Commit Graph

4467 Commits

Author SHA1 Message Date
Andrew Tridgell
a04c056598 AP_InertialSensor: remove unused get_last_sample_time_micros() 2013-10-10 09:54:19 +11:00
Craig3DRobotics
e5501bf911 AP_BattMonitor: Updated parameter descriptions 2013-10-09 15:33:03 -07:00
Andrew Tridgell
cd65e2109d AP_BattMonitor: fixed type in docs 2013-10-10 07:22:05 +11:00
Andrew Tridgell
0d682e74c1 HAL_Linux: run threads a bit more slowly
this was just wasting cycles
2013-10-10 07:21:38 +11:00
Andrew Tridgell
8f79a03c25 HAL_Linux: use larger UART buffers
might as well use the memory
2013-10-10 07:21:38 +11:00
Randy Mackay
13cf7c96cd GPSGlitch: parameters for accel and always-ok-radius 2013-10-09 13:02:14 +09:00
Andrew Tridgell
5d685385eb AP_InertialSensor: use gyro sample count on L3G4200D
this gives more even timing in ArduCopter
2013-10-08 19:20:34 +11:00
Andrew Tridgell
6444b0bddd AP_InertialSensor_L3G4200D: a sample is only available if gyro had a sample 2013-10-08 19:20:34 +11:00
Andrew Tridgell
e5e4cdee18 AP_InertialSensor: added wait_for_sample() API call
this waits for a new INS sample to arrive, using whatever method is
most efficient on each INS type
2013-10-08 17:31:15 +11:00
Andrew Tridgell
67db1cedaa HAL_PX4: fixed delay_microseconds() on PX4
we could underflow and delay a very long time!
2013-10-08 17:31:15 +11:00
Andrew Tridgell
f59d0099a4 AP_Notify: fixed RGBLED on PX4 with latest PX4Firmware
now needs a RGBLED_MODE_ON
2013-10-08 14:55:10 +11:00
Randy Mackay
9aea577eb1 BattMonitor: correct default pins for PX4 2013-10-08 10:28:48 +09:00
Andrew Tridgell
c17a5e5ed1 AP_InertialSensor: added a small delay in accel calibration
allows threads to run on Linux
2013-10-08 11:50:54 +11:00
Andrew Tridgell
1ccd6bb7ef AP_Compass: don't wait more than 1ms for compass sample
this prevents 5ms delays in compass accumulate
2013-10-08 11:50:54 +11:00
Andrew Tridgell
28b4ae1c3a HAL_Linux: improved latency of timed semaphores 2013-10-08 11:50:54 +11:00
Andrew Tridgell
6fa55d101f AP_Baro: fixed I2C semaphore handling for BMP085 driver 2013-10-08 11:50:54 +11:00
Andrew Tridgell
f286369990 AP_Compass: fixed orientation on Linux 2013-10-08 11:50:54 +11:00
Andrew Tridgell
83c942a512 AP_Compass: prevent NULL deref on enable mag while running 2013-10-08 11:50:53 +11:00
Andrew Tridgell
77e8061170 AP_Common: added product ID for L3G4200D 2013-10-08 11:50:53 +11:00
Andrew Tridgell
a216e1d239 HAL_Linux: don't prevent write while timer is busy
the timer can block on I2C writes, which causes the main loop to run
2013-10-08 11:50:53 +11:00
Andrew Tridgell
91511e6503 HAL_Linux: better realtime setup
lock all memory and pre-fault the stack in all threads
2013-10-08 11:50:53 +11:00
Andrew Tridgell
2422b94292 DataFlash: prevent valgrind errors from Empty driver 2013-10-08 11:50:53 +11:00
Andrew Tridgell
12af23bb7c AP_InertialSensor: added L3G4200D example 2013-10-08 11:50:53 +11:00
Andrew Tridgell
1aabd7155e AP_InertialSensor: added L3G4200D driver
this is for a cheap ebay 10DOF sensor
2013-10-08 11:50:53 +11:00
Andrew Tridgell
64c8cb4739 APM_Control: improved auto docs for AP_SteerController 2013-10-07 09:31:02 +11:00
Mike McCauley
84edbb335a AP_HAL_FLYMAPLE: UARTDriver now uses the new libmaple tx ring buffers
This requires the libmaple fork at
https://github.com/mikemccauley/libmaple.git
which includes low level support for buffered usart transmits
2013-10-07 08:41:53 +11:00
Mike McCauley
11317dcec4 AP_HAL_FLYMAPLE: FlymaplePortingNotes.txt improvements to install/build
documentation.
2013-10-07 08:41:53 +11:00
Mike McCauley
7f9d4a155f AP_HAL_FLYMAPLE: UARTDriver begin now honours txS == 0 which means no change 2013-10-07 08:41:52 +11:00
Mike McCauley
60921f7dfa AP_HAL_FLYMAPLE: Improved libmaple version detection 2013-10-07 08:41:52 +11:00
Andrew Tridgell
07b8f45770 HAL_Linux: use CLOCK_MONOTONIC_RAW to ensure clock never goes backwards
this avoids ntp mucking with APM timing
2013-10-07 08:41:52 +11:00
Andrew Tridgell
1518217952 HAL_FLYMAPLE: removed unused backend console code 2013-10-05 22:03:58 +10:00
Andrew Tridgell
de4d505f62 HAL_AVR: fixed examples build 2013-10-05 22:03:42 +10:00
Andrew Tridgell
487caea3a5 AP_Baro: added update_calibration() method
used for auto baro calibration when disarmed
2013-10-05 18:44:00 +10:00
Andrew Tridgell
7cab8cb3bb HAL_PX4: removed Console driver 2013-10-05 18:33:07 +10:00
Andrew Tridgell
b30f652cec HAL_Linux: removed Console driver 2013-10-05 18:32:57 +10:00
Andrew Tridgell
21f0086647 HAL_FLYMAPLE: removed Console driver 2013-10-05 18:32:46 +10:00
Andrew Tridgell
8e7d9bb464 HAL_Empty: removed Console driver 2013-10-05 18:32:35 +10:00
Andrew Tridgell
930d664677 AVR_SITL: removed Console driver 2013-10-05 18:32:23 +10:00
Andrew Tridgell
7072c52b57 HAL_AVR: removed Console driver 2013-10-05 18:32:12 +10:00
Andrew Tridgell
9f24c45502 AP_HAL: removed separate Console class
the idea of a separate console class was never really used, and just
added confusion in a HAL port. It also consumes some much needed ram
and flash space on APM2
2013-10-05 18:32:00 +10:00
Andrew Tridgell
39bfd809c2 APM_Control: disable integrator below minimum speed
this reduces the impact on initial takeoff
2013-10-05 18:11:35 +10:00
Andrew Tridgell
ad30f8effa HAL_PX4: try to reopen UARTs if safety switch is disarmed
this allows attaching to the USB port after power on

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-10-05 15:47:28 +10:00
Andrew Tridgell
34a328f66d AP_HAL: added safety_switch_state() function in hal.util
will be used by copter to check safety switch is set
2013-10-05 15:46:35 +10:00
Andrew Tridgell
58187ea449 APM_Control: change minspeed on steering controller to 1.0 2013-10-05 12:56:28 +10:00
Andrew Tridgell
5abf060c41 APM_Control: enable integrator in ACRO rate controller
this work better for unlocked mode
2013-10-05 07:42:48 +10:00
Andrew Tridgell
d27f5e89d7 APM_Control: remove public AP_PitchController::get_coordination_rate_of|cat() 2013-10-05 07:42:48 +10:00
Andrew Tridgell
bd848a6a7f APM_Control: added rate and angle steering controllers 2013-10-05 07:42:48 +10:00
Mike McCauley
72aa8a18ab AP_HAL_FLYMAPLE: update documentation in FlymaplePortingNotes.txt
Added info about where to get my patched version of libmaple.
2013-10-04 07:21:56 +10:00
Mike McCauley
6b003ae551 AP_HAL_FLYMAPLE: Fixed problem with tx buffer that caused slow parameter
delivery
2013-10-04 07:21:56 +10:00
Mike McCauley
c90c1b9998 AP_InertialSensor: Improvements to Flymaple sensors
Fix a bug that caused hang after 71 minutes. Use I2CDriver semaphore.
Remove test for in_accumulate: not needed.
2013-10-04 07:21:55 +10:00
Mike McCauley
39f9b7bbc9 AP_HAL_FLYMAPLE: Add test for correct version of libmaple
Patched version of libmapl is required for Flymaple I2Driver to work.
2013-10-04 07:21:55 +10:00
Mike McCauley
1f7272978c AP_HAL_FLYMAPLE: fix compile error in example AP_Baro_BMP085_test.pde
due to need for new library AP_Notify
2013-10-04 07:21:55 +10:00
Mike McCauley
2d3c86ee80 AP_HAL_FLYMAPLE: I2CDriver now uses low level hardware i2c librray from
libmaple

CAUTION: requires a patched version of libmaple, to be provided by mikem.
2013-10-04 07:21:55 +10:00
Mike McCauley
68a7cac9a2 AP_HAL_FLYMAPLE: Improvements to FLYMAPLEStorage
Fix a number of bugs and expand storage to an emulated 4kb, as needed by AP.
2013-10-04 07:21:55 +10:00
Mike McCauley
29707f4401 AP_HAL_FLYMAPLE: Modest speed improvements to I2CDriver
Can now achieve about 285kHz using bitbanging.
Proper low-level hardware I2C support has been written and stashed,
but has to wait until a bug in libmaple is addressed.
Ref: http://forums.leaflabs.com/topic.php?id=13458
2013-10-04 07:21:55 +10:00
Mike McCauley
9ea1108d4e AP_InertialSensor: Flymaple filter constructor arguments non non-zero 2013-10-04 07:21:55 +10:00
Randy Mackay
ecd4ed2277 GCS_MAVLink: generate mavlink includes 2013-10-03 22:12:58 +09:00
Randy Mackay
8aec70af1d GCS_MAVLink: add SYS_STATUS_SENSOR enum 2013-10-03 22:12:48 +09:00
Randy Mackay
688dd5374e ToshibaLED: flashing green if disarmed with GPS lock
solid blue if armed without GPS lock
2013-10-03 14:33:39 +09:00
Andrew Tridgell
7a9ed0a5a1 AP_GPS: fixed warning 2013-10-03 12:21:08 +10:00
Andrew Tridgell
86b58314c4 AP_Common: pack the RallyLocation structure
so it can be written as a single binary block
2013-10-03 12:21:08 +10:00
Michael Day
823a40c203 AP_Common: Added RallyLocation struct. 2013-10-03 12:21:08 +10:00
Michael Day
1777db91cb GCS_MAVLink: import latest upstream.
This add rally points.
2013-10-03 12:21:08 +10:00
Andrew Tridgell
99a8ba4634 DataFlash: fixed display of last page of flash logs 2013-10-03 12:21:08 +10:00
Andrew Tridgell
89f121ea77 DataFlash: wait for blocks to finish writing to flash on log read 2013-10-03 12:21:08 +10:00
Andrew Tridgell
8e0a136d78 HAL_AVR: mark some examples as not building 2013-10-03 12:21:08 +10:00
Andrew Tridgell
a250c13c79 HAL_PX4: fixed build 2013-10-03 12:21:08 +10:00
Andrew Tridgell
1440c8cebd HAL_Linux: implement a dummy console buffered write() 2013-10-03 12:21:08 +10:00
Andrew Tridgell
9624821493 HAL_FLYMAPLE: implement a dummy buffered write 2013-10-03 12:21:08 +10:00
Andrew Tridgell
a8c97f99d1 HAL_Empty: implement a dummy buffered write 2013-10-03 12:21:08 +10:00
Andrew Tridgell
c035eef845 HAL_SITL: implement a dummy buffered write 2013-10-03 12:21:07 +10:00
Andrew Tridgell
a59f505d25 HAL_AVR: implement an efficient buffer write() call for AVR
this saves some cycles in the telemetry code
2013-10-03 12:21:07 +10:00
Andrew Tridgell
efe1e01700 AP_HAL: require a buffer write() function in all ports
this makes a sufficient performance difference that it is worth it
2013-10-03 12:21:07 +10:00
Andrew Tridgell
5489097476 AP_GPS: update the UBLOX rates async from the start
this saves a bit of startup time
2013-10-03 12:21:07 +10:00
Andrew Tridgell
cee8a017ab AP_GPS: added UBLOX_FAKE_3DLOCK debugging option
useful when unable to get 3D lock
2013-10-03 12:21:07 +10:00
Andrew Tridgell
f1e120113c AP_Common: added OPTIMIZE() macro
this can be used to change the compiler optimization level of
individual functions

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-10-03 12:21:07 +10:00
Andrew Tridgell
fb19dbb404 AP_Math: cope with large values passed into the wrap functions
this uses modulus if the function would loop too many times

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-10-03 12:21:07 +10:00
Andrew Tridgell
34f7f88190 AP_GPS: check for corret GPS solution rates in flight and fix
if the GPS is giving us data at less than 300ms intervals then re-send
the configuration messages to try to kick it into the right rates

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-10-03 12:21:07 +10:00
Randy Mackay
db2975901d AP_HAL_AVR_SITL: use SIM_BATT_VOLTAGE parameter 2013-10-03 11:16:36 +09:00
Randy Mackay
8d1d8c78b5 SITL: add SIM_BATT_VOLTAGE 2013-10-03 11:16:35 +09:00
Randy Mackay
f1309ed63f BattMonitor: bug fix for current_total_mah 2013-10-03 11:16:24 +09:00
Randy Mackay
7d73e62a23 BattMonitor: add exhausted method
Current total calculations changed to use micros instead of millis for
improved accuracy
Removed unused pack_capacity accessor
Initialise private members
2013-10-03 11:16:19 +09:00
Randy Mackay
d9fe099885 BattMonitor: update comments and defaults 2013-10-03 11:16:17 +09:00
Andrew Tridgell
366d73124a AP_Battery: fixed parameter name and default voltage ratio
also setup SITL with right pins
2013-10-03 11:16:15 +09:00
Andrew Tridgell
c7df0eaf2a SITL: added battery voltage and current
assume 3DR brick
2013-10-03 11:16:14 +09:00
Andrew Tridgell
88777beab0 AP_BattMonitor: minor cleanups
cleanup name to be multiplier not div ratio, and make 2 variables
non-static
2013-10-03 11:16:10 +09:00
Randy Mackay
8b06a12fa4 BattMonitor: initial draft lib 2013-10-03 11:16:01 +09:00
Andrew Tridgell
42bc8b12df SITL: added a SIM_GPS_HZ option
this allows simulation of slow GPS updates (for example, the 1Hz GPS
problem)
2013-10-01 16:39:16 +10:00
Andrew Tridgell
c9fea2c706 HAL_Linux: fixed scheduling priorities
need to be between 1 and 99
2013-10-01 13:05:04 +10:00
Andrew Tridgell
134bf5a5c9 AP_Menu: be friendly to multi-tasking OSes in menus 2013-10-01 13:04:40 +10:00
Andrew Tridgell
2819dd99fa AP_Menu: copy with newline from console
helps debugging on HAL_Linux
2013-10-01 13:00:48 +10:00
Andrew Tridgell
bbac3265b2 HAL_Linux: default to hal.console on stdout 2013-10-01 12:49:58 +10:00
Andrew Tridgell
bcc9cdbf43 HAL_Linux: make I2CDriver more portable
this allows it to build on the Beaglebone
2013-10-01 12:37:13 +10:00
Andrew Tridgell
51c19331a6 HAL_Linux: fixed build 2013-10-01 12:11:48 +10:00
Andrew Tridgell
e60d5d4f33 AP_Airspeed: fixed some warnings 2013-09-30 21:06:43 +10:00
Andrew Tridgell
d83dbb38b4 AP_ADC: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
2095b2a2d7 AP_Airspeed: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
c04d9b0c03 AP_Baro: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
a86bb15a05 DataFlash: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
b178ad7344 AP_OpticalFlow: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
dda68bddcb AP_InertialSensor: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
942ae70651 HAL_PX4: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell
f2ebb2ca87 HAL_Linux: updates for AP_HAL::MemberProc 2013-09-30 20:56:15 +10:00
Andrew Tridgell
82fe40224b HAL_AVR_SITL: updates for AP_HAL::MemberProc 2013-09-30 20:56:15 +10:00
Andrew Tridgell
a2b879493d HAL_Empty: updates for AP_HAL::MemberProc 2013-09-30 20:56:15 +10:00
Andrew Tridgell
c27a61f210 HAL_FLYMAPLE: updates for AP_HAL::MemberProc 2013-09-30 20:56:15 +10:00
Andrew Tridgell
6d58f5e188 HAL_AVR: updates for AP_HAL::MemberProc 2013-09-30 20:51:20 +10:00
Andrew Tridgell
f2de4bb7b0 AP_HAL: implement AP_HAL::MemberProc via FastDelegate.h
this provides a more portable way to encapsulate member functions in
variables
2013-09-30 20:51:13 +10:00
Andrew Tridgell
0784c01f19 APM_Control: added STEER2SRV_MINSPD
this is the assumed min speed when in STEERING or AUTO mode
2013-09-30 09:05:37 +10:00
Andrew Tridgell
53f66b23f4 AP_HAL_Linux: fixed APM2 build 2013-09-29 14:24:55 +10:00
Andrew Tridgell
1698e1800c HAL_Linux: timer calls may block on HAL_Linux
timer calls can do SPI transfers, which can block
2013-09-29 10:48:22 +10:00
Andrew Tridgell
5102f1511b HAL_Linux: fixed callbacks from delay() 2013-09-29 10:32:51 +10:00
Andrew Tridgell
a1ef1a9318 HAL_Linux: tweak the scheduling priorities 2013-09-29 12:04:37 +10:00
Andrew Tridgell
d3fe625742 HAL_Linux: make the SPI driver much more efficient
use a single transaction for multiple bytes. This makes the APM1
Oilpan driver generate only 2 interrupts per sensor read
2013-09-29 12:04:36 +10:00
Andrew Tridgell
7067569103 HAL_PX4: fixed end() on UARTs 2013-09-29 12:04:36 +10:00
Andrew Tridgell
1e786b3e20 HAL_Linux: added buffering on the UARTs 2013-09-29 12:04:36 +10:00
Andrew Tridgell
605e6c3cf7 HAL_Linux: use pthread mutexes for semaphores 2013-09-29 07:49:30 +10:00
Andrew Tridgell
30b6b23b10 AP_ADC: enable APM1 ADC on Linux 2013-09-29 00:57:13 +10:00
Andrew Tridgell
1191607036 AP_InertialSensor: enable Oilpan on Linux 2013-09-29 00:57:13 +10:00
Andrew Tridgell
884af71ef6 HAL_Linux: added SPI support 2013-09-29 00:57:13 +10:00
Andrew Tridgell
8a699f6189 AP_Baro: enable BMP085 on Linux 2013-09-28 22:04:15 +10:00
Andrew Tridgell
8ee848a788 AP_AHRS: update for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell
350af4d92f HAL_AVR_SITL: updates for InertialSensor 2013-09-28 22:04:15 +10:00
Andrew Tridgell
cf726c6642 AP_InertialSensor: rename Stub to HIL
more consistent with other drivers
2013-09-28 22:04:15 +10:00
Andrew Tridgell
dd081ab23b AP_Notify: enable toshibaled on all I2C capable platforms 2013-09-28 22:04:15 +10:00
Andrew Tridgell
291369db7f AP_Airspeed: split up airspeed driver
this gives us separate backends for PX4, analog and I2C. This allows
the MS airspeed sensor to work on Linux, and it should work on APM2 as well.
2013-09-28 21:24:03 +10:00
Andrew Tridgell
f03315237a HAL_Linux: fixed timer scheduler 2013-09-28 21:24:03 +10:00
Andrew Tridgell
20b1131059 AP_Baro: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
6134d9d0d7 AP_ADC: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
19e9c95983 DataFlash: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
f53afaa5ac AP_OpticalFlow: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
03036c632d AP_InertialSensor: use new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
7ec242146d HAL_PX4: update for new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell
cca59ce3c9 HAL_Linux: update for new scheduler API 2013-09-28 21:24:02 +10:00
Andrew Tridgell
1d820761be HAL_FLYMAPLE: updates for new scheduler API 2013-09-28 21:24:02 +10:00
Andrew Tridgell
6bc4a830ac HAL_Empty: updates for new scheduler API 2013-09-28 21:24:02 +10:00
Andrew Tridgell
c08f29fca6 HAL_AVR_SITL: updates for new scheduler API 2013-09-28 21:24:02 +10:00
Andrew Tridgell
0ade02a624 HAL_AVR: updates for new scheduler API 2013-09-28 21:24:02 +10:00
Andrew Tridgell
f0f5761e8d AP_HAL: make timed processes take void *argument
this allows the class to be passed in, meaning that drivers that use
register_timer_process() and register_io_process() don't need to use
static members. That results in simpler, easier to read code
2013-09-28 21:24:02 +10:00
Andrew Tridgell
49d3d624d7 DataFlash: enabled DataFlash_File for Linux 2013-09-28 21:24:02 +10:00
Andrew Tridgell
bcf4f48e65 HAL_Linux: switched to pthread based scheduling 2013-09-28 21:24:02 +10:00
Andrew Tridgell
da14ad2e2d AP_Compass: neaten up HMC5883 debug 2013-09-28 21:24:02 +10:00
Andrew Tridgell
ce7d458855 AP_Compass: added Linux support to the compass test 2013-09-28 21:24:02 +10:00
Andrew Tridgell
6fc5b06043 AP_Compass: fixed some old Serial.print calls 2013-09-28 21:24:02 +10:00
Andrew Tridgell
58a31318ee AP_HAL_Linux: initial I2C driver implementation
this works sufficiently for the HMC5883
2013-09-28 21:24:02 +10:00
Andrew Tridgell
6b95d870ad AP_Progmem: only AVR uses progmem
no need to list all other boards
2013-09-28 21:24:02 +10:00
Andrew Tridgell
1f3a051e7b AP_Progmem: Linux doesn't use progmem 2013-09-28 21:24:02 +10:00
Andrew Tridgell
018b8fde95 AP_Notify: blank Linux LED defines 2013-09-28 21:24:02 +10:00
Andrew Tridgell
1243ab9e63 AP_Compass: added HAL_Linux support 2013-09-28 21:24:02 +10:00
Andrew Tridgell
296417a228 AP_HAL: added AP_HAL_LINUX define 2013-09-28 21:24:01 +10:00
Andrew Tridgell
4ba044c441 AP_HAL_Linux: initial Linux AP_HAL 2013-09-28 21:24:01 +10:00
Andrew Tridgell
096660c4f9 AP_InertialSensor: mark flymaple as nobuild
won't build with build_examples.sh script
2013-09-27 16:57:13 +10:00
Mike McCauley
e4eef61ec3 AP_InertialSensor: Flymaple sensors improvements
Flymaple sensors are now raw sampled at 800Hz, and LowPassFilter2p is used
to filter to the desired filter cutoff frequency.
Flymaple sensor polling is done in the main thread NOT in the timer
interrupts.
2013-09-27 15:45:59 +10:00
Mike McCauley
23429b6b9c AP_InertialSensor: Flymaple now polls sensors at 800Hz. More changes to
come...
2013-09-27 15:45:57 +10:00
Mike McCauley
29bced05bd AP_InertialSensor: Added examples/Flymaple for testing 2013-09-27 15:45:54 +10:00
Mike McCauley
d11f952ef1 AP_InertialSensor: Formalise and document Flymaple Gyro scaling factor 2013-09-27 15:45:52 +10:00
Mike McCauley
db2b7ed4e3 AP_HAL_FLYMAPLE: UARTDriver libmaple internal ring buffers enlarge on demand 2013-09-27 15:45:49 +10:00
Mike McCauley
adfcdca074 AP_HAL_FLYMAPLE: Sensor reading improvements
I2C speed increased to 400kHz
Accelerometer 8g max, Normal power, 800Hz bandwidth
Gyros: 2000 degrees/sec, 256Hz LPF, 8kHz internal sample rate
2013-09-27 15:45:47 +10:00
Randy Mackay
f7ba0438ef InertialSensor: remove DMP
this saves 3K of flash
2013-09-27 10:43:33 +09:00
Randy Mackay
8306d74da0 AHRS: remove DMP as an ahrs 2013-09-27 10:42:46 +09:00
Andrew Tridgell
14636e1cdf AP_InertialSensor: changed num_samples_available() to sample_available()
this makes the interface clearer. It also fixes a 3D accel cal bug.
2013-09-27 10:49:00 +10:00
Andrew Tridgell
99da118faa Filter: added in Leonards LowPassFilter2p filter
this is a backport from PX4
2013-09-26 22:38:32 +10:00
Andrew Tridgell
3c86fceed9 AP_Progmem: removed SMACCM support 2013-09-26 22:38:32 +10:00
Andrew Tridgell
2469dcf8e6 AP_Notify: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell
1ec5cbed81 AP_InertialSensor: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell
60f3a8b6cf AP_HAL: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell
3f0f8dfa62 AP_Compass: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell
13cdc56a5a AP_Common: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell
58f9349af4 HAL_SMACCM: removed SMACCM HAL port
this port is no longer maintained or used. Pat asked me to remove it
2013-09-26 22:38:31 +10:00
Randy Mackay
f144de21b4 AC_Fence: fix example sketch 2013-09-26 17:52:13 +09:00
Randy Mackay
e5c5084e76 InertialNav: fix example sketch 2013-09-26 14:40:32 +09:00
Mike McCauley
708c603420 AP_HAL_FLYMAPLE: UARTDriver now has correct implementation of txspace that looks at HardwareSerial ring buffer 2013-09-25 15:46:07 +10:00
Mike McCauley
e4b5d0a3d6 AP_InertialSensor: Final Flymaple orientation fixes 2013-09-25 15:46:07 +10:00
Mike McCauley
276068356e AP_InertialSensor: Further Flymaple orientation fixes 2013-09-25 15:46:07 +10:00
Mike McCauley
06478bde52 AP_HAL_FLYMAPLE: Console is now a thin wrapper around uartA, consistent with AVR 2013-09-25 15:46:07 +10:00
Mike McCauley
b02dbca9d4 AP_InertialSensor: fix orientation of Flymaple sensors 2013-09-25 15:46:07 +10:00
Mike McCauley
4cd952446d AP_HAL_FLYMAPLE: added documentation about safety of noInterrupts()/interrupts() 2013-09-25 15:46:07 +10:00
Randy Mackay
ab71f2e535 AP_Camera: remove unused methods
throttle_pic, distance_pic and transistor_pic were not defined nor
called
2013-09-24 23:25:54 +09:00
Randy Mackay
cddbaf0459 GPS_Glitch: make accessor functions const 2013-09-24 21:41:56 +09:00
Randy Mackay
55c94b3b41 GPS_Glitch: bug fix for enable/disable parameter 2013-09-24 21:41:54 +09:00
Randy Mackay
54cb815fec AP_Notify: add gps glitching and failsafe flags 2013-09-24 21:41:51 +09:00
Randy Mackay
a2c0415ba9 GPS_Glitch: make enable/disable a parameter 2013-09-24 21:41:42 +09:00
Randy Mackay
78124f2fca GPS_Glitch: remove unused recovered flag 2013-09-24 21:41:38 +09:00
Randy Mackay
90953a96e5 ToshibaLED: flash blue-yellow for gps failsafe and glitch 2013-09-24 21:41:25 +09:00
Randy Mackay
4bac26171b AP_Notify: add gps_glitch flag 2013-09-24 21:41:22 +09:00
Randy Mackay
262fcb301a InertialNav: rename set_current_position to set_home_position 2013-09-24 21:41:19 +09:00
Randy Mackay
81dd4f8b0c InertialNav: integrate GPS glitch detection 2013-09-24 21:41:13 +09:00
Randy Mackay
4dcfce7104 GPS_Glitch: glitch detection class 2013-09-24 21:41:10 +09:00
Randy Mackay
c6a99ac24a AutoTest: add support for GPS glitching 2013-09-24 21:41:04 +09:00
Andrew Tridgell
c1d56f74b5 AP_Common: change flymaple product ID to 0x100
keep it well away from the Invensense product IDs for the MPU6000
2013-09-24 13:51:28 +10:00
Mike McCauley
7850d1f2ce AP_Progmem: Add Flymaple support 2013-09-24 13:51:28 +10:00
Mike McCauley
b7e182e056 AP_Notify: Add flymaple LED definitions 2013-09-24 13:51:28 +10:00
Mike McCauley
4d10a96077 AP_InertialSensor: Add flymaple support 2013-09-24 13:51:27 +10:00
Mike McCauley
ec5425578e AP_HAL: Added Flymaple board 2013-09-24 13:33:25 +10:00
Mike McCauley
8f61a36e58 AP_Common: Flymaple compatibility 2013-09-24 13:33:25 +10:00
Mike McCauley
e3c20f06ac AP_Baro: Chnages to flymaple port.
Flymaple has no EOC pin
2013-09-24 13:33:25 +10:00
Mike McCauley
c1d3bedb60 AP_Airspeed: changes for Flymaple port pins and caibration constants 2013-09-24 13:33:25 +10:00
Mike McCauley
9bfc52d9af HAL_FLYMAPLE: initial port to flymaple board
See libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt
2013-09-24 13:32:50 +10:00
Mike McCauley
2fa0c39f3a AP_Compass: added Flymaple orientation 2013-09-24 13:18:35 +10:00
Andrew Tridgell
37ad9e3f82 PID: fixed example build 2013-09-24 11:57:21 +10:00
Andrew Tridgell
d64660739e AP_OpticalFlow: fixed example build 2013-09-24 11:57:14 +10:00
Andrew Tridgell
448167e958 AP_GPS: fixed examples build 2013-09-24 11:57:03 +10:00
Andrew Tridgell
af2d7232c5 APM_Control: make the default time constant 0.75
thanks to Tom for the testing!
2013-09-24 07:37:12 +10:00
Andrew Tridgell
770b7b5901 AP_InertialSensor: prevent a lockup in MPU6000 driver
thanks to the VRBrain port for noticing this bug.

Failing to get the semaphore is an expected error with the MPU6000, as
we read data both from timer context and mainline code. That means
semaphore conflicts are inevitable. We shouldn't consider them an
error, and shouldn't panic when some arbitrary number of them have
happened since boot.

Instead the wait_for_sample() code checks that we receive new data at
least every 50ms. That is a much safer test.
2013-09-23 22:48:36 +10:00
Andrew Tridgell
36ea705956 AP_OpticalFlow: fixed build with print() API change 2013-09-23 18:10:22 +10:00
Andrew Tridgell
0e9aef7e52 AP_HAL: changed base defines for print()
this avoids a conflict with wirish from libmaple
2013-09-23 18:10:21 +10:00
Mike McCauley
2e061fc507 AP_Param: Fix compiler warning on Flymaple 2013-09-23 18:10:21 +10:00
Mike McCauley
4c65c42411 AP_Compass: fixed ARM 32 bit compatibility 2013-09-23 18:10:21 +10:00
Andrew Tridgell
87bb3bc5dc AP_HAL: added AP_HAL_PX4 define 2013-09-22 16:02:42 +10:00
Andrew Tridgell
21010104e6 AP_HAL_Empty: added register_io_process() 2013-09-22 16:02:05 +10:00
Andrew Tridgell
928e06f52c AP_HAL: use fabs() in print
fixes build on Arduino
2013-09-22 13:18:40 +10:00
Andrew Tridgell
45d9140946 AP_HAL_SMACCM: updates for new API 2013-09-22 12:22:15 +10:00
Andrew Tridgell
40af9ab674 AP_HAL_PX4: updates for new API 2013-09-22 12:22:05 +10:00
Andrew Tridgell
d0bb998352 AP_HAL_Empty: updates for new API 2013-09-22 12:21:54 +10:00
Andrew Tridgell
dbb70fc57c AP_HAL_AVR_SITL: implement betterstream functions in AP_HAL
this gives more consistancy between ports
2013-09-22 12:21:22 +10:00
Andrew Tridgell
33fe27a104 AP_HAL_AVR: implement betterstream functions in AP_HAL
this gives more consistancy between ports
2013-09-22 12:21:11 +10:00
Andrew Tridgell
d46f5f6943 AP_HAL: implement betterstream functions in AP_HAL
this gives more consistancy between ports
2013-09-22 12:20:59 +10:00
Michael Oborne
54fc004956 SITL: fix sitl timer issues under cygwin 2013-09-21 22:06:38 +10:00
Andrew Tridgell
fc119d9b80 AP_Baro: cleaned up temperature and pressure units
thanks to Mike McCauley for pointing this out
2013-09-21 21:30:41 +10:00
Andrew Tridgell
7de47931a8 DataFlash: use %f not %.6f 2013-09-21 15:48:39 +10:00
Andrew Tridgell
16a7faa223 AP_Param: use %f not %.6f for param show 2013-09-21 15:45:19 +10:00
Andrew Tridgell
0d662c52b3 AP_HAL: fixed length return from snprintf 2013-09-21 15:45:05 +10:00
Andrew Tridgell
0063f1fad8 AP_HAL: added Util.cpp
common printf functions
2013-09-21 14:25:42 +10:00
Andrew Tridgell
05b426c1fc HAL_PX4: use common printf implementation on UARTs 2013-09-21 14:23:52 +10:00
Andrew Tridgell
f5c0f765fc AP_HAL_SMACCM: use common printf implementation 2013-09-21 14:23:13 +10:00
Andrew Tridgell
b9d6f8e8b1 AP_HAL_AVR: removed unused script 2013-09-21 13:30:02 +10:00
Andrew Tridgell
85b3f0d18d AP_HAL: expanded printf test suite 2013-09-21 13:29:52 +10:00
Andrew Tridgell
e12a4178f3 AP_HAL_SMACCM: convert to new AP_HAL printf 2013-09-21 13:29:40 +10:00
Andrew Tridgell
80e2a5cc32 AP_HAL_PX4: convert to new AP_HAL printf 2013-09-21 13:29:32 +10:00
Andrew Tridgell
4c1925b578 AP_HAL_Empty: convert to new AP_HAL printf 2013-09-21 13:29:22 +10:00
Andrew Tridgell
bb44fa4385 AP_HAL_AVR_SITL: convert to new AP_HAL printf 2013-09-21 13:29:12 +10:00
Andrew Tridgell
60122f9877 AP_HAL: moved printf implementation from AP_HAL_AVR to AP_HAL
this gives a common printf implementation on all boards, which
simplifies testing, and also simplifies porting to new boards
2013-09-21 13:28:46 +10:00
Andrew Tridgell
4ad4b60fbc HAL: added Printf test sketch
for testing new non-asm printf code
2013-09-21 11:16:08 +10:00
Andrew Tridgell
16a0dfc38c HAL_AVR: changed to C implementation of float formatting
Many thanks to Soren Kuula for this work!
2013-09-21 11:16:08 +10:00
Randy Mackay
4b18c670e3 DataFlash: explicitly print floats to 6 dec places
C++ default is to print 6 decimal places but nuttx displays none by
default
2013-09-20 22:13:02 +09:00
Randy Mackay
3f84e0adf6 AP_Param: explicitly print floats to 6 dec places
C++ default is to print 6 decimal places but nuttx displays none by
default
2013-09-20 22:12:33 +09:00
Andrew Tridgell
4d2bfe1078 AP_InertialSensor: fixed another example build 2013-09-19 21:09:34 +10:00
Andrew Tridgell
e1aa6e3ff1 libraries: fixed examples for no flash_leds() callback 2013-09-19 18:38:28 +10:00
Andrew Tridgell
f8e9d48a76 AP_InertialSensor: removed the flash_leds() callback
AP_Notify now handles this
2013-09-19 18:32:19 +10:00
Andrew Tridgell
66ee484b3c AP_Notify: convert to unix style file 2013-09-19 16:27:31 +10:00
Andrew Tridgell
445edb8793 GCS_MAVLink: remove CR/LF 2013-09-19 16:27:14 +10:00
Andrew Tridgell
18896d9c9b AP_Math: fixed DOS CR/LF errors 2013-09-19 16:26:32 +10:00
Andrew Tridgell
cf633e4d79 AP_HAL: convert to unix file format 2013-09-19 16:26:14 +10:00
Andrew Tridgell
a5b29f44d5 AP_HAL: added hal.gpio->usb_connected() function
this replaces the USB_MUX_PIN on APM2, and works on PX4 and FMUv2
2013-09-19 16:23:40 +10:00
Randy Mackay
d3fcfe669d Copter Motors: increase MOT_SPIN_ARMED to int16 2013-09-18 13:28:01 +09:00
Andrew Tridgell
0d6b847966 AP_Notify: grab initial flags state in init()
this prevents annoying tones on startup of APM:Plane
2013-09-18 10:55:42 +10:00
Andrew Tridgell
284492cfec AP_GPS: fixed an initialisation problem with GPS drivers
before the first full packet arrives we could report uninitialised
values for groundspeed and heading
2013-09-16 21:20:36 +10:00
Andrew Tridgell
4864496ae6 SITL: reduce default GPS delay to 0.4
closer to real uBlox delay
2013-09-16 11:41:51 +10:00
Andrew Tridgell
84ed2141a0 AP_Math: fixed float rounding in location_offset()
this prevents rounding of positions in the rover code
2013-09-16 11:38:55 +10:00
Andrew Tridgell
3e24ff1b07 AP_SteerController: change the scaling of the D term
this should cope better with low speed
2013-09-16 09:42:45 +10:00
Andrew Tridgell
e85d275fe5 SITL: added SIM_SERVO_RATE parameter
this allows a slew rate for servos to be specified in degrees/second
2013-09-16 09:16:52 +10:00
Andrew Tridgell
98b4ed1522 AP_SteerController: lower the default STEER2SRV_D 2013-09-16 08:26:29 +10:00
Randy Mackay
d16587340d AP_Notify: add PX4's tone_alarm
Sounds added for arming, disarming and low battery events
2013-09-15 17:24:00 +09:00
Andrew Tridgell
9be02fb493 AC_Fence: changed to AP_Vehicle.h 2013-09-13 11:46:32 +10:00
Andrew Tridgell
fbe4be94cf APM_Control: changed to AP_Vehicle.h 2013-09-13 11:46:22 +10:00
Andrew Tridgell
15a4582ed7 AP_AHRS: changed to AP_Vehicle.h 2013-09-13 11:46:10 +10:00
Andrew Tridgell
2e742582e4 AP_Airspeed: changed to AP_Vehicle.h
also allow updates to ARSPD_RATIO from user while autocal is running
2013-09-13 11:45:57 +10:00
Andrew Tridgell
23fc6f8aed AP_HAL_AVR: changed to AP_Vehicle.h 2013-09-13 11:45:24 +10:00
Andrew Tridgell
c64950e4f5 AP_InertialNav: changed to AP_Vehicle.h 2013-09-13 11:45:10 +10:00
Andrew Tridgell
a67413d495 AP_Mount: changed to AP_Vehicle.h 2013-09-13 11:44:54 +10:00
Andrew Tridgell
645eb711cb DataFlash: changed to AP_Vehicle.h 2013-09-13 11:44:42 +10:00
Andrew Tridgell
16d2ad9796 AP_TECS: changed to AP_Vehicle.h 2013-09-13 11:44:31 +10:00
Andrew Tridgell
30ebcd36ac AP_SpdHgtControl: removed AircraftParameters 2013-09-13 11:44:19 +10:00
Andrew Tridgell
79a4bc6ea4 AP_Vehicle: added new header for parameters in multiple libraries
this adds a header where we can put vehicle specific parameters that
will be used in multiple libraries
2013-09-13 11:43:59 +10:00
Andrew Tridgell
5bef6dd539 AP_Motors: fixed example build 2013-09-13 10:53:53 +10:00
Andrew Tridgell
cc4fad23d9 AP_Airspeed: updates for Pixhawk 2013-09-13 10:48:57 +10:00
Andrew Tridgell
2990359043 PX4: Implement accurate ratiometric voltage reading on Pixhawk
this uses the monitoring of the 5V rail to compensate for changes in
the 5V reference versus the 3.3V ADC reference. It reduces the noise
on ratiometric sensors by a factor of about 6x.
2013-09-13 10:48:57 +10:00
Randy Mackay
0a047ae1c1 Copter Motors: increased spin-when-armed to 70
Changed choices to be displayed in ground stations
2013-09-12 22:36:04 +09:00
Randy Mackay
62cb5c172b Copter Motors: add slow start feature
Combined armed, frame orientation and slow_start into flags bitmask
Removed ability to set max throttle because it was never used
Re-ordered class variables
2013-09-12 22:27:44 +09:00
Randy Mackay
ac98644405 Sprayer: minor change to flags type 2013-09-12 22:24:14 +09:00
Andrew Tridgell
bc3249fada SITL: fixed Vcc voltage 2013-09-12 16:34:38 +10:00
Andrew Tridgell
3a3cecf5ff PX4: support getting servorail voltage from ORB 2013-09-12 16:28:06 +10:00
Andrew Tridgell
457ca0b57d AP_ADC_AnalogSource: fixed APM1 build 2013-09-12 13:28:11 +10:00
Andrew Tridgell
fb56feb6b2 HAL_PX4: support all analog input pins, with scaling
this allows voltage/current/Vcc sensing on FMUv2
2013-09-12 13:26:00 +10:00
Andrew Tridgell
a80d3344f5 AP_HAL_AVR: support voltage_latest() 2013-09-12 13:25:17 +10:00
Andrew Tridgell
a587b1140a AP_HAL: added voltage_latest() interface
this will be used for reading the 5V rail
2013-09-12 13:23:04 +10:00
Andrew Tridgell
b7e54bd463 AP_Airspeed: reduce speed of autocal
it was responding to noise too rapidly

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-09-12 07:48:57 +10:00
Andrew Tridgell
2171f2a80b AP_SteerController: move scaler onto integrator input
this should make integrator scale with speed

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-09-12 07:48:57 +10:00
Randy Mackay
5e7a6b3b98 Sprayer: add pump min rate and test
If pump is enabled while copter is disarmed it will spray as if
travelling at 1m/s
2013-09-11 17:04:58 +09:00
Randy Mackay
b3c636dfa3 AP_Notify: add radio and battery failsafe
radio and battery failsafe are slow flashing yellow
pre-arm check failure changed to double flashing yellow
2013-09-11 14:36:05 +09:00
Andrew Tridgell
341dca4dfe AP_L1_Control: added set_default_period()
used by the rover code
2013-09-09 19:55:53 +10:00
Andrew Tridgell
7b3a674d66 AP_InertialSensor: added set_default_filter() method 2013-09-09 19:18:52 +10:00
Andrew Tridgell
229841052a AP_Compass_PX4: removed MAGIOCSSAMPLERATE call 2013-09-09 18:04:41 +10:00
Andrew Tridgell
c044385fff AP_AHRS: added groundspeed() method
this gives ground speed in m/s from GPS
2013-09-09 18:04:41 +10:00
Andrew Tridgell
0918393fed APM_Control: fixed some documentation typos 2013-09-09 18:04:40 +10:00
Andrew Tridgell
7413c15959 APM_Control: added a ground vehicle steering controller
this will be used both for the rover code, and for ground steering of
a plane on takeoff
2013-09-09 18:04:40 +10:00
Andrew Tridgell
f5d20b4085 SITL: reduce the minimum accel and gyro noise
on APM2 and PX4 we do a lot of smoothing of accels and gyros, so a 2
bit error isn't a good representation of the min noise
2013-09-09 18:04:40 +10:00
Andrew Tridgell
396c4f30d2 AP_InertialSensor_PX4: don't set QUEUEDEPTH
the default of 2 samples is fine
2013-09-09 18:04:40 +10:00
Andrew Tridgell
db14a85fc5 AP_Compass: added more debugging to AP_Compass_PX4 driver
this helps debug compass initialisation issues
2013-09-09 18:04:40 +10:00
Andrew Tridgell
8b80beadc4 PX4: make FMUv2 identify itself differently
so we can tell which is which in logs
2013-09-09 18:04:40 +10:00
Andrew Tridgell
7328369b91 GCS_MAVLink: added FENCE_ACTION_GUIDED_THR_PASS 2013-09-08 07:29:30 +10:00
Andrew Tridgell
ff0f6bcd42 AP_InertialSensor: fixed example build 2013-09-07 21:03:59 +10:00
Andrew Tridgell
b8b72819c1 AP_Compass: ignore COMPASS_ORIENT for internal compass
this means if COMPASS_ORIENT is not 0 and the external compass fails
to start on boot we don't end up with a bad compass orientation
2013-09-07 16:49:51 +10:00
Andrew Tridgell
5484b97419 AP_GPS: reset _fix_count to 0 on nav settings update
this makes it run every 20s exactly
2013-09-04 13:18:00 +10:00
Andrew Tridgell
879d44f930 AP_GPS: use the mask bits to only set dynamic model
this ensures we don't try to change any other CFG_NAV5 settings
2013-09-04 13:17:20 +10:00
Andrew Tridgell
fa107bdb58 PX4: moved UART handling to its own thread
this prevents slow writes to the SD card from interfering with MAVLink
or GPS serial communication
2013-09-04 13:15:27 +10:00
Andrew Tridgell
7082e0f8aa AP_HAL: added hold_in_bootloader parameter to scheduler->reboot() 2013-09-04 11:58:13 +10:00
Andrew Tridgell
1328316bfc AP_Airspeed: fixed saving of airspeed ratios 2013-08-31 10:26:27 +10:00
Paul Riseborough
1c7bdc40ec AP_Airspeed : Expanded range of ARSPD_RATIO adjustment 2013-08-31 08:03:11 +10:00
Andrew Tridgell
e8fc8cea01 AP_Scheduler: updated docs 2013-08-30 15:33:30 +10:00
Andrew Tridgell
8d08f6d669 AP_Relay: document new relay pin numbers 2013-08-30 15:21:23 +10:00
Andrew Tridgell
5e33bbd197 PX4: fixed sense of relay pins 2013-08-30 15:05:29 +10:00
Andrew Tridgell
c56017d8f1 AP_AHRS: added in new orientations 2013-08-30 14:19:17 +10:00
Andrew Tridgell
9320e82ac2 AP_Compass: added in new orientations 2013-08-30 14:19:03 +10:00
Andrew Tridgell
fbf79c07f0 AP_Compass: added COMPASS_EXTERNAL option
this allows configuring of a compass as being externally attached
2013-08-30 14:02:09 +10:00
Andrew Tridgell
97b7130bb9 libraries: update license header to GPLv3
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
Andrew Tridgell
b29369bc03 AP_Notify: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
905e07edf9 AP_Mount: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
01387a1553 AP_Motors: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
873e54deb1 AP_Math: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
5caf2e0ea4 AP_InertialSensor: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
a2902d4a0f AP_InertialNav: fixed example build 2013-08-30 13:01:38 +10:00
Andrew Tridgell
83fbb29db1 HAL_PX4: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
0bfc18b72d HAL_AVR: fixed examples build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
e6bd3b65b9 AP_GPS: fixed examples build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
517c44bbaa AP_Baro: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
e6794239ca AC_Fence: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
6182571c21 AP_AHRS: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
69c8df3326 AP_Airspeed: fixed example build
removed Airspeed_Calibration test, as it is not useful
2013-08-30 13:01:36 +10:00
Andrew Tridgell
b57af23933 DataFlash: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
7535ecb282 AP_Notify: enable board LEDs for ESC calibration
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-08-30 13:01:36 +10:00
Andrew Tridgell
d67ad2c7ee AP_Notify: added missing files 2013-08-30 13:01:35 +10:00
Andrew Tridgell
67401294f4 GCS_MAVLink: added missing header 2013-08-30 13:01:35 +10:00
Andrew Tridgell
7b1e2b0e78 AP_GPS: don't need notify.h here 2013-08-30 13:01:35 +10:00
Andrew Tridgell
65a490c209 AP_InertialSensor: update for new notify API 2013-08-30 13:01:35 +10:00
Andrew Tridgell
495c4bbbbe AP_Notify: simplify interface to avoid timers and external calls
this changes AP_Notify to use updates via notify.update() at 50Hz,
avoiding the need for the 1kHz timer. It also creates a parent class
for ToshibaLED so that the I2C and PX4 ToshibaLED drivers can be
abstracted out.

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-08-30 13:01:35 +10:00
Randy Mackay
2658cda4bc Toshiba_LED_PX4: local #defines for led brightness 2013-08-30 13:01:35 +10:00
Randy Mackay
07abfc59ac AP_HAL_PX4: compile error fix 2013-08-30 13:01:35 +10:00
Randy Mackay
82b7b2cb3e GPS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay
5651bdbe3a INS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay
0797489ad8 Motors: use AP_Notify static flags variable 2013-08-30 13:01:35 +10:00
Randy Mackay
0c1db12538 AP_Notify: add ToshibaLED_PX4 2013-08-30 13:01:35 +10:00
Randy Mackay
a52b1831ca AP_Notify: make flags static variable 2013-08-30 13:01:35 +10:00
Randy Mackay
496962f037 GPS: update notify 2013-08-30 13:01:35 +10:00
Randy Mackay
54007854a9 Notify: add ToshibaLED 2013-08-30 13:01:35 +10:00
Randy Mackay
f8a872f01e AP_Motors: update notify 2013-08-30 13:01:34 +10:00
Randy Mackay
ac36a09747 AP_HAL: add toggle to GPIO 2013-08-30 13:01:34 +10:00
Randy Mackay
b1278fa006 AP_Notify: early draft of library 2013-08-30 13:01:34 +10:00
Andrew Tridgell
0527bae8cb PX4: support PX4IO relay pins
this allows the pins to be used in the relay code
2013-08-30 13:01:34 +10:00
Andrew Tridgell
0c06dff2db AP_Airspeed: constrain internal state of calibration code 2013-08-30 13:01:34 +10:00
Andrew Tridgell
3916a07dcf AP_Airspeed: added logging of airspeed calibration internals 2013-08-30 13:01:34 +10:00
Andrew Tridgell
ce3fb290f1 AP_Airspeed: fixed initialisation of auto-calibration 2013-08-30 13:01:34 +10:00
Andrew Tridgell
dd747505c5 DataFlash: report when DataFlash write fails 2013-08-30 13:01:34 +10:00
Andrew Tridgell
395739dded AP_Baro: simplify PX4 driver
we can now rely on queueing in NuttX driver
2013-08-30 13:01:34 +10:00
Andrew Tridgell
1ff669eb97 AP_Compass: simplify PX4 compass driver
we can now rely on queueing in the NuttX driver
2013-08-30 13:01:34 +10:00
Andrew Tridgell
4c752e4a94 AP_Math: simplify rotations test code 2013-08-30 13:01:34 +10:00
Andrew Tridgell
4662858077 DataFlash: we don't need AP_AHRS.h 2013-08-30 13:01:34 +10:00
Andrew Tridgell
e2b0e07973 AP_Math: removed unused matrix rotation code
we only need to rotate vectors
2013-08-30 13:01:34 +10:00
Andrew Tridgell
c6e29c9519 GCS_MAVLink: update to latest upstream mavlink headers 2013-08-30 13:01:34 +10:00
Andrew Tridgell
a295a01bbc AP_Math: added missing 90 degree rotations
this ensures we can handle all 90 degree rotations of the compass and
main board. A test in examples/rotations shows that we have them all.
2013-08-30 13:01:33 +10:00
Andrew Tridgell
c6c59174b3 AP_Airspeed: return when airspeed init fails 2013-08-30 13:01:33 +10:00
Andrew Tridgell
5607c89df0 AP_Baro: use fabs() not abs()
thanks to Randy for spotting this
2013-08-30 13:01:33 +10:00
Andrew Tridgell
31e1b7fcf6 AP_Airspeed: list MEAS airspeed in ARSPD_PIN docs 2013-08-30 13:01:33 +10:00
Andrew Tridgell
9b3c54fc39 PX4: ensure storage buffer is DMA aligned
this helps for boards which use DMA for FAT IO
2013-08-30 13:01:33 +10:00
Andrew Tridgell
e5ad9dbd15 AP_InertialSensor: switch PX4 driver to fixed time per sample model
this makes the driver much simpler, and does away with the need for an
accumulate function
2013-08-30 13:01:33 +10:00
Andrew Tridgell
38fe89d661 AP_InertialSensor: switch to non-averaging system for PX4 IMUs
always use the latest value, based on a lowpass filter in the driver
2013-08-30 13:01:33 +10:00
Andrew Tridgell
2340bb6220 PX4: use a minimum transmit buffer for UARTs of 512 bytes
this avoids writes stalling on the GPS port. We can't afford this
memory on APM2, but we can on PX4, and it means that while the GPS is
blocking at startup it doesn't cause any scheduler slips
2013-08-30 13:01:33 +10:00
Andrew Tridgell
e5f19e314d PX4: systemreset() now takes a boolean argument
this chooses whether to stay in the bootloader
2013-08-30 13:01:33 +10:00
Andrew Tridgell
46c5d18585 AP_InertialSensor: disable averaging on FMUv2
the new filter from Leonard means we shouldn't average values, and
instead just use the last value
2013-08-30 13:01:33 +10:00
Julian Oes
c3b27629ec AP_InertialSensor: run PX4 FMUv2 at 800Hz
this gives much better noise suppression
2013-08-30 13:01:33 +10:00
Andrew Tridgell
4794d90bbb HAL_PX4: support up to 16 analog channels 2013-08-30 13:01:32 +10:00
Andrew Tridgell
3bc035d83a HAL_PX4: fixed GPIO build
don't use vehicle includes
2013-08-30 13:01:32 +10:00
Andrew Tridgell
ef5a42fabc AP_HAL: added RCOutput example sketch
useful for testing all 14 channels via APM API
2013-08-30 13:01:32 +10:00
Andrew Tridgell
2b1fcc964f AP_Math: added a quick test of floating point location accuracy
just confirming some maths ...
2013-08-30 13:01:32 +10:00
Andrew Tridgell
0f677e3a10 HAL_PX4: fixed build on FMUv1 2013-08-30 13:01:32 +10:00
Andrew Tridgell
091b989b30 HAL_PX4: some GPIO functions are not available on FMUv2 yet 2013-08-30 13:01:32 +10:00
Julian Oes
56e94d70e9 PX4: Adaptations to latest build changes 2013-08-30 13:01:32 +10:00
Andrew Tridgell
dc97a8eff7 AP_ADC: fixed license text
we are on GPLv3 now
2013-08-30 13:01:32 +10:00
Andrew Tridgell
587fb58720 AP_AHRS: fixed license text
APM is under GPL, not LGPL
2013-08-30 13:01:32 +10:00
Randy Mackay
45aeb1a921 Copter: split up loiter into 4 steps
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
2013-08-28 11:33:10 +09:00
Andrew Tridgell
feac9d1306 AP_Compass: fixed a bug in the tilt compass calculation
The simplification applied a few months ago was incorrect
2013-08-18 21:08:52 +10:00
Andrew Tridgell
a12991923e RC_Channel: prevent overwrite of memory on high RC_Channel constructor 2013-08-18 11:42:23 +10:00
Randy Mackay
04b84664e5 AC_Fence: add safety margin parameter
This will allow auto modes to proactively avoid breaching the fence
2013-08-15 16:05:38 +09:00
Andrew Tridgell
33cbe6151a SITL: support multiple instances of SITL running at once 2013-08-14 16:35:24 +10:00
Andrew Tridgell
3c967a9c71 AP_TECS: use a ahrs reference
saves a pointer access
2013-08-14 14:58:49 +10:00
Andrew Tridgell
144516c941 AP_L1_Control: set min groundspeed to 0.1
this works better for slow rovers
2013-08-14 14:57:23 +10:00
Andrew Tridgell
c6e37aaec3 APM_Control: use a ahrs reference, not pointer
saves pointer check
2013-08-14 14:56:18 +10:00
Andrew Tridgell
a98d7bd050 GCS_MAVLink: updated to latest upstream mavlink defintions 2013-08-14 14:36:44 +10:00
Andrew Tridgell
b43bf44552 AP_GPS: improved the precision of the NMEA driver
this brings the NMEA driver to the same lat/lon precision as the uBlox
driver (approx 1cm)
2013-08-14 14:36:44 +10:00
Andrew Tridgell
97baec8bc7 SITL: update for new SIMSTATE message 2013-08-14 14:36:44 +10:00
Andrew Tridgell
e75c48c029 SITL: added simulated NMEA GPS
useful for validating the NMEA GPS driver
2013-08-14 14:36:44 +10:00
Andrew Tridgell
31fce44063 AP_L1_Control: use a reference to AHRS
makes code a bit simpler
2013-08-13 13:49:26 +10:00
Andrew Tridgell
08ec43ef89 AP_L1_Control: use get_position() 2013-08-13 12:07:35 +10:00
Andrew Tridgell
b74ed795f2 AP_L1_Control: removed _maxf() and _geo2planar() functions
not needed any more
2013-08-13 12:07:35 +10:00
Andrew Tridgell
653fa5a191 AP_L1_Control: adjust position for GPS lag
this should help for rovers
2013-08-13 12:07:35 +10:00
Andrew Tridgell
57d2dd814d AP_AHRS: added get_position_lag() call
provide position lag to libraries
2013-08-13 12:07:35 +10:00
Andrew Tridgell
fd4bceaafe AP_L1_Control: avoid using float global coordinates
this increases the navigation precision of rovers using L1 control
down to the centimeter level
2013-08-13 12:07:35 +10:00
Andrew Tridgell
5434b2c017 AP_Math: update location code to avoid float rounding
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.

This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
2013-08-13 12:07:34 +10:00
Andrew Tridgell
df8e8c64e8 AP_L1_Control: use projected position for turns 2013-08-13 12:07:34 +10:00
Andrew Tridgell
9c88872ad0 AP_L1_Control: use a better ground speed estimate at low speeds
this should prevent a rover going in the wrong direction at the start
of a mission
2013-08-13 12:07:34 +10:00
Andrew Tridgell
953051b49e AP_L1_Control: added lateral acceleration interface
this will be used by the Rover code for steering
2013-08-12 13:38:38 +10:00
Randy Mackay
6969ab573d Copter: configurable max lean angle
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
2013-08-11 12:53:22 +09:00
Randy Mackay
c7464f635c AC_Sprayer: turn on/off the spinner with the pump 2013-08-05 21:12:28 +09:00
Randy Mackay
e4ca7d2fdf AC_Sprayer: first implementation 2013-08-05 21:11:09 +09:00
Andrew Tridgell
9cb6c987d4 AP_Math: fixed example build 2013-08-05 12:37:51 +10:00
Andrew Tridgell
0d36832b82 AP_AHRS: use const reference not pointers for locations
this makes life easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:12 +10:00
Andrew Tridgell
f3b3e23bbc AP_Camera: fix for new AP_Math API
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:09 +10:00
Andrew Tridgell
6b5ee80b70 AP_InertialNav: fix for new AP_Math API
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:06 +10:00
Andrew Tridgell
cf4a74cfb8 AP_L1_Control: fix for new AP_Math API
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:02 +10:00
Andrew Tridgell
612ede81f4 AP_Limits: fix for new AP_Math API
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:23:57 +10:00
Andrew Tridgell
1d75b52411 AP_Math: use const references not pointers for location functions
this makes life a bit easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:23:40 +10:00
Randy Mackay
47f5c9b7a4 AC_Fence: remove unused gps pointer 2013-08-03 19:04:59 +09:00
Andrew Tridgell
b7e3851ef8 AP_Scheduler: prevent a divide by zero 2013-08-02 22:07:00 +10:00
Andrew Tridgell
a7cbebbeba APM_Control: rename 'stabilize' to 'disable_integrator'
this better reflects what it does
2013-08-02 21:54:48 +10:00
Paul Riseborough
0c64c800b3 AP_L1_Control : Fixed bug in track capture angle limit 2013-08-02 21:47:45 +10:00
Paul Riseborough
34f0af25cc AP_TECS : Improvements and bug fixes to feed-forward throttle demand
This fixes a bug in the feed-forward throttle that prevented the bank to throttle compensation from working properly during descents.
It also adds bank to throttle compensation to the non-airspeed sensor throttle algorithm.
2013-08-02 21:47:01 +10:00
Randy Mackay
8d26fb5581 Copter Motors: by default spin motors at 65 when armed 2013-07-28 18:18:52 +09:00
Randy Mackay
fe412437c2 Copter: add flags for upper and lower throttle limits
Freeze desired altitude when motors hit a limit
2013-07-28 18:18:39 +09:00
Randy Mackay
de59ea3ddc Copter Fence: reduce circle @Range to 30m 2013-07-27 10:28:33 +09:00
Andrew Tridgell
57752df68e APM_Control: set a small D value by default
0.02 may help with some planes that have slow response

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-26 16:07:00 +10:00
Andrew Tridgell
a192b9ee46 AP_Scheduler: added load_average() function
useful to give a load average in SYS_STATUS mavlink message
2013-07-26 16:07:00 +10:00
Andrew Tridgell
fef6a76078 RC_Channel: rename 'Manual' to RCPassThru
this should make it clearer what it does
2013-07-26 16:07:00 +10:00
Randy Mackay
f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Andrew Tridgell
2874ec67c7 DataFlash: slight efficiency improvement
fixes issue #314

thanks Dongfang!
2013-07-23 09:46:02 +10:00
Andrew Tridgell
63873d6af3 HAL_AVR: fixed example build 2013-07-23 09:42:51 +10:00
Paul Riseborough
ba009e55e3 AP_Baro : Fixed bug in temperature units in AP_Baro_HIL 2013-07-22 12:50:02 +10:00
Andrew Tridgell
ebebee4f06 AP_Baro: extend the atmospheric model to higher altitudes 2013-07-22 12:50:02 +10:00
Paul Riseborough
5a68c515dc AP_Airspeed: Altitude Calibration - added constrain on P matrix diagonals 2013-07-22 12:50:02 +10:00
Andrew Tridgell
3ba0dec4b3 AP_Airspeed: fixed typo 2013-07-22 12:50:02 +10:00
Paul Riseborough
d1805f4349 AP_Airspeed: Airspeed Calibration computational efficiency improvement 2013-07-22 12:50:02 +10:00
Andrew Tridgell
0c6725f289 AP_Baro: improved the accuracy of the barometer model 2013-07-22 12:50:01 +10:00
Andrew Tridgell
c5028c04da APM_Control: scale controllers for altitude
this allows the attitude controllers to better handle a wider range of
altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-22 12:50:01 +10:00
Andrew Tridgell
097718e833 AP_L1_Control: scale loiter and wp radius with altitude
this should keep the aircraft stable in loiter at very high altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-22 12:50:01 +10:00
Andrew Tridgell
e6d9d14fad AP_Airspeed: added example sketch for airspeed calibration 2013-07-22 12:50:01 +10:00
Andrew Tridgell
620d067ee1 AP_TECS: use ahrs EAS2TAS for true airspeed 2013-07-22 12:50:01 +10:00
Andrew Tridgell
ec73fadc45 AP_AHRS: added true airspeed support in AHRS
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
2013-07-22 12:50:01 +10:00
Andrew Tridgell
3c66cb8af1 AP_Airspeed: added EAS2TAS in airspeed driver
this keeps the true airspeed ratio in the airspeed driver, which seems
the most logical place
2013-07-22 12:50:01 +10:00
Andrew Tridgell
893d2da6f6 AP_Airspeed: added auto-calibration support
This uses a Kalman filter to calculate the right ARSPD_RATIO at runtime

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-22 12:50:01 +10:00
Andrew Tridgell
01c124d5f5 AP_GPS: added velocity_vector() method 2013-07-22 12:50:00 +10:00
Andrew Tridgell
468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Randy Mackay
e2fbc00b52 LeadFilter: removed this unused library
This was used to project the GPS position forward to compensate for lag
but this has become unnecessary with the introduction of the inertial
nav in x and y axis.
2013-07-21 14:30:49 +09:00
Randy Mackay
43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Randy Mackay
0325ad5d0d AP_AHRS: use rotateXY for speed
Saves 0.1ms at 100hz
2013-07-20 18:00:36 +09:00
Randy Mackay
540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Robert Lefebvre
c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre
957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Andrew Tridgell
c691e16139 HAL_AVR: fixed example build 2013-07-18 17:36:38 +10:00
Andrew Tridgell
3e21d0594c APM_Control: pass in aircraft parameters and expose coordinate rate offset
this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-18 14:53:26 +10:00
Andrew Tridgell
fb0e48a25d AP_TECS: adapt for new airspeed variable names 2013-07-18 14:53:23 +10:00
Andrew Tridgell
42d107b0d9 AP_SpdHgtControl: rename flybywire_airspeed to airspeed
this variable applies to any automatic throttle mode, not just FBW
modes.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-07-18 14:53:20 +10:00
Andrew Tridgell
5901b8b22a APM_Control: allow for a wider range of P values for roll/pitch
values above 1.0 are sometimes needed
2013-07-18 09:05:17 +10:00
Randy Mackay
336357fbaf Copter: ensure _spin_when_armed is not higher than _min_throttle 2013-07-16 15:25:57 +09:00
Randy Mackay
62f3eed4e0 Copter: fix to SPIN_ARMED parameter desciption 2013-07-16 12:59:38 +09:00
Randy Mackay
b709b90a59 Copter: implement safety spin for Tricopters 2013-07-16 12:48:01 +09:00
Randy Mackay
6477c746cd Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
2013-07-16 12:47:59 +09:00
Jonathan Challinger
2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Jonathan Challinger
ae2b1e3b7e AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach 2013-07-16 12:47:49 +09:00
Andrew Tridgell
2ee43a694c APM_Control: fixed YAW2SRV_IMAX handling
thanks to Steven G for noticing this!
2013-07-16 09:44:23 +10:00
Andrew Tridgell
032cc513ca DataFlash: fixed example build 2013-07-15 14:10:58 +10:00
Andrew Tridgell
206ed04e76 AP_Mount: fixed example build 2013-07-15 14:10:50 +10:00
Andrew Tridgell
47450a9b40 AP_InertialNav: fixed example build 2013-07-15 14:10:40 +10:00
Andrew Tridgell
98d6331387 AP_Airspeed: fixed example build 2013-07-15 14:10:27 +10:00
Andrew Tridgell
1bd6849d00 AP_AHRS: fixed example build 2013-07-15 14:10:17 +10:00
Andrew Tridgell
82152c058e AC_WPNav: disabled broken example build
this test doesn't actually do anything yet
2013-07-15 14:09:48 +10:00
Andrew Tridgell
04835b095f AC_Fence: fixed examples build 2013-07-15 14:09:18 +10:00
Andrew Tridgell
c7141c4851 AP_GPS: fixed examples build 2013-07-15 14:09:07 +10:00
Andrew Tridgell
0f72eae216 AP_Camera: removed 3 camera trigger types that do not work
the trigger by wp distance, trigger with throttle off and trigger a
transistor all don't work, and are not structured correctly, plus are
dangerous.

The existing relay support can (correctly!) handle the resistor case
without hard-wiring a pin. The "turn off throttle to trigger" idea is
badly broken, it would crash a copter if it worked. We can make it
work properly on planes if there is demand. As it was it didn't work
anyway. 

The triggger by wp distance method was broken, and had no way to
initiate a trigger anyway
2013-07-15 09:55:38 +10:00
Randy Mackay
bd6a60f28b AP_Math: add M_PI_2 definition
Required when building under arduino
2013-07-14 15:57:26 +09:00
Randy Mackay
8545071a21 GCS_MAVLink: include AP_Math.h
Required because mavlink_conversions's mavlink_dcm_to_euler function
uses atan2
2013-07-14 15:56:58 +09:00
Randy Mackay
9b40ba98d7 GCS_MAVLink: regenerated messages 2013-07-14 15:52:55 +09:00
Randy Mackay
6bcbcc0382 GCS_MAVLink: add DO_SET_ROI to common.xml 2013-07-14 15:49:17 +09:00
Andrew Tridgell
d9f13b6b8c GCS_MAVLink: merge in changes from upstream mavlink repo 2013-07-14 16:02:29 +10:00
Andrew Tridgell
b1202ccbff GCS_MAVLink: merge in latest upstream XML changes 2013-07-14 15:41:25 +10:00
Andrew Tridgell
9d66adae13 AP_Airspeed: added get_airspeed_ratio() and set_airspeed_ratio()
This is to help Paul develop an automatic tuning system for airspeed
ratio
2013-07-13 21:53:38 +10:00
Andrew Tridgell
cc778a68ae APM_Control: changed attitude controllers to take angular error not angle
this makes it easier for ACRO mode
2013-07-13 21:45:58 +10:00
Andrew Tridgell
b721bcc129 AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()
these are not used any more
2013-07-13 21:45:58 +10:00
Andrew Tridgell
21859f9364 RC_Channel: fixed dead_zone for range channels
The dead_zone was being used inconsistently, used in PWM space in one
place, and in control output space in another.

The fix required us to move the index number of the RC channel eeprom
value for RCn_DZ, as users will have a throttle deadzone of 3 set in
their eeprom due to a bug that Randy just fixed that caused the value
to always be saved to eeprom. In plane we then need to fix the
deadzone for the throttle to be 30

this fixes issue #303

Thanks to Soren Kuula for spotting this!
2013-07-13 13:18:54 +10:00
Andrew Tridgell
086e8f80dc AP_AHRS: fixed spin rate gain conversion from degrees to radians
fixes issue #433

Thanks Jurgen!
2013-07-13 12:36:25 +10:00
Randy Mackay
effc829790 INS: relax accel offset check to 3.5 m/s/s
One user, Dusty, has found that even with offsets of 3.1 m/s/s
successful alt hold and loiter are possible
2013-07-13 10:43:07 +09:00
Randy Mackay
110966c186 AP_TECS: compile error fix for size_of(log_tuning) 2013-07-12 11:45:02 +09:00
Randy Mackay
fb5ada38c0 RC: example sketch uses set_default_dead_zone 2013-07-12 11:44:58 +09:00
Randy Mackay
47437b9ddf RC: set dead zone only if parameter has not been set by user 2013-07-12 11:44:16 +09:00
Randy Mackay
012d7b0c0a OptFlow: initialisation fix
Thanks to DongFang (aka Soren) for finding the issue and the solution
2013-07-11 14:14:37 +09:00
Andrew Tridgell
131aa53e42 AP_Relay: update for new PX4 relay pin 2013-07-11 13:50:23 +10:00
Andrew Tridgell
83b13c3d88 HAL_PX4: fixed definition of relay and piezo pins 2013-07-11 13:50:23 +10:00
Andrew Tridgell
0916388ab5 HAL_PX4: retry opening UARTs up to 5 times
this seems to help a lot with the USB port on PX4
2013-07-11 13:50:23 +10:00
Marco Bauer
72d0721721 AP_Relay: setup pin for PX4 relay support 2013-07-11 13:50:22 +10:00
Marco Bauer
a3b216bce3 HAL_PX4: added GPIO driver 2013-07-11 13:50:22 +10:00
Randy Mackay
bf5a50f738 WPNav: stopping point projection uses wp_leash 2013-07-11 11:39:44 +09:00
Andrew Tridgell
f2316747f5 APM_Control: re-work to allow for rate based control 2013-07-11 09:10:41 +10:00
Randy Mackay
345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter
Also removed unused _lean_angle_max variable
2013-07-10 20:00:32 +09:00
Randy Mackay
204f613467 WPNav: bug fix to reported distance to target
This value is for reporting purposes only
2013-07-10 18:21:08 +09:00
Randy Mackay
518eba0729 WPNav: bug fix to loiter accel calculation
Contribution from Leonard Hall
2013-07-10 17:52:12 +09:00
Randy Mackay
c4f17b3235 WPNav: rounding error fix in loiter
Contributed by Leonard Hall
2013-07-10 16:24:37 +09:00
Randy Mackay
5d23d5aaa7 WPNav: reduce loiter speed used to correct pos error
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
2013-07-10 15:52:18 +09:00
Randy Mackay
7860d06b91 AHRS: typo fix for ORIENTATION param description 2013-07-10 14:56:48 +09:00
Andrew Tridgell
0f72401d8d AP_Baro: added GND_ALT_OFFSET parameter
used for automatic barometric adjustment by a ground station equipped
with a barometer
2013-07-10 14:38:57 +10:00
Andrew Tridgell
469736e6bc DataFlash: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell
279f6d00f0 AP_AHRS: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell
7dbb898264 AP_GPS: switch fields to add units suffix
altitude -> altitude_cm
ground_speed -> ground_speed_cm
ground_course -> ground_course_cd

this helps prevent unit mixups
2013-07-10 14:04:22 +10:00
Paul Riseborough
66d60953df TECS: added height update_pitch call 2013-07-10 14:04:22 +10:00
Andrew Tridgell
9959f6b2df AP_Camera: removed incorrect mavlink sends
these sends did nothing, as MAVLINK_COMM_3 is not connected to
anything. If it was connected they would be dangerous, as a blocking
serial write could cause the stabilization of a copter not to run. If
the serial port was non-blocking it would corrupt the packet.

If we needed something like this it would have to use the MAVLink
packet queueing logic we use elsewhere
2013-07-10 11:51:40 +10:00
Craig@3DR
f5154d9e7a AP_Camera: changed update_location() to return true for camera trigger
Makes the main vehicle code responsible for taking a photo so logging can occur
2013-07-10 08:39:56 +10:00
Andrew Tridgell
7fa1fe8590 AP_Param: use 0xFFFF not __UINT16_MAX__
MacOS doesn't have __UINT16_MAX__
2013-07-09 20:51:06 +10:00
Paul Riseborough
2c5db9a165 TECS: added support for throttle nudging 2013-07-09 20:50:37 +10:00
Paul Riseborough
9c431b4a04 TECS: use altitude supplied by mainline code
this allows for use of ALT_OFFSET and ALT_MIX
2013-07-09 09:25:53 +10:00
Paul Riseborough
d8fedf994a AP_SpdHgtControl: added height above field parameter 2013-07-09 09:05:22 +10:00
Tobias
4a75351bd3 AP_Param: fixed a compiler warning with -Wsign-conversion 2013-07-08 14:57:33 +10:00
Tobias
27a5c28851 AP_Param: fixed some compiler warnings
* added comment
* replaced "~0" with the appropriate macro
* resolved -Wconversion
* saved some space by modifying AP_Param::add_vector_suffix (writing
behind buffer could happen, if buffer_size is almost uint16_max but this
can surely be ignored)

further reading:
http://stackoverflow.com/questions/809227/is-it-safe-to-use-1-to-set-all-bits-to-true
2013-07-08 14:57:33 +10:00
Tobias
ab311d1dd4 AP_Compass: removed comparison out of range compiler warning
uint_ >= 0 (-Wtype-limits)
2013-07-08 14:57:25 +10:00
Tobias
c95072ea25 AP_GPS: added explicit cast to omit [-Wconversion] warning 2013-07-08 14:53:20 +10:00
Andrew Tridgell
8c49ed78a5 AP_Math: make the rotation numbers easier to find 2013-07-08 12:17:59 +10:00
Andrew Tridgell
a6c7bd3612 AP_Compass: fixed rotations for COMPASS_ORIENT
this matches AHRS_ORIENTATION again
2013-07-08 12:17:59 +10:00
Tobias
338c054da2 Filter: validity of array index was checked AFTER accessing the element.
(correction decreased Program size by 12 bytes)
2013-07-08 12:17:59 +10:00
Tobias
d3ea88e8c7 AP_HAL: resolved -Woverloaded-virtual warning
the function:
virtual size_t AP_HAL::Print::write(const uint8_t *buffer, size_t size);

was hidden in all derived classes by their
virtual size_t write(uint8_t) = 0; implementations.

To solve this, a non-virtual write(const uint8_t *, size_t) that calls a
virtual write_implementation was added.

This isn't necessary atm, because the derived classes don't call
write(const uint8_t *, size_t), BUT this decreases the apm2-quad Program
size by 40 bytes :D and removes warnings.
2013-07-08 12:17:34 +10:00
tobias
1bf135b36f AP_AHRS: make some more functions const 2013-07-08 12:07:50 +10:00
Tobias
ce6529734c HAL_AVR: reorder parameters to remove a warning with -Wreorder 2013-07-08 12:07:50 +10:00
tobias
4e7fea787b HAL_AVR: corrected includes to replace #include "$HEADER" with #inlcude "utility/$HEADER"
adding -I for EVERY DIRECTORY isn't desirable

http://gcc.gnu.org/onlinedocs/cpp/Search-Path.html
2013-07-08 12:07:50 +10:00
Randy Mackay
649cbf6b68 WPNav: reduce default WP_ACCEL and LOITER_SPEED 2013-07-07 16:00:13 -10:00
Randy Mackay
ded31582de AP_AHRS: add Roll90Yaw90 to parameter description
Thanks to Rainer Walther for spotting this
2013-07-07 13:06:40 -10:00
rmackay9
073e2c9f15 ACMotors: bug fix to yaw limit 2013-07-05 13:51:59 -10:00
John Boiles
bb2a6b8a22 HAL_SITL: Fixing SITL build for OSX. 2013-07-05 22:36:57 +10:00
Paul Riseborough
a694b781c7 AP_TECS: Add non airspeed sensor pitch to throttle mode lost during integration 2013-07-05 22:16:39 +10:00
Andrew Tridgell
25f8983383 HAL_AVR: don't initialise TWBR twice 2013-07-05 12:59:14 +10:00
Andrew Tridgell
87f6cc715d AP_TECS: fixed parameter doc formatting 2013-07-04 17:52:40 +10:00
Paul Riseborough
8082122053 TECS-WIP : Fixed bug in initialisation of DT value 2013-07-04 16:57:50 +10:00
Andrew Tridgell
904e6b5b8f AP_TECS: for _DT to at most 0.1 2013-07-04 16:56:57 +10:00
Andrew Tridgell
68232a10f9 AP_TECS: updates to use new aircraft parameter structure 2013-07-04 16:56:57 +10:00
Andrew Tridgell
89271b7774 AP_SpdHgtControl: added speed/height control interface
this will be used by TECS
2013-07-04 16:56:57 +10:00
Andrew Tridgell
80e0f8044c AP_AHRS: added airspeed_sensor_enabled() function 2013-07-04 16:56:57 +10:00
Paul Riseborough
5b0129e02b AP_TECS: first implemention of TECS altitude control library 2013-07-04 16:56:56 +10:00
Paul Riseborough
7bdb098e77 AP_Baro: added get_EAS2TAS()
this provides the scaling factor between equivalent and true airspeed
based on altitude
2013-07-04 16:56:56 +10:00
Andrew Tridgell
61361dac9b AP_Baro: added units to baro documentation 2013-07-04 16:56:56 +10:00
Paul Riseborough
3b98bbd159 AP_Baro: more precise altitude calculation on PX4
if not using an AVR CPU then use a more computationally expensive
altitude calculation, which is more precise at higher altitudes
2013-07-04 16:56:56 +10:00
Andrew Tridgell
fff777bda2 MAVLink: update to latest upstream message defintions XML
this adds new HIL support for airspeed, and common SIM_STATE and
RADIO_STATUS messages
2013-07-01 15:38:45 +10:00
Andrew Tridgell
6b7b69a048 RC_Channel: added secondary rudder support
this is used when nose wheel steering needs different reverse/range
from rudder
2013-06-29 17:31:03 +10:00
Randy Mackay
b16ce5e523 AVR I2C: bug fix
Fix provided by both Jason Short and lucafedechen independently
2013-06-28 07:09:05 -10:00
phokur
b00e5d95c9 Update AnalogIn.cpp
Fixed AnalogIn.cpp:42: undefined references

Full error msgs:
/cygdrive/c/MAVPRO~1/ardupilot/libraries/AP_HAL_Empty/AnalogIn.cpp:42: undefined reference to `Empty::EmptyAnalogSource::set_stop_pin(unsigned char)'
/cygdrive/c/MAVPRO~1/ardupilot/libraries/AP_HAL_Empty/AnalogIn.cpp:42: undefined reference to `Empty::EmptyAnalogSource::set_settle_time(unsigned short)'
2013-06-26 23:22:08 -10:00
Craig@3DR
1a3ed2d80b AP_Compass: Corrected COMPASS_ORIENT Parameter Description 2013-06-26 19:14:24 -07:00
Randy Mackay
6cd18868c2 AirSpeed: fix example sketch compile error 2013-06-25 22:45:30 +09:00
Randy Mackay
20ed00dcc9 AP_InertialSensor: relax accel offset sanity check 2013-06-25 14:19:42 +09:00
Andrew Tridgell
7d42a0562d AP_AHRS: cope better with large GPS yaw changes
this should cope better with bungee launches when using only GPS for
yaw.
2013-06-25 12:44:26 +10:00
Andrew Tridgell
169b5a30a5 AP_Camera: added CAM_TRIGG_DIST parameter
for triggering every N meters of GPS distance travelled
2013-06-25 12:44:26 +10:00
Andrew Tridgell
7902d57877 AP_Relay: added RELAY_PIN parameter
makes it easier to choose a pin
2013-06-24 22:39:18 +10:00
Paul Riseborough
2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Paul Riseborough
147856e73c APM_Control: Added integrator limiting adjustable by an advanced user parameter
this is compatible with the old IMAX settings
2013-06-22 21:55:27 +10:00
Paul Riseborough
d8dab7b5c7 APM_Control: Pitch Control - Reduced the speed below which the integrator is locked
This is to allow for slow speed flare manoeuvres in FBW modes
2013-06-22 21:49:40 +10:00
Randy Mackay
aa2b10f044 AP_Baro: TEMP parameter comment fix 2013-06-18 11:28:36 +09:00
Randy Mackay
dde19c9585 WPNav: add acceleration parameter
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
2013-06-16 11:40:51 +09:00
Randy Mackay
272f0e5032 Copter: reduce twitch when entering CIRCLE mode
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
2013-06-15 18:18:30 +09:00
Andrew Tridgell
d7d87f827e HAL_PX4: support voltage monitoring on multi-connector pin 5 2013-06-05 08:24:20 +10:00
Paul Riseborough
3ad35363be Plane : APM_Control : Removed scaler incorrectly applied to the integrator path 2013-06-04 18:09:06 +10:00
Andrew Tridgell
f44f7308e8 AP_Param: we don't need to avoid writes in AP_Param now
now handled in the HAL
2013-06-04 14:02:49 +10:00
Andrew Tridgell
2316c3bd11 AP_HAL: make storage->write_block() take a const pointer 2013-06-04 14:02:13 +10:00
Andrew Tridgell
3c9d45d7d0 HAL_AVR: avoid writing bytes to EEPROM that are already correct
this speeds up writing of waypoint data, reducing latency
2013-06-04 13:33:41 +10:00
Andrew Tridgell
02252b5387 RC_Channel: removed reference to dip switches 2013-06-03 17:49:56 +10:00
Andrew Tridgell
aaaa5247e3 AP_AHRS: make it possible to setup board orientation at runtime 2013-06-03 16:52:28 +10:00
Andrew Tridgell
45b385cf81 AP_RCMapper: improved docs for RCMAP_* 2013-06-03 16:28:05 +10:00
Andrew Tridgell
c0058bbb03 RC_Channel: added output_trim() and read() functions
these make using rcmap in the plane code easier
2013-06-03 16:23:48 +10:00
Andrew Tridgell
033828aeb6 AP_Mount: make the code a bit easier to read 2013-06-03 16:23:48 +10:00