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1612 Commits

Author SHA1 Message Date
Amilcar Lucas
b072a59843 Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Amilcar Lucas
594cedd324 Documentation improvements, no functional changes (only comments) 2012-06-17 22:53:54 +02:00
Amilcar Lucas
f4e9587aca Move local temp variables to the stack it saves 1952 bytes 
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
 2012-06-17 22:25:51 +02:00
Wingspinner
d09ac5899b Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality 2012-06-15 08:40:14 +00:00
Wingspinner
b699c77323 Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality 2012-06-15 08:38:52 +00:00
Andrew Tridgell
a851c53de4 GPS: need pgmspace.h for _write_progstr_block() 2012-06-15 16:27:11 +10:00
Andrew Tridgell
70f18289c5 GPS: fixed auto-config of UBlox setup with no UBX messages 
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
 2012-06-15 15:53:27 +10:00
Andrew Tridgell
1fe297ab63 FastSerial: added tx_pending() method 
this allows the caller to wait for the tx buffer to drain
 2012-06-15 15:53:27 +10:00
Amilcar Lucas
1906e06b69 Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Amilcar Lucas
a32b7c200b Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Amilcar Lucas
5ffd489d87 Spellcheck 2012-06-13 20:44:35 +02:00
rmackay9
1e38b0d535 AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy 2012-06-12 20:27:50 +09:00
Andrew Tridgell
f9560ef093 GPS: use the new nav_setting in a couple of the sample sketches 2012-06-10 16:35:13 +10:00
Andrew Tridgell
33a2ad7e07 GPS: add stub settings for nav_setting in the other GPS drivers 
only Ublox supports nav_setting so far
 2012-06-10 16:34:53 +10:00
Andrew Tridgell
514be604a5 GPS: added auto-configuration of UBlox GPS 
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
 2012-06-10 16:34:13 +10:00
Andrew Tridgell
9c1ce9e1c5 FastSerial: avoid buffer re-allocation on re-open if possible 
we commonly re-open serial ports a lot in the AUTO GPS driver
 2012-06-09 07:43:22 +10:00
Andrew Tridgell
cf4e56457b SITL: map() is a C++ function, so needs to be in C++ part of the header 
this fixes the ACM build
 2012-06-08 17:09:23 +10:00
Andrew Tridgell
cbf477addd GPS: added debug code to the main GPS class 2012-06-08 16:42:03 +10:00
Andrew Tridgell
a8bfc5d8e9 GPS: re-open the serial port with a 256 byte serial receive buffer 
this ensures all GPS parsers have a 256 byte buffer available
 2012-06-08 16:42:03 +10:00
Andrew Tridgell
296e651b30 GPS: fixed the UBLOX parser to handle unknown messages 
the parser was broken in several ways:

 1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
    thought the message had a bad checksum, which meant it got out of protocol sync

 2) the read() method would return false if the last message from the GPS was of an unknown type. 
    So we relied on the last msg always being one that we understand and want

 3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get 
    a new fix when we get box a new position and velned message

 4) the total message size per update is more than 128 bytes, but the serial port was opened 
    with only a 128 byte buffer, so we got corruption regularly
 2012-06-08 16:42:02 +10:00
Andrew Tridgell
9c2ba2e814 GPS: tidy up the auto gps test 2012-06-08 16:42:02 +10:00
Robert Lefebvre
238a1ced2c TradHeli adding ramp up time to Ch8 Throttle Pass-through. 2012-06-07 22:55:47 -04:00
Robert Lefebvre
df17ff3bc1 AP_MotorsHeli Syntax correction. 2012-06-04 15:53:07 -04:00
Andrew Tridgell
25c17a5425 re-enable the AP_Mount build 2012-06-04 19:32:11 +10:00
Andrew Tridgell
0f0cbce22f GPS: fixed a race condition in the ublox driver 
the status update comes as a separate message from the lat/lon
 2012-06-04 14:47:58 +10:00
Andrew Tridgell
012fc35314 mavlink: fixed build with uart resend 2012-06-04 13:45:55 +10:00
Andrew Tridgell
b6467cb1fa MAVLink: updates to mavlink headers to fix mavlink 1.0 issues 2012-06-04 13:34:07 +10:00
Andrew Tridgell
d8919731ee Mavlink: fixed library build for MAVLink 1.0 2012-06-04 13:14:52 +10:00
Andrew Tridgell
ec1abbf987 SITL: fixed SITL build with mavlink10 2012-06-04 13:14:52 +10:00
Andrew Tridgell
60f8d09506 mavlink10: fixed MAV_VAR -> MAVLINK_TYPE 2012-06-04 13:14:51 +10:00
Andrew Tridgell
bccfb08c55 MAVLink: updated to latest upstream mavlink 
this includes no significant changes
 2012-06-04 13:14:51 +10:00
Jason Short
73e23aab2a GPS time set to unsigned int32 2012-06-03 11:13:50 -07:00
rmackay9
5c9dc00ae2 AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure 2012-06-03 17:31:17 +09:00
rmackay9
dcdeae412e ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9
173ae33627 ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures. 
All real work on this issue done by Michael Oborne.
 2012-06-02 17:46:00 +09:00
rmackay9
c82a403b88 AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work. 
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
 2012-06-02 16:13:23 +09:00
rmackay9
c3b1a79f6a RC_Channel library: change all "int" types to "int16_t". 
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
 2012-06-02 14:20:58 +09:00
rmackay9
d9f124afbb RC_Channel.pde: fixed compile errors so that it actually works! 2012-06-02 14:00:44 +09:00
rmackay9
2a216ce900 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Jason Short
c2d14a5cad RC_Channel fix for throttle output. 
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
 2012-05-31 14:59:03 -07:00
Jason Short
0adb5cb396 Issue 416: RC_Channel – Fix to make dead_zones still output 0 2012-05-31 12:05:47 -07:00
Jason Short
1c690b44de removed never used filter, and fixed a constrain that could make range calcs go bad 2012-05-31 11:45:07 -07:00
Jason Short
862b374d19 Channel rage fix - low output was always 0 vs _low 2012-05-31 11:31:48 -07:00
Robert Lefebvre
5f058fb9b2 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Robert Lefebvre
56335e81e4 Fix TradHeli Collective Yaw Effect bug. 2012-05-25 15:25:21 -04:00
Andrew Tridgell
ddfa06e857 SITL: fixed ChipErase() 
the loop never completed
 2012-05-23 21:15:45 +10:00
Andrew Tridgell
6e444f6b64 SITL: fixed build with new ChipErase() call 2012-05-23 17:33:33 +10:00
Andrew Tridgell
fc73fd6531 DataFlash: use ChipErase() instead of PageErase() on all pages 
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).

We need to test and ensure the behaviour is equivalent apart from the
speed
 2012-05-22 19:29:02 -07:00
Andrew Tridgell
f274df454a DCM: fixed a bug when using GPS for yaw correction 
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
 2012-05-21 12:15:06 +10:00
Andrew Tridgell
9d221b3625 AP_Common: fixed some duplicate product ID warnings 2012-05-17 23:37:32 +10:00
rmackay9
357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
Craig Elder
69bf5700cd IMU: expose IMU_PRODUCT_ID as EEPROM Variable 
this will allow us to log the Product ID in tlogs
 2012-05-09 18:30:36 -07:00
Craig Elder
4a1d8b0875 AP_InertialSensor: Return product ID from sensor initialization 
this exposes the product ID to the IMU Layer
 2012-05-09 18:30:36 -07:00
Craig Elder
4c46955612 PRODUCT: Define product IDs for all supported products 2012-05-09 18:30:36 -07:00
Craig Elder
ed99940bee MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D 
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
 2012-05-09 18:30:35 -07:00
Chris Anderson
34f5923ef3 fixed typo ("minimum" should have been "maximum") 2012-05-06 15:50:19 -07:00
Andrew Tridgell
2dd655d87d MPU6k: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell
88b2139d91 Baro: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell
d692a932ca ADC: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell
534aee17e9 TimerProcess: added suspend_timer()/resume_timer() 
this will be used to avoid races in driver initialisation
 2012-05-01 12:06:54 +10:00
rmackay9
6e1798b104 AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4) 
This reduces the compass's default authority over the yaw direction by half
 2012-04-30 17:29:45 +09:00
Andrew Tridgell
ca8bc34c98 MAVLink: re-generated with new pygen 
this moves the enums to make them less order sensitive
 2012-04-30 12:27:30 +10:00
Adam M Rivera
56d3fa1601 Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Andrew Tridgell
4f90e6e844 build: cope with Arduino 1.0 in command line build 
this should autodetect 1.0 versus older builds
 2012-04-27 15:38:42 +10:00
Adam M Rivera
239323eaa4 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
Adam M Rivera
3309dec205 AP_AHRS_DCM.cpp: Added comments that follow the new parse structure 2012-04-25 12:00:42 -05:00
Andrew Tridgell
89041c6996 sitl: support MAVLink 1.0 builds 2012-04-24 22:24:58 +10:00
Andrew Tridgell
d11957718f MAVLink: removed the cpp part of the library 
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
 2012-04-24 22:24:58 +10:00
Andrew Tridgell
eb5bc964d8 MAVLink: one more define for MAVLink 1.0 compat 2012-04-24 19:54:20 +10:00
Andrew Tridgell
0753782c49 MAVLink: re-add the XML message definitions 
these are a very useful reference for the current headers in the code
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
5c067d5a03 MAVLink: imported new mavlink header updates 
this fixes the camera control code which was broken by a previous
import
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
e8f8115a8f APM_RC: added OutputCh_current() method 
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
2a3af369b6 DCM: buffer omega_I changes over 10 seconds 
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.

The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
 2012-04-23 12:13:25 +10:00
Andrew Tridgell
f27d85cb8d DCM: drop the 'drop z' method 
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:

  http://diydrones.com/xn/detail/705844:Comment:834373

Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
 2012-04-23 12:13:24 +10:00
rmackay9
11a384a7ff AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
rmackay9
c45b124cbe DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus. 
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
 2012-04-21 20:14:45 +09:00
rmackay9
f18ee75b5c AP_OpticalFlow - updated test sketch to allow testing of APM2 version 2012-04-21 20:11:18 +09:00
rmackay9
3075a0c5bd AP_OpticalFlow - added support for optical flow for APM2 2012-04-21 20:10:35 +09:00
rmackay9
7bda35dc28 AP_OpticalFlow - moved most pin definitions into .cpp file 2012-04-21 20:09:15 +09:00
James Goppert
20cdc3a0ac MAVLink update to 1.0.7 2012-04-20 12:31:50 -04:00
Andrew Tridgell
7f8fe97889 GPS: u-center config file for 3DR Ublox 2012-04-20 22:05:30 +10:00
Andrew Tridgell
f170790fd8 GPS: fixed auto GPS test 2012-04-20 22:05:30 +10:00
Andrew Tridgell
711814085b GPS: detect new style 3DR UBlox 2012-04-20 22:05:30 +10:00
Andrew Tridgell
08bc7f1a41 GPS: fixed the UBlox test code 2012-04-20 20:57:08 +10:00
James Goppert
ba89f39781 Updated MAVLink to 1.0.6 release. 2012-04-19 15:46:29 -04:00
Adam M Rivera
b500d9430f AP_AHRS_HIL.h: Fixed HIL build by adding missing public property. 2012-04-16 10:26:14 -05:00
Andrew Tridgell
8e90aeea4e AHRS: added AHRS_YAW_P parameter 
this allows users to change the yaw gain in DCM
 2012-04-16 20:55:13 +10:00
analoguedevices
28833ed1d6 added missing #include 2012-04-09 14:32:54 +00:00
rmackay9
c96dfb2108 AP_AHRS - changed parameter order to remove compiler warning 2012-04-09 17:37:11 +09:00
rmackay9
ef43da9b92 AP_Compass - changed parameter initialisation order to remove compiler warning 2012-04-09 17:37:02 +09:00
Andrew Tridgell
985c967bb9 MAVLink: imported new mavlink headers 
this adds local and remote radio noise levels
 2012-04-08 12:22:17 +10:00
rmackay9
53827f2e92 AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames. 2012-04-07 12:16:12 +09:00
rmackay9
127a990509 AP_MotorsOcta - V Frame - test order fix spotted by David Wiens 2012-04-07 08:11:28 +09:00
rmackay9
f6e1509d05 AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method. 2012-04-05 00:28:04 +09:00
rmackay9
1e20d7de88 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
rmackay9
7a8973eaf0 AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino. 2012-04-05 00:06:33 +09:00
rmackay9
926211f0f0 AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function. 
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
 2012-04-04 23:59:51 +09:00
rmackay9
b71877366e ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00
Andrew Tridgell
1fd1a55fa6 MAVLink: import change to txbuf as a percentage 2012-04-02 11:18:53 +10:00
Andrew Tridgell
4ddeb82b26 MAVLink: imported new headers, with RADIO packet 2012-04-01 21:44:44 +10:00