Andrew Tridgell
8f74631882
DCM: don't use compass unless its healthy
2011-12-28 20:41:54 +11:00
Andrew Tridgell
7c098491b9
I2C: fixed some warnings
2011-12-28 20:41:53 +11:00
Andrew Tridgell
5f38663d44
desktop: exclude I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
e1c9c063a5
MPU6k: don't init the Wire library
...
we don't use Wire any more
2011-12-28 20:41:53 +11:00
Andrew Tridgell
7ba744a11a
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
acf4e9b61d
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
8ee336e715
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
e7dab19260
TimerProcess: prevent a race in setting up the timer callbacks
2011-12-28 16:00:49 +11:00
Andrew Tridgell
5e4f66e525
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
bd9488f1e4
DataFlash: fixed sense of card detect
2011-12-28 16:00:48 +11:00
Andrew Tridgell
6ca613337b
MPU6000: protect the driver from double initialisation
...
initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
Andrew Tridgell
18d26dc74e
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
4d71482d1c
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
dbaa6fb6d2
TimerProcess: make some variables uint8_t
...
save a couple of bytes
2011-12-28 16:00:48 +11:00
Mike Smith
3582ad4e20
Fix issue #423 - FastSerial flush bug.
2011-12-26 15:52:21 -08:00
Andrew Tridgell
637d4675e1
added in DataFlash.cpp
...
forgot this ....
2011-12-26 19:34:06 +11:00
Andrew Tridgell
9bb0bd0341
desktop: added attachInterrupt() support
2011-12-26 19:17:11 +11:00
Andrew Tridgell
a39a470d75
desktop: fixed for new DataFlash inheritance
2011-12-26 19:17:11 +11:00
Andrew Tridgell
977326e991
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
13b2ddcbe1
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
04daeab7c0
MPU6000: change to 98Hz low pass filter
...
based on recommendation from Pat
2011-12-26 19:17:11 +11:00
Andrew Tridgell
10ca54ef8f
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
760aa62c75
fixed the MPU6000 test sketch
2011-12-26 19:17:11 +11:00
Randy Mackay
4620186328
Merge remote-tracking branch 'origin/master'
2011-12-25 12:34:16 +09:00
Randy Mackay
c24b5229e1
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
b72f9c2e9f
added MPU6000 test sketch
...
this doesn't work yet - Pat, any idea why?
2011-12-25 12:03:39 +11:00
Andrew Tridgell
f11a5edbc7
removed dead test program
...
this one doesn't build, and has been replaced by IMU_MPU6000_test
2011-12-24 18:11:04 +11:00
Andrew Tridgell
8780a60234
ADC: update for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7720254dd
AP_Baro: update MS5611 driver for new ap_proceduce prototype
...
this saves calling millis() quite so often
2011-12-21 23:31:38 +11:00
Andrew Tridgell
f97b405b56
MPU6k: update driver for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
Andrew Tridgell
79d6c21dde
PeriodicProcess: added set_failsafe() call
...
this adds an optional failsafe function that will be called in the
timer loop
2011-12-21 23:31:38 +11:00
Andrew Tridgell
11b8d56434
added comment in polygon code
2011-12-21 23:31:38 +11:00
Andrew Tridgell
bc9e943969
rollover is not a bug
...
subtracting unsigned numbers does the right thing
2011-12-21 23:31:38 +11:00
Andrew Tridgell
97f8d21c1b
added code format markers to AP_InertialSensor library
2011-12-21 23:31:38 +11:00
Andrew Tridgell
59d2d2d783
fixed build of IMU_MPU6000_test
2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7568db237
fixed comment
2011-12-19 20:52:59 +11:00
Andrew Tridgell
6efa2e53cb
AP_Math: re-work polygon algorithm for perfect precision
...
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
2011-12-19 18:52:56 +11:00
Randy Mackay
e070109e21
AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1)
2011-12-18 14:15:50 +09:00
Andrew Tridgell
a3a0e5646f
polygon: improve the speed and precision of the polygon algorithm
...
now takes 156 usec per test, with a 11 point boundary
2011-12-18 12:59:50 +11:00
Michael Oborne
92886cfa10
make file relax
2011-12-17 20:42:51 +08:00
Michael Oborne
f4b7aea1ee
add relax
2011-12-17 16:53:14 +08:00
Andrew Tridgell
bb0f179495
AP_Baro: fixed temperature on MS5611
...
this caused a 2x scaling of altitude
2011-12-17 14:58:58 +11:00
Andrew Tridgell
6341db7031
Revert "ADC: only read channels that are actually being used"
...
This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
Andrew Tridgell
d442bad413
Revert "ADC: added an enable_channel() API"
...
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
Andrew Tridgell
99eafbbe38
Revert "ADC: fixed HIL build"
...
This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.
ADC will now be disabled on APM2
2011-12-17 07:29:09 +11:00
Andrew Tridgell
10e546eebd
AnalogSource: return a float from read() method
...
this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
2011-12-17 07:29:09 +11:00
Andrew Tridgell
f6f808357c
removed AperiodicProcess code
...
this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
Andrew Tridgell
d4b66139dc
ADC: fixed HIL build
2011-12-16 20:58:04 +11:00
Andrew Tridgell
dc01d55740
added missing mavlink headers
2011-12-16 20:53:26 +11:00
Andrew Tridgell
42522baf9f
geofence: store fence points as int32_t
...
this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
Andrew Tridgell
a4c03cceff
mavlink: include latest geofence message changes
2011-12-16 20:11:51 +11:00
Andrew Tridgell
9b6bab8904
AP_Math: better polygon algorithm
...
this one seems to do better with single precision floating point
2011-12-16 20:11:51 +11:00
Andrew Tridgell
dc20d89375
MAVLink: update to latest mavlink XML
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this includes the geo-fencing messages
2011-12-16 20:11:51 +11:00
Andrew Tridgell
9591317dbc
ADC: added an enable_channel() API
...
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
2011-12-16 20:09:40 +11:00
Andrew Tridgell
c41e7c505b
timer: enable interrupts during timer processing
...
this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.
We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
2011-12-16 20:09:38 +11:00
Andrew Tridgell
09947dace1
ADC: only read channels that are actually being used
...
on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
2011-12-16 20:09:35 +11:00
Andrew Tridgell
f125f6619a
fixed formatting of ADC driver
...
it was a nasty mix of DOS and UNIX
2011-12-16 20:09:29 +11:00
Andrew Tridgell
b484411c41
timers: change to 1kHz timer by default
...
we were using a 227Hz timer, which is far too slow
2011-12-16 20:09:25 +11:00
Andrew Tridgell
e187ff149f
desktop: fixed type of dword eeprom read
2011-12-16 20:09:18 +11:00
Andrew Tridgell
62e92f406e
AP_Math: make out vector and matrix elements used types with fixed sizes
...
this prevents differences between CPU types
2011-12-16 20:09:11 +11:00
Pat Hickey
d6a8440ef2
APM_RC_APM2: Remove OutputCh from ::Init()
...
* These calls were off by one anyway, by using the channel numbers
as ints ant not CH_n macros, and that caused an ESC cal problem.
2011-12-15 13:47:43 -08:00
Andrew Tridgell
85e295332f
AP_Math: added Polygon_complete() function
...
used to veryify user supplied boundaries
2011-12-15 14:42:34 +11:00
Andrew Tridgell
117a98f9a2
AP_Math: added a Polygon_outside() function
...
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
2011-12-15 14:34:58 +11:00
Andrew Tridgell
0147c7b6c6
DCM: added matrix_reset() method
2011-12-13 21:32:50 +11:00
Andrew Tridgell
a819c1a3dc
IMU: abstract the setting of the LEDs in IMU initialisation
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we need this to cope with different LED pin assignments on APM1/APM2
2011-12-13 18:19:12 +11:00
Andrew Tridgell
90c6bad814
autotest: make magnetic field point down
2011-12-12 22:14:01 +11:00
Andrew Tridgell
081f35f51c
desktop: fixed build with new AP_Baro code
2011-12-12 15:14:55 +11:00
Andrew Tridgell
8d882c3640
desktop: fixed desktop barometer code
2011-12-12 15:14:55 +11:00
Andrew Tridgell
3648c81dd9
barometer: fixed HIL barometer build
2011-12-12 15:14:55 +11:00
Andrew Tridgell
5d503fd65e
ADC: change adc.Ch() to return a float
...
this gives us a bit more precision in airspeed measurement, and costs
us virtually nothing as we are converting to float immediately after
getting the value
2011-12-12 15:14:55 +11:00
Andrew Tridgell
14866927e1
dcm: fixed an uninitialised variable
...
if no compass and not in motion the DCM we would multiply by an
uninitialised number
2011-12-11 15:21:10 -08:00
Pat Hickey
f4aaa56b16
AP_Baro_MS5611: Asynchronous operation, plus c++ style changes.
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Yeah, I know this was a big change to make all at once.
2011-12-11 15:21:10 -08:00
Pat Hickey
d026e48032
AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations
...
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
2011-12-11 15:21:10 -08:00
Pat Hickey
a626e21e98
AP_Baro_BMP085: move apm2_hardware flag from init to constructor.
2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8
Wire and SPI Init: move to sketch system.pde from libraries
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* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin removed from AP_Baro_MS5611::init()
* SPI.begin removed from AP_InertialSensor_MPU6000::hardware_init()
* Both Wire.begin and SPI.begin added very early in init_ardupilot in
ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
Pat Hickey
49ca774734
AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks.
2011-12-11 15:21:10 -08:00
Pat Hickey
1bfab64543
AP_Baro_BMP085: Delete commented out code
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* If its important to get old code back, thats why version control exists
2011-12-11 15:21:09 -08:00
Pat Hickey
f3270b7f13
AP_Baro_BMP085: implement AP_Baro interface
2011-12-11 15:21:09 -08:00
Pat Hickey
f52453beed
AP_Baro_MS5611: init must also perform SPI.begin
2011-12-11 15:21:09 -08:00
Pat Hickey
64eb1889ab
AP_Baro_MS5611: CS pin is arduino pin 40
2011-12-11 15:21:09 -08:00
Pat Hickey
1832ed0355
AP_Baro_MS5611: Implement AP_Baro interface
2011-12-11 15:21:09 -08:00
Pat Hickey
f0ab0318b3
AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private.
2011-12-11 15:21:09 -08:00
Pat Hickey
a41b6da263
AP_Baro_MS5611: conform to AP_Baro interface
2011-12-11 15:21:09 -08:00
Pat Hickey
d113992c10
AP_Baro: Create virtual interface
2011-12-11 15:21:09 -08:00
Pat Hickey
fdffd69257
AP_Baro_MS5611: renamed class implementation from APM_MS5611
2011-12-11 15:21:09 -08:00
Pat Hickey
c407b0d85e
AP_Baro_MS5611.h: reorganized
...
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
2011-12-11 15:21:09 -08:00
Pat Hickey
34cebd8a3e
AP_Baro_MS5611: Overwrote with Jose Julio's latest files.
2011-12-11 15:21:09 -08:00
Pat Hickey
cc6837cbab
AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers.
2011-12-11 15:21:09 -08:00
Pat Hickey
f445ec1242
AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085.
2011-12-11 15:21:09 -08:00
Pat Hickey
7032c32b42
BMP085 fix line endings
2011-12-11 15:21:09 -08:00
Pat Hickey
7ef146044e
AP_Baro: move all APM_BMP085 files inside AP_Baro
2011-12-11 15:21:09 -08:00
Pat Hickey
9250053bfe
Added AP_Baro and AP_Baro_MS5611 classes.
...
Incomplete and does not work.
2011-12-11 15:21:08 -08:00
Randy Mackay
67855b207d
Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types
2011-12-11 16:40:59 +09:00
Pat Hickey
56b0be3124
APM_RC: APM1 fast output speed increased to 400hz.
2011-12-10 13:06:06 -08:00
Pat Hickey
7afb091f26
APM_RC: APM2 fast output speed increased to 400hz.
2011-12-10 13:04:11 -08:00
Pat Hickey
f3a4fbc7af
AP_IMU_INS: Eliminate init_accel from cold start.
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* Bug reported by Jason, 10 Dec 11
2011-12-10 13:00:54 -08:00
Randy Mackay
fa0723f115
ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.
...
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
2011-12-10 18:33:30 +09:00
Randy Mackay
df1e54ec79
RangeFinder - fixed example sketch so it works again
2011-12-10 16:32:34 +09:00
Randy Mackay
1f53c25577
RangeFinder - small bug fix to initialise prescale variable.
...
Fixed up example sketch so it compiles and works again!
2011-12-10 16:25:41 +09:00
James Goppert
6dc236b8f2
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-07 20:59:15 -05:00
Jason Kemmerling
21c3282c9c
Fixed along track bug.
2011-12-07 20:55:06 -05:00
James Goppert
2feacea1f1
Added APM2 support.
2011-12-07 19:19:30 -05:00
James Goppert
a25353da79
Added AP_Board to APO
2011-12-07 16:31:56 -05:00
Jason Short
9d1f56c6da
Split P and I term
2011-12-06 21:10:30 -08:00
Jason Short
9ed6463b39
Split the P and I terms in PI
2011-12-06 21:08:47 -08:00
Wenyao Xie
c4203631dc
APO velocity/ altitude working.
2011-12-06 19:38:23 -05:00
Wenyao Xie
2432ae130d
Fixed baro.
2011-12-06 18:56:16 -05:00
Wenyao Xie
7593aae452
Fixed Barometer Altitude
2011-12-06 13:28:39 -05:00
Wenyao Xie
410c18ac05
Fixed Barometer Reading
2011-12-06 13:26:07 -05:00
Wenyao Xie
50032ef703
Working on baromemter altitude
2011-12-05 20:57:19 -05:00
Jason Kemmerling
1d9efea9af
Sailboat wind measurement working.
2011-12-05 15:53:29 -05:00
Andrew Tridgell
5c99035823
fixed the desktop build
...
This fixes a vtable link bug
2011-12-05 18:06:58 +11:00
James Goppert
7fae764c55
Along track fix for negative.
2011-12-04 01:36:53 -05:00
James Goppert
98a21a70c0
Improved along track calculation for APO.
2011-12-04 01:25:14 -05:00
James Goppert
f8fab5f7d6
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-04 00:45:34 -05:00
Wenyao Xie
fd77fe5a9d
Rover live test WORKS! "Murphy's Law is a turtle"
2011-12-03 22:42:08 -05:00
Jason Short
fa7f39ba20
Access to _clamp val. May want to make a private member and write accessor.
2011-12-03 17:57:12 -08:00
Jason Short
e37dffadf3
Added faster conversion from and to degrees*100 / rads
2011-12-03 17:56:41 -08:00
Andrew Tridgell
b4965d34a9
GPS: added FAKE_GPS_LOCK_TIME
...
this allows you to fake up a GPS lock after a specific number of
seconds
2011-12-04 09:06:57 +11:00
Wenyao Xie
dac3ba48e0
Fixed apo live mode bugs for 2.0 update.
2011-12-03 15:38:37 -05:00
Wenyao Xie
a802796c67
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-12-03 14:00:23 -05:00
James Goppert
8300c5e738
Changed BlockPIDDfb behaviour.
2011-12-03 12:13:11 -05:00
Andrew Tridgell
f96a48e42b
autotest: support all 11 PWM output channels
...
this will allow for more complex aircraft
2011-12-02 22:45:48 +11:00
Andrew Tridgell
66d65121cc
autotest: switch to big-endian metric packets internally
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now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
2011-12-02 22:12:58 +11:00
Andrew Tridgell
43e3948816
desktop: show the full path to the desktop executable
2011-12-02 21:46:55 +11:00
Andrew Tridgell
7167fec784
desktop: added SO_REUSEADDR after accept()
2011-12-02 17:37:55 +11:00
Andrew Tridgell
706c6c38fa
desktop: fixed calculation of angular velocities
...
thanks to James Goppert for the frame conversion maths
2011-12-02 17:37:54 +11:00
James Goppert
b9f370e33d
Commented out debugging in guide.
2011-11-29 18:08:50 -05:00
James Goppert
38c19c50be
Merge branch 'master' of github.com:arktools/ardupilotone
...
Conflicts:
libraries/APO/AP_Guide.cpp
2011-11-29 18:06:38 -05:00
James Goppert
b6dcd70cf9
Working on yaw command.
2011-11-29 17:38:18 -05:00
Wenyao Xie
a0824b4cbe
Fixed guidance bugs in APO.
2011-11-29 17:37:42 -05:00
James Goppert
92efa90d0f
APO fixes.
2011-11-29 13:59:44 -05:00
James Goppert
e8d74ae3fe
Fixed apo radio error.
2011-11-28 12:29:05 -05:00
James Goppert
83aceb5e8f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-28 00:56:29 -05:00
James Goppert
715e7c84a4
Updated apo for merge with apm 2.0 changes.
...
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
2011-11-28 00:53:30 -05:00
Andrew Tridgell
bdb1599e96
desktop: improved the accuracy of the sensor emulation
2011-11-28 16:22:33 +11:00
Andrew Tridgell
e491168273
ADC: remove a very small (0.2 degrees/s) bias in the ADC code
...
small bias from integer rounding
2011-11-28 16:22:33 +11:00
James Goppert
fcb4d9cb15
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-27 23:56:17 -05:00
James Goppert
999a5892f0
Fixed mode switching.
2011-11-27 23:55:28 -05:00
Andrew Tridgell
df957db8d9
desktop: setup TCP sockets as non-blocking
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the sendto() blocks unexpectedly on MacOS
2011-11-28 13:53:57 +11:00
Andrew Tridgell
4036604fb7
mavlink: move Mavlink_compat.h to common code
...
this will allow it to be used by ArduCopter
2011-11-28 13:53:57 +11:00
Doug Weibel
997ddde7f5
Added back the feature to prompt users when an invalid CLI command is entered.
...
Thanks to Yury Smirnov for this patch!
2011-11-26 21:10:53 -07:00
Andrew Tridgell
0da5125b7f
upload: force hex file format for upload
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this should fix a problem with hex file format detection on MacOS
2011-11-27 09:36:10 +11:00
Andrew Tridgell
0720bf7bf1
desktop: build fix for fjall
2011-11-26 18:24:29 +11:00
Andrew Tridgell
f2a0a49d55
desktop: fixed desktop build for strlcat_P() changes
2011-11-26 17:18:09 +11:00
Andrew Tridgell
7fa59a6849
AP_Common: added typesafe wrapper for memcpy_P()
2011-11-26 17:17:50 +11:00
Andrew Tridgell
92e0e929a4
AP_Common: replace strlcat_P() with a C implementation
...
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
2011-11-26 17:02:56 +11:00
Andrew Tridgell
c9b0b384f7
desktop: added framerate and initial height code
...
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
2011-11-25 20:00:19 -08:00
Andrew Tridgell
24a7a18481
desktop: fixed swap_float()
...
get indexes right
2011-11-25 20:00:19 -08:00
Andrew Tridgell
62f98b091f
desktop: import updated DataFlash code
...
this fixes a logging bug
2011-11-25 20:00:19 -08:00