitl timer twice 
this caused problems with random()
 2012-03-28 20:55:27 +11:00
Andrew Tridgell 2a011578f9 Compass: implement noise resistant varient of offset learning 
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
 2012-03-28 20:55:27 +11:00
Andrew Tridgell 16f094a1c5 ADC: minor fix to the ADC Ch6() code 
we don't need to add count any more, as floating point maths doesn't
need to round up
 2012-03-27 15:37:24 +11:00
Andrew Tridgell a3d3dd86cf Compass: implement Bills new offset nulling algorithm 
this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
 2012-03-27 15:37:24 +11:00
rmackay9 cf1a6f8ab8 APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway 2012-03-25 21:13:31 +09:00
rmackay9 2324be7e68 Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one) 2012-03-25 16:15:25 +09:00
rmackay9 bdda74fd28 Filter - remove obsolete warning from comments re alloc/malloc dangers 2012-03-25 16:14:07 +09:00
rmackay9 dc58c8a905 AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t) 2012-03-24 23:21:11 +09:00
rmackay9 766abb8e6c AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway) 2012-03-24 14:47:21 +09:00
Andrew Tridgell 477b31fb0d Math: added mul_transpose() operation 
this is equivalent to multiplying by m.transposed(), but is more
efficient
 2012-03-23 16:48:52 +11:00
Andrew Tridgell 1b3a7d47bd AHRS: fixed build of AHRS example 2012-03-22 23:00:45 +11:00
Andrew Tridgell fb9790e1f4 Math: moved matrix multiple operations to .cpp file 
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
 2012-03-21 10:43:48 +11:00
Andrew Tridgell ece2aac4b9 Math: fixed the build of the eulers test in SITL 2012-03-21 10:41:55 +11:00
Andrew Tridgell e93b31c76b SITL: improve the simulated compass 
this implements a much more accurate model of a compass using matrix
rotations, instead of trying to calculate components directly
 2012-03-21 10:41:55 +11:00
rmackay9 f8ad719825 AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods 2012-03-20 11:51:15 +09:00
Andrew Tridgell aeb010b6e9 AHRS: added AHRS specific MAVLink headers 2012-03-19 17:35:20 +11:00
Andrew Tridgell 07b6f55122 AHRS: added missing AP_AHRS.h 2012-03-19 17:35:20 +11:00
Andrew Tridgell f1898c3335 DCM: use the new rotate() method from AP_Math 
this allows us to use a tested and optimised rotation method
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 9a40b4b1de Math: added a test for the rotate() method 2012-03-19 17:29:02 +11:00
Andrew Tridgell 7d155c77b1 Math: added rotate() method to Matrix3f 
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
 2012-03-19 17:29:02 +11:00
Andrew Tridgell a41281ab7f Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +11:00
Andrew Tridgell fbe8592d3c Quaternion: change signs in AP_AHRS_Quaternion 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell df79703ed1 Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell c87b945fd2 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell 39067299a5 Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell b6040878b4 Math: added a function to combine standard rotations 
this will allow us to have an overall board rotation plus a per-sensor
rotation
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 784f08728b AP_Mount: adapt library for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell 3b43d3f9b9 AHRS: fixup the AHRS test suite for the new framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell fe63e79416 AHRS: adapt the quaternion library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell 2d12bdb412 AHRS: adapt the DCM_HIL library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell bf96d05605 AHRS: adapt the DCM library to the AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell e976c70e19 AHRS: rename DCM and Quaternion implementions ready for AHRS class 
this is the first step to creating a general AHRS class for ArduPilot
 2012-03-19 17:29:01 +11:00
Andrew Tridgell 1170893aaa MAVLink: rename DCM message to AHRS 2012-03-19 17:29:01 +11:00
rmackay9 f3eb15167c AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy) 
- also removed unused _offset_press variable
 2012-03-18 15:18:05 +09:00
rmackay9 ed0d1da4f5 AP_Baro - added average filter for temperature to replace broken filter 
- added average filter (for last two values) for raw pressure
        - changed some "long" to int32_t and "unsigned long" to uint32_t
 2012-03-18 01:06:02 +09:00
Michael Oborne 42960efe80 sitl cygwin mods 2012-03-15 08:16:50 +08:00
Andrew Tridgell adcc20e4d3 Quaternion: credit Justin with the initial idea of using Madgwick 
thanks Justin!
 2012-03-13 13:27:45 +11:00
Andrew Tridgell 9a6adb9990 DCM: adjust yaw kp constant down to 0.4 
this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
 2012-03-12 17:49:26 +11:00
Andrew Tridgell aa408655f8 Compass: fixed the order of rotations in the compass driver 
this should fix the massive heading issues that people have been
reporting. Please test!
 2012-03-12 17:33:15 +11:00
Andrew Tridgell 0e6037322a AP_Declination: fixed build of test sketch 2012-03-12 17:33:15 +11:00
Amilcar Lucas a203282779 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell 42a29169f0 SITL: added pgm_read_byte_far() 2012-03-11 20:59:47 +11:00
Andrew Tridgell b4d69ef473 AP_Declination: fixed usage of headers 2012-03-11 20:59:47 +11:00
Adam M Rivera ad3a20b6a3 AP_Declination: Updated comment. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00