Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
2,848 Commits 71 Branches 511 Tags 786 MiB
7e1e1f84b3
Commit Graph

1119 Commits

Author SHA1 Message Date
Pat Hickey
f3a4fbc7af AP_IMU_INS: Eliminate init_accel from cold start. 
* Bug reported by Jason, 10 Dec 11
 2011-12-10 13:00:54 -08:00
Randy Mackay
fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Randy Mackay
df1e54ec79 RangeFinder - fixed example sketch so it works again 2011-12-10 16:32:34 +09:00
Randy Mackay
1f53c25577 RangeFinder - small bug fix to initialise prescale variable. 
Fixed up example sketch so it compiles and works again!
 2011-12-10 16:25:41 +09:00
James Goppert
6dc236b8f2 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-07 20:59:15 -05:00
Jason Kemmerling
21c3282c9c Fixed along track bug. 2011-12-07 20:55:06 -05:00
James Goppert
2feacea1f1 Added APM2 support. 2011-12-07 19:19:30 -05:00
James Goppert
a25353da79 Added AP_Board to APO 2011-12-07 16:31:56 -05:00
Jason Short
9d1f56c6da Split P and I term 2011-12-06 21:10:30 -08:00
Jason Short
9ed6463b39 Split the P and I terms in PI 2011-12-06 21:08:47 -08:00
Wenyao Xie
c4203631dc APO velocity/ altitude working. 2011-12-06 19:38:23 -05:00
Wenyao Xie
2432ae130d Fixed baro. 2011-12-06 18:56:16 -05:00
Wenyao Xie
7593aae452 Fixed Barometer Altitude 2011-12-06 13:28:39 -05:00
Wenyao Xie
410c18ac05 Fixed Barometer Reading 2011-12-06 13:26:07 -05:00
Wenyao Xie
50032ef703 Working on baromemter altitude 2011-12-05 20:57:19 -05:00
Jason Kemmerling
1d9efea9af Sailboat wind measurement working. 2011-12-05 15:53:29 -05:00
Andrew Tridgell
5c99035823 fixed the desktop build 
This fixes a vtable link bug
 2011-12-05 18:06:58 +11:00
James Goppert
7fae764c55 Along track fix for negative. 2011-12-04 01:36:53 -05:00
James Goppert
98a21a70c0 Improved along track calculation for APO. 2011-12-04 01:25:14 -05:00
James Goppert
f8fab5f7d6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 00:45:34 -05:00
Wenyao Xie
fd77fe5a9d Rover live test WORKS! "Murphy's Law is a turtle" 2011-12-03 22:42:08 -05:00
Jason Short
fa7f39ba20 Access to _clamp val. May want to make a private member and write accessor. 2011-12-03 17:57:12 -08:00
Jason Short
e37dffadf3 Added faster conversion from and to degrees*100 / rads 2011-12-03 17:56:41 -08:00
Andrew Tridgell
b4965d34a9 GPS: added FAKE_GPS_LOCK_TIME 
this allows you to fake up a GPS lock after a specific number of
seconds
 2011-12-04 09:06:57 +11:00
Wenyao Xie
dac3ba48e0 Fixed apo live mode bugs for 2.0 update. 2011-12-03 15:38:37 -05:00
Wenyao Xie
a802796c67 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-03 14:00:23 -05:00
James Goppert
8300c5e738 Changed BlockPIDDfb behaviour. 2011-12-03 12:13:11 -05:00
Andrew Tridgell
f96a48e42b autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell
66d65121cc autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell
43e3948816 desktop: show the full path to the desktop executable 2011-12-02 21:46:55 +11:00
Andrew Tridgell
7167fec784 desktop: added SO_REUSEADDR after accept() 2011-12-02 17:37:55 +11:00
Andrew Tridgell
706c6c38fa desktop: fixed calculation of angular velocities 
thanks to James Goppert for the frame conversion maths
 2011-12-02 17:37:54 +11:00
James Goppert
b9f370e33d Commented out debugging in guide. 2011-11-29 18:08:50 -05:00
James Goppert
38c19c50be Merge branch 'master' of github.com:arktools/ardupilotone 
Conflicts:
	libraries/APO/AP_Guide.cpp
 2011-11-29 18:06:38 -05:00
James Goppert
b6dcd70cf9 Working on yaw command. 2011-11-29 17:38:18 -05:00
Wenyao Xie
a0824b4cbe Fixed guidance bugs in APO. 2011-11-29 17:37:42 -05:00
James Goppert
92efa90d0f APO fixes. 2011-11-29 13:59:44 -05:00
James Goppert
e8d74ae3fe Fixed apo radio error. 2011-11-28 12:29:05 -05:00
James Goppert
83aceb5e8f Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-28 00:56:29 -05:00
James Goppert
715e7c84a4 Updated apo for merge with apm 2.0 changes. 
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
 2011-11-28 00:53:30 -05:00
Andrew Tridgell
bdb1599e96 desktop: improved the accuracy of the sensor emulation 2011-11-28 16:22:33 +11:00
Andrew Tridgell
e491168273 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
James Goppert
fcb4d9cb15 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-27 23:56:17 -05:00
James Goppert
999a5892f0 Fixed mode switching. 2011-11-27 23:55:28 -05:00
Andrew Tridgell
df957db8d9 desktop: setup TCP sockets as non-blocking 
the sendto() blocks unexpectedly on MacOS
 2011-11-28 13:53:57 +11:00
Andrew Tridgell
4036604fb7 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Doug Weibel
997ddde7f5 Added back the feature to prompt users when an invalid CLI command is entered. 
Thanks to Yury Smirnov for this patch!
 2011-11-26 21:10:53 -07:00
Andrew Tridgell
0da5125b7f upload: force hex file format for upload 
this should fix a problem with hex file format detection on MacOS
 2011-11-27 09:36:10 +11:00
Andrew Tridgell
0720bf7bf1 desktop: build fix for fjall 2011-11-26 18:24:29 +11:00
Andrew Tridgell
f2a0a49d55 desktop: fixed desktop build for strlcat_P() changes 2011-11-26 17:18:09 +11:00
Andrew Tridgell
7fa59a6849 AP_Common: added typesafe wrapper for memcpy_P() 2011-11-26 17:17:50 +11:00
Andrew Tridgell
92e0e929a4 AP_Common: replace strlcat_P() with a C implementation 
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
 2011-11-26 17:02:56 +11:00
Andrew Tridgell
c9b0b384f7 desktop: added framerate and initial height code 
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
24a7a18481 desktop: fixed swap_float() 
get indexes right
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
62f98b091f desktop: import updated DataFlash code 
this fixes a logging bug
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
de0c38339d desktop: fixed ADC value for airspeed 2011-11-25 20:00:19 -08:00
Andrew Tridgell
02f25ac36d libraries: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
2b7e0c8494 DataFlash_Purple: added new logging methods needed for ArduPlane 
builds, but not tested yet
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
cba93dbd43 DataFlash_APM1: re-add defines lost from merge 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0ee654d6bf desktop: fixed desktop build 
vtable error
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
de2898e5db desktop: normalise roll and pitch rates 2011-11-25 20:00:18 -08:00
Andrew Tridgell
91b03a48c1 desktop: added SKETCH as a define 
useful for automatically handling copter vs plane
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Pat Hickey
b8c44d2fc0 APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple 
* I have not tested any of these on real hardware.
 2011-11-25 20:00:18 -08:00
Pat Hickey
ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell
6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
18986d1d9f barometer: fixed for purple build 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0601f7e8ce barometer: support 'make purple' for barometer example code 2011-11-25 20:00:18 -08:00
Andrew Tridgell
41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
d2a0bd35f4 hil-sensors: added stub libraries for InertialSensor and PeriodicProcess 
* Also added dummy ivar to APM_BMP085_hil
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
94423bc335 AP_IMU: fixed shim driver prototype 2011-11-25 20:00:18 -08:00
Andrew Tridgell
e0488e134f desktop: fixed build with updated dataflash interface 2011-11-25 20:00:17 -08:00
Andrew Tridgell
8245835ea3 desktop: make AP_InertialSensor pure virtual 
fixed a link error in Desktop build

thanks to Pat for the C++ foo
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
bb7af8c15a dataflash: fixed datatypes to be compatible with desktop build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
a9c0cbac77 desktop: make DataFlash for Desktop build replace APM1 build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
6e9e857157 make configure default to 2560 
1280 is less common for devs these days
 2011-11-25 20:00:17 -08:00
Pat Hickey
82e7551c90 purple: rework DataFlash to separate purple and APM1 hardware support 
the purple support is still a work in progress, but the APM1 support
should be fine
 2011-11-25 20:00:16 -08:00
Pat Hickey
a159669cee build: added jtag-program make target 
useful for when you have hosed your USB
 2011-11-25 20:00:16 -08:00
Pat Hickey
e53bcba4d9 purple: rework AP_IMU library to use AP_IntertialSensor library 
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
 2011-11-25 20:00:16 -08:00
Pat Hickey
82b48784ef purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00
Pat Hickey
c9f7618ccc purple: rework the RC_Channel library for the APM_RC changes 2011-11-25 20:00:16 -08:00
Pat Hickey
f36ded2854 RangeFinder: rework to use AnalogSource library 
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
 2011-11-25 20:00:16 -08:00
Pat Hickey
0c0a1b1dcc purple: Added AnalogSource library 
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
 2011-11-25 20:00:16 -08:00
Pat Hickey
017f121566 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
Pat Hickey
d288b8870d purple: added PeriodicProcess library 
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
 2011-11-25 20:00:16 -08:00
Pat Hickey
1daadb5068 purple: added ISR_Registry() library 
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey
36346fd86b purple: rework APM_RC library for purple hardware 
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
 2011-11-25 20:00:16 -08:00
Pat Hickey
2d8ce38aeb barometer: add purple_hardware option to Init() 
this allows selection of right hardware at Init() time
 2011-11-25 20:00:15 -08:00
Jason Short
6f3b56b38f increased filter 2011-11-25 11:34:05 -08:00
James Goppert
4fa9b7ef85 Working on comments. 2011-11-24 15:54:08 -05:00
James Goppert
29b7eb12a7 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-24 14:28:25 -05:00
James Goppert
7ef8578029 Separated controller block class. 
Also improved documentation of AP_ControllerBlock.
 2011-11-24 13:28:14 -05:00
James Goppert
bfda005b5a Removed old variable from hal. 2011-11-24 02:08:27 -05:00
Wenyao Xie
40b3c303f7 Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error. 2011-11-22 16:42:51 -05:00
Andrew Tridgell
73e0ab0c63 desktop: more fixes for DataFlash filesystem changes 2011-11-20 19:06:24 +11:00
James Goppert
d61e59d779 Fixed most of quad guidance issues. 2011-11-19 23:34:14 -05:00
James Goppert
60b41311f0 Working on memory problem. 2011-11-19 22:20:06 -05:00
James Goppert
937a268513 Bug located in quad position loop, improved hil. 2011-11-19 21:39:14 -05:00
James Goppert
2337153966 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-18 14:36:47 -05:00
Andrew Tridgell
6d048646c3 desktop: added support for new DataFlash functions 2011-11-18 17:50:12 +11:00
Doug Weibel
f752c4b799 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
Jason Short
afef359aec Upped pressure filter a bit 2011-11-17 11:12:18 -08:00
Wenyao Xie
8017b0415e Working on new hil message for mavlink. 2011-11-15 17:15:54 -05:00
Andrew Tridgell
355519ad1e desktop: when in the CLI, use blocking writes 
this prevents us missing information from the logs
 2011-11-11 09:53:46 +11:00
Andrew Tridgell
9677600433 desktop: don't start alarm till setup() has finished 2011-11-10 21:57:47 +11:00
Jason Short
0e1727e492 MAV_CMD_DO_SET_ROI 2011-11-09 12:07:57 -08:00
Andrew Tridgell
9af935f2f2 desktop: don't alarm in CLI 
loop() is not called in menu system
 2011-11-10 00:14:04 +11:00
Andrew Tridgell
0820ff52a8 desktop: exit if loop() doesn't run for 5 seconds 
this should stop runaway processes
 2011-11-09 19:40:34 +11:00
Andrew Tridgell
a0fd4f710f desktop: force awk on macos 
this may help on jasons box
 2011-11-09 17:21:53 +11:00
Andrew Tridgell
53f62b7484 desktop: exit on EOF from stdin 2011-11-09 17:21:53 +11:00
Jason Short
0ca427bdd9 Removed debugging code from APM_PI 2011-11-08 14:41:21 -08:00
Andrew Tridgell
db99b664df desktop: fixed malloc cast 2011-11-09 08:47:49 +11:00
Andrew Tridgell
997091e0d6 desktop: be more careful with signed/unsigned in DataFlash 2011-11-09 08:44:19 +11:00
Andrew Tridgell
c2082fdd7b desktop: use less stack 
this avoids a problem on cygwin on windows
 2011-11-09 08:09:56 +11:00
Andrew Tridgell
c4bba9c4d8 desktop: another MacOS fix 2011-11-08 18:07:19 +11:00
Andrew Tridgell
5194fe489d desktop: make desktop build more portable 
this should help on MacOS

thanks to MikeS for his assistance
 2011-11-08 17:26:53 +11:00
Andrew Tridgell
0e447b12a2 dataflash: type fixup for ReadInt() 2011-11-08 17:26:53 +11:00
Andrew Tridgell
294c812b9b desktop: use the libc printf engine 
getting ftoa_engine right was too much work
 2011-11-08 11:59:30 +11:00
Andrew Tridgell
39ddc42cc7 desktop: fixed ultoa_invert() 
the string was backwards
 2011-11-08 11:13:48 +11:00
Andrew Tridgell
d33b69492b desktop: improved ftoa_engine.c 
this still doesn't perfectly match the assembler, but its closer
 2011-11-08 11:05:36 +11:00
Andrew Tridgell
0f3c21821a barometer: fixed a build warning 2011-11-08 11:05:36 +11:00
Jason Short
6bf0c32173 Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell
c1dad23679 autotest: fill flash with 0xff on erase 2011-11-07 23:42:18 +11:00
Andrew Tridgell
3b48389efe Desktop: added -w option to wipe eeprom and dataflash 2011-11-07 22:56:13 +11:00
Andrew Tridgell
da800a295f Desktop: added support for DataFlash in Desktop build 
this will allow Jason to look at the logs of the quad sim
 2011-11-07 22:56:13 +11:00
Andrew Tridgell
580139c6e4 digital.c for CLI 2011-11-07 22:56:13 +11:00
Andrew Tridgell
cfe058c5d5 DataFlash: use CPU independent data types 
this ensures that the DataFlash API is consistent for different CPU
architectures, which matters for the Desktop build, and will matter
for ARM and other CPUs later
 2011-11-07 22:56:13 +11:00
Andrew Tridgell
94f0e8a4a3 Desktop: enable the CLI in desktop build 
this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI
 2011-11-07 22:56:13 +11:00
Andrew Tridgell
b927e64440 desktop: fixed 2 crashes in the menu code 
handle an empty line gracefully, and use pgm_read_pointer() for
functions pointers in progmem
 2011-11-07 22:56:13 +11:00
Andrew Tridgell
d78bbb1a40 added pgm_read_pointer() 
this will be used by the menu code to make reading pointers from
progmem portable
 2011-11-07 22:56:13 +11:00
Andrew Tridgell
251cf7d87c force LANG=C for MacOS awk 2011-11-07 13:33:38 +11:00
Doug Weibel
e3ab1b0353 Add an accessor for the DCM drift correction integrator to monitor performance 
Also made the get_health accessor an inline function.
 2011-11-05 09:02:23 -06:00
Doug Weibel
947950398c Changed the DCM drift correction integrator limit to a vector magnitude of 30 degrees/second. 
The drift correction integrator limit previously was near/at the gyro saturation limit.  If we have that much drift there is a serious hardware problem.  30 degrees/second is arbitrary but should handle all temperature variation, etc.
 2011-11-05 09:01:20 -06:00
Doug Weibel
c7077fa9e8 In case of DCM renorm "blow-up" reset the drift correction integrators 
This should aid in recovery if we loose the AHRS solution and have to force to initial orientation.  Also removed some old commented out code moved to the IMU object
 2011-11-05 08:59:16 -06:00
James Goppert
8058154f61 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:58:10 -04:00
Andrew Tridgell
e7671178b3 desktop: fixed TCP buffering issue with HIL 
the TCP layer was buffering the servo updates, which caused very poor HIL flight
 2011-11-02 09:38:44 +11:00
Simon Salykov
04d4aa4310 Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed 
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar
 2011-11-01 19:09:57 +01:00
Jason Short
4f8ef25643 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short
9c4ad5f7ff Baro 
Minimized the baro filtering to use a new approach to rate control. Redid the state machine so the temp is sampled more often.
 2011-11-01 09:22:21 -07:00
Amilcar Lucas
ab730ff919 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00
Amilcar Lucas
75751900d6 Update the SIL README file 2011-10-31 21:56:25 +01:00
James Goppert
025fa7fb5d ArduPlane cmake build working. 2011-10-31 13:18:48 -04:00
James Goppert
3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne
d18bb1cc7e prevent div by 0 2011-10-30 21:28:39 +08:00
Andrew Tridgell
f8f2f9139d added desktop header 2011-10-30 17:31:32 +11:00
Andrew Tridgell
de0a7117a8 make desktop serial more responsive 2011-10-30 13:00:54 +11:00
Andrew Tridgell
0211fc2f09 move g_rc_function[] to RC_Channel library 
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
 2011-10-29 18:42:18 +11:00
Andrew Tridgell
cf4c2cc1cf merge NULL ptr mavlink array fix 
this fixes a segfault in ArduPlane when using a NULL pointer for
satellite_prn in GPS status
 2011-10-29 18:29:18 +11:00
Andrew Tridgell
699f3388fc updated to latest upstream mavlink headers 
this includes the new APM_Camera headers from ardupilotmega.xml
 2011-10-29 18:07:09 +11:00
James Goppert
14d27b1e4c Cleaned up AP_GPS formatting. 2011-10-28 14:52:50 -04:00