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1136 Commits

Author SHA1 Message Date
Andrew Tridgell
5b75458502 AP_Baro: update MS5611 driver for new ap_proceduce prototype 
this saves calling millis() quite so often
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
cef1c4c558 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
8cc2b7669b PeriodicProcess: added set_failsafe() call 
this adds an optional failsafe function that will be called in the
timer loop
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
845683a56c added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
eac625ba8f rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
eec5f000b5 added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell
614aeb274c fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell
b52cd45670 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell
7c9c26e2b7 AP_Math: re-work polygon algorithm for perfect precision 
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
 2011-12-19 18:52:56 +11:00
Randy Mackay
a51e868766 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell
7442ba31d8 polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Michael Oborne
3848f2094e make file relax 2011-12-17 20:42:51 +08:00
Michael Oborne
fd35ba5976 add relax 2011-12-17 16:53:14 +08:00
Andrew Tridgell
0c8c707980 AP_Baro: fixed temperature on MS5611 
this caused a 2x scaling of altitude
 2011-12-17 14:58:58 +11:00
Andrew Tridgell
3654c714e9 Revert "ADC: only read channels that are actually being used" 
This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
c18ad75504 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
f6a7ad9fa6 Revert "ADC: fixed HIL build" 
This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.

ADC will now be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
7c939e83e0 AnalogSource: return a float from read() method 
this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
04ec569313 ADC: fixed HIL build 2011-12-16 20:58:04 +11:00
Andrew Tridgell
658d1d2ba3 added missing mavlink headers 2011-12-16 20:53:26 +11:00
Andrew Tridgell
1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
2e2b320560 mavlink: include latest geofence message changes 2011-12-16 20:11:51 +11:00
Andrew Tridgell
3ddfc6664a AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
686f96414c MAVLink: update to latest mavlink XML 
this includes the geo-fencing messages
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
c56e5735c2 ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Andrew Tridgell
be1ba5354e timer: enable interrupts during timer processing 
this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.

We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
 2011-12-16 20:09:38 +11:00
Andrew Tridgell
af7e34fcc1 ADC: only read channels that are actually being used 
on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
 2011-12-16 20:09:35 +11:00
Andrew Tridgell
9e9b229a1d fixed formatting of ADC driver 
it was a nasty mix of DOS and UNIX
 2011-12-16 20:09:29 +11:00
Andrew Tridgell
5b4717ea55 timers: change to 1kHz timer by default 
we were using a 227Hz timer, which is far too slow
 2011-12-16 20:09:25 +11:00
Andrew Tridgell
6ad5df2958 desktop: fixed type of dword eeprom read 2011-12-16 20:09:18 +11:00
Andrew Tridgell
338fb1642a AP_Math: make out vector and matrix elements used types with fixed sizes 
this prevents differences between CPU types
 2011-12-16 20:09:11 +11:00
Pat Hickey
291aaffdd9 APM_RC_APM2: Remove OutputCh from ::Init() 
* These calls were off by one anyway, by using the channel numbers
  as ints ant not CH_n macros, and that caused an ESC cal problem.
 2011-12-15 13:47:43 -08:00
Andrew Tridgell
f4bd3cb5a2 AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell
cd9fb3c47a AP_Math: added a Polygon_outside() function 
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
 2011-12-15 14:34:58 +11:00
Andrew Tridgell
621f21e4f5 DCM: added matrix_reset() method 2011-12-13 21:32:50 +11:00
Andrew Tridgell
919ae17473 IMU: abstract the setting of the LEDs in IMU initialisation 
we need this to cope with different LED pin assignments on APM1/APM2
 2011-12-13 18:19:12 +11:00
Andrew Tridgell
9548366a91 autotest: make magnetic field point down 2011-12-12 22:14:01 +11:00
Andrew Tridgell
fa83de98c8 desktop: fixed build with new AP_Baro code 2011-12-12 15:14:55 +11:00
Andrew Tridgell
eaf134e47e desktop: fixed desktop barometer code 2011-12-12 15:14:55 +11:00
Andrew Tridgell
de5c1c5147 barometer: fixed HIL barometer build 2011-12-12 15:14:55 +11:00
Andrew Tridgell
47da2ec992 ADC: change adc.Ch() to return a float 
this gives us a bit more precision in airspeed measurement, and costs
us virtually nothing as we are converting to float immediately after
getting the value
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
43a53aa303 dcm: fixed an uninitialised variable 
if no compass and not in motion the DCM we would multiply by an
uninitialised number
 2011-12-11 15:21:10 -08:00
Pat Hickey
5819f99986 AP_Baro_MS5611: Asynchronous operation, plus c++ style changes. 
Yeah, I know this was a big change to make all at once.
 2011-12-11 15:21:10 -08:00
Pat Hickey
3d882c4d49 AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations 
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
 2011-12-11 15:21:10 -08:00
Pat Hickey
d5386b8bb8 AP_Baro_BMP085: move apm2_hardware flag from init to constructor. 2011-12-11 15:21:10 -08:00
Pat Hickey
6710cf5c5a Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey
a7b9c8b9cd AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks. 2011-12-11 15:21:10 -08:00
Pat Hickey
12222550cf AP_Baro_BMP085: Delete commented out code 
* If its important to get old code back, thats why version control exists
 2011-12-11 15:21:09 -08:00
Pat Hickey
9a9b63259a AP_Baro_BMP085: implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey
45cbb24ba5 AP_Baro_MS5611: init must also perform SPI.begin 2011-12-11 15:21:09 -08:00
Pat Hickey
a75257f102 AP_Baro_MS5611: CS pin is arduino pin 40 2011-12-11 15:21:09 -08:00
Pat Hickey
7b708f8054 AP_Baro_MS5611: Implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey
41ecb0fef4 AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private. 2011-12-11 15:21:09 -08:00
Pat Hickey
264cb1a26e AP_Baro_MS5611: conform to AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey
c3aab6af83 AP_Baro: Create virtual interface 2011-12-11 15:21:09 -08:00
Pat Hickey
84cb023b12 AP_Baro_MS5611: renamed class implementation from APM_MS5611 2011-12-11 15:21:09 -08:00
Pat Hickey
3d93eb9534 AP_Baro_MS5611.h: reorganized 
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
 2011-12-11 15:21:09 -08:00
Pat Hickey
8f16b736a4 AP_Baro_MS5611: Overwrote with Jose Julio's latest files. 2011-12-11 15:21:09 -08:00
Pat Hickey
f5720be81f AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers. 2011-12-11 15:21:09 -08:00
Pat Hickey
e8e4881da8 AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085. 2011-12-11 15:21:09 -08:00
Pat Hickey
917418994d BMP085 fix line endings 2011-12-11 15:21:09 -08:00
Pat Hickey
7b51a2c42a AP_Baro: move all APM_BMP085 files inside AP_Baro 2011-12-11 15:21:09 -08:00
Pat Hickey
cca6b2f98c Added AP_Baro and AP_Baro_MS5611 classes. 
Incomplete and does not work.
 2011-12-11 15:21:08 -08:00
Randy Mackay
62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Pat Hickey
e992b2e2a2 APM_RC: APM1 fast output speed increased to 400hz. 2011-12-10 13:06:06 -08:00
Pat Hickey
733000583d APM_RC: APM2 fast output speed increased to 400hz. 2011-12-10 13:04:11 -08:00
Pat Hickey
8a0c6eba78 AP_IMU_INS: Eliminate init_accel from cold start. 
* Bug reported by Jason, 10 Dec 11
 2011-12-10 13:00:54 -08:00
Randy Mackay
f4ac36bd8b ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Randy Mackay
11aad8817c RangeFinder - fixed example sketch so it works again 2011-12-10 16:32:34 +09:00
Randy Mackay
ffb4492c16 RangeFinder - small bug fix to initialise prescale variable. 
Fixed up example sketch so it compiles and works again!
 2011-12-10 16:25:41 +09:00
James Goppert
8ef704face Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-07 20:59:15 -05:00
Jason Kemmerling
d6c904f398 Fixed along track bug. 2011-12-07 20:55:06 -05:00
James Goppert
87dec93974 Added APM2 support. 2011-12-07 19:19:30 -05:00
James Goppert
87735bcc9f Added AP_Board to APO 2011-12-07 16:31:56 -05:00
Jason Short
98a26d19e6 Split P and I term 2011-12-06 21:10:30 -08:00
Jason Short
ae917f9e71 Split the P and I terms in PI 2011-12-06 21:08:47 -08:00
Wenyao Xie
f371453159 APO velocity/ altitude working. 2011-12-06 19:38:23 -05:00
Wenyao Xie
9fef8689d8 Fixed baro. 2011-12-06 18:56:16 -05:00
Wenyao Xie
c26956af19 Fixed Barometer Altitude 2011-12-06 13:28:39 -05:00
Wenyao Xie
80f5292d31 Fixed Barometer Reading 2011-12-06 13:26:07 -05:00
Wenyao Xie
0db1a41316 Working on baromemter altitude 2011-12-05 20:57:19 -05:00
Jason Kemmerling
377aea7ef3 Sailboat wind measurement working. 2011-12-05 15:53:29 -05:00
Andrew Tridgell
11b857d487 fixed the desktop build 
This fixes a vtable link bug
 2011-12-05 18:06:58 +11:00
James Goppert
fbbf1aa4a2 Along track fix for negative. 2011-12-04 01:36:53 -05:00
James Goppert
28b835713a Improved along track calculation for APO. 2011-12-04 01:25:14 -05:00
James Goppert
47e88b1f91 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 00:45:34 -05:00
Wenyao Xie
e6aee7963f Rover live test WORKS! "Murphy's Law is a turtle" 2011-12-03 22:42:08 -05:00
Jason Short
17fbbb4e7b Access to _clamp val. May want to make a private member and write accessor. 2011-12-03 17:57:12 -08:00
Jason Short
d54d9b618c Added faster conversion from and to degrees*100 / rads 2011-12-03 17:56:41 -08:00
Andrew Tridgell
b11b83e2cf GPS: added FAKE_GPS_LOCK_TIME 
this allows you to fake up a GPS lock after a specific number of
seconds
 2011-12-04 09:06:57 +11:00
Wenyao Xie
132f554787 Fixed apo live mode bugs for 2.0 update. 2011-12-03 15:38:37 -05:00
Wenyao Xie
29c2dafb94 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-03 14:00:23 -05:00
James Goppert
dfd00becba Changed BlockPIDDfb behaviour. 2011-12-03 12:13:11 -05:00
Andrew Tridgell
9dd2021ec8 autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell
a0baf71322 autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell
3a377255f0 desktop: show the full path to the desktop executable 2011-12-02 21:46:55 +11:00
Andrew Tridgell
65cdeecdf0 desktop: added SO_REUSEADDR after accept() 2011-12-02 17:37:55 +11:00
Andrew Tridgell
d37b843361 desktop: fixed calculation of angular velocities 
thanks to James Goppert for the frame conversion maths
 2011-12-02 17:37:54 +11:00
James Goppert
ed26538c45 Commented out debugging in guide. 2011-11-29 18:08:50 -05:00