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2241 Commits

Author SHA1 Message Date
Andrew Tridgell 3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 8ccac5da3d AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
Andrew Tridgell 5a214acca3 AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P 
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
 2012-11-19 22:50:05 +11:00
Andrew Tridgell 17c115d2aa SITL: don't define __AVR_ATmega2560__ on desktop build 
this allows us to properly separate the desktop build in the code
 2012-11-19 09:03:35 +11:00
Andrew Tridgell 7181780d3a DigitalWriteFast: added README about license and author 2012-11-19 08:46:47 +11:00
Andrew Tridgell 8311062610 AP_OpticalFlow: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell 10b8030e62 AP_Limits: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell fe23d27904 SITL: added SREG declaration 2012-11-19 08:42:36 +11:00
Andrew Tridgell 9e9c08b6d7 DigitalWriteFast: fixed memory cast to work on SITL build 2012-11-19 08:25:53 +11:00
Andrew Tridgell 8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
rmackay9 67fadd337d DigitalWriteFast: first addition of lib to speed up read and writes of analog pins 2012-11-19 01:07:10 +09:00
rmackay9 957d366cca Filter: improved low pass filter allows setting gain using time_step and cutoff freq 2012-11-19 01:06:06 +09:00
rmackay9 01dc9fbe3e APM_RC: allow ppm sum for as few as 5 channels 2012-11-16 11:07:11 +09:00
rmackay9 47b1bc30d3 APM_RC: fix _last_update definition to resolve build error 2012-11-16 10:00:56 +09:00
John Arne Birkeland 4258490cd8 APM_RC - Interupt safe get_last_update(); 2012-11-15 22:42:28 +01:00
rmackay9 73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
Andrew Tridgell 8561f08b2f AP_AHRS: prevent a large delta_t from affecting DCM solution 
this should fix large changes in attitude directly after arming
ArduCopter
 2012-11-13 15:33:10 +11:00
Andrew Tridgell e9e01ae28a SITL: fixed build with new sonar driver 2012-11-13 15:12:38 +11:00
rmackay9 4bfd3d5a29 AP_RangeFinder_MaxsonarI2CXL: fix compiler error re undefine I2c 2012-11-12 12:23:46 +09:00
rmackay9 f68523b39b AP_RangeFinder_MaxsonarI2CXL: resolve shadowed variable compiler warning 2012-11-12 10:41:09 +09:00
Andrew Tridgell daa4712078 AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell 27ff999319 I2C:: catch some more types of I2C errors for error count 2012-11-12 11:25:07 +11:00
Andrew Tridgell 8c2dadc12f AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
rmackay9 321d40f73a AP_RangeFinder: added support for MaxBotix XL I2C sonar 2012-11-12 00:25:29 +09:00
rmackay9 71a0022f34 AP_IMU: delete now that all functionality is moved to AP_InertialSensor 2012-11-11 22:44:36 +09:00
Jason Short c848fe18a5 APM1 Dataflash update 
My data flash would never erase, this fixed it.
 2012-11-09 22:15:16 -08:00
John Arne Birkeland 97d85de361 Optimized APM_RC.InputCh() to prevent global interrupt disable each time a value is read. 2012-11-08 01:03:24 +01:00
rmackay9 50a4838879 AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9 56f88821e9 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9 41489f34f9 AC_PID: fixed example sketch's compile errors 2012-11-07 23:34:10 +09:00
rmackay9 6bbf66697b AP_Mount: resolve compiler warning about unused mount_open variable 2012-11-07 23:29:25 +09:00
rmackay9 b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9 61dd405910 AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9 5f34d41b59 ThirdOrderCompFilter3D: fix compiler error 2012-11-07 19:47:48 +09:00
rmackay9 1c7118a2d1 AP_Baro: added get_last_update which returns the time the barometer sensor was last read 2012-11-07 19:21:25 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 68bdf93a4d APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9 7f190b8494 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9 dc7146c9ce ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9 48f1955f8e AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9 83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9 49de46a548 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
Andrew Tridgell 403721f8ca AP_AnalogSource: allow for the 'NONE' pin in Arduino ADC 
This allows us to have a configuration parameter for a pin which
defaults to -1, meaning not to read a pin at all. It will always
return 0
 2012-11-06 21:45:40 +11:00
Andrew Tridgell 736cb4c34b AP_Var: move the MetaClass lib into AP_Var 
AP_Var is the only one that uses it, and it generates warnings in our
build if we leave it in AP_Common
 2012-11-06 21:42:54 +11:00
Andrew Tridgell cd0672ce94 SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell fe47990dab AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell f58abb7550 RC_Channel: added pwm_to_angle_dz() function 
will be used by k_aileron in APM
 2012-11-05 23:37:25 +11:00
Andrew Tridgell ef919c4e36 AP_Param: fixed a bug with setting nested parameters 
This bug meant that setting a parameter in a parent class for a doubly
nested parameter group, where the parameter index in the parent class
is 4 or greater would actually set the first element in that parent
class.

At the moment only one parameter fits these narrow constraints - the
RCn_DZ element of the RC_Channel_aux class. So if someone set RC5_DZ
to 17 in ArduPlane it would actually set RC5_MIN to 17.
 2012-11-05 22:08:43 +11:00
Andrew Tridgell d57566ad0e RC_Channel: removed set_filter() and scale_output 
these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
 2012-11-05 20:49:42 +11:00
Andrew Tridgell 6a24bdec05 AP_AHRS: require at least 6 satellites to use the GPS for velocity 
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
 2012-11-05 20:07:37 +11:00
Andrew Tridgell 984b1086cb AP_GPS_UBLOX: ask for nav settings every 20 seconds 
this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 72e97c6dfc AP_GPS: start detection timer on first bytes 
this prevents a uBlox plugged in late from being detected as a NMEA
GPS
 2012-11-05 14:58:40 +11:00
Andrew Tridgell 6f9fa7d3b3 AP_GPS: removed shadowed class variable _nav_setting 
this caused a uBlox to incorrectly configure as "portable" instead of
airborne if the detection took more than 2 seconds. That led to
terrible performance.
 2012-11-05 14:58:40 +11:00
Andrew Tridgell ea40432235 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell e74e730992 AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
rmackay9 3fd07805a7 AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9 d6324b3964 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
rmackay9 9e3824a09b AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
rmackay9 0159d8bd35 AP_Motors: bug fix to reached_limits so by default it returns true if any limits have been breached 2012-10-31 22:00:17 +09:00
Andrew Tridgell 024e5c3cc7 RC_Channel: added set_radio() and set_radio_to_trim() functions 2012-10-31 12:43:53 +11:00
Xichen Shi 8c46fced16 APM: Added functionality to use differential spoilers in elevon mode 
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
 2012-10-31 12:43:42 +11:00
rmackay9 09485ddc5f AP_OpticalFlow: fix example sketch to work with modified AP_Opticalflow library after memory saves 2012-10-22 16:41:45 +09:00
rmackay9 79fc5f072e AP_Curve: replace Serial.print with Serial.print_P to save 18 bytes of memory 2012-10-22 16:40:57 +09:00
rmackay9 57439b662c AP_OpticalFlow: change Serial.print to Serial.print_P to save 27 bytes 2012-10-22 16:37:24 +09:00
rmackay9 bff3417d29 AP_Limit_Geofence: reduce maximum number of fence points to 6 from 20 to save memory 2012-10-22 16:34:25 +09:00
Pat Hickey d728ccb620 AP_Menu unit test fixup 2012-10-18 21:08:37 -07:00
Pat Hickey 1bf21aae20 AP_Menu: create new library with menu from AP_Common 2012-10-18 20:50:16 -07:00
Andrew Tridgell eb0dd45a11 Desktop: fixed build with recent SPI changes 2012-10-19 11:21:42 +11:00
rmackay9 0bcf581a17 Desktop: fix build error 2012-10-18 19:33:31 +09:00
rmackay9 3f7b2dbda7 Desktop: add AP_Semaphore to list of includes for DataFlash_APM1.cpp 2012-10-18 19:25:53 +09:00
rmackay9 1958169e30 SPI3: add checks that SPI bus has been initialised to reduce possibility of interfering with UART3 on APM1 2012-10-18 19:17:24 +09:00
rmackay9 17afd075c1 DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow 2012-10-18 17:03:50 +09:00
rmackay9 a1b4531545 AP_OpticalFlow: added ability to pass in semaphores for main spi bus to stop conflicts with dataflash on APM1 2012-10-18 17:02:45 +09:00
rmackay9 785d9ca6a7 DataFlash_APM2: renamed semaphore to spi3_semaphore to make it more obvious which semaphore is required. 2012-10-18 17:00:05 +09:00
Andrew Tridgell a53cbc08f3 GPS: avoid output delays in the GPS auto detection 
this sends out the GPS init strings in 16 byte chunks to avoid causing
timing glitches when no GPS is attached
 2012-10-18 16:18:32 +11:00
Andrew Tridgell a979fb6014 AP_AnalogSource: added set_pin() interface 
this allows pin numbers to be changed at runtime
 2012-10-16 17:20:15 +11:00
Andrew Tridgell 5642922ca7 RC_Channel: simplify the example 
use an array of channels
 2012-10-16 15:50:54 +11:00
Andrew Tridgell 86b509a609 RC_Channel: ensure _reverse is not 0 
this caused the example to fail
 2012-10-16 15:50:29 +11:00
Pat Hickey f48568c9a6 MultiFastSerial example sketch: notes on fatal error in avr-gcc 4.5.x 2012-10-15 20:42:19 -07:00
Pat Hickey e84a467311 FastSerial example sketch: Depend on AP_Common for PSTR definitions 2012-10-15 20:42:18 -07:00
Pat Hickey 76e93e9fd7 AP_Common: PSTR def has specific version for avr-gcc 4.6 compatibility 
* Also a small change in FastSerial/vprintf.cpp, which duplicates the
  PSTR definition
* Won't effect others using earlier versions of avr-gcc
 2012-10-15 20:42:18 -07:00
Pat Hickey 2936dbb9de RC_Channel unit test: fixed build, functionality still wrong 2012-10-15 10:37:29 -07:00
Pat Hickey d75ca684cc MultiFastSerial test: make it easier to observe which serial port causes crash 2012-10-14 21:08:33 -07:00
Pat Hickey 930d387b8d FastSerial: add extra example sketch MultiFastSerial to test multiple ports 2012-10-14 18:58:12 -07:00
rmackay9 c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
Andrew Tridgell 00bf548f87 AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00
Andrew Tridgell e8c4dedcd7 AP_OBC: fixed resume on GPS loss 2012-10-11 11:51:24 +11:00
Pat Hickey 8a6017ea48 AP_ADC_test: fix build of test regressions. 
I'm not convinced I was able to make the timing test meaningful.
Someone should please lookinto this.
 2012-10-09 15:23:40 -07:00
Pat Hickey aa210d7e99 AP_DataFlash_test wibble 2012-10-09 11:39:09 -07:00
Pat Hickey 605f89fa69 DataFlash_APM2: private AP_Semaphore* rather than use extern AP_Semaphore_spi3 
The AP_Semaphore* argument to the constructor can be null (and is by
default for compatibility). Semaphore is only used when non-null.
 2012-10-09 11:38:52 -07:00
Pat Hickey 5ac21b71ce AP_OpticalFlow_test: fix build with NULL semaphore. 2012-10-09 11:36:21 -07:00
Pat Hickey 26ba391cd4 AP_OpticalFlow_ADNS3080: has private AP_Semaphore* _semaphore 
Semaphore can be null, handled correctly if it is. Rather than check for
which SPI bus the sensor is using, just check whether semaphore is not null
before using it. More general and flexible.
 2012-10-09 11:35:59 -07:00
Pat Hickey 6fc0d22671 AP_Semaphore.h: proper h macros 2012-10-09 11:12:11 -07:00
Pat Hickey b2b0b70d03 AP_Semaphore_test: instantiate AP_Semaphore_spi3 locally. 2012-10-09 11:05:34 -07:00
Pat Hickey c20a401c6a AP_Semaphore: do not instantiate or export a global spi3 semaphore. 2012-10-09 11:02:35 -07:00
Pat Hickey dfcbb6d9e9 AP_Semaphore_test: bugfix to extern semaphore, add Makefile for builds. 2012-10-09 10:55:50 -07:00
Pat Hickey 5796ee91ca AP_Semaphore: make into separate library rather than part of AP_Common 2012-10-09 10:55:06 -07:00
rmackay9 c320938ff2 AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability. 
Resolves climb-on-yaw problem.
 2012-10-09 15:48:15 +09:00
rmackay9 e33d314f1d AP_AHRS_MPU6000: resolve compiler warning re shadowing 2012-10-06 13:22:43 +09:00
rmackay9 b9963f5b5c DataFlash: modified to use AP_Semaphore for SPI3 bus when required. 
Also fixed test sketch which seemed broken.
 2012-10-06 12:41:50 +09:00