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4777 Commits

Author SHA1 Message Date
Andrew Tridgell 163cfd839d AP_NavEKF: enable airspeed and fix getLLH() 2014-02-15 05:28:07 +11:00
Andrew Tridgell b4153c4d32 GCS_MAVLink: added EKF message for debugging 2014-02-15 05:27:54 +11:00
Andrew Tridgell 4771a4fc77 AP_NavEKF: use radians values from AHRS directly 2014-02-15 05:27:53 +11:00
Paul Riseborough 6b798d2821 AP_NavEKF: first working GPS + Mag fusion 2014-02-15 05:27:53 +11:00
Paul Riseborough bccadb6e25 AP_NavEKF: first working GPS fusion 2014-02-15 05:27:53 +11:00
Andrew Tridgell 90cd04def3 AP_NavEKF: fixed build for non-Linux 2014-02-15 05:27:53 +11:00
Andrew Tridgell 0b71618f4f AP_NavEKF: use vectorN to make indexes safe 2014-02-15 05:27:53 +11:00
Andrew Tridgell e972acbc9f AP_NavEKF: removed delay callback 2014-02-15 05:27:53 +11:00
Andrew Tridgell 8f16647a0c AP_NavEKF: added write_flot valgrind functions 2014-02-15 05:27:53 +11:00
Andrew Tridgell a8ddd51355 AP_NavEKF: added pause to gnuplot scripts 2014-02-15 05:27:53 +11:00
Andrew Tridgell 4298625daf AP_NavEKF: added convenient plotting scripts 2014-02-15 05:27:53 +11:00
Paul Riseborough fca1090694 AP_NavEKF: debug updates 2014-02-15 05:27:53 +11:00
Andrew Tridgell 95f51123d7 AP_NavEKF: added plot.dat output 2014-02-15 05:27:53 +11:00
Andrew Tridgell 050b0fb9f1 AP_NavEKF: fixed compass declination, baro cal and time shift 
now runs much faster
 2014-02-15 05:27:53 +11:00
Andrew Tridgell 776cedf368 AP_NavEKF: try running EKF on log data 2014-02-15 05:27:52 +11:00
Andrew Tridgell ffce1f64cc AP_NavEKF: added euler angle functions 2014-02-15 05:27:52 +11:00
Andrew Tridgell 977ad4bbf6 AP_NavEKF: added dataflash log reader 
this gives log playback into HIL
 2014-02-15 05:27:52 +11:00
Andrew Tridgell f3dfde2025 AP_NavEKF: initial test sketch for NavEKF 2014-02-15 05:27:52 +11:00
Paul Riseborough 361bb5b18f AP_NavEKF: Updated comments in header file 2014-02-15 05:27:52 +11:00
Paul Riseborough 00df068967 AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix 2014-02-15 05:27:52 +11:00
Andrew Tridgell eb505eef91 AP_NavEKF: fixed build for APM environment 2014-02-15 05:27:52 +11:00
Paul Riseborough 0dd5463e77 AP_NavEKF : Changed file and variable names 2014-02-15 05:27:52 +11:00
Paul Riseborough 1e993d2ef5 AP_NavEKF: Added constructor for measurements 2014-02-15 05:27:52 +11:00
Paul Riseborough 4a7f81e50a AP_NavEKF: Corrected height update timeout error 2014-02-15 05:27:51 +11:00
Paul Riseborough 0f3ebb8e31 AP_NavEKF: Updated measurement fusion control 2014-02-15 05:27:51 +11:00
Paul Riseborough c557bd7df5 AP_NavEKF: Updated GPS input processing 2014-02-15 05:27:51 +11:00
Paul Riseborough 1d4b040c67 AP_NavEKF: Inertial Navigation Code - 24 State EKF 
initial version converted from matlab
 2014-02-15 05:27:51 +11:00
Andrew Tridgell 03cc777991 AP_Airspeed: added last_update_ms() interface 2014-02-15 05:27:51 +11:00
Andrew Tridgell e7cf07dfb7 DataFlash: added Columns column to FMT 2014-02-15 05:27:51 +11:00
Andrew Tridgell 1e0f3f5398 AP_Math: make to_euler() const 2014-02-15 05:27:51 +11:00
Andrew Tridgell 90c41981ac AP_Math: added quaternion normalization 2014-02-15 05:27:51 +11:00
Randy Mackay 9e31f0b985 AC_WPNav: use PosControl accessor 
Saves 2bytes of RAM
 2014-02-15 05:27:50 +11:00
Randy Mackay 78c12eaebf AC_PosControl: get_pos_xy_kP accessor method 2014-02-15 05:27:50 +11:00
Randy Mackay 8d6eb1eceb MotorsMatrix: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 134289af38 TradHeli: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 1bee56877c CoaxCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 3fad8e3630 SingleCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 0edf039155 AP_MotorsTri: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 96d433c63e AP_Motors: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 8baf5ebf4a AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr 2014-02-15 05:27:49 +11:00
Randy Mackay f216cffb77 AC_AttControl: use motor accessors to set roll, pitch, yaw, thr 
Saves 8bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 415e48de19 TriCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 01d30271d8 SingleCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 18d3907928 TradHeli: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay cf1d6854b9 AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels 2014-02-15 05:27:49 +11:00
Randy Mackay 2f4fe3e192 AP_Motors: accessors to set roll, pitch, yaw, throttle 
This saves 16bytes of RAM and slightly reduces the dependence upon the
RC_Channel class as the interface.
 2014-02-15 05:27:49 +11:00
Randy Mackay 98224db1e4 AC_AttControl: Leaonard's rate feedforward 
Also saves 24bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 2c6470f87b AP_MotorsMatrix: remove unused _num_motors 
Saves 1 byte of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 32a0992985 MatrixMotors: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay 2f3fc3a3ce Single: remove use of motor_out array 
Also allow fins to move when throttle at zero
 2014-02-15 05:27:48 +11:00
Randy Mackay a036009524 AP_MotorsTri: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay 83321b8786 AP_Motors: remove motor_out array 
Saves 16bytes of RAM
 2014-02-15 05:27:48 +11:00
Randy Mackay 5f89e9e746 AC_AttControl: bug fix to yaw rate limit 2014-02-15 05:27:48 +11:00
Randy Mackay d76180d605 AC_AttControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 8b8d6a8e01 AC_PosControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 598a1b1f43 AC_Circle: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 64cfcb2308 AC_WPNav: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 082c5021ee AC_AttControlHeli: add comments 2014-02-15 05:27:47 +11:00
Randy Mackay 17177adccf AC_Circle: remove debug comment 2014-02-15 05:27:46 +11:00
Randy Mackay 37cfbc9ad5 AP_Math: float versions of wrap_360 and wrap_180 2014-02-15 05:27:45 +11:00
Randy Mackay a7504faa7d TradHeli: empty angle_boost for trad heli 2014-02-15 05:27:44 +11:00
Randy Mackay 80ec61f217 TradHeli: make accessor methods const 2014-02-15 05:27:43 +11:00
Randy Mackay 48a0917670 Copter: make motors armed call const 2014-02-15 05:27:43 +11:00
Randy Mackay eda376c7f6 AC_AttControl: init_targets() clears body frame angle errors 
This should ensure that we don't get sudden jerks when entering acro
mode
 2014-02-15 05:27:43 +11:00
Randy Mackay 2643ee9724 AC_AttControl_Heli: adjust for new slew_yaw param 2014-02-15 05:27:43 +11:00
Randy Mackay 2db24659d0 AC_AttControl: add slew_yaw 2014-02-15 05:27:42 +11:00
Randy Mackay 959f5ec3b2 AC_AttControl: tradheli add RATE_RP_MAX 2014-02-15 05:27:42 +11:00
Randy Mackay 2dae0d68c5 AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params 
These replace the ANGLE_RATE_MAX parameter from the main code
 2014-02-15 05:27:42 +11:00
Randy Mackay c2efb91ece AC_AttControl: trad heli angle boost 2014-02-15 05:27:42 +11:00
Randy Mackay ebbff24a04 AC_AttControl: trad heli yaw 2014-02-15 05:27:42 +11:00
Randy Mackay 4f738ffdba AC_AttControl: add trad heli support 2014-02-15 05:27:42 +11:00
Randy Mackay 551836c49d AC_PosControl: make some methods const 2014-02-15 05:27:40 +11:00
Randy Mackay a2b017abd2 AC_AttControl: add rateef_rpy 
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
 2014-02-15 05:27:40 +11:00
Randy Mackay 468be05867 AC_AttControl: make ahrs, ins objects const 2014-02-15 05:27:40 +11:00
Randy Mackay 864f64b61a AC_Circle: circle control library 2014-02-15 05:27:40 +11:00
Randy Mackay 35ef9c73d1 AC_Sprayer: minor comment fix 2014-02-15 05:27:40 +11:00
Randy Mackay 4c02212404 AC_Fence: minor comment fix 2014-02-15 05:27:39 +11:00
Randy Mackay d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +11:00
Randy Mackay 26b257c8ba AC_AttControl: alternative get_stopping_point_z 2014-02-15 05:27:39 +11:00
Randy Mackay fc427967ae AC_WPNav: set wp origin to horiz and vert stopping point 
Also bug fix to set pos_control's down speed as a negative number
 2014-02-15 05:27:39 +11:00
Randy Mackay 1b8791a142 AC_PosControl: remove debug 2014-02-15 05:27:39 +11:00
Randy Mackay 4cd45e2edf AC_WPNav: remove debug 2014-02-15 05:27:38 +11:00
Randy Mackay 4003b4da9b AC_AttControl: leonard's body frame rate controller 2014-02-15 05:27:38 +11:00
Randy Mackay 171203370f AC_PosControl: add accessor for speed_up and down 2014-02-15 05:27:37 +11:00
Randy Mackay 1596d83d02 AC_WPNav: move leashes to AC_PosControl 2014-02-15 05:27:37 +11:00
Randy Mackay de34359808 AC_PosControl: recalculate leash when speed or accel modified 2014-02-15 05:27:37 +11:00
Randy Mackay ba3ba9e157 AC_AttControl: bug fix for yaw target handling 2014-02-15 05:27:37 +11:00
Randy Mackay 0d4ba04e75 AC_WPNav: make advance_wp_target private 2014-02-15 05:27:37 +11:00
Randy Mackay 80ae3dca2e AC_PosControl: remove debug 2014-02-15 05:27:36 +11:00
Randy Mackay b9ae3ce2ff AC_PosControl: fixed example sketch 2014-02-15 05:27:36 +11:00
Randy Mackay 0c8cbba644 AC_WPNav: remove xy pos controller 2014-02-15 05:27:36 +11:00
Randy Mackay 9fe4d883d0 AC_AttControl: accessor for lean angle max 2014-02-15 05:27:35 +11:00
Randy Mackay bbcf8cc84c AC_PosControl: add horizontal pos control 2014-02-15 05:27:35 +11:00
Randy Mackay 2984e492df AC_WPNav: add reference to AC_PosControl 
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
 2014-02-15 05:27:35 +11:00
Randy Mackay 0e0a15f4a8 AC_AttControl: add high level angle controllers 2014-02-15 05:27:35 +11:00
Randy Mackay 3ce1c0a9d5 AC_PosControl: add get_alt_error method 2014-02-15 05:27:34 +11:00
Randy Mackay a0298aee29 AP_Motors: expose throttle min and max 2014-02-15 05:27:34 +11:00
Randy Mackay 89b7e6b1c8 AC_AttControl: implement angle_boost 2014-02-15 05:27:34 +11:00
Randy Mackay 8988b48ad8 AC_PosControl: add init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay dcac124105 AC_PosControl: add throttle controller 2014-02-15 05:27:33 +11:00
Randy Mackay 05bb943a69 AC_AttControl: first draft of PosControl class 2014-02-15 05:27:33 +11:00
Randy Mackay b7565affcd INS: add support for 400hz for PX4 2014-02-15 05:27:33 +11:00
Randy Mackay 0521806cc6 AP_Vehicle: add multicopter parameters 2014-02-15 05:27:32 +11:00
Randy Mackay 715c8eaf02 AC_AttitudeControl: first draft of library 2014-02-15 05:27:32 +11:00
Andrew Tridgell d853d65b84 AP_Airspeed: added ARSPD_TUBE_ORDER parameter 
This allows for either order of tube connection by default, but the
order can be specified if need be
 2014-02-15 05:12:15 +11:00
Andrew Tridgell bea0a46410 AP_HAL: added servorail_voltage and power_status_flags() API on AnalogIn 2014-02-15 05:00:09 +11:00
Andrew Tridgell ce43e674fe DataFlash: added power status logging 2014-02-15 05:00:09 +11:00
Andrew Tridgell 87355127ca GCS_MAVLink: added send_power_status() 2014-02-15 05:00:09 +11:00
Andrew Tridgell 8797f38038 GCS_MAVLink: regenerate MAVLink headers 2014-02-15 05:00:08 +11:00
Andrew Tridgell 0cbd5a2ef0 GCS_MAVLink: added POWER_STATUS message 2014-02-15 05:00:08 +11:00
Andrew Tridgell 63910bf8cd DataFlash: work around a NuttX bug 
the seek offset of files can get badly mucked up when it crosses
cluster boundaries. We need to fix this in NuttX, but meanwhile this
works around the bug. It seems that doing a lseek(fd, 0, SEEK_CUR)
fixes the seek offset in the file.

The bug seems to first happen at an offset of 315392. It also
doesn't happen every time - it is more likely to happen on the first
log download after booting
 2014-02-15 05:00:08 +11:00
Andrew Tridgell 0aebc18b3f GCS_MAVLink: return early from log send if no log data to send 2014-02-14 21:51:00 +11:00
Andrew Tridgell 1497c33178 GCS_MAVLink: run a bit faster on serial ports with flow control 
with flow control we can afford to push the radio a bit harder
 2014-02-14 21:51:00 +11:00
Andrew Tridgell 7c1b9b344f AP_HAL: added get_flow_control() API 2014-02-14 21:51:00 +11:00
Andrew Tridgell 81c5edbdb5 GCS_MAVLink: fixed a log download bug for repeated downloads 
we were not resetting the offset to 0 correctly
 2014-02-14 21:50:59 +11:00
Andrew Tridgell dcd7f9d26d AP_Airspeed: use raw (signed) airspeed 
this allows us to detect when the user has the ports the wrong way
around, and mark the sensor unhealthy
 2014-02-14 21:50:59 +11:00
Andrew Tridgell 1849db7074 AP_HAL: added board_voltage AnalogIn method 
this makes it easier to get the board voltage from any library,
without having to allocate another analog channel object
 2014-02-14 21:25:38 +11:00
Andrew Tridgell 4e2e685d7a HAL_PX4: better fix for IFLOW on all ports 
the tcsetattr() call fails to apply the baudrate if the port has no
RTS pin and we ask for IFLOW. So just make a separate call.
 2014-02-12 17:47:23 +11:00
Andrew Tridgell b2cdd39a99 HAL_PX4: don't enable IFLOW on ports without flow control 
this should have been harmless, but breaks the GPS on Pixhawk. This
disables it until we work out why.
 2014-02-12 17:32:07 +11:00
Andrew Tridgell 35791e1f05 AP_Airspeed: fixed get_temperature on PX4 2014-02-12 13:46:15 +11:00
Andrew Tridgell ccb7dc640d AP_HAL: fixed a build warning 2014-02-12 10:51:58 +11:00
Andrew Tridgell c93794999e HAL_PX4: remove an old conditional define 2014-02-11 15:58:25 +11:00
Andrew Tridgell 8095eb0bee AP_BoardConfig: added BRD_SAFETYENABLE option 
this allows the safety switch to be disabled on startup
 2014-02-11 15:58:25 +11:00
Andrew Tridgell 439a075b30 AP_HAL: added force_safety_off rcoutput function 
this forces the safety switch off, enabling PWM on the IO board
 2014-02-11 15:58:25 +11:00
Dan Neault 262d384025 Coax: Yaw fix 
Was using _rc_yaw servo_out instead of pwm_out to modify motors.
Corrected and less touchy in Yaw
 2014-02-11 11:05:02 +09:00
Andrew Tridgell fce464597a AP_BoardConfig: PX4v1 does not have hw flow control on UART5 2014-02-11 12:11:26 +11:00
Andrew Tridgell 1b5d5dd8c4 AP_BoardConfig: set flow control to AUTO by default 2014-02-11 12:11:26 +11:00
Andrew Tridgell c5c1d1358a HAL_PX4: added automatic hardware flow control detection 
this allows us to detect if hardware flow control is not available and
automatically disable it
 2014-02-11 12:11:26 +11:00
Randy Mackay a0369b85d1 LowPassFilter: make methods non-virtual 
No classes inherit from this class so no need for set_cutoff_frequency,
set_time_constant and reset(T) to be declared virtual.  Saves 6 bytes of
RAM.
 2014-02-10 20:47:05 +09:00
Randy Mackay 38222d65e9 DerivativeFilter: update and slope non-virtual 
No classes inherit from DerivativeFilter so no need to be virtual.
Saves 4bytes of RAM.
 2014-02-10 20:47:02 +09:00
Randy Mackay 4040be9990 FilterWithBuffer: make get_sample non-virtual 
virtual added to apply() and reset() declaration inline with base class.
This should have no impact on memory usage or functionality
 2014-02-10 20:47:00 +09:00
Randy Mackay 6cee33b6fd AP_Curve: remove virtual from method declarations 2014-02-10 17:28:11 +09:00
Randy Mackay 4c38999ca6 Maxsonar Test: remove raw from output to user 2014-02-10 15:00:08 +09:00
Randy Mackay e1fabadd3c MaxsonarI2C: read method returns int16_t 2014-02-10 14:59:46 +09:00
Randy Mackay ab22d11110 MaxsonarRFinder: convert_raw returns int16_t 2014-02-10 14:59:27 +09:00
Randy Mackay 32820b4260 PulsedLightRFinder: read method returns int16_t 2014-02-10 14:58:27 +09:00
Randy Mackay bf3fa8b99b RangeFinder: remove raw_value from SharpGP2Y 2014-02-10 14:57:17 +09:00
Randy Mackay 8d54e50897 RangeFinder: remove raw_value, orientation variables 
This saves 10bytes of RAM
 2014-02-10 14:56:52 +09:00
Randy Mackay d19b566d97 OptFlow: remove unused variables 
Saves 24bytes RAM by removing several static variables that were used
only for internal calculations
 2014-02-10 13:53:49 +09:00
Andrew Tridgell b907263685 AP_BoardConfig: added BRD_SER1_RTSCTS and BRD_SER2_RTSCTS 
used to enable flow control on telemetry ports
 2014-02-10 12:57:19 +11:00
Andrew Tridgell 3e637ac5d9 AP_HAL: added enable_flow_control() option in AP_HAL 2014-02-10 12:54:50 +11:00
Randy Mackay c9415a08f1 AC_WPNav: use ahrs trig values 2014-02-08 18:16:47 +09:00
Randy Mackay 98d667c916 AHRS_HIL: call update_trig 2014-02-08 18:16:44 +09:00
Randy Mackay 6946d68318 AHRS_DCM: call update_trig 2014-02-08 18:16:42 +09:00
Randy Mackay 3dc6ea682c AHRS: add update_trig 
Calculates helper trig values including cos_roll, cos_pitch
 2014-02-08 18:16:39 +09:00
Andrew Tridgell a95a3142e0 AP_InertialSensor: use fixed size arrays 
apparently helps SITL build on MacOS
 2014-02-08 19:32:26 +11:00
Bill Bonney 82ea5926a8 OptFlow: update function added to fix compiler error 2014-02-08 11:53:04 +09:00
Randy Mackay 14409ee20f Copter: disable aux channels used for motors 2014-02-07 22:04:27 +09:00
Randy Mackay 7c25247c87 Copter: disable aux channel 7 for SingleCopter 
Move servo range setup to AP_MotorsSingle
 2014-02-07 22:04:26 +09:00
Randy Mackay 9b594dc5e1 Copter: disable aux channel ch7 for Tri 2014-02-07 22:04:24 +09:00
Randy Mackay 1426078cdb TradHeli: disable aux channels 7 and 8 2014-02-07 22:04:23 +09:00
Paul Riseborough bc311542ab AP_TECS : Fixed bug preventing accel launch detection when not using AS sensor 2014-02-07 19:20:54 +11:00
Dneault 5213ec4aa6 Coax: servos to ch1, ch2, motors to ch3, ch4 2014-02-07 12:36:19 +09:00
Randy Mackay f60d94c4ab Coax: remove unused servo3, servo4 
Removed commented out code
 2014-02-07 12:36:06 +09:00
Dneault f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Andrew Tridgell 00d2d5946c RC_Channel: added disable_aux_channel() 
this will be used by copter to ensure motor channels are not enabled
for aux functions
 2014-02-06 21:30:55 +11:00
Andrew Tridgell b4208c7fc0 RC_Channel: added flaperon1 and flaperon2 function outputs 2014-02-06 12:35:32 +11:00
Andrew Tridgell 698736b66d RC_Channel: simplify the setup of aux channels 
avoid the nasty mess of #if lines, as the info is in the constructor
anyway
 2014-02-06 10:17:16 +11:00
Andrew Tridgell 264c092aa6 AP_ServoRelayEvents: fixed disabling repeated events on set_servo() 2014-02-06 10:03:26 +11:00
Randy Mackay a963ec7e3b AP_Math: bug fix to wrap_360 and wrap_180 
angles above 720deg and below 3200deg might not have been properly
wrapped.
wrap_360_cd could return 36000 when really this should be wrapped back
to zero.
 2014-02-03 12:56:56 +09:00
Andrew Tridgell 688f61c087 AP_Param: expose check_var_info() as a public symbol 2014-01-31 13:07:41 +11:00
Andrew Tridgell c0e548fc60 AP_Notify: fixed example build 2014-01-30 13:33:59 +11:00
Andrew Tridgell 93070a673e AP_Math: fixed example build 2014-01-30 13:33:46 +11:00
Andrew Tridgell 045efdb084 AP_InertialSensor: fixed example builds 2014-01-30 13:33:38 +11:00
Andrew Tridgell a339ec25c8 AP_Airspeed: fixed example build 2014-01-30 13:33:29 +11:00
Andrew Tridgell cf1f05a198 AP_Airspeed: expose get_temperature() 2014-01-28 10:35:35 +11:00
Andrew Tridgell fc3ed61e67 DataFlash: added baro dataflash logging 2014-01-28 10:35:18 +11:00
Andrew Tridgell 8f3071b1b8 AP_Arming: more detail in ARMING_CHECK docs 2014-01-25 22:22:50 +11:00
Andrew Tridgell 23d8bfa976 AP_Notify: reduce the latency in the main task of LED updates 
the ioctl now gets called in a IO timer callback
 2014-01-24 10:40:39 +11:00
Andrew Tridgell 0d174db05b AP_Math: added equality operator for VectorN 2014-01-24 10:37:08 +11:00
Andrew Tridgell aae0e3c0e5 AP_Arming: allow checking of pre-arm without reporting 
useful for updating AP_Notify LEDs
 2014-01-23 21:39:55 +11:00
Andrew Tridgell 330a4649fd AP_Notify: fixed LED colour for no-GPS and armed 2014-01-23 21:39:31 +11:00
Andrew Tridgell 58d3729d16 AP_InertialSensor: fixed default health functions 
this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
 2014-01-22 22:08:28 +11:00
Andrew Tridgell 54562b0b9a AP_Compass: prevent bad initial values from affecting HMC5883 calibration 
the first couple of values after we enter strap mode may be low, but
just above our 0.7 threshold. We now discard the first two values to
prevent these affecting the average.

Also added some commented out debug code and a comment on the scaling
of the calibration code
 2014-01-22 17:15:34 +11:00
Andrew Tridgell 67aab44566 AP_ServoRelayEvents: library for handling servo and relay events 2014-01-20 17:06:29 +11:00
Andrew Tridgell 4aa901f203 AP_Relay: added enabled() API 2014-01-20 17:06:29 +11:00
Andrew Tridgell 55b604b147 AP_Camera: updates for relay API change 2014-01-20 17:06:29 +11:00
Andrew Tridgell e42ba853ec AP_Relay: enable up to 4 relay pins 2014-01-20 17:06:29 +11:00
Andrew Tridgell b5822cd549 AP_BoardConfig: board specific config library 
used to control board specific parameters, such as PWM output count
 2014-01-20 17:06:28 +11:00
Andrew Tridgell 99b41f110f HAL_PX4: enable the FMU PWM pins to be used as GPIO when needed 2014-01-20 17:06:28 +11:00
Paul Riseborough f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Don Gagne 68b3b31499 Param doc typo 2014-01-18 10:18:58 +09:00
Andrew Tridgell fc6ce42a28 HAL_AVR: fixed build 2014-01-17 15:00:20 +11:00
Randy Mackay 965e5b2dfd INS: check for good calibration for 10seconds 
Shortened gyro calibration commit also halved the total time we would
look for a good gyro calibration.  This restores the total time to 10
seconds.
 2014-01-17 12:48:11 +09:00
Andrew Tridgell 87cc95dd7f AP_HAL: removed unused enable_mask and disable_mask functions 2014-01-16 17:16:17 +11:00
Randy Mackay 1f76ada9dd INS: shortened gyro calibration 
Removed delays before calibration, reduced number of samples taken,
widened convergence criteria
 2014-01-16 13:40:49 +09:00
Andrew Tridgell e1f06c532a HAL_PX4: more checking of IO results in eeprom driver 2014-01-16 13:11:14 +11:00
Andrew Tridgell 3ae6f03761 HAL_PX4: be less verbose about disarmed PWM setup 2014-01-16 13:11:13 +11:00
Andrew Tridgell db1d438e97 HAL_PX4: implement set_safety_pwm() API 
used to set PWM on motors when disarmed
 2014-01-15 22:25:50 +11:00
Andrew Tridgell 5e39b6fb11 AP_HAL: added set_safety_pwm() API 2014-01-15 22:25:22 +11:00
Andrew Tridgell 64fbadcc21 HAL_PX4: use eeprom on PX4 FMUv1 as well 
this means we no longer store params on SD at all
 2014-01-15 19:33:13 +11:00
Randy Mackay 0a3559813a AC_WPNav: accessor for loiter speed 2014-01-15 15:22:30 +09:00
Andrew Tridgell 376ab30366 HAL_PX4: disable rename of old parameter file for now 
be nice to release candidate users
 2014-01-14 22:00:56 +11:00
Andrew Tridgell 461638780b HAL_AVR: fixed warning on memcheck build 2014-01-14 21:27:52 +11:00
Andrew Tridgell 626086063e HAL_PX4: added a signature to FRAM 
this makes for more reliable update
 2014-01-14 15:06:51 +11:00
Andrew Tridgell 921f923c5f DataFlash: reset write log on new log 2014-01-14 14:28:56 +11:00
Andrew Tridgell b5a16a07d3 GCS_MAVLink: support LOG_REQUEST_END 2014-01-14 13:51:20 +11:00
Andrew Tridgell ef28d087d2 DataFlash: added logging_started() API 2014-01-14 13:51:06 +11:00
Andrew Tridgell f6db03dfb0 DataFlash: don't fsync on SITL 
this makes it much faster on virtual machines
 2014-01-14 12:46:26 +11:00
Andrew Tridgell b4b66210ff DataFlash: improve reliability of microSD for logs 2014-01-14 12:46:26 +11:00
Andrew Tridgell b88bb0751c HAL_PX4: added support for MTD (FRAM) parameters 
this allows us to store parameters and waypoints in FRAM, and
auto-upgrade from microSD
 2014-01-14 12:46:26 +11:00
Andrew Tridgell e78e35f3bd HAL_PX4: try to use uppercase names on NuttX microSD card 2014-01-14 12:46:26 +11:00
Andrew Tridgell cb23298384 DataFlash: try to keep dataflash writes aligned 
also rename lastlog.txt to LASTLOG.TXT as NuttX seems to get less
corruption with VFAT filenames that don't need uppercase mappings
 2014-01-14 12:46:26 +11:00
Randy Mackay fb0fe3793c AP_Notify: external LEDs blink while initialising 2014-01-13 23:31:32 +09:00
Andrew Tridgell 63586e3e23 HAL_PX4: fixed build for new PX4Firmware 2014-01-13 13:54:51 +11:00
JakobSt 986417067e AP_GPS: Improved accuracy of NMEA driver 
The conversion of ret (32bit-integer) to float reduced accuracy to ~9cm or ~22cm. Now it's ~1cm.
 2014-01-13 09:58:30 +11:00
Robert Lefebvre d441354961 TradHeli: Minor change to two param defaults 
Also one param name in the code clarified.
 2014-01-10 10:52:17 +09:00
Don Gagne 1db3c6e688 AP_Arming: param doc fixes 
These were confusing the parser, or just incorrect
 2014-01-10 10:40:53 +09:00
Don Gagne e68cf2d1c5 Plane: Fix parameter documentation 
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.

merge with below
 2014-01-09 14:02:21 +09:00
Randy Mackay 3823eed865 OptFlow: update example sketch to work with shrunken library 2014-01-09 12:31:51 +09:00
Randy Mackay 8caa5159f8 OptFlow: shrink lib by removing unused functions 
Saves 46bytes of RAM and 1k of flash
 2014-01-09 12:31:48 +09:00
Randy Mackay a53d1075ec DataFlash: add EnableWrites method 
This method allows temporarily suspending writes to the dataflash which
will be used in ArduCopter to ensure no messages are written while the
copter is disarmed
 2014-01-07 22:43:44 +09:00
Andrew Tridgell 4519aa8867 DataFlash: only fsync every 10 seconds 
prevents too much work in SITL
 2014-01-04 08:15:38 +11:00
Andrew Tridgell 89676be825 HAL_PX4: fixed RCInput race condition 
the number of channels could be zero with thread switch at the wrong
time
 2013-12-31 22:25:16 +11:00
Andrew Tridgell a2997704eb HAL_PX4: removed code which drops throttle to 900 on loss of RC 
rely on vehicle code checking for last data coming in
 2013-12-31 10:58:49 +11:00
Andrew Tridgell a8946a5f31 HAL_Linux: fixed build 2013-12-31 10:28:38 +11:00
Andrew Tridgell 8019d45200 DataFlash: use HAL_OS_POSIX_IO 2013-12-31 10:28:38 +11:00
Andrew Tridgell 5e3c4441dc AP_Baro: use HAL_CPU_CLASS in baro driver 2013-12-31 10:28:37 +11:00
Andrew Tridgell ea649e036b AP_HAL: added HAL_CPU_CLASS define for selecting algorithms 
this will make it easier to select the appropiate level of algorithm
for a CPU
 2013-12-31 10:28:37 +11:00
Andrew Tridgell 4c99d09265 AP_Math: fixed build of vectorN class on PX4 2013-12-31 10:28:27 +11:00
Andrew Tridgell bc2d17e76e AP_Compass: added vector compass setHIL method 2013-12-30 14:35:24 +11:00
Andrew Tridgell e7a1331b81 AP_GPS: allow HIL GPS to show no lock 2013-12-30 14:35:20 +11:00
Andrew Tridgell ecbfdfba6c HAL_Linux: implement time_shift() API 2013-12-30 14:35:12 +11:00
Andrew Tridgell 7e1e10f941 AP_HAL: added time_shift() scheduler API 
used for log replay
 2013-12-30 14:35:09 +11:00
Andrew Tridgell 96df09fd08 AP_Math: add const to quaternion API 2013-12-30 14:33:17 +11:00
Andrew Tridgell 2e9744d0b3 AP_Math: prevent transpose usage error in matrix API 2013-12-30 14:33:17 +11:00
Andrew Tridgell 2c1e0ba130 AP_Math: added vectorN class, and index checking 2013-12-30 14:33:17 +11:00
Andrew Tridgell a96840e194 AP_AHRS: changed default GPS lag to 1 sample 
this is based on detailed logs from a LEA-6H and NEO-7N
 2013-12-30 10:33:48 +11:00
Andrew Tridgell 2ce1b14cbb GCS_MAVLink: removed unused variable 2013-12-29 18:39:12 +11:00
Andrew Tridgell 828eed1984 AP_Math: allow vector3 and matrix3 objects to be used as arrays 2013-12-29 18:39:09 +11:00
Andrew Tridgell 519a26691e AP_GPS: make last_message_time_ms const 2013-12-29 18:39:07 +11:00
Andrew Tridgell 410d356979 AP_AHRS: make airspeed_estimate const 2013-12-29 18:39:01 +11:00
Andrew Tridgell 87226fed97 GCS_MAVLink: avoid log scans when possible 
don't scan logs when the GCS sends a new data request
 2013-12-29 15:00:19 +11:00
Andrew Tridgell a43e0f6f31 DataFlash: stop logging when erasing logs 2013-12-29 15:00:15 +11:00
Andrew Tridgell a95868e124 HAL_PX4: even larger tx buffer size for faster log transfer 2013-12-28 16:01:48 +11:00
Andrew Tridgell 22bdee8727 HAL_PX4: implement available_memory() 2013-12-28 16:01:28 +11:00
Andrew Tridgell c1115bd440 GCS_MAVLink: pushed num_sends higher for faster USB log transfer 
up to 169 kbyte/sec on pixhawk
 2013-12-28 16:01:01 +11:00
Andrew Tridgell af124a8a45 GCS_MAVLink: moved send_meminfo() to GCS_Common.cpp 2013-12-28 16:00:19 +11:00
Andrew Tridgell 75cb04dd8b HAL_AVR: use memcheck for available_memory() 2013-12-28 14:51:15 +11:00
Andrew Tridgell 172398a971 AP_HAL: added available_memory() interface 2013-12-28 14:51:01 +11:00
Andrew Tridgell 36e06a1709 HAL_AVR: moved memcheck into HAL_AVR 2013-12-28 14:50:42 +11:00
Andrew Tridgell efc7f88e4b GCS_MAVLink: sped up downloading DF logs over MAVLink 2013-12-28 14:25:54 +11:00
Andrew Tridgell e1a86440bb DataFlash: stop write logging while reading 
prevents nuttx getting confused
 2013-12-28 14:25:54 +11:00
Andrew Tridgell ff7004fcc5 HAL_PX4: use larger buffers on USB 2013-12-28 14:25:54 +11:00
Randy Mackay a400ddeb88 INS: replace APM with vehicle in accel calibrate 2013-12-28 10:41:49 +09:00
Andrew Tridgell af27921225 HAL_SITL: fixed GPS delay off by one 2013-12-28 10:17:47 +11:00
Andrew Tridgell a37a6d68f3 DataFlash: zero-fill FMT packet before logging 
this prevents uninitialised data appearing at the end of strings in
logs
 2013-12-21 13:56:54 +11:00
Andrew Tridgell f12dd85e1b AP_Arming: make enum values clearer 2013-12-20 11:59:05 +11:00
Andrew Tridgell f6d888e0da RC_Channel: added disable_out() method 2013-12-20 11:58:53 +11:00
Andrew Tridgell 765bfbfe43 HAL_SITL: use SIM_RC_FAIL 2013-12-20 09:43:04 +11:00
Andrew Tridgell 5eac5fb26f SITL: added SIM_RC_FAIL 
simulate RC failure with no signal
 2013-12-20 09:43:04 +11:00
Paul Riseborough 585d61b960 AP_TECS : Reduce tendency to overspeed during climbout 
The old code relies on the action of the integrator to raise the nose above the minimum pitch angle which depending on the model and the tuning can be too slow to correct. Biasing the pitch angle to climbout minimum will reduce the taken before an overspeed condition is corrected.
 2013-12-20 09:43:04 +11:00
ctech4285 c8aff81c48 AP_EPM: EPM cargo gripper library 2013-12-17 15:36:39 +09:00
John Boiles d8cdb57efa HAL_SITL: Attempting to avoid SIGPIPE on all platforms 2013-12-17 14:51:27 +11:00
Paul Riseborough 779e32d79f AP_Control : Add true airspeed compensation to pitch controller 
turn rate to pitch rate calculation should use true airspeed
 2013-12-17 14:17:43 +11:00
Andrew Tridgell 599edeeafb DataFlash: removed debug code for creating logs with no headers 2013-12-17 12:15:41 +11:00
Andrew Tridgell 6d356efa22 GCS_MAVLink: moved some more functions into GCS_Common.cpp 2013-12-17 12:00:44 +11:00
Andrew Tridgell 0641159660 DataFlash: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 81fc11cab7 AP_Notify: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 9b5b4ced60 AP_Math: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 8dd34f8bc4 AP_InertialSensor: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 4671aaa367 AP_InertialNav: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell e321ad65f4 AP_HAL: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 42eba615b4 AP_Baro: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 29b37b72e4 AC_WPNAV: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 305c6e4b56 AC_Sprayer: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 137137d4e1 GCS_MAVLink: remove unused header 2013-12-17 11:51:36 +11:00
Andrew Tridgell ec584de0c2 GCS_MAVLink: prevent valgrind warnings on unfilled data 2013-12-17 11:51:36 +11:00
Andrew Tridgell 93140bd956 DataFlash: auto-add FMT headers to binary logs if needed 
this copes with dataflash wrapping
 2013-12-17 11:51:36 +11:00
Andrew Tridgell e6bafa2d8f DataFlash: added structures to Init() of dataflash 
this will allow the get_log_data() call to add FMT headers if a log
has wrapped
 2013-12-17 11:51:36 +11:00
Andrew Tridgell 0a9e2d332a GCS_MAVLink: support erase and faster downloads 2013-12-17 11:51:35 +11:00
Andrew Tridgell 9d46f893e6 GCS_MAVLink: new headers for log download 2013-12-17 11:51:35 +11:00
Andrew Tridgell 5d53b780ba DataFlash: added functions for load download support 2013-12-17 11:51:35 +11:00
Andrew Tridgell d034a4108b GCS_MAVLink: started adding MAVLink log download 2013-12-17 11:51:35 +11:00
Andrew Tridgell e8f48af1b5 GCS_MAVLink: re-generate MAVLink headers 2013-12-17 11:51:35 +11:00
Andrew Tridgell 028eceefc4 GCS_MAVLink: import new mavlink XML 2013-12-17 11:51:35 +11:00
Andrew Tridgell eb2cb0abe0 Copter: moved GCS.h to common library 2013-12-17 11:51:34 +11:00
Andrew Tridgell e245bb07c2 RC_Channel: improved docs for RCn_FUNCTION=0 2013-12-16 11:17:26 +11:00
Robert Lefebvre 782ce54a5c TradHeli: Fix for yaw offset switching. Yaw Offset should switch on and off with the main motor, not waiting until the rotor has reached full speed. 2013-12-15 11:24:09 +09:00
Andrew Tridgell 6d39cf5e49 AP_InertialSensor: another attempt at fixing the spurious bad gyro health warnings 
cope with _get_sample() not being called for a while
 2013-12-14 15:47:49 +11:00
Andrew Tridgell 4ce2555a65 DataFlash: don't try to create a directory that exists 
this is an attempt to avoid microSD card corruption. The most common
corruption is two 'logs' directories, which may indicate an issue with
trying to create it a 2nd time.
 2013-12-14 15:47:49 +11:00
Randy Mackay 5767aa47d9 AC_WPNav: reduce leash length for stopping 
We now limit the target stopping point to 1x the xy leash length while
previously it was 2x.  This is justified because this limit is only used
when the copter is travelling at higher speeds but at higher speeds air
drag tends to make the copter stop more quickly naturally.
 2013-12-13 22:12:30 +09:00
Andrew Tridgell 99e2dc87c9 AP_InertialSensor: prevent INS healthy errors while initialising 
during gyro cal we shouldn't mark the gyro unhealthy
 2013-12-13 20:47:24 +11:00
Randy Mackay 343ea66cd1 Copter: add OctaQuad V frame 2013-12-12 21:17:49 +09:00
Randy Mackay 952afd296e Copter: initialise waypoint leash length 
Without this initialisation the first RTL could be too aggressive as it
tries to stop too suddenly
 2013-12-12 16:23:37 +09:00
Randy Mackay 279d515e59 Copter: Y6 new motor factor fix 2013-12-12 11:57:04 +09:00
Andrew Tridgell 23a112c5d5 AP_InertialSensor: reduce the number of format string warnings 2013-12-11 17:29:27 +11:00
Andrew Tridgell 7a12f44a41 AP_GPS: GPS week is unsigned 2013-12-11 17:29:27 +11:00
Andrew Tridgell c649e4b06f AP_Airspeed: avoid a warning 2013-12-11 17:29:27 +11:00
Andrew Tridgell 4a77a944fa AP_Arming: make it possible to change ARMING_REQUIRED without a reboot 2013-12-11 17:29:27 +11:00
Andrew Tridgell 89bbf5de3a AP_Arming: fixed public/private split 2013-12-11 17:29:26 +11:00
Andrew Tridgell 24658197ff AP_Arming: fixed build 2013-12-11 17:29:26 +11:00
Michael Day ebf1d9c136 AP_Arming: First commit of AP_Arming library. 
Intended to prevent unintentional motor startups.
 2013-12-11 17:29:18 +11:00
Michael Day e5addf86c1 AP_AHRS: Added getters for compass and GPS. 2013-12-11 17:29:14 +11:00
Andrew Tridgell 433ad19335 AP_InertialSensor: fixed loop limits 
stops pointless operations
 2013-12-11 14:57:13 +11:00
Andrew Tridgell e54fc6b8e3 AP_InertialSensor: make sure we wait for a sample before update() 2013-12-11 13:50:50 +11:00
Andrew Tridgell 57d5345774 AP_Math: added M_PI_F define 2013-12-11 10:22:47 +11:00
Andrew Tridgell f433796435 HAL_PX4: removed an unused variable 2013-12-11 10:22:34 +11:00
Andrew Tridgell 137880be70 AP_GPS: fixed a build warning 2013-12-11 10:22:22 +11:00
Andrew Tridgell c22df0fa60 AP_Airspeed: fixed a build warning 2013-12-11 10:22:07 +11:00