uncrustify
11fb74ee7b
uncrustify libraries/AP_Camera/AP_Camera.h
2012-08-21 19:00:51 -07:00
uncrustify
03637aa176
uncrustify libraries/AP_Camera/AP_Camera.cpp
2012-08-21 19:00:51 -07:00
uncrustify
14aab7e878
uncrustify libraries/AP_Baro/AP_Baro.h
2012-08-21 19:00:51 -07:00
uncrustify
963e250dca
uncrustify libraries/AP_Baro/AP_Baro_MS5611.h
2012-08-21 19:00:50 -07:00
uncrustify
dbb7b33728
uncrustify libraries/AP_Baro/AP_Baro_BMP085.h
2012-08-21 19:00:50 -07:00
uncrustify
1e86bf09de
uncrustify libraries/AP_Baro/AP_Baro_BMP085.cpp
2012-08-21 19:00:18 -07:00
uncrustify
bd4f1179b1
uncrustify libraries/AP_Baro/AP_Baro_MS5611.cpp
2012-08-21 19:00:18 -07:00
uncrustify
46c682454a
uncrustify libraries/AP_Baro/AP_Baro_BMP085_hil.cpp
2012-08-21 19:00:18 -07:00
uncrustify
2444811dfe
uncrustify libraries/AP_Baro/AP_Baro.cpp
2012-08-21 19:00:18 -07:00
uncrustify
003a60d5f6
uncrustify libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde
2012-08-21 19:00:18 -07:00
uncrustify
990ad20db5
uncrustify libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
2012-08-21 19:00:17 -07:00
uncrustify
ed2fb8574d
uncrustify libraries/AP_AnalogSource/AnalogSource.h
2012-08-21 19:00:17 -07:00
uncrustify
9306fc5870
uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.h
2012-08-21 19:00:17 -07:00
uncrustify
49f440ae3e
uncrustify libraries/AP_AnalogSource/AP_AnalogSource_ADC.h
2012-08-21 19:00:17 -07:00
uncrustify
bf75296577
uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp
2012-08-21 19:00:17 -07:00
uncrustify
5e7867f972
uncrustify libraries/AP_AnalogSource/examples/AnalogSource_Arduino/AnalogSource_Arduino.pde
2012-08-21 19:00:17 -07:00
uncrustify
89dad7de7b
uncrustify libraries/AP_Airspeed/AP_Airspeed.h
2012-08-21 19:00:17 -07:00
uncrustify
314b84f209
uncrustify libraries/AP_Airspeed/AP_Airspeed.cpp
2012-08-21 19:00:17 -07:00
uncrustify
6c5f73fde4
uncrustify libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde
2012-08-21 19:00:17 -07:00
uncrustify
bc04ade2c1
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
2012-08-21 18:59:34 -07:00
uncrustify
d77b6e7f52
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
2012-08-21 18:59:34 -07:00
uncrustify
4846ba119e
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
2012-08-21 18:59:13 -07:00
uncrustify
520ab058a7
uncrustify libraries/AP_ADC/AP_ADC_HIL.h
2012-08-21 18:59:13 -07:00
uncrustify
2ff3af5e01
uncrustify libraries/AP_ADC/AP_ADC.h
2012-08-21 18:59:13 -07:00
uncrustify
549950ee2d
uncrustify libraries/AP_ADC/AP_ADC_ADS7844.h
2012-08-21 18:59:13 -07:00
uncrustify
bd0b3ee6b2
uncrustify libraries/AP_ADC/AP_ADC_HIL.cpp
2012-08-21 18:59:13 -07:00
uncrustify
0fcf421752
uncrustify libraries/AP_ADC/AP_ADC.cpp
2012-08-21 18:59:13 -07:00
uncrustify
dcf4a9824d
uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp
2012-08-21 18:59:13 -07:00
uncrustify
7bfe32fd3d
uncrustify libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde
2012-08-21 18:59:13 -07:00
uncrustify
7aea7dc825
uncrustify libraries/AC_PID/AC_PID.h
2012-08-21 18:59:13 -07:00
uncrustify
66ab46fa88
uncrustify libraries/AC_PID/AC_PID.cpp
2012-08-21 18:59:13 -07:00
uncrustify
2f5b292d50
uncrustify libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde
2012-08-21 18:59:13 -07:00
Andrew Tridgell
2b6af43c92
AHRS: removed AP_AHRS_Quaternion
...
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
2012-08-22 10:41:31 +10:00
Andrew Tridgell
37d3affe3b
AP_GPS: fixed build of new MTK code
2012-08-22 10:02:21 +10:00
Craig Elder
661d1500d2
GPS: Corrections to Media Tek GPS Driver. Change to 5Hz and SBAS
2012-08-22 09:56:25 +10:00
Robert Lefebvre
e1d6103045
TradHeli: Creating Flybar Acro mode.
2012-08-21 16:54:01 -04:00
Andrew Tridgell
6c0b7b7f53
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
Andrew Tridgell
cc0e8be85a
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
Andrew Tridgell
89db3458c8
AHRS: added set_fast_gains() method
...
this will be used by arducopter on the ground
2012-08-21 15:38:06 +10:00
Robert Lefebvre
3d0ef1b3e6
Changing TradHeli param motors.acro_mode to motors.flybar_mode to better reflect it's intent.
2012-08-20 23:13:50 -04:00
Robert Lefebvre
ab0559359d
Adding new Trad Heli parameters.
2012-08-20 16:45:19 -04:00
rmackay9
4371fdda6c
AP_Compass: fix for mismatching set_initial_location parameters (forgot to change long to int32_t in .cpp file)
2012-08-18 20:41:38 +09:00
rmackay9
9f81d0c601
AP_GPS: revert delay callback to be "unsigned long"
2012-08-18 20:33:45 +09:00
rmackay9
cef3e1d732
DataFlash: revert delay callbacks to use "unsigned long"
2012-08-18 20:28:31 +09:00
rmackay9
ba48bffb46
DataFlash: change "unsigned long" to "uint32_t" in callback functions
2012-08-18 19:22:14 +09:00
rmackay9
9973e4ae13
DataFlash: replaced "int" with "int16_t"
2012-08-18 18:31:20 +09:00
rmackay9
995b8a571b
AP_Common: change a few more "int" to "int16_t"
2012-08-18 18:05:18 +09:00
rmackay9
ea860126e0
AP_Compass: replace "long" with "int32_t"
2012-08-18 16:58:16 +09:00
rmackay9
2ad383505c
AP_GPS: replaced "int" with "int16_t" and "long" with "int32_t"
2012-08-18 16:35:38 +09:00
Andrew Tridgell
7d8903a8bf
AP_Baro: the HIL baro needs to inherit calibrate() from the parent class
...
this was what caused the renorm errors
2012-08-18 16:32:23 +10:00
Andrew Tridgell
01ae8f8771
AHRS: check for bad values in the error before they can affect DCM
...
this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
2012-08-18 13:54:11 +10:00
Andrew Tridgell
adda41a2ec
Filter: ensure the derivative filter never returns an invalid number
2012-08-18 13:54:11 +10:00
rmackay9
756d1a3fff
AP_Limits: change order of initialisation of class variables to remove compiler warnings.
2012-08-18 12:51:32 +09:00
Michael Oborne
0996782582
Fix Airspeed use use
2012-08-18 08:30:15 +08:00
Andrew Tridgell
7948b3aee7
AHRS: force an extra read of the compass on startup
...
the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.
Thanks to Randy and Jason for the bug report!
2012-08-17 17:57:39 +10:00
Andrew Tridgell
84c39774fa
DataFlash: fixed SITL build
2012-08-17 16:27:19 +10:00
Andrew Tridgell
1ccff12b54
SITL: added SIM_ENGINE_MUL
...
this allows for simulated engine failures
2012-08-17 14:22:08 +10:00
Jason Short
ff32718d9b
Dataflash fix for missing card error
2012-08-16 15:37:28 -07:00
Andrew Tridgell
faeb206239
SITL: make abs() 16 bit in SITL
...
this will help us find abs() bugs in autotest
2012-08-16 15:18:17 +10:00
Andrew Tridgell
50e2458df0
math: more abs() fixes
...
abs() is 16 bit
2012-08-16 15:17:42 +10:00
Jason Short
e2c3149b2f
Location Lib : Abs was overflowing causing bad comparison
2012-08-15 22:01:51 -07:00
Jason Short
555e26d5fa
Location Lib. Potential fix for bad angle and distance calcs.
...
last_lat changed to int32_t since it can be negative.
2012-08-15 21:36:55 -07:00
Jason Short
a6b874b591
DataFlash : Removed Chip Erase - relying on Block erase only
2012-08-15 21:04:24 -07:00
Jason Short
44b715af9b
Dataflash Logs : Fixed block erase on APM2
...
Byte order for 512 vs 528 was reversed.
2012-08-15 21:04:24 -07:00
Andrew Tridgell
9c3c1c4f54
APM: fixed hil build
2012-08-16 12:53:37 +10:00
Andrew Tridgell
41a974683e
Quaternion: we no longer support acceleration in the GPS driver
...
remove the linear acceleration compensation code
2012-08-15 20:07:53 +10:00
Andrew Tridgell
79aae2114c
GPS: support getting raw velocity values from a UBlox
...
this may give better velocity numbers than the value from COG
2012-08-15 20:06:35 +10:00
Andrew Tridgell
f4023d1b44
AP_Airspeed: remove airspeed filter and run at 10Hz
...
this saves on the filter memory, and gives just as good a result
2012-08-15 12:39:35 +10:00
Andrew Tridgell
a361a3aebd
AP_AnalogSource: make read_average() return a float
...
this allows it to take advantage of better than 1 bit resolution by
averaging
2012-08-15 12:39:35 +10:00
Andrew Tridgell
7bb8fa1e58
MAVLink: added FENCE_ACTION_REPORT
2012-08-15 12:39:35 +10:00
Andrew Tridgell
44852276da
AHRS: added ahrs.yaw_initialised()
...
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
Andrew Tridgell
93f45f232f
APM: added 'OBC' failsafe module for ArduPlane
...
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.
This includes:
- manual pin
- heartbeat pin
- waypoint for heartbeat failure
- waypoint for GPS failure
2012-08-15 12:39:34 +10:00
Pat Hickey
394a3059b7
APM_RC_APM2: updated comments for clarity
2012-08-13 15:34:17 -07:00
rmackay9
4e7e78d091
AP_RC_Channel: deleted this library as nobody seems to be using it.
...
Everyone is using RC_Channel instead which includes parameters.
2012-08-13 16:36:10 +09:00
rmackay9
c22f3ae563
GPS_IMU: deleted this empty library as nobody seems to be using it.
2012-08-13 16:35:29 +09:00
rmackay9
cb71edb427
Waypoints: deleted this library as nobody seems to be using it.
2012-08-13 16:35:08 +09:00
rmackay9
8f475f9d38
Trig_LUT: deleted this library as nobody seems to be using it
2012-08-13 16:34:50 +09:00
rmackay9
1115dde0d4
AP_EEPROMB: deleted this library as nobody seems to be using it.
2012-08-13 16:34:33 +09:00
rmackay9
a3a56c488a
APM_RC: rename example sketch directories for APM2 so they can be opened easily from arduino ide
2012-08-13 11:50:53 +09:00
Andrew Tridgell
562069cbd7
AHRS: avoid a compiler bug in quaternion code
...
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
Andrew Tridgell
fa1b72adc5
AHRS: use airspeed for wind in forward flight
...
when not turning we can use the airspeed sensor directly to calculate
the wind speed.
2012-08-12 10:54:25 +10:00
Andrew Tridgell
3a92509b18
AHRS: added AHRS_GPS_USE parameter
...
this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
8ddf864431
Mavlink: re-generate with WIND message
2012-08-11 22:06:03 +10:00
Andrew Tridgell
f8a17ba1e9
Mavlink: added WIND message
...
this allows us to log the wind estimation result
2012-08-11 22:06:03 +10:00
Andrew Tridgell
2c7ab7c659
AHRS: added wind estimation code
...
this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
20a30e3a6b
AP_Math: added matrix column extraction functions
2012-08-11 22:06:02 +10:00
Amilcar Lucas
f103d375c9
RC_Channel_aux: cycle thru all functions except k_none and k_nr_aux_servo_functions
...
Probably makes no difference because g_rc_function[k_none] == NULL
2012-08-11 13:43:21 +02:00
Andrew Tridgell
708280511c
AHRS: added long-term dead-reckoning
...
this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
Andrew Tridgell
06070dbf23
AP_GPS: added last_ground_speed() method
...
used for dead-reckoning in AHRS
2012-08-11 11:59:47 +10:00
Andrew Tridgell
f68211a011
AP_GPS: fixed types to be stdint types
2012-08-11 11:59:03 +10:00
Andrew Tridgell
96d1249dad
SITL: fill in SIMSTATE.lat and SIMSTATE.lng
2012-08-11 11:58:25 +10:00
Andrew Tridgell
90f00ebd01
MAVLink: re-generate MAVLink C code
2012-08-11 11:58:06 +10:00
Andrew Tridgell
b47cceb442
MAVLink: added SIMSTATE.lat and SIMSTATE.lng
...
this allows us to display both true and estimated position on the
groundstation
2012-08-11 11:57:45 +10:00
Andrew Tridgell
e1ffd37411
AP_Math: added location_update() and location_offset() functions
...
these will be used by AHRS dead reckoning
2012-08-11 11:56:54 +10:00
Andrew Tridgell
e48b0f8558
AHRS: make airspeed sensor available to AHRS
...
this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
Andrew Tridgell
d3cc6e5fab
ACM: fixed HIL build
2012-08-11 08:34:16 +10:00
Jason Short
d37ca9343b
MOTORS Mixer: temp removal of Yaw Contrib code
2012-08-09 17:00:11 -07:00
Jason Short
4e001286a6
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
Amilcar Lucas
aef8c7af0a
AP_Mount: Reduce parameter name length, to allow MNT2_* strings to be smaller than the limit of 15 characters
2012-08-10 00:16:52 +02:00
Andrew Tridgell
a2f802e5da
build: fixed more build warnings
2012-08-09 16:19:39 +10:00
Andrew Tridgell
0491188c03
MPU6000: fixed some build warnings
2012-08-09 16:19:21 +10:00
Andrew Tridgell
c69dccceb2
AP_MetaClass: fixed a warning
2012-08-09 16:19:04 +10:00
Andrew Tridgell
73d70354a3
AP_Param: fixed some build warnings
2012-08-09 16:18:53 +10:00
Andrew Tridgell
d3c399c5d9
MAVLink: removed obsolete files
2012-08-09 15:25:49 +10:00
Andrew Tridgell
52b6e4ab2e
MAVLink: added generator.sh script
...
this is used to re-generate our MAVLink C code
2012-08-09 15:25:06 +10:00
Andrew Tridgell
a7399c405d
MAVLink: removed the need for Mavlink_compat.h
...
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
2012-08-09 12:22:46 +10:00
Andrew Tridgell
16d63978f1
MAVLink: moved mavlink variables back to library
...
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
2012-08-09 12:06:21 +10:00
Amilcar Lucas
1683f18bff
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
45b10a51ff
AP_Mount: Enable Joystick speed code, now that the framework supports more than 16 parameters per group.
...
Save some bytes by skiping the redundant *_rc_in initialization in the AP_Mount() constructor
2012-08-08 22:45:36 +02:00
Andrew Tridgell
eeaa855b03
SITL: fixed deletion of eeprom.bin
...
with the new AP_Param constructor order, we need to erase rather than
unlink the eeprom
2012-08-08 18:01:06 +10:00
Andrew Tridgell
5e19c0cf04
AP_Airspeed: removed values passed to constructor
2012-08-08 16:38:39 +10:00
Andrew Tridgell
fc26d49260
AP_Param: avoid saving values within 0.01% of the default value
...
this saves some more space due to rounding errors
2012-08-08 13:13:30 +10:00
Andrew Tridgell
3159c9ed99
AP_Mount: fixed defaults for angles
...
this saves some eeprom space by not saving the 4500 values
2012-08-08 13:04:49 +10:00
Andrew Tridgell
891ed81f74
AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious
2012-08-08 12:12:30 +10:00
Andrew Tridgell
6245592447
SITL: added pgm_read_dword() and pgm_read_float()
2012-08-08 12:11:57 +10:00
Andrew Tridgell
e9d0ae3e7f
AP_Param: update remaining libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
Andrew Tridgell
7be604cffd
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00
Andrew Tridgell
3dfe55e72c
AP_Param: update PID libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
Andrew Tridgell
45c7c9b8d1
AP_Param: major update to use default values in var_info table
...
this stores the default value for all scalar variables in the var_info
table, which makes it possible to avoid storing default values in
eeprom. That allows us to oversubscribe the eeprom space with a much
lower risk of overrun.
2012-08-08 12:11:57 +10:00
Andrew Tridgell
b0e403e6fb
AP_Baro: the DerivativeFilter now handles duplicate data
...
this saves a few bytes of memory
2012-08-08 12:07:36 +10:00
Andrew Tridgell
fb90d16092
Filter: make the DerivativeFilter test GNUPlot friendly
...
makes testing easier
2012-08-08 12:07:36 +10:00
Andrew Tridgell
2de06df08d
Filter: automatically cope with duplicate timestamps
...
this makes it easier for callers to avoid excessive slope calculations
Thanks to Jon Challinger for the idea
2012-08-08 12:07:35 +10:00
Andrew Tridgell
c9a56e2223
Filter: fixed a off-by-one DerivativeFilter bug
...
many thanks to Jon Challinger for noticing this!
2012-08-08 12:07:35 +10:00
Amilcar Lucas
fbc25e4baa
AP_Mount: move mount to a "retracted position" into the fuselage with a fourth servo
2012-08-06 01:27:29 +02:00
Amilcar Lucas
36bcd827b4
AP_Mount: Allow using any RC channel to control any of the mount axes.
...
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
2012-08-05 23:48:57 +02:00
Amilcar Lucas
fe4713b46e
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
Amilcar Lucas
f3f89004e9
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
Amilcar Lucas
431ed1c9b9
More flexible RC support
2012-08-04 18:39:20 +02:00
Andreas M. Antonopoulos
1ea2cb7b75
AP_Limits: experimental "bounce" mode.
2012-07-31 18:39:58 -07:00
Robert Lefebvre
54b320a9a0
Fixing Trad Heli Ext ESC Controller
...
-Added ramp-down rate instead of instantly setting ramp to zero when throttle is dropped to bottom. This is to allow "warm-restart" if shutdown was unintentional.
-Actual ESC still goes to zero while throttle is dropped to the bottom, only the ramp counter winds down slowly behind the scenes.
2012-07-31 17:47:25 -04:00
rmackay9
23a1e33e20
AP_InertialSensor_MPU6000: another attempt at fixing the SITL build
2012-07-28 17:19:19 +09:00
rmackay9
06a4aaa763
AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)
...
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
2012-07-28 16:33:04 +09:00
rmackay9
9a558be53e
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
2012-07-28 16:23:25 +09:00
rmackay9
ea4e56309d
AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning
2012-07-28 15:22:37 +09:00
rmackay9
a49454e905
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
2012-07-28 14:27:26 +09:00
rmackay9
0820ebddb9
AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude
2012-07-28 14:17:38 +09:00
rmackay9
5a9211c278
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
2012-07-28 14:16:56 +09:00
rmackay9
c2b47d2bf9
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
2012-07-28 14:16:15 +09:00
rmackay9
ae119b08b3
AP_IMU_INS: added gx(), gy() and gz() methods to return gyro offsets
2012-07-28 14:15:23 +09:00
rmackay9
dfea845c37
AP_InertialSensor: methods added to access DMP functionality
2012-07-28 14:14:43 +09:00
Andrew Tridgell
e0b6ed12be
MAVLink: rename the message_definitions directory
2012-07-26 10:03:36 +10:00
Andrew Tridgell
b4fc025151
MAVLink: removed MAVLink 0.9 message definitions
...
we are now 1.0 only
2012-07-26 10:03:36 +10:00
rmackay9
960c2f08af
AP_Mount: addition of Amilcar's mount_type
...
set_roi_cmd modified to take a Location. I know the intention was for set_roi_cmd to interpret the MAVLink command directly but unfortunately in arduCopter missions are only made up of waypoints (which are Locations).
2012-07-25 11:00:38 +09:00
Jonathan Challinger
21f0ed00b3
AHRS: normalise GA_b before computing error vector only if too large
...
When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
2012-07-23 17:16:50 +10:00
Andrew Tridgell
99410cbbfe
AP_AnalogSource: fixed reporting of VCC
...
the VCC pin number should not be converted
2012-07-21 19:49:24 +10:00
Andrew Tridgell
5f5c884a6d
AHRS: if we don't have gps correction enabled, zero the yaw correction
2012-07-20 17:21:04 +10:00
Andrew Tridgell
4f41b876b1
AHRS: allow the gps/accelerometers to control yaw when rolled
...
this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
2012-07-20 11:50:04 +10:00
Andrew Tridgell
404803a734
MAVLink: imported updated generated mavlink C code
...
no functionality changes
2012-07-20 11:50:03 +10:00
Jason Short
25c3ed6c4b
Oilpan ADC parameters added
...
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
Jason Short
8a4a9a929e
Lead Filter: simplified calculation
2012-07-18 22:57:10 -07:00
Andrew Tridgell
f704408094
GPS-UBlox: removed duplicate config messages
...
these were left over from debugging
2012-07-19 15:23:15 +10:00
Amilcar Lucas
13fb2e6dc9
RC_Channel parameters: Fix a typo
2012-07-18 22:39:49 +02:00
Amilcar Lucas
dea5b88379
Support up to 7 aux servo outputs
2012-07-18 21:58:22 +02:00
rmackay9
a2e6af1f9c
AP_Mount: added set_manual_rc_channel and set_manual_rc_channel_function to allow input of pitch, roll and yaw controls from a regular RC_Channel (i.e. not RC_Channel_aux)
...
For now, angles red in are always of the range -45 deg ~ 45 deg which is consistent with the existing arducopter implementation but should be improved to scale the pilot's input to the mount's actual range.
2012-07-18 23:20:05 +09:00
Amilcar Lucas
8acc432084
Replace long with int32_t
2012-07-18 02:12:31 +02:00
Amilcar Lucas
f5c2ffca34
Use ascending order in the values
2012-07-18 02:11:49 +02:00
Amilcar Lucas
23f009f665
Improve parameter documentation, it still does not work, but is an improvement.
...
I just do not understand why these parameters do not appear in Mission planner :(
2012-07-17 23:32:30 +02:00
Michael Oborne
b97f9bb803
Airspeed Library - fix param names.
...
The Group definition give the start of the param name.
This way we can maintain multiple instances if required of the same library as options.
2012-07-16 21:48:47 +08:00
Andrew Tridgell
dfb22554aa
Airspeed: Added AP_Airspeed sensor library
...
this will allow an airspeed sensor object to be passed to AHRS for
dead reckoning
2012-07-16 11:21:20 +10:00
rmackay9
bec5321b8b
AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel!
2012-07-16 00:38:58 +09:00
rmackay9
3b9a1d4305
RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised.
...
changed parameter names of "update_aux_servo_function" to make it more clear that any 4 servos can be passed in (not just servos 5~8).
Also allowed NULL servos to be passed in as parameters because we only need 3 in ArduCopter.
2012-07-15 16:28:53 +09:00
rmackay9
e83275d8ae
AP_Camera: changed "int" to "int16_t" and "long" to "int32_t" here and there.
2012-07-15 16:26:12 +09:00
Andreas M. Antonopoulos
31fd74d94c
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Michael Oborne
804898c2a5
fix param config names
2012-07-14 15:34:15 +08:00
Robert Lefebvre
716ce6a5a7
Change to prevent Tricopter servos from going hard-over during Disarmed state.
...
Believe this was an oversight when the change to AP_Motors went in.
2012-07-13 23:12:26 -04:00
Robert Lefebvre
ab1212d8d2
Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input".
...
Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying. This could probably become a parameter.
2012-07-13 22:59:28 -04:00
Andreas M. Antonopoulos
9dfb3c4db9
Added Michael Pursifull's Maxsonar HRLV model support
2012-07-11 18:46:47 -07:00
rmackay9
d3426420ad
AP_Camera: moved seme constructor initialisers around to remove compile warnings
2012-07-12 09:33:22 +09:00
rmackay9
1105a35c77
AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0)
...
Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
2012-07-11 21:19:17 +09:00
Amilcar Lucas
eb647b5320
AP_Mount: add support for non-spring-loaded joysticks
2012-07-11 00:07:33 +02:00
Amilcar Lucas
ad60fac863
RC_Channel: improve parameter documentation
2012-07-11 00:07:10 +02:00
Amilcar Lucas
42301af148
Remove unused function, remove unnecessary angle wrapping.
2012-07-11 00:06:45 +02:00
Amilcar Lucas
74ef712cd1
Allow mount control when no AHRS exists
...
Allow mount control on non stabilized axes
2012-07-11 00:06:26 +02:00
Andrew Tridgell
63a83b95b4
AP_Math: added get_distance_cm() to return in centimeters
2012-07-11 07:49:05 +10:00
Andrew Tridgell
15133b1105
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
Andrew Tridgell
9b6acf168e
AHRS: added AHRS_GPS_GAIN parameter
...
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
Andrew Tridgell
2bc530d04f
AP_Param: added some docs on the eeprom header format
2012-07-10 14:03:49 +10:00
Craig Elder
0534ac12b1
DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method.
2012-07-09 15:23:35 -07:00
Amilcar Lucas
a79f55656a
RC_Channel: Improve documentation
2012-07-07 21:57:30 +02:00
Amilcar Lucas
8bd7ef9b9a
AP_Mount: Fix radians/degrees scaling regressions
...
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
2012-07-07 21:56:56 +02:00
Andrew Tridgell
ec70e87495
AnalogSource: prevent a division by zero on zero ADC data
2012-07-06 19:59:18 +10:00
Andrew Tridgell
7bc724d118
APM: changed PID library to do automatic deltat calculation
...
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
Andrew Tridgell
44755bf3ce
AP_Baro: improved barometer averaging
...
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
Andrew Tridgell
43d6015811
Filter: split the DerivativeFilter steps into update() and slope()
...
this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
Andrew Tridgell
4723698489
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
Andrew Tridgell
9845a55cb1
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
Andrew Tridgell
e33554a1f9
AHRS: only enable barometer for AHRS if it is smooth enough
...
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
Andrew Tridgell
1ce4a03147
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
Andrew Tridgell
9f3da1bf7f
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
Andrew Tridgell
5f38669666
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
Andrew Tridgell
735c88e9b3
AP_Baro: added get_pressure_samples() interface
...
this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
Andrew Tridgell
92001e3e7d
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
Andrew Tridgell
999a1d1d55
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
Andrew Tridgell
a07e280eda
Filter: cope with non-uniform time steps in the DerivativeFilter
...
this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
Andrew Tridgell
ce3f8be6c7
SITL: add some minimal noise when motors are off
...
this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
Andrew Tridgell
fe54329de2
MAVLink: remove MAVLink 0.9 protocol support
...
this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
Andrew Tridgell
9d7ed30023
AHRS: only use GPS for yaw when compass is not being used
...
this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
Andrew Tridgell
6653c0b874
AHRS: enable barometer for vertical velocity
...
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
Andrew Tridgell
a5d607d25a
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
Andrew Tridgell
f97289792b
Filter: added DerivativeFilter implementation
...
this adds a DerivativeFilter implementation of up to 10 points
2012-07-05 13:00:46 +10:00
Andrew Tridgell
cf2c546051
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
rmackay9
be3d035a64
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
Amilcar Lucas
6904bef611
Document++
2012-07-05 00:33:46 +02:00
Amilcar Lucas
8400bd67f8
Remove unused function
2012-07-05 00:33:10 +02:00
Andrew Tridgell
dc6d70bc15
SITL: added SIM_GPS_DELAY parameter
...
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
2012-07-04 21:05:22 +10:00
rmackay9
cac0757c2e
AP_AHRS: removed DCM_test example sketch
...
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
Andrew Tridgell
03516b7dfa
AHRS: make DCM drift correction not rely on accurate yaw
...
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
Andrew Tridgell
6cf2e2fa13
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
Andrew Tridgell
7be29c8b04
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
Andrew Tridgell
8fa1acb141
AP_Math: add include of math.h
...
this is needed for location.cpp
2012-07-04 13:59:23 +10:00
Andrew Tridgell
597170afdc
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
Andrew Tridgell
c6ff292721
DataFlash: fallback to BlockErase if ChipErase fails
...
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
2012-07-04 12:42:46 +10:00
Andrew Tridgell
84a489498d
Math: added location functions to math library
...
these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
Andrew Tridgell
e0685f4408
AHRS: make P gain on PI roll/pitch controller tunable
...
this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
Andrew Tridgell
1142ec0665
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
Andrew Tridgell
f150c645c8
Mount: enable mount control via eeprom parameters
...
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
Andrew Tridgell
7a77832f45
Baro: average over all pressure/temperature samples on MS5611
...
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings
This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
Andrew Tridgell
f7b06e0a64
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
Andrew Tridgell
2bd5cd3b9a
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
Andrew Tridgell
0341e0e5f0
SITL: added support for new analog source
...
removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
Andrew Tridgell
2046e396a2
AnalogSource: make the Arduino AnalogSource interrupt driven
...
this fixes several problems with reading analog sources:
- we were getting poor values because we didn't wait long enough for
an analog source to settle
- we wasted a lot of CPU cycles waiting for conversions
- we were not taking averages over many samples, which we did with
the old AP_ADC driver on the APM1
2012-07-01 15:01:05 +10:00
Andrew Tridgell
b5aa821071
AHRS: include the P terms in get_gyro()
...
this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
Andrew Tridgell
02b9ea4dfe
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
Andrew Tridgell
117bae9585
SITL: added SITL class for controlling simulation
...
this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
Andrew Tridgell
37494dda2b
AHRS: don't add the P terms in _omega
...
this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
Andrew Tridgell
21ae2957fb
AHRS: disable barometer for vertical acceleration
...
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
Andrew Tridgell
e531061caa
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
Andrew Tridgell
8600ad8d7f
AHRS: revert to the old drift correction algorithm
...
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
Andrew Tridgell
70bfacc350
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
Andrew Tridgell
57579e494b
Barometer: fixed airstart for APM
...
we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
Andrew Tridgell
ce016b5ae8
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
Andrew Tridgell
0fa1f29cf3
AHRS: implement spin rate limits
...
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
Andrew Tridgell
3ffecc18d8
AHRS: cope with copters with no compass
...
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
Andrew Tridgell
3458962184
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
Andrew Tridgell
426006d98f
SITL: fixed GPS heading in simulated UBlox
...
longitude scale does not apply to velocity->heading conversions
2012-06-27 16:01:50 +10:00
Andrew Tridgell
20c1baf585
SITL: changes UBlox simulation to 5Hz
...
this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
Andrew Tridgell
d9583ae5eb
Compass: remove the need to call calculate() on the compass object
...
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.
This significantly reduces the calculation involved in compass updates
The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
2012-06-27 16:01:50 +10:00
Andrew Tridgell
5370f9c411
AHRS: normalize the ge vector in drift correction, and use barometer
...
The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
Andrew Tridgell
53e950531e
Baro: added get_altitude() and get_climb_rate() interfaces
...
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity
The climb rate uses a 5 point average filter
2012-06-27 16:01:50 +10:00
Andrew Tridgell
9fd3d15026
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
Jonathan Challinger
1ff9461bfb
AHRS: brought DCM more inline with Bill's implementation
...
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
Andrew Tridgell
73faaddc1b
AHRS: first successful version of Bills new drift correction system
...
This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
Andrew Tridgell
0399aa9480
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
Andrew Tridgell
2600afe18a
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
Andrew Tridgell
5316a45c20
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
Andrew Tridgell
19954f30e5
GPS: added velocity and acceleration components
...
used by AHRS for acceleration correction
2012-06-27 16:01:49 +10:00
Andrew Tridgell
2b352d2b5c
Math: added comment
2012-06-27 16:01:49 +10:00
Andrew Tridgell
f23cebc808
Math: moved more template functions to the .cpp files
...
save a bit more code space for larger functions
2012-06-27 16:01:49 +10:00
rmackay9
c034e38cbd
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
abb6eb2471
Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek.
2012-06-21 11:14:20 -07:00
Amilcar Lucas
cd0411ba33
Add linebreaks to increase readability.
2012-06-21 00:36:10 +02:00
Amilcar Lucas
be6923be0f
Improve parameters descriptive text
2012-06-21 00:20:37 +02:00
Amilcar Lucas
1ead5f1690
Documentation improvements, no functional changes (only comments)
2012-06-17 22:53:54 +02:00
Amilcar Lucas
8f646467e5
Move local temp variables to the stack it saves 1952 bytes
...
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
2012-06-17 22:25:51 +02:00
Wingspinner
d9e6a1ece9
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:40:14 +00:00
Wingspinner
ceba24ff8f
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:38:52 +00:00
Andrew Tridgell
b32726e867
GPS: need pgmspace.h for _write_progstr_block()
2012-06-15 16:27:11 +10:00
Andrew Tridgell
ae9883a8e2
GPS: fixed auto-config of UBlox setup with no UBX messages
...
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
2012-06-15 15:53:27 +10:00
Andrew Tridgell
b7e807cd58
FastSerial: added tx_pending() method
...
this allows the caller to wait for the tx buffer to drain
2012-06-15 15:53:27 +10:00
Amilcar Lucas
a12cb8fd9a
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
Amilcar Lucas
f7ef60565e
Add "3 axis camera stabilization" and "point camera to 3D point" functionality
...
Patch by Gregory Fletcher and reviewed by me
2012-06-13 20:55:19 +02:00
Amilcar Lucas
e9226d6f0a
Spellcheck
2012-06-13 20:44:35 +02:00
rmackay9
fca914b7cf
AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy
2012-06-12 20:27:50 +09:00
Andrew Tridgell
f9c5b135bc
GPS: use the new nav_setting in a couple of the sample sketches
2012-06-10 16:35:13 +10:00
Andrew Tridgell
0542539fc9
GPS: add stub settings for nav_setting in the other GPS drivers
...
only Ublox supports nav_setting so far
2012-06-10 16:34:53 +10:00
Andrew Tridgell
926dfbc0e9
GPS: added auto-configuration of UBlox GPS
...
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
2012-06-10 16:34:13 +10:00
Andrew Tridgell
04a71197f9
FastSerial: avoid buffer re-allocation on re-open if possible
...
we commonly re-open serial ports a lot in the AUTO GPS driver
2012-06-09 07:43:22 +10:00
Andrew Tridgell
f347572fc2
SITL: map() is a C++ function, so needs to be in C++ part of the header
...
this fixes the ACM build
2012-06-08 17:09:23 +10:00
Andrew Tridgell
9adaacedcd
GPS: added debug code to the main GPS class
2012-06-08 16:42:03 +10:00
Andrew Tridgell
f4718cafad
GPS: re-open the serial port with a 256 byte serial receive buffer
...
this ensures all GPS parsers have a 256 byte buffer available
2012-06-08 16:42:03 +10:00
Andrew Tridgell
ddebf7b443
GPS: fixed the UBLOX parser to handle unknown messages
...
the parser was broken in several ways:
1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
thought the message had a bad checksum, which meant it got out of protocol sync
2) the read() method would return false if the last message from the GPS was of an unknown type.
So we relied on the last msg always being one that we understand and want
3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get
a new fix when we get box a new position and velned message
4) the total message size per update is more than 128 bytes, but the serial port was opened
with only a 128 byte buffer, so we got corruption regularly
2012-06-08 16:42:02 +10:00
Andrew Tridgell
148e59a4de
GPS: tidy up the auto gps test
2012-06-08 16:42:02 +10:00
Robert Lefebvre
f7be9a4b5d
TradHeli adding ramp up time to Ch8 Throttle Pass-through.
2012-06-07 22:55:47 -04:00
Robert Lefebvre
0c8078c436
AP_MotorsHeli Syntax correction.
2012-06-04 15:53:07 -04:00
Andrew Tridgell
43fe5bab78
re-enable the AP_Mount build
2012-06-04 19:32:11 +10:00
Andrew Tridgell
b4fbda7a28
GPS: fixed a race condition in the ublox driver
...
the status update comes as a separate message from the lat/lon
2012-06-04 14:47:58 +10:00
Andrew Tridgell
a6c1a86c23
mavlink: fixed build with uart resend
2012-06-04 13:45:55 +10:00
Andrew Tridgell
1ad17bc78c
MAVLink: updates to mavlink headers to fix mavlink 1.0 issues
2012-06-04 13:34:07 +10:00
Andrew Tridgell
4f7a80a04d
Mavlink: fixed library build for MAVLink 1.0
2012-06-04 13:14:52 +10:00
Andrew Tridgell
34234b7003
SITL: fixed SITL build with mavlink10
2012-06-04 13:14:52 +10:00
Andrew Tridgell
7602f698eb
mavlink10: fixed MAV_VAR -> MAVLINK_TYPE
2012-06-04 13:14:51 +10:00
Andrew Tridgell
2c3bfd896a
MAVLink: updated to latest upstream mavlink
...
this includes no significant changes
2012-06-04 13:14:51 +10:00
Jason Short
1ebfb8fe25
GPS time set to unsigned int32
2012-06-03 11:13:50 -07:00
rmackay9
bad6591e6d
AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure
2012-06-03 17:31:17 +09:00
rmackay9
8f8e91a620
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
rmackay9
080c5184d5
ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures.
...
All real work on this issue done by Michael Oborne.
2012-06-02 17:46:00 +09:00
rmackay9
8f3169a200
AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work.
...
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
2012-06-02 16:13:23 +09:00
rmackay9
3246f2bad3
RC_Channel library: change all "int" types to "int16_t".
...
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
2012-06-02 14:20:58 +09:00
rmackay9
37e4637c13
RC_Channel.pde: fixed compile errors so that it actually works!
2012-06-02 14:00:44 +09:00
rmackay9
df3fb5c041
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
Jason Short
477aa6e47a
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
Jason Short
7ee38df5a2
Issue 416: RC_Channel – Fix to make dead_zones still output 0
2012-05-31 12:05:47 -07:00
Jason Short
2cc9fde3c9
removed never used filter, and fixed a constrain that could make range calcs go bad
2012-05-31 11:45:07 -07:00
Jason Short
00cabc6343
Channel rage fix - low output was always 0 vs _low
2012-05-31 11:31:48 -07:00
Robert Lefebvre
bafb478924
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Robert Lefebvre
ffc04b7305
Fix TradHeli Collective Yaw Effect bug.
2012-05-25 15:25:21 -04:00
Andrew Tridgell
734dcebb2a
SITL: fixed ChipErase()
...
the loop never completed
2012-05-23 21:15:45 +10:00
Andrew Tridgell
5e0d937e50
SITL: fixed build with new ChipErase() call
2012-05-23 17:33:33 +10:00
Andrew Tridgell
c2fb8a7a98
DataFlash: use ChipErase() instead of PageErase() on all pages
...
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).
We need to test and ensure the behaviour is equivalent apart from the
speed
2012-05-22 19:29:02 -07:00
Andrew Tridgell
8f27297896
DCM: fixed a bug when using GPS for yaw correction
...
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
Andrew Tridgell
37f652e19b
AP_Common: fixed some duplicate product ID warnings
2012-05-17 23:37:32 +10:00
rmackay9
eaeaa3811a
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
Craig Elder
fe742f1c23
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
...
this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
Craig Elder
c323a71933
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
Craig Elder
a22b15adf1
PRODUCT: Define product IDs for all supported products
2012-05-09 18:30:36 -07:00
Craig Elder
b824a87b90
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
...
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00
Chris Anderson
46614e9acd
fixed typo ("minimum" should have been "maximum")
2012-05-06 15:50:19 -07:00
Andrew Tridgell
76a3fd9a4e
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
ae1702c20b
Baro: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
3115d48ba1
ADC: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
57ac39649a
TimerProcess: added suspend_timer()/resume_timer()
...
this will be used to avoid races in driver initialisation
2012-05-01 12:06:54 +10:00
rmackay9
3b2d203f0f
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
...
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
Andrew Tridgell
8f2cecae4d
MAVLink: re-generated with new pygen
...
this moves the enums to make them less order sensitive
2012-04-30 12:27:30 +10:00
Adam M Rivera
292f9699fa
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
Andrew Tridgell
3177f57d48
build: cope with Arduino 1.0 in command line build
...
this should autodetect 1.0 versus older builds
2012-04-27 15:38:42 +10:00
Adam M Rivera
21886104a6
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
Adam M Rivera
b1f19dbb01
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
Andrew Tridgell
532ac607b2
sitl: support MAVLink 1.0 builds
2012-04-24 22:24:58 +10:00
Andrew Tridgell
fef4134702
MAVLink: removed the cpp part of the library
...
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
2012-04-24 22:24:58 +10:00
Andrew Tridgell
9bf8d60dae
MAVLink: one more define for MAVLink 1.0 compat
2012-04-24 19:54:20 +10:00
Andrew Tridgell
fd9d2f856e
MAVLink: re-add the XML message definitions
...
these are a very useful reference for the current headers in the code
2012-04-24 10:57:43 +10:00
Andrew Tridgell
a54cd57568
MAVLink: imported new mavlink header updates
...
this fixes the camera control code which was broken by a previous
import
2012-04-24 10:57:43 +10:00
Andrew Tridgell
bff8fc8947
APM_RC: added OutputCh_current() method
...
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
2012-04-24 10:57:43 +10:00
Andrew Tridgell
6d837891b0
DCM: buffer omega_I changes over 10 seconds
...
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
Andrew Tridgell
398a608b83
DCM: drop the 'drop z' method
...
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
rmackay9
c62ce95768
AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228
2012-04-21 23:07:57 +09:00
rmackay9
346ca5c865
DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus.
...
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
2012-04-21 20:14:45 +09:00
rmackay9
577f18a09c
AP_OpticalFlow - updated test sketch to allow testing of APM2 version
2012-04-21 20:11:18 +09:00
rmackay9
e9fd7c955d
AP_OpticalFlow - added support for optical flow for APM2
2012-04-21 20:10:35 +09:00
rmackay9
026cd4e64f
AP_OpticalFlow - moved most pin definitions into .cpp file
2012-04-21 20:09:15 +09:00
James Goppert
750c30afc1
MAVLink update to 1.0.7
2012-04-20 12:31:50 -04:00
Andrew Tridgell
4652b30adf
GPS: u-center config file for 3DR Ublox
2012-04-20 22:05:30 +10:00
Andrew Tridgell
0b194259be
GPS: fixed auto GPS test
2012-04-20 22:05:30 +10:00
Andrew Tridgell
3141cfe059
GPS: detect new style 3DR UBlox
2012-04-20 22:05:30 +10:00
Andrew Tridgell
64d5f4c26a
GPS: fixed the UBlox test code
2012-04-20 20:57:08 +10:00
James Goppert
b5ca40e8c5
Updated MAVLink to 1.0.6 release.
2012-04-19 15:46:29 -04:00
Adam M Rivera
2c8cd0b07b
AP_AHRS_HIL.h: Fixed HIL build by adding missing public property.
2012-04-16 10:26:14 -05:00
Andrew Tridgell
a9de75156b
AHRS: added AHRS_YAW_P parameter
...
this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
analoguedevices
ce5d71c08c
added missing #include
2012-04-09 14:32:54 +00:00
rmackay9
4dac4c4c11
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
rmackay9
cc191b86c0
AP_Compass - changed parameter initialisation order to remove compiler warning
2012-04-09 17:37:02 +09:00
Andrew Tridgell
7921d33c40
MAVLink: imported new mavlink headers
...
this adds local and remote radio noise levels
2012-04-08 12:22:17 +10:00
rmackay9
1b4ac37e66
AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames.
2012-04-07 12:16:12 +09:00
rmackay9
e63e858b64
AP_MotorsOcta - V Frame - test order fix spotted by David Wiens
2012-04-07 08:11:28 +09:00
rmackay9
d0cbd577cd
AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method.
2012-04-05 00:28:04 +09:00
rmackay9
c27b83c8a8
AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used
2012-04-05 00:24:56 +09:00
rmackay9
e9f0103063
AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino.
2012-04-05 00:06:33 +09:00
rmackay9
40e5a15452
AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function.
...
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
2012-04-04 23:59:51 +09:00
rmackay9
71ad185238
ArduCopter - AP_Motors library - added new library which has few advantages over current code:
...
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)
Later check-ins will incorporate into the main ArduCopter code.
2012-04-02 17:26:37 +09:00
Andrew Tridgell
5ce5f3d176
MAVLink: import change to txbuf as a percentage
2012-04-02 11:18:53 +10:00