Andrew Tridgell
887ff43e1f
desktop: added attachInterrupt() support
2011-12-26 19:17:11 +11:00
Andrew Tridgell
22c8db774f
desktop: fixed for new DataFlash inheritance
2011-12-26 19:17:11 +11:00
Andrew Tridgell
dd26ef3089
dataflash: reworked classes to move most code to parent class
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this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.
This should prevent discrepancies creeping in between APM1 and APM2
support again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
8bf05982ae
dataflash: fixed APM2 flash logging
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we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
2011-12-26 19:17:11 +11:00
Andrew Tridgell
df0d151891
MPU6000: change to 98Hz low pass filter
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based on recommendation from Pat
2011-12-26 19:17:11 +11:00
Andrew Tridgell
3ef707a2c3
MPU6000: use data ready interrupt to prevent stale data
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We listen for a data ready interrupt and only read new data in read()
if there is new data
2011-12-26 19:17:11 +11:00
Andrew Tridgell
71e08f8484
fixed the MPU6000 test sketch
2011-12-26 19:17:11 +11:00
Randy Mackay
af121c492d
Merge remote-tracking branch 'origin/master'
2011-12-25 12:34:16 +09:00
Randy Mackay
c3ea1ca5dc
AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch
2011-12-25 12:33:06 +09:00
Andrew Tridgell
7c0f39aec5
added MPU6000 test sketch
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this doesn't work yet - Pat, any idea why?
2011-12-25 12:03:39 +11:00
Andrew Tridgell
09c97bb367
removed dead test program
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this one doesn't build, and has been replaced by IMU_MPU6000_test
2011-12-24 18:11:04 +11:00
Andrew Tridgell
f587a01165
ADC: update for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
Andrew Tridgell
5b75458502
AP_Baro: update MS5611 driver for new ap_proceduce prototype
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this saves calling millis() quite so often
2011-12-21 23:31:38 +11:00
Andrew Tridgell
cef1c4c558
MPU6k: update driver for new ap_proceduce prototype
2011-12-21 23:31:38 +11:00
Andrew Tridgell
8cc2b7669b
PeriodicProcess: added set_failsafe() call
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this adds an optional failsafe function that will be called in the
timer loop
2011-12-21 23:31:38 +11:00
Andrew Tridgell
845683a56c
added comment in polygon code
2011-12-21 23:31:38 +11:00
Andrew Tridgell
eac625ba8f
rollover is not a bug
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subtracting unsigned numbers does the right thing
2011-12-21 23:31:38 +11:00
Andrew Tridgell
eec5f000b5
added code format markers to AP_InertialSensor library
2011-12-21 23:31:38 +11:00
Andrew Tridgell
614aeb274c
fixed build of IMU_MPU6000_test
2011-12-21 23:31:38 +11:00
Andrew Tridgell
b52cd45670
fixed comment
2011-12-19 20:52:59 +11:00
Andrew Tridgell
7c9c26e2b7
AP_Math: re-work polygon algorithm for perfect precision
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using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
2011-12-19 18:52:56 +11:00
Randy Mackay
a51e868766
AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1)
2011-12-18 14:15:50 +09:00
Andrew Tridgell
7442ba31d8
polygon: improve the speed and precision of the polygon algorithm
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now takes 156 usec per test, with a 11 point boundary
2011-12-18 12:59:50 +11:00
Michael Oborne
3848f2094e
make file relax
2011-12-17 20:42:51 +08:00
Michael Oborne
fd35ba5976
add relax
2011-12-17 16:53:14 +08:00
Andrew Tridgell
0c8c707980
AP_Baro: fixed temperature on MS5611
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this caused a 2x scaling of altitude
2011-12-17 14:58:58 +11:00
Andrew Tridgell
3654c714e9
Revert "ADC: only read channels that are actually being used"
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This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
Andrew Tridgell
c18ad75504
Revert "ADC: added an enable_channel() API"
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This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.
ADC will be disabled on APM2
2011-12-17 07:29:09 +11:00
Andrew Tridgell
f6a7ad9fa6
Revert "ADC: fixed HIL build"
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This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.
ADC will now be disabled on APM2
2011-12-17 07:29:09 +11:00
Andrew Tridgell
7c939e83e0
AnalogSource: return a float from read() method
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this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
2011-12-17 07:29:09 +11:00
Andrew Tridgell
4bbd5392ef
removed AperiodicProcess code
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this code was never being used, and was more complex than it was
worth.
2011-12-17 07:29:09 +11:00
Andrew Tridgell
04ec569313
ADC: fixed HIL build
2011-12-16 20:58:04 +11:00
Andrew Tridgell
658d1d2ba3
added missing mavlink headers
2011-12-16 20:53:26 +11:00
Andrew Tridgell
1ab2b416a3
geofence: store fence points as int32_t
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this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
Andrew Tridgell
2e2b320560
mavlink: include latest geofence message changes
2011-12-16 20:11:51 +11:00
Andrew Tridgell
3ddfc6664a
AP_Math: better polygon algorithm
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this one seems to do better with single precision floating point
2011-12-16 20:11:51 +11:00
Andrew Tridgell
686f96414c
MAVLink: update to latest mavlink XML
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this includes the geo-fencing messages
2011-12-16 20:11:51 +11:00
Andrew Tridgell
c56e5735c2
ADC: added an enable_channel() API
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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
be1ba5354e
timer: enable interrupts during timer processing
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this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.
We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
2011-12-16 20:09:38 +11:00
Andrew Tridgell
af7e34fcc1
ADC: only read channels that are actually being used
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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
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it was a nasty mix of DOS and UNIX
2011-12-16 20:09:29 +11:00
Andrew Tridgell
5b4717ea55
timers: change to 1kHz timer by default
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we were using a 227Hz timer, which is far too slow
2011-12-16 20:09:25 +11:00
Andrew Tridgell
6ad5df2958
desktop: fixed type of dword eeprom read
2011-12-16 20:09:18 +11:00
Andrew Tridgell
338fb1642a
AP_Math: make out vector and matrix elements used types with fixed sizes
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this prevents differences between CPU types
2011-12-16 20:09:11 +11:00
Pat Hickey
291aaffdd9
APM_RC_APM2: Remove OutputCh from ::Init()
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* These calls were off by one anyway, by using the channel numbers
as ints ant not CH_n macros, and that caused an ESC cal problem.
2011-12-15 13:47:43 -08:00
Andrew Tridgell
f4bd3cb5a2
AP_Math: added Polygon_complete() function
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used to veryify user supplied boundaries
2011-12-15 14:42:34 +11:00
Andrew Tridgell
cd9fb3c47a
AP_Math: added a Polygon_outside() function
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this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
2011-12-15 14:34:58 +11:00
Andrew Tridgell
621f21e4f5
DCM: added matrix_reset() method
2011-12-13 21:32:50 +11:00
Andrew Tridgell
919ae17473
IMU: abstract the setting of the LEDs in IMU initialisation
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we need this to cope with different LED pin assignments on APM1/APM2
2011-12-13 18:19:12 +11:00
Andrew Tridgell
9548366a91
autotest: make magnetic field point down
2011-12-12 22:14:01 +11:00