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1055 Commits

Author SHA1 Message Date
Pat Hickey
ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell
6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
18986d1d9f barometer: fixed for purple build 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0601f7e8ce barometer: support 'make purple' for barometer example code 2011-11-25 20:00:18 -08:00
Andrew Tridgell
41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
d2a0bd35f4 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
94423bc335 AP_IMU: fixed shim driver prototype 2011-11-25 20:00:18 -08:00
Andrew Tridgell
e0488e134f desktop: fixed build with updated dataflash interface 2011-11-25 20:00:17 -08:00
Andrew Tridgell
8245835ea3 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
bb7af8c15a dataflash: fixed datatypes to be compatible with desktop build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
a9c0cbac77 desktop: make DataFlash for Desktop build replace APM1 build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
6e9e857157 make configure default to 2560 
1280 is less common for devs these days
 2011-11-25 20:00:17 -08:00
Pat Hickey
82e7551c90 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
a159669cee build: added jtag-program make target 
useful for when you have hosed your USB
 2011-11-25 20:00:16 -08:00
Pat Hickey
e53bcba4d9 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
82b48784ef 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
c9f7618ccc purple: rework the RC_Channel library for the APM_RC changes 2011-11-25 20:00:16 -08:00
Pat Hickey
f36ded2854 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
0c0a1b1dcc 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
017f121566 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
d288b8870d 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
1daadb5068 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
36346fd86b 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
2d8ce38aeb 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
6f3b56b38f increased filter 2011-11-25 11:34:05 -08:00
James Goppert
4fa9b7ef85 Working on comments. 2011-11-24 15:54:08 -05:00
James Goppert
29b7eb12a7 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-24 14:28:25 -05:00
James Goppert
7ef8578029 Separated controller block class. 
Also improved documentation of AP_ControllerBlock.
 2011-11-24 13:28:14 -05:00
James Goppert
bfda005b5a Removed old variable from hal. 2011-11-24 02:08:27 -05:00
Wenyao Xie
40b3c303f7 Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error. 2011-11-22 16:42:51 -05:00
Andrew Tridgell
73e0ab0c63 desktop: more fixes for DataFlash filesystem changes 2011-11-20 19:06:24 +11:00
James Goppert
d61e59d779 Fixed most of quad guidance issues. 2011-11-19 23:34:14 -05:00
James Goppert
60b41311f0 Working on memory problem. 2011-11-19 22:20:06 -05:00
James Goppert
937a268513 Bug located in quad position loop, improved hil. 2011-11-19 21:39:14 -05:00
James Goppert
2337153966 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-18 14:36:47 -05:00
Andrew Tridgell
6d048646c3 desktop: added support for new DataFlash functions 2011-11-18 17:50:12 +11:00
Doug Weibel
f752c4b799 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
afef359aec Upped pressure filter a bit 2011-11-17 11:12:18 -08:00
Wenyao Xie
8017b0415e Working on new hil message for mavlink. 2011-11-15 17:15:54 -05:00
Andrew Tridgell
355519ad1e 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
9677600433 desktop: don't start alarm till setup() has finished 2011-11-10 21:57:47 +11:00
Jason Short
0e1727e492 MAV_CMD_DO_SET_ROI 2011-11-09 12:07:57 -08:00
Andrew Tridgell
9af935f2f2 desktop: don't alarm in CLI 
loop() is not called in menu system
 2011-11-10 00:14:04 +11:00
Andrew Tridgell
0820ff52a8 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
a0fd4f710f desktop: force awk on macos 
this may help on jasons box
 2011-11-09 17:21:53 +11:00
Andrew Tridgell
53f62b7484 desktop: exit on EOF from stdin 2011-11-09 17:21:53 +11:00
Jason Short
0ca427bdd9 Removed debugging code from APM_PI 2011-11-08 14:41:21 -08:00
Andrew Tridgell
db99b664df desktop: fixed malloc cast 2011-11-09 08:47:49 +11:00
Andrew Tridgell
997091e0d6 desktop: be more careful with signed/unsigned in DataFlash 2011-11-09 08:44:19 +11:00
Andrew Tridgell
c2082fdd7b desktop: use less stack 
this avoids a problem on cygwin on windows
 2011-11-09 08:09:56 +11:00
Andrew Tridgell
c4bba9c4d8 desktop: another MacOS fix 2011-11-08 18:07:19 +11:00
Andrew Tridgell
5194fe489d 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
0e447b12a2 dataflash: type fixup for ReadInt() 2011-11-08 17:26:53 +11:00
Andrew Tridgell
294c812b9b desktop: use the libc printf engine 
getting ftoa_engine right was too much work
 2011-11-08 11:59:30 +11:00
Andrew Tridgell
39ddc42cc7 desktop: fixed ultoa_invert() 
the string was backwards
 2011-11-08 11:13:48 +11:00
Andrew Tridgell
d33b69492b 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
0f3c21821a barometer: fixed a build warning 2011-11-08 11:05:36 +11:00
Jason Short
6bf0c32173 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
c1dad23679 autotest: fill flash with 0xff on erase 2011-11-07 23:42:18 +11:00
Andrew Tridgell
3b48389efe Desktop: added -w option to wipe eeprom and dataflash 2011-11-07 22:56:13 +11:00
Andrew Tridgell
da800a295f 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
580139c6e4 digital.c for CLI 2011-11-07 22:56:13 +11:00
Andrew Tridgell
cfe058c5d5 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
94f0e8a4a3 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
b927e64440 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
d78bbb1a40 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
251cf7d87c force LANG=C for MacOS awk 2011-11-07 13:33:38 +11:00
Doug Weibel
e3ab1b0353 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
947950398c 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
c7077fa9e8 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
8058154f61 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:58:10 -04:00
Andrew Tridgell
e7671178b3 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
04d4aa4310 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
4f8ef25643 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short
9c4ad5f7ff 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
ab730ff919 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
75751900d6 Update the SIL README file 2011-10-31 21:56:25 +01:00
James Goppert
025fa7fb5d ArduPlane cmake build working. 2011-10-31 13:18:48 -04:00
James Goppert
3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne
d18bb1cc7e prevent div by 0 2011-10-30 21:28:39 +08:00
Andrew Tridgell
f8f2f9139d added desktop header 2011-10-30 17:31:32 +11:00
Andrew Tridgell
de0a7117a8 make desktop serial more responsive 2011-10-30 13:00:54 +11:00
Andrew Tridgell
0211fc2f09 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
cf4c2cc1cf 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
699f3388fc 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
14d27b1e4c Cleaned up AP_GPS formatting. 2011-10-28 14:52:50 -04:00
James Goppert
d97692de9d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 14:45:01 -04:00
James Goppert
77da85648d Clean up formatting for AP_Common 2011-10-28 14:43:43 -04:00
Michael Oborne
6818794bb4 Fix HIL DCM to match actual 2011-10-28 17:40:18 +08:00
Andrew Tridgell
c0a43a1837 minor mavlink 1.0 updates 2011-10-28 15:54:22 +11:00
James Goppert
82b23f8eb5 APO multiple mode handling added. 2011-10-27 19:42:57 -04:00
James Goppert
9192143c44 Fixed APO bug in current waypoint update. 2011-10-27 17:23:08 -04:00
James Goppert
fc12113167 Adding bash formatting script using astyle. 2011-10-27 16:30:15 -04:00
James Goppert
63efe302f2 Merge https://code.google.com/p/ardupilot-mega 2011-10-27 16:21:44 -04:00
James Goppert
d1d82077c7 Fixed APO controller bug preventing motor arming. 2011-10-27 16:19:42 -04:00
Jason Short
27d9712e80 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
76bf784f8c 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
5770be6dc6 Fixed APO examples. 2011-10-26 14:59:40 -04:00
James Goppert
57e4a80fe1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-26 13:25:49 -04:00
James Goppert
41463ade10 Further APO controller cleanup. 2011-10-26 13:25:06 -04:00
jasonshort
8ec0eec5a2 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
6fd7c1dcda 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
3ea6a4d287 APO formatting. 2011-10-26 12:31:11 -04:00
James Goppert
92bd8b5d8b Updated APO Controllers. 2011-10-25 19:40:07 -04:00
James Goppert
037e121cdd 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
f7780a81c8 imported custom_mode size fix 2011-10-24 13:41:15 +11:00
Andrew Tridgell
14cb884938 fixed mavlink10 desktop build 2011-10-24 13:09:19 +11:00
Andrew Tridgell
690684d28b import latest MAVLink 1.0 headers and XML 2011-10-24 12:20:46 +11:00
Andrew Tridgell
e62bc659b6 updated to latest mavlink 1.0 messages 2011-10-24 10:20:36 +11:00
Andrew Tridgell
02725a1160 mavlink: added mavlink10 target for desktop build 2011-10-24 10:20:36 +11:00
Andrew Tridgell
de7cf3d1db mavlink: make it possible to build with mavlink 1.0 headers 2011-10-24 10:20:36 +11:00
Andrew Tridgell
7cc396bd83 mavlink: import latest mavlink 0.9 headers 2011-10-24 10:20:36 +11:00
Andrew Tridgell
08ae7de678 mavlink: import mavlink 1.0 message definitions 2011-10-24 10:20:35 +11:00
Andrew Tridgell
cbf9ce8d14 mavlink: import mavlink 1.0 includes 2011-10-24 10:20:35 +11:00
Andrew Tridgell
bdfcad234e RC_Channel_aux is needed for ArduPlane build 2011-10-24 10:20:19 +11:00
James Goppert
b409173aae Corrected battery monitoring in apo. 2011-10-20 02:28:47 -04:00
James Goppert
4e89f61e27 Arming fixes. 2011-10-19 20:09:06 -04:00
James Goppert
b16666bf2f Added loop priority, fixed arming bug for apo. 2011-10-19 13:22:29 -04:00
James Goppert
7dd8875f43 More cleanup. 2011-10-19 00:31:59 -04:00
James Goppert
d20d53ee81 Some cleanup. 2011-10-19 00:25:00 -04:00
James Goppert
1aa8586558 Added arming mechanism. 2011-10-19 00:21:19 -04:00
James Goppert
4653ea7629 Incorporated dcm changes from arducopter into apo. 2011-10-18 22:00:24 -04:00
James Goppert
4cc0aec5f1 Updated apo rates. 2011-10-18 20:11:14 -04:00
Andrew Tridgell
c8847e0d55 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
3cab0fb814 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
185a24a3ae Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-16 02:58:38 -04:00
James Goppert
32af63f734 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
b8e7eac346 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 13:09:18 -07:00
Jason Short
142707711e Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
James Goppert
aacc8a6179 APO quad stabilized flight working well. 2011-10-14 18:28:29 -04:00
Michael Oborne
d38b289766 hil sensor cleanup 2011-10-14 18:14:32 +08:00
Michael Oborne
8abd4bbd69 fix delta time in imu shim 2011-10-13 22:36:51 +08:00
Michael Oborne
7ef51f723d Sensor hil fix's 2011-10-13 22:22:03 +08:00
Michael Oborne
29380b3995 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 17:49:35 +08:00
James Goppert
7285cf28e2 Got APO quad stabilized flight to hover. 
Needs more gain tuning.
 2011-10-12 20:05:01 -04:00
Michael Oborne
20ed86da28 fastserial tcp 2011-10-13 07:25:30 +08:00
Michael Oborne
12131911b2 Desktop: cygwin fixs for AP and AC SIL 2011-10-11 20:30:34 +08:00
Andrew Tridgell
25d07075b7 desktop: more cygwin fixes 2011-10-11 21:33:31 +11:00
Andrew Tridgell
75d31dcc4c 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
b415542690 desktop: added Makefile.desktop 2011-10-11 20:53:43 +11:00
Andrew Tridgell
8290b61951 desktop: fixed a warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell
bcb8fb1c7f desktop: silence an implicit cast warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell
4016482573 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
3c3db649d5 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
bd42484ab8 update README with build and usage information 2011-10-11 17:49:40 +11:00
Andrew Tridgell
ea82b27fe5 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Michael Oborne
14dbc9523c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-11 08:05:14 +08:00
Andrew Tridgell
0939b51a4c added build makefiles 2011-10-10 07:18:38 +11:00
James Goppert
3e1ae9b215 APO GPS bug fix. 2011-10-09 15:57:29 -04:00
James Goppert
a747a88762 Fixed APO bug. 2011-10-09 11:46:56 -04:00