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