Andrew Tridgell
b39323bf1b
AP_Math: expanded the math test suite
2012-03-10 10:34:31 +11:00
Andrew Tridgell
a8fd31a5e1
AP_Math: added quaternion->matrix and earth frame routines
...
this will be used for 3d acceleration
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d3dc5bd751
AP_Math: better way of handling safe_sqrt()
...
better to test the result, than predict it
2012-03-10 10:34:31 +11:00
Andrew Tridgell
b273df0725
SITL: avoid parent pid code on cygwin
...
this causes problems on windows
2012-03-10 10:34:31 +11:00
Andrew Tridgell
e1ff9a641b
SITL: prevent nested timer interrupts
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d11aab610d
Quat: test patch for michael
2012-03-10 10:34:31 +11:00
Andrew Tridgell
a954f68f27
Quaternion: added NaN paranoid checking
...
this is for Michael to run
2012-03-10 10:34:30 +11:00
Andrew Tridgell
d24b055b66
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
Andrew Tridgell
1f5095e722
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +11:00
Andrew Tridgell
89a10c584d
Quaternion: added more numerical safety in the quaternion code
...
prevent infinities from creeping in and prevent large drift changes
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f2e6714598
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f71311fdc0
Quaternion: fix the gyro bias in centripetal and remove smoothing
...
the centripetal code needs to take account of the current gyro
bias.
It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
2012-03-10 10:34:30 +11:00
Andrew Tridgell
76736792f8
SITL: disable interrupts during register updates
...
this may prevent bogus mode channel reads
2012-03-10 10:34:30 +11:00
Andrew Tridgell
e445a455d0
Quaternion: use GPS to correct for linear acceleration
...
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ea1b500a6
Quaternion: don't update if we have a very long deltat
...
this can be caused by stopping the system in a debugger
2012-03-10 10:34:30 +11:00
Andrew Tridgell
8b73166605
Compass: fixed last_update time for HIL compass
2012-03-10 10:34:30 +11:00
Andrew Tridgell
2969e16f7d
RC: disable interrupts when reading the RC registers
...
this prevents getting bogus values which could cause a flight mode
change
2012-03-10 10:34:30 +11:00
Andrew Tridgell
efe2686b33
GPS: added an acceleration estimate to the GPS driver
...
This uses the GPS ground speed to estimate acceleration
2012-03-10 10:34:30 +11:00
Andrew Tridgell
02ae5358d5
GPS: fixed some stdint types
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2f5a4cdc4a
Quaternion: added in reporting of gyro drift and rp/yaw errors
2012-03-10 10:34:29 +11:00
Andrew Tridgell
934a05bbc6
fixed comment
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a60cf111c5
DCM: fixed an uninitialised variable warning
2012-03-10 10:34:29 +11:00
Andrew Tridgell
7d9c4094a2
Quaternion: tweak the quaternion gains a bit
2012-03-10 10:34:29 +11:00
Andrew Tridgell
e33bb217bc
AP_IMU: improved the gyro calibration code
...
this should give a much more accurate result
2012-03-10 10:34:29 +11:00
Andrew Tridgell
de1cfc8e34
Quaternion: drop the gyro drift rates down
...
this should allow us to cope with noise more readily
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2d6680f144
DCM: fixed bug in accel averaging
...
sorry Randy!
2012-03-10 10:34:29 +11:00
Andrew Tridgell
73594199c8
AP_Quaternion: fixed build on Arduino 1.0
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a85ba80246
AP_Quaternion: added DCM compatibility interfaces
...
useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell
626f8598ed
AP_IMU: added new_data_available() interface
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a052aa8435
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61d649e7ac
AP_ADC: added new_data_available() interface
...
returns true if more samples are available
2012-03-10 10:34:28 +11:00
Andrew Tridgell
4a277f9871
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
353f9e613f
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fb23c617fa
Quaternion: added an AP_Quaternion library
...
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a05eeab55e
SITL: reduce the simulated compass offsets
...
this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell
d03b11092b
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
Andrew Tridgell
71d3847bfc
SITL: added a drift_level multiplier
...
this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61ebcfe9fe
DCM: fixed the averaging of accel values for update_DCM_fast()
...
this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
Andrew Tridgell
de32c3bc31
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0e2e69431
SITL: fixed delay() to account for signal interrupions
...
when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell
37ab76c9e6
DCM_Test: fixed example code to work with SITL
...
this also fixes the compass setup
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d2a969ee95
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
79b8ddc236
DCM: added a small amount of accel smoothing to update_DCM_fast()
2012-03-10 10:34:27 +11:00
Andrew Tridgell
55413bfcc1
DCM: don't use the z accel sensor for drift correction
...
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
2012-03-10 10:34:27 +11:00
Andrew Tridgell
a78b00513b
DCM: added a small amount of gyro and accel smoothing
...
possibly not needed, but convenient to be able to test with different
values
2012-03-10 10:34:27 +11:00
Andrew Tridgell
82032b17a9
DCM: added reporting interfaces for DCM state
2012-03-10 10:34:27 +11:00
Andrew Tridgell
ae6a94a933
SITL: added sitl_simstate_send()
...
used to report simulator state in logs
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d106e3a970
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
4e354a9731
DCM: got rid of _error_roll_pitch from object state
...
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
2012-03-10 10:34:27 +11:00
Jason Short
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
Jason Short
34cf1e8fb3
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
2012-03-06 20:55:35 -08:00
rmackay9
6c1299fe7e
AP_RC - removed unused library
2012-03-04 18:21:52 +09:00
Andrew Tridgell
dd9065123c
SITL: use the new noise model
...
use the new noise model at a low level for master until we sort out
DCM noise handling
2012-03-02 18:31:07 +11:00
Andrew Tridgell
63ea5dfb49
APM_RC: allow the fast RC speed to be passed as a parameter
...
this will allow users to test different speeds
2012-03-02 17:57:08 +11:00
Andrew Tridgell
f1a389fe19
AP_Param: ensure we can't have duplicate keys in Parameters.h
...
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
2012-03-02 15:48:28 +11:00
Andrew Tridgell
1476f044e6
I2C: added lockup_count() interface
...
used for reporting I2C problems
2012-03-02 15:48:27 +11:00
Andrew Tridgell
c9031f1d36
SITL: implement cli()/sei() properly for desktop build
...
this disables simulated hardware interrupts during critical sections
2012-03-02 15:48:27 +11:00
Jason Short
59e1d43f60
Updated fastPWM to 490Hz
2012-02-29 22:17:38 -08:00
Pat Hickey
8fa559930f
AP_Param: nested group recursion into next_group disableable by macro
...
* c.f. 0251932c81fe7eb, e5515bb6ef82
2012-02-29 19:48:43 -08:00
Pat Hickey
8b3d013294
AP_Param: One more nexted group recursion disableable by macro
...
* c.f. e5515bb6ef82
2012-02-29 18:48:54 -08:00
rmackay9
9832ac879e
AP_Compass - fixed compile warning
2012-02-29 22:57:35 +09:00
rmackay9
0311b70004
AP_Baro - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:46:29 +09:00
rmackay9
64f9f1d92e
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:49 +09:00
rmackay9
7c1d1b45a7
AP_DCM - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:26 +09:00
rmackay9
3cbd172ea9
RC_Channel - fixed small compiler warning
2012-02-29 22:44:29 +09:00
rmackay9
ced49f7d01
AP_ADC - removed small compiler warning
2012-02-29 22:43:46 +09:00
Pat Hickey
42078f2794
AP_Param: Make nested group recursion disableable by macro
...
* Eliminates recursive calls inside AP_Param.
This is important to Pat @ Galois, but not the project in general.
Recursion depth on these functions is bounded structurally using
existing nested group constructors (can't create loops in finite space)
and checked at init time
2012-02-28 16:28:27 -08:00
rmackay9
400a4b0bdb
AP_RangeFinder - changed example sketch to work with new Filter library
2012-02-28 21:02:10 +09:00
rmackay9
5b89c65d9c
Filter - updated example sketch to use modified library
2012-02-28 21:01:35 +09:00
rmackay9
d17a015df1
Filter - added AverageFilter, removed SumFilter
...
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
2012-02-28 21:01:11 +09:00
Andrew Tridgell
078268528e
AP_Param: show numerical value in eeprom dump utility
2012-02-28 09:43:49 +11:00
Andrew Tridgell
701da6c30f
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
...
this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
2012-02-28 09:43:49 +11:00
Andrew Tridgell
34f1ebcfb4
SITL: simulate noise on each ADC channel separately
...
scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
Andrew Tridgell
4cdc0a8c11
SITL: raise the ADC noise level to 8 bits when flying
...
this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
Andrew Tridgell
b32701e008
IMU: removed unused accel_filtered code
2012-02-28 09:43:49 +11:00
Andrew Tridgell
ac44b73951
AP_Param: fixed setting of CAM_P_G in ArduCopter
...
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
2012-02-27 10:54:33 +11:00
Andrew Tridgell
7fe4a41c31
AP_Param: make the templating code a bit clearer
...
add comments on the arguments, and name them in a clearer way
2012-02-27 10:54:33 +11:00
Andrew Tridgell
5bf138fb38
DCM: fixed the sense of the compass GPS test in initial yaw
...
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
2012-02-26 22:24:45 +11:00
rmackay9
747e045193
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
rmackay9
e01477a7a8
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
rmackay9
b345529241
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
...
increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
rmackay9
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
rmackay9
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
rmackay9
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
rmackay9
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
Andrew Tridgell
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
...
this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
Andrew Tridgell
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
...
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
Andrew Tridgell
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
...
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
Andrew Tridgell
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
Andrew Tridgell
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
...
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
Andrew Tridgell
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
Andrew Tridgell
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
...
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
Andrew Tridgell
007a6b8958
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1d95137b71
SITL: added -C option to desktop mode
...
this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
Andrew Tridgell
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
Andrew Tridgell
c63ca9c697
DCM: tidy up use of error_course and in_motion
...
in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
Andrew Tridgell
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
...
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
Andrew Tridgell
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
...
this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
Andrew Tridgell
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
...
this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
Andrew Tridgell
df6013616e
AP_Math: added rotmat <-> euler functions
...
these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
Andrew Tridgell
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
...
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
Andrew Tridgell
8190204287
AP_Math: added safe_sqrt() function
...
this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
Andrew Tridgell
0acea11152
DCM: tidy up the nan checking in DCM
...
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
Andrew Tridgell
b4c8d6491a
DCM: added matrix recovery on reset
...
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
Andrew Tridgell
1a32ececb4
AP_Math: added a safe_asin() function
...
this adds range checking to asin()
2012-02-24 11:52:55 +11:00
Andrew Tridgell
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
Jason Short
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
Andrew Tridgell
8707965c15
DCM: changed the sense of floating point range comparison
...
This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
Andrew Tridgell
9caa4aeb44
DCM: range check the matrix before calculating pitch
...
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
Andrew Tridgell
13693e1a04
DCM: reset more values on renorm blowup
...
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
Andrew Tridgell
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
...
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
Andrew Tridgell
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
Jason Short
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
Randy Mackay
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
...
also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
Andrew Tridgell
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
...
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
Andrew Tridgell
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
Andrew Tridgell
371a91cfcf
IMU: move _sensor_cal to general IMU class
...
this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
Andrew Tridgell
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
Andrew Tridgell
70a135c47c
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
Andrew Tridgell
e656928c01
AP_Param: added a set_and_save_ifchanged() method
...
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
Andrew Tridgell
6f080742b8
AP_Param: added an initialised() method
...
this will be used by the compass code
2012-02-18 10:51:57 +11:00
justinbeech
5255512bf9
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
...
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
Jason Short
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
Andrew Tridgell
3fbb5a2d6c
ADC: on channel overflow we should not zero last_ch6_micros
...
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
Jason Short
8e88d9e19e
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
Michael Oborne
b020a87c13
eedump ap param in perl
2012-02-15 21:31:58 +08:00
Andrew Tridgell
bc89b53bdc
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
Andrew Tridgell
63d768143d
Compass: enable compass offsets for HIL compass
...
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
Andrew Tridgell
7d21692301
fixed dump size
2012-02-15 10:44:09 +11:00
Andrew Tridgell
d2cc6740f0
show group_element too
2012-02-15 10:42:21 +11:00
Andrew Tridgell
aaba4db144
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
Andrew Tridgell
812b7ae5ae
SITL: catch floating point errors
...
if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c39914e734
DCM: added a SITL_debug() for DCM normalisation errors
...
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7355f5613c
added SITL_debug() macro
...
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
Andrew Tridgell
273a974814
SITL: add some magnetometer offsets
...
this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
Andrew Tridgell
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Andrew Tridgell
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
Andrew Tridgell
6c20ff9492
AP_Param: allow dumping of AP_Vector3f
...
this means the 'show' command in the CLI shows the compass offsets now
2012-02-14 08:34:50 +11:00
Andrew Tridgell
4ec3857476
GPS: change back to 4Hz for MTK GPS
...
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
2012-02-13 22:50:20 +11:00
Andrew Tridgell
e70e1814ac
AP_Baro: fixed some signed/unsigned warnings
...
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
Andrew Tridgell
550b0be231
move AP_Var code and example into libraries/AP_Var
...
you can use AP_Var by defining USE_AP_VAR
2012-02-13 16:22:53 +11:00
Andrew Tridgell
e7e7450f90
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c497ad9b7e
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
Andrew Tridgell
845d056c18
fixed PID initialisation
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c6b6898266
RC_Channel_aux: catch invalid function settings
...
a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
Andrew Tridgell
d41c56214c
fixed types in GPS detect code
...
using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
ee2cb32a44
change back to 256 max variables in _var_info[]
...
this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
2012-02-13 16:22:52 +11:00
Andrew Tridgell
6cf7015859
added indexes to group info structures
2012-02-13 16:22:52 +11:00
Andrew Tridgell
7621b96a52
AP_Param: added group idx, and change packing of header elements
...
adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM
The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
2012-02-13 16:22:52 +11:00
Andrew Tridgell
711cee9dfa
fixed support for AP_PARAM_SPARE
...
spare group elements are needed if we remove a group parameter
2012-02-13 16:22:52 +11:00
Andrew Tridgell
db8a58f994
fixed build on arduino 1.0
2012-02-13 16:22:52 +11:00
Andrew Tridgell
170fdef857
convert APM_PI library to AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
74e0d2ef2a
convert AC_PID library to AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
4a9cb731d4
fixed missing return in D value
2012-02-13 16:22:52 +11:00
Andrew Tridgell
c4b7a3116a
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
Andrew Tridgell
df77c462a4
fixed initialisation of RC_Channel class
2012-02-13 16:22:51 +11:00
Andrew Tridgell
244d2055ff
AP_Param: fixed desktop build
2012-02-13 16:22:51 +11:00
Andrew Tridgell
c195be594a
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
Andrew Tridgell
34bc88eab5
AP_Param: added generic cast_to_float
2012-02-13 16:22:51 +11:00
Andrew Tridgell
a1057fe738
AP_Param: disable debug ready for production
2012-02-13 16:22:51 +11:00
Andrew Tridgell
7ffb9b462d
AP_Param: make ptype in first() and next() optional
2012-02-13 16:22:51 +11:00
Andrew Tridgell
5c3e059eea
adapt Mavlink_compat.h to AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
dff75dba96
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
Andrew Tridgell
b6ee5ca982
added nested group support and validation
2012-02-13 16:22:51 +11:00
Andrew Tridgell
30c76664ce
added size of Vector6f
2012-02-13 16:22:51 +11:00
Andrew Tridgell
fc0f1c52ca
modify RC_Channel for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
013d66527d
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
78564f6a92
modify the IMU code for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
32d997b95f
modify the compass code for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
2154288e2b
hacks to get AP_Param to compile
2012-02-13 16:22:50 +11:00
Andrew Tridgell
937f8a4741
new AP_Param subsystem
2012-02-13 16:22:50 +11:00
justinbeech
4b0c71d6ac
Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements.
2012-02-13 00:00:06 +00:00
analoguedevices
a07f37f1b4
Removed outdated comment:
...
" // deadzone moved to
//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
2012-02-11 16:51:02 +00:00
Michael Oborne
651bd6953b
fix uint > int issue - for hil
2012-02-11 11:35:59 +08:00
Pat Hickey
fb76aa9ca9
APM_RC_APM2: Add support for CH_10 and CH_11
...
* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11
* Only the code in enable_out, disable_out, and OutputCh needed to change.
* CH_10 and CH_11 always have an output period of 20ms (50Hz).
2012-02-06 22:11:01 -08:00
Randy Mackay
2f25c1f9f1
AC_PID Library - added example sketch
2012-02-05 17:35:15 +09:00
Randy Mackay
a694e16540
APM_PerfMon - removed because it's too big to use with our limited memory now anyway! I have a backup in case we need to resurrect it in the future.
2012-02-05 11:11:59 +09:00
Jason Short
5185901f79
Added D term to APM_PI - need to refactor this as a parent class and two child classes to save code space, remove dupes
2012-01-28 21:21:43 -08:00
Randy Mackay
b543bbf514
Arduino 1.0 - GPS_IMU - small fix to make it compile. Does anyone use this lib?!
2012-01-28 17:56:56 +09:00
Randy Mackay
8bcc567406
AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again
2012-01-28 17:54:20 +09:00
Randy Mackay
2e1e34fb9c
Arduino 1.0 - small fix to make AP_Baro_MS5611_test.pde compile under Arduino 1.0
2012-01-28 13:21:35 +09:00
Randy Mackay
52f6e56f72
AP_ADC library - tiny fix to make example sketch work after some changes to AP_PeriodicProcess library
2012-01-28 13:12:19 +09:00
Randy Mackay
98f3386ea0
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
Randy Mackay
443a9c0ea7
OpticalFlow - fixed minor compiler warnings and moved chip select to A3 for APM2
2012-01-26 23:35:49 +09:00
Randy Mackay
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Randy Mackay
13caa24515
Optical Flow - added overflow check
2012-01-25 21:45:52 +09:00
Pat Hickey
ef60642bb2
APM_RC examples: add calls to enable_out after init
2012-01-24 09:09:08 -08:00
Andrew Tridgell
9bb92ff4ac
fixed example in PID library
2012-01-23 08:47:46 +11:00
Pat Hickey
a13e371d1e
APM_RC: PWM outputs are disabled by default on init
2012-01-22 12:03:11 -08:00
Pat Hickey
47204921e9
APM_RC enable_out and disable_out added to APM1 and APM2
...
* Outputs still enabled by default
2012-01-22 12:03:11 -08:00
Jason Short
0e58efca89
Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration.
2012-01-20 22:52:29 -08:00
Michael Oborne
e71266c258
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
Andrew Tridgell
20aef3a8b8
added a simple DCM library example
2012-01-18 21:25:19 +11:00
Andrew Tridgell
4b8e2e701c
fixed Oilpan test for new library structure
2012-01-18 20:31:58 +11:00
Doug Weibel
e109992c12
Add a CLI setup action to reset the magnetometer offsets
...
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI. Useful if you somehow get bad offsets or if you change magnetometer. If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values. I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
2012-01-15 16:15:08 -07:00
Mike Smith
d79f62ce66
Teach the Makefile about the new Arduino sourcefile suffix
2012-01-15 11:51:38 -08:00
Jason Short
e68f9191c9
updated channel notes
2012-01-15 10:24:15 -08:00
Andrew Tridgell
817e7442bd
baro: fixed an integer overflow issue at high altitudes
...
the averaging array was using 16 bit numbers, but we are storing
numbers with 19 significant bits. That caused overflow at high
altitude, and some very interesting altitude graphs!
Thanks to Michael Oborne for spotting this in a log
2012-01-14 19:51:35 +11:00
Randy Mackay
4e9c668315
OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600
2012-01-14 12:34:29 +09:00
Andrew Tridgell
f4490b62c7
DCM: prevent a segmentation fault when compass is not enabled
...
when compass is disabled _compass is NULL
2012-01-13 15:48:07 +11:00
Doug Weibel
622217357c
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
Andrew Tridgell
a6e87915eb
desktop: floating point precision changes from Justin Beech
2012-01-11 21:31:59 +11:00
Jason Short
f43c29e840
fixed type error
2012-01-10 23:43:44 -08:00
Jason Short
ecaf5ac461
sensorSign swicth
2012-01-10 23:43:44 -08:00
Jason Short
d7d04f67e4
AP Rangefinder had some bad characters in it. Converted and cleaned the text files.
2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
Pat Hickey
d015e0d6d9
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
...
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Doug Weibel
22d2db53d8
Repair dataflash test
2012-01-08 21:29:19 -07:00
Jason Short
f6e268395f
allows main code to manually set the integrator value
2012-01-04 09:28:36 -08:00
Andrew Tridgell
54b91ce2f4
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
Andrew Tridgell
7aa294eca2
AP_Compass: when I2c fails, don't retry for 1s
2012-01-04 16:35:47 +11:00
Andrew Tridgell
a7a00a35ab
AP_Baro: when I2c fails, don't retry for 1s
2012-01-04 16:35:16 +11:00
Andrew Tridgell
65fbeea6d1
DataFlash: cope with older dataflash chips
...
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
2012-01-04 16:16:35 +11:00
Michael Oborne
6a279138e9
add gps character count.
...
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
2011-12-31 13:05:33 +08:00
Michael Oborne
e66e21cf20
remove gps callback in wait loop
2011-12-31 09:35:40 +08:00
Randy Mackay
19ed12444b
GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago.
2011-12-30 22:25:00 +09:00
Jason Short
3878ac01ef
removed newlines to clean up code
2011-12-29 23:02:01 -08:00
Randy Mackay
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
...
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
671d0b82ad
Baro: fixed MS5611 example sketch
2011-12-28 21:49:29 +11:00
Andrew Tridgell
5f0e070f4e
compass: show timing in compass test
2011-12-28 21:44:18 +11:00
Andrew Tridgell
c448e85ed1
Baro: show timing in baro test
2011-12-28 21:43:52 +11:00
Andrew Tridgell
669a129175
DCM: don't use compass unless its healthy
2011-12-28 20:41:54 +11:00
Andrew Tridgell
603b605eb1
I2C: fixed some warnings
2011-12-28 20:41:53 +11:00
Andrew Tridgell
f4e1f3d54d
desktop: exclude I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
9ef1c421bd
MPU6k: don't init the Wire library
...
we don't use Wire any more
2011-12-28 20:41:53 +11:00
Andrew Tridgell
2960abf41f
I2C: convert barometer library to new I2C library
...
this also adds a healthy attribute and error checking
2011-12-28 20:41:53 +11:00
Andrew Tridgell
f93c716126
I2C: convert compass code to new I2C library
...
this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
Andrew Tridgell
632e74b76d
I2C: imported the I2C library from Wayne Truchsess
...
this gives us a more robust interface, including timeouts
2011-12-28 20:28:31 +11:00
Andrew Tridgell
f8e1d88815
TimerProcess: prevent a race in setting up the timer callbacks
2011-12-28 16:00:49 +11:00
Andrew Tridgell
089470a671
DataFlash: moved high level logging logic to library
...
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.
This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
2011-12-28 16:00:48 +11:00
Andrew Tridgell
42eb62cc46
DataFlash: fixed sense of card detect
2011-12-28 16:00:48 +11:00
Andrew Tridgell
1cb8728a6b
MPU6000: protect the driver from double initialisation
...
initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
Andrew Tridgell
f2bbfb1296
MPU6000: minor fixes
...
the hardware functions should be private, and cs_pin should be uint8_t
2011-12-28 16:00:48 +11:00
Andrew Tridgell
d35113f8a6
TimerProcess: check for duplicate registrations
...
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
2011-12-28 16:00:48 +11:00
Andrew Tridgell
0a08a0b515
TimerProcess: make some variables uint8_t
...
save a couple of bytes
2011-12-28 16:00:48 +11:00
Mike Smith
ac3f7512cc
Fix issue #423 - FastSerial flush bug.
2011-12-26 15:52:21 -08:00
Andrew Tridgell
9f5718bcfa
added in DataFlash.cpp
...
forgot this ....
2011-12-26 19:34:06 +11:00
Andrew Tridgell
887ff43e1f
desktop: added attachInterrupt() support
2011-12-26 19:17:11 +11:00
Andrew Tridgell
22c8db774f
desktop: fixed for new DataFlash inheritance
2011-12-26 19:17:11 +11:00
Andrew Tridgell
dd26ef3089
dataflash: reworked classes to move most code to parent class
...
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.
This should prevent discrepancies creeping in between APM1 and APM2
support again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
8bf05982ae
dataflash: fixed APM2 flash logging
...
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
2011-12-26 19:17:11 +11:00
Andrew Tridgell
df0d151891
MPU6000: change to 98Hz low pass filter
...
based on recommendation from Pat
2011-12-26 19:17:11 +11:00
Andrew Tridgell
3ef707a2c3
MPU6000: use data ready interrupt to prevent stale data
...
We listen for a data ready interrupt and only read new data in read()
if there is new data
2011-12-26 19:17:11 +11:00
Andrew Tridgell
71e08f8484
fixed the MPU6000 test sketch
2011-12-26 19:17:11 +11:00
Randy Mackay
af121c492d
Merge remote-tracking branch 'origin/master'
2011-12-25 12:34:16 +09:00
Randy Mackay
c3ea1ca5dc
AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch
2011-12-25 12:33:06 +09:00
Andrew Tridgell
7c0f39aec5
added MPU6000 test sketch
...
this doesn't work yet - Pat, any idea why?
2011-12-25 12:03:39 +11:00