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37 Commits

Author SHA1 Message Date
Andrew Tridgell c56e5735c2 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 af7e34fcc1 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 9e9b229a1d fixed formatting of ADC driver 
it was a nasty mix of DOS and UNIX
 2011-12-16 20:09:29 +11:00
Andrew Tridgell 47da2ec992 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 ff727e87ca 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
Pat Hickey 6d876bc54d 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
Jason Short 945a7c13a7 Heavy Accel Filter + mild Gyro Filter. To use, filter_result must be set to true on ADC. Off by default. 2011-10-01 15:44:53 -07:00
Jason Short cf59e8ad82 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short 9a4bd31a8b Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert ac3e73f5c0 Optional recursion added. 2011-09-30 17:17:51 -04:00
Jason Short 4c30b544dc Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short df1a39f650 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
James Goppert 112d5e9531 Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert 3a00ceb593 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Andrew Tridgell cc4bae4b42 fixed inconsistent linefeeds in ADC code 
the linefeeds had bacome inconsistent in this library, making some
editors fail to load the code
 2011-09-19 11:04:02 +10:00
Andrew Tridgell a828d00125 ADC: randomise the sampling rate 
this is based on suggestions from Kari and Mike, and should reduce the
aliasing effects we get from the simple averaging
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 1b5c7e8a90 ADC: show timing information in ADC test 2011-09-17 14:58:02 +10:00
Andrew Tridgell 4a7c9c406f show noise levels in ADC test 2011-09-17 14:58:02 +10:00
Andrew Tridgell 2ae78e197e ADC: the bottom 3 bits of ADC output are always zero 
its a 12 bit ADC .... silly of me to think the bottom 3 bits are
valid!
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 812cd3562f updated ADC test for new API 2011-09-17 14:58:02 +10:00
Andrew Tridgell 1c5e8f0381 change ADC sample rate to 1kHz 
this costs us about 9% of our CPU, but should make aliasing much less
of a problem.
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 8a31af801f ADC: re-work for ADC code for full resolution and accurate timing 
this changes the ADC code to return the full resolution of the
sensors. It also adds a new Ch6() interface that returns 6 channels at
once, so the IMU can read 3 accelerometers and 3 gyros at once, and
get the exact time that the values were accumulated over
 2011-09-17 14:58:02 +10:00
unknown 9f028bb5a0 Adding CMake support 2011-09-14 15:44:55 +02:00
Jason Short 4a2f58b013 Cleaned up guided mode 
Reduced ADC filter to 3 from 6 to increase speed of filter.
 2011-09-12 12:57:36 -07:00
jasonshort 5c3837757a Added ability to grab an unfiltered value from the ADC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2963 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:33:45 +00:00
deweibel@gmail.com 45e57a0639 Commit test - just adding an unneeded comment 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2740 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-03 19:39:55 +00:00
jasonshort 3c27be40fc silly formatting 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2566 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:43:43 +00:00
jasonshort 65345160d1 Implemented moving average filter to deal with noise issues on quads, default is a 6 member filter. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2551 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-12 23:50:15 +00:00
james.goppert e6c4595d3c Massive warning fixes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2089 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-04 19:12:27 +00:00
james.goppert@gmail.com 90676903ba Eclipse makefile support for examples. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1861 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 19:39:27 +00:00
mich146@hotmail.com f4403be163 ADC Library - reimplement overflow 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1832 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-31 14:19:59 +00:00
mich146@hotmail.com ea4700ad6e Fix adc issue causing serial problems/other issues. (DOUG please check) 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1829 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-29 11:16:21 +00:00
deweibel@gmail.com 2dc7621e4e Change ADC overflow correction 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1640 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 23:24:37 +00:00
james.goppert 9ddeb716c3 Corrected adc conversion. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1109 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-12 07:34:12 +00:00
james.goppert 7a0fcd6f59 Full HIL working! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@963 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-28 01:58:53 +00:00
james.goppert 40f1d184a1 Cleaned up AP_ADC_HIL 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@961 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-28 00:28:01 +00:00
james.goppert cce122d387 Moved APM_ADC to AP_ADC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@954 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 05:36:19 +00:00