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6e0d023c95
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472 Commits

Author SHA1 Message Date
james.goppert
6e0d023c95 Add saturation and sink blocks. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1660 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-15 03:10:01 +00:00
james.goppert
dd51139b36 AP_Controller working. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1659 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-15 00:57:23 +00:00
james.goppert
57892082b2 Debugging controller. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1658 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 21:02:35 +00:00
DrZiplok@gmail.com
92bfbb1ca4 Use a more explicit loop termination condition. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1657 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 17:49:02 +00:00
DrZiplok@gmail.com
a8d6b839a5 Don't return a name for a variable if it has no name, even if it's in a group that does have a name. 
When displaying variables, don't display variables with no name, or that are groups.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1656 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 17:44:33 +00:00
DrZiplok@gmail.com
b750e2b006 Variable names must be PROGMEM strings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1655 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 17:43:33 +00:00
DrZiplok
099ca305c9 Add a constant that can be used to identify groups. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1653 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 07:11:42 +00:00
DrZiplok@gmail.com
223af24398 Use AP_Var to store PID scaling values. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:45:31 +00:00
DrZiplok@gmail.com
8e7301b4d3 Use AP_Var to store channel calibration. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1651 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:43:44 +00:00
DrZiplok@gmail.com
ddfab124cd Use AP_Var to store accel/gyro calibration. 
Refactor AP_IMU_Oilpan and remove all the old EEPROM code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1650 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:42:37 +00:00
DrZiplok@gmail.com
b9152dc544 Line ending property changes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1649 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:27:07 +00:00
DrZiplok@gmail.com
dee05d1838 ::transposed does not change the matrix; make it const. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:26:05 +00:00
DrZiplok@gmail.com
1f04ecbfdb Major update including AP_Var support. 
Most of the compass functionality is now abstracted in a base class, with the various sub-classes implementing just their unique functionality.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1647 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:25:20 +00:00
DrZiplok@gmail.com
90bae93a50 Eclipse project config changes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1646 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 03:16:03 +00:00
DrZiplok@gmail.com
3dbffbfcb4 Add a template AP_VarS that handles arbitrary structure/class types. 
Note that the object must still be <= 32 bytes in size to be saved/loaded.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1644 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 01:47:24 +00:00
jasonshort
1f56ef5f21 updated formatting, baud 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1643 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 00:43:35 +00:00
jasonshort
6512531bf9 updated formatting, baud 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1642 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 00:43:11 +00:00
deweibel@gmail.com
17804fbc29 Speed IMU initialization 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1641 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 23:25:04 +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
1e63c2f368 AP_RcChannel demos updated for AP_Var. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1632 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 01:24:32 +00:00
mich146@hotmail.com
89eaff17bc Mavlink update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1630 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-11 11:04:52 +00:00
mich146@hotmail.com
7d80ff5dc8 Fix Mavlink include 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1628 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-11 00:04:39 +00:00
DrZiplok
3e65cdf689 Fix for log() being a bad idea. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1617 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-09 23:15:11 +00:00
mich146@hotmail.com
d81237d43f MavLink Update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1616 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 23:16:58 +00:00
deweibel
fac0e0a1d9 Add code for auto magnetometer offset nulling. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1615 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 20:17:16 +00:00
DrZiplok
107e06d849 Implement a cast_to_float method for convenience; at a cost of a couple of bytes in the vtable this will save many callers having to play type introspection games. 
It might be possible to implement a set of virtual cast operator overrides, but only float lets us return NAN to indicate that a cast can't be made, so for now we'll stick with just this one.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1614 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 10:17:45 +00:00
DrZiplok
56eea84a89 Correct knots -> m/sec conversion. Thanks to Paul M. for spotting this. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1613 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 07:06:47 +00:00
james.goppert
ef95309e9a APO Compiling with new AP_Var! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1612 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 01:58:51 +00:00
james.goppert
d4007c3fca Working on updating AP_Controller/RC_Channel for new AP_Var 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1611 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-07 23:33:12 +00:00
deweibel
d5e48364a1 Change MediaTek timestamps to millisecond Time of Day 
Add epoch method to return timestamp epoch.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1589 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-01 23:50:36 +00:00
DrZiplok@gmail.com
ff5ce694a2 Add a template AP_VarA that defines a variable that is an array of some basic type. This is like AP_VarT for arrays, with minor changes in behaviour consistent with the difference between regular variables and arrays. 
Note that AP_VarA arrays are still limited by the constraints on the total size of a variable (AP_Var::k_size_max).

Add a basic unit test for arrays; more are needed.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1579 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 20:58:34 +00:00
DrZiplok@gmail.com
072103ef07 Comments, minor consting, use a better target for sizeof in AP_VarT 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1578 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 20:14:42 +00:00
DrZiplok@gmail.com
f6dec2503e Minor whitespace fixes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1577 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 20:13:07 +00:00
deweibel@gmail.com
343c6565db Add FinishWrite method to the DataFlash class to support using an index system. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1575 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 01:53:04 +00:00
deweibel@gmail.com
fba3e62135 Add reversing for PWM outputs in angle_to_pwm case. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1566 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-27 18:16:22 +00:00
james.goppert
b8e53931b9 Started updating AP_Controller and AP_RcChannel for AP_Var 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1559 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-26 07:05:22 +00:00
mich146@hotmail.com
0ed855541f Mavlink update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1555 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-25 00:31:38 +00:00
DrZiplok
0913a26513 Try to pre-empt subsequent inclusions of wiring.h by grabbing it here and giving ourselves a chance to undo some of the less well-advised macros it defines. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1554 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-24 02:44:31 +00:00
jasonshort
95d6e2cac0 fixed a scaling bug in imax 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1553 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-24 02:07:25 +00:00
DrZiplok@gmail.com
d38874cd05 Move the unit test framework out of the unit tests. Add unit tests for the k_typeid_* constants. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1543 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:59:26 +00:00
DrZiplok@gmail.com
27c36583d0 Add a function to AP_Var for finding a variable by name. It is not efficient, but convenient for e.g. interactive use. 
Add pseudo-constant copies of the AP_Meta_calss::Type_id for the standard AP_VarT subclasses.  This makes checking the type of a possible AP_Var much cheaper than calling ::meta_cast, as there is no object con/destruction involved.

Add some helper functions for manipulating AP_Vars from Menu interfaces.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1541 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:58:07 +00:00
DrZiplok@gmail.com
7f5b882e1a Don't include AP_Vector (in preparation for retirement) and AP_Loop (because it's not being used by APM*). Interested clients can still include AP_Loop if they need it. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1540 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:48:07 +00:00
DrZiplok@gmail.com
ce651511d7 Rename AP_Meta_class::AP_Type_id to AP_Meta_class::Type_id in keeping with the coding standard. 
Add a non-static version of AP_Meta_class::meta_cast that can be used against any subclass object directly.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1539 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:46:58 +00:00
DrZiplok
fd83ba7753 Fix a serious typo, add more documentation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1538 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 20:33:20 +00:00
DrZiplok
e2f15b3b97 Move the Test unit test framework out into its own header, so that it can be used by other libraries. 
Add some documentation explaining how it is used.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1537 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 20:26:11 +00:00
DrZiplok@gmail.com
b8598c7ef6 Simplify AP_Var_group::_serialize_unserialize slightly by removing some variables. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1535 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 10:04:24 +00:00
DrZiplok@gmail.com
8de4cc56da Improve performance when saving a number of variables that don't have space allocated in the EEPROM. This avoids scanning the entire EEPROM every time a variable that has not yet had space allocated is written. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1534 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 09:56:58 +00:00
DrZiplok@gmail.com
82fdeb11bb Fix ::save_all/::load_all so that they check the correct criteria for opt-out. Now load/save_all work. 
Fix prototype for AP_Var_group::serialize so that it's called correctly when saving a group.  Now group load/save works.

Add load/save_all and group load/save unit tests.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1533 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 09:27:58 +00:00
DrZiplok@gmail.com
3adec05593 Fixes for EEPROM space allocation and mapping. 
- We can't count on the first EEPROM scan knowing about everything; new variables may be constructed later so be willing to go back and re-scan the EEPROM if we encounter a new variable that hasn't been loaded yet.
- Sort out where _key actually points (the variable's data) in the EEPROM and get everyone to use the same interpretation.
- Fix return values from ::save and ::load.
- Make it possible to re-save after ::erase_all by de-locating all variables before the EEPROM is blown away.
- Fix args to eeprom_read_block/eeprom_write_block so that we don't spam random memory.

Add unit tests for basic save/load operations.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1532 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 08:11:53 +00:00
DrZiplok@gmail.com
1a2ce433e1 I never liked the plan that variable groups could only be statically scoped; it was much too fragile. These changes address that issue by splitting the global variable list into two lists, one for standalone variables (including groups), and one for variables that are members of a group. 
Now a variable belonging to a group can safely be constructed before the group it belongs to, and the group can be destroyed before its member variables.  This greatly simplifies the AP_Var constructor(s).

Remove the lookup-by-index and lookup-by-key interfaces to AP_Var and replace them with first/next interfaces for all variables, and for variables belonging to a specific group.  Document their usage.  Add an accessor for the key associated with a variable so that search-by-key can be performed by a consumer.  Throw away the lookup cache implementation, as it's not required anymore.

Re-layout the EEPROM variable header and tweak the EEPROM space allocator so that it's more resistant to interruptions during variable save.

Fix the global constants so that they work.

Add an interface for erasing all variables in EEPROM (only writes one byte).

Fix unit tests so that they work with the changed interfaces.  Also tweak the unit test framework so that it doesn't inline all its code.  This is a WIP - many more tests need to be written still.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1531 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 06:52:59 +00:00