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4037 Commits

Author SHA1 Message Date
John Arne Birkeland f6038f36bf HAL_AVR: Improved AVRTimer micros() and millis() 
- More efficient code by using 16-bit timer
- micros() now has proper 1 us resolution and less overhead
- millis() has less overhead
- removed unneeded/unwanted initializatin of timers in AVRTimer::init()
 2013-10-13 11:03:00 +09:00
Andrew Tridgell 5ba34b38c1 HAL_AVR: added specialised transfer functions for MPU6k and APM1 ADC 
this saves quite a lot of time in interrupts
 2013-10-13 11:02:57 +09:00
Andrew Tridgell d60a68fd9c AP_Baro: check baro at exactly 100Hz 
prevent waits for samples
 2013-10-13 11:02:53 +09:00
Randy Mackay 499bc52c5b Perfmon: fixes to work with HAL 2013-10-13 11:02:49 +09:00
Andrew Tridgell e34cc6dd9a HAL_PX4: added some UART debugging 
this may help to track down USB issues
 2013-10-13 12:43:25 +11:00
Andrew Tridgell 55ba536331 HAL_SITL: fixed a warning 2013-10-12 13:13:00 +11:00
Andrew Tridgell 84336bc74e AP_TECS: added initial flight_stage handling 2013-10-12 13:12:43 +11:00
Andrew Tridgell 2b80df6319 AP_SpdHgtControl: added FightStage parameter to update_pitch_throttle() 
will be used for special landing handling
 2013-10-12 13:12:16 +11:00
Andrew Tridgell 0f0b040891 AP_Camera: added set_trigger_distance() call 2013-10-11 21:37:27 +11:00
Andrew Tridgell 1c7a44a595 GCS_MAVLink: regenerate mavlink headers 2013-10-11 21:37:27 +11:00
Andrew Tridgell 8198bfe756 MAVLink: added MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:36:50 +11:00
Andrew Tridgell 63bee0b2d8 HAL_PX4: disable checks for in_timerprocess 
these are not valid in this form for the way the timer thread works on
PX4.
 2013-10-11 16:06:35 +11:00
Andrew Tridgell 25d3e5b7e9 AP_GPS: changed fake GPS fix to have a latitude/longitude 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-10-11 16:06:35 +11:00
Andrew Tridgell ae1fd4baa4 HAL_AVR: reduce the latency of semaphore waits 
this reduces the average cost of waiting for the MPU6000 semaphore
from the main loop
 2013-10-10 15:41:51 +11:00
Andrew Tridgell cfa1b5353f AP_Scheduler: show slips only for SCHED_DEBUG>1 
this allows us to see PERF reports in copter without console writes
slowing things down
 2013-10-10 15:41:34 +11:00
Andrew Tridgell dd4b9275fd AP_Scheduler: improved the accuracy of the scheduling code 
prevent accumulated micros() errors in run()
 2013-10-10 14:14:39 +11:00
Randy Mackay 1a070e61f0 BattMon: amp-per-volt reduced to 17 (was 18.002) 2013-10-10 11:14:01 +09:00
Andrew Tridgell eb0176d509 GCS_Console: don't build this example 
it doesn't build any more
 2013-10-10 09:54:20 +11:00
Andrew Tridgell b3af59cc0c AP_InertialSensor: don't build L3G4200D example 2013-10-10 09:54:20 +11:00
Andrew Tridgell fc7f3c8aa6 AP_HAL: fixed example build 2013-10-10 09:54:20 +11:00
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