5026b5c192
AP_DCM - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:26 +09:00
82f81295a7
RC_Channel - fixed small compiler warning
2012-02-29 22:44:29 +09:00
c444cdb3f4
AP_ADC - removed small compiler warning
2012-02-29 22:43:46 +09:00
eac8b66385
AP_Param: Make nested group recursion disableable by macro
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* Eliminates recursive calls inside AP_Param.
This is important to Pat @ Galois, but not the project in general.
Recursion depth on these functions is bounded structurally using
existing nested group constructors (can't create loops in finite space)
and checked at init time
2012-02-28 16:28:27 -08:00
2b6a10d18b
AP_RangeFinder - changed example sketch to work with new Filter library
2012-02-28 21:02:10 +09:00
033347f8ee
Filter - updated example sketch to use modified library
2012-02-28 21:01:35 +09:00
645fda2fb2
Filter - added AverageFilter, removed SumFilter
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added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
2012-02-28 21:01:11 +09:00
cb52b6c6d9
AP_Param: show numerical value in eeprom dump utility
2012-02-28 09:43:49 +11:00
a432232db9
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
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this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
2012-02-28 09:43:49 +11:00
39797c6f33
SITL: simulate noise on each ADC channel separately
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scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
efe5c0142c
SITL: raise the ADC noise level to 8 bits when flying
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this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
cd4fcb694e
IMU: removed unused accel_filtered code
2012-02-28 09:43:49 +11:00
87a6d97f7b
AP_Param: fixed setting of CAM_P_G in ArduCopter
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the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
2012-02-27 10:54:33 +11:00
fa443bd928
AP_Param: make the templating code a bit clearer
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add comments on the arguments, and name them in a clearer way
2012-02-27 10:54:33 +11:00
eb35e0e8ac
DCM: fixed the sense of the compass GPS test in initial yaw
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we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
2012-02-26 22:24:45 +11:00
297d2ae457
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
b9b88ba237
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
f53ff8de97
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
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increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
74f7d7a1c0
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
f264e29814
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
c14d7768f7
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
952e5d7bbc
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
d0a6359b37
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
900388a85a
DCM: disable compass null offsets when setting initial yaw
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we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
f59297d7a7
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
eb71b26d3f
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
664622523d
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
f10097a6d5
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
5e2fbdb6cf
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
2e9105c68a
AP_Param: added special handling for Vector3f
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We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
d6bfceef7c
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
54aa8297af
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
185ab5aea9
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
55e33c3359
DCM: tidy up use of error_course and in_motion
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in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
ab8cc3d478
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
ddeda1c367
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
06f37aad75
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
c354879f1f
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
17d16bc8c6
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
bad653f230
DCM: tidy up the nan checking in DCM
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use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
c8e6d03c67
DCM: added matrix recovery on reset
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when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
502fbf6e17
AP_Math: added a safe_asin() function
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
17170da96e
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
b094f6ce52
added set integrator
2012-02-23 09:38:08 -08:00
ef90f336d3
DCM: changed the sense of floating point range comparison
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This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
57ffd00b69
DCM: range check the matrix before calculating pitch
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The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
2bb58db3f7
DCM: reset more values on renorm blowup
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when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
156d98cb9f
DCM: remove the taylor expansion optimisation for renormalisation
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The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
53b87229ff
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
1e37a0ec17
added a limit to range output
2012-02-18 21:08:17 -08:00
33aa6fe13b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
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also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
9793d04ed1
SITL: increase the amount of noise in the simulated ADC
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this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
d52cb7e574
DCM: only add in centripetal accel if we have GPS lock
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if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
baac883eb1
IMU: move _sensor_cal to general IMU class
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this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
882cd4ea83
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
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this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
4b15b63d21
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
7f3858cb7f
AP_Param: added a set_and_save_ifchanged() method
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this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
80a6773b8b
AP_Param: added an initialised() method
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this will be used by the compass code
2012-02-18 10:51:57 +11:00
62b104cbfa
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
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Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
24ce02c6a4
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
79d622939a
ADC: on channel overflow we should not zero last_ch6_micros
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this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
026e4a6567
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
2f81776b0d
eedump ap param in perl
2012-02-15 21:31:58 +08:00
a48a118128
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
62326c0f72
Compass: enable compass offsets for HIL compass
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this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
048aed5427
fixed dump size
2012-02-15 10:44:09 +11:00
089db43183
show group_element too
2012-02-15 10:42:21 +11:00
ea6a46fc9b
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
4398171374
SITL: catch floating point errors
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if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
245d265c6a
DCM: added a SITL_debug() for DCM normalisation errors
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I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
601a991a46
added SITL_debug() macro
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this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
085cc00c33
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
43c56be70c
SITL: add some magnetometer offsets
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this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
f95d7cadc5
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
6a42598ade
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
be5ffdedbb
AP_Param: allow dumping of AP_Vector3f
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this means the 'show' command in the CLI shows the compass offsets now
2012-02-14 08:34:50 +11:00
d90dc4d893
GPS: change back to 4Hz for MTK GPS
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this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
2012-02-13 22:50:20 +11:00
804332c340
AP_Baro: fixed some signed/unsigned warnings
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and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
74bbc72b11
move AP_Var code and example into libraries/AP_Var
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you can use AP_Var by defining USE_AP_VAR
2012-02-13 16:22:53 +11:00
23ed5c2cee
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
37cabb4cfa
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
150a67c262
fixed PID initialisation
2012-02-13 16:22:53 +11:00
47807ec68d
RC_Channel_aux: catch invalid function settings
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a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
1f05e7dafb
fixed types in GPS detect code
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using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
d55a0c3a71
added AP_Param::show_all()
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this moves the logic into common code
2012-02-13 16:22:52 +11:00
9175ebe33a
change back to 256 max variables in _var_info[]
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this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
2012-02-13 16:22:52 +11:00
9c5a5473ab
added indexes to group info structures
2012-02-13 16:22:52 +11:00
f2a6a31645
AP_Param: added group idx, and change packing of header elements
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adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM
The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
2012-02-13 16:22:52 +11:00
678a1df3be
fixed support for AP_PARAM_SPARE
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spare group elements are needed if we remove a group parameter
2012-02-13 16:22:52 +11:00
accaf9bb30
fixed build on arduino 1.0
2012-02-13 16:22:52 +11:00
db96303fa0
convert APM_PI library to AP_Param
2012-02-13 16:22:52 +11:00
452749149f
convert AC_PID library to AP_Param
2012-02-13 16:22:52 +11:00
f9eed9bd9e
fixed missing return in D value
2012-02-13 16:22:52 +11:00
f760b3c717
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
84aef17bb0
fixed initialisation of RC_Channel class
2012-02-13 16:22:51 +11:00
5418302b38
AP_Param: fixed desktop build
2012-02-13 16:22:51 +11:00
d658bc6f9d
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
95e107ab75
AP_Param: added generic cast_to_float
2012-02-13 16:22:51 +11:00
9509c69f42
AP_Param: disable debug ready for production
2012-02-13 16:22:51 +11:00
rmackay9
Pat Hickey
Andrew Tridgell
Jason Short
justinbeech
Michael Oborne