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4080 Commits

Author SHA1 Message Date
Andrew Tridgell
744819cec8 AP_GPS: added fake time to fake GPS lock 2013-10-24 14:22:48 +11:00
Andrew Tridgell
d7a9888e26 DataFlash: updates for new GPS API 2013-10-24 14:22:47 +11:00
Andrew Tridgell
19ba07a3f9 AP_InertialNav: updates for new GPS API 2013-10-24 14:22:47 +11:00
Andrew Tridgell
b7b9efd120 HAL_SITL: properly emulate timestamps on ublox and MTK 2013-10-24 14:22:47 +11:00
Andrew Tridgell
6f5ac1d553 AP_GPS: added support for GPS time in week/millisec 
also adds time_epoch_usec() for MAVLink SYSTEM_TIME
 2013-10-24 14:22:47 +11:00
Andrew Tridgell
6438be74e0 HAL_SITL: get the ublox GPS timestamps right in SITL 2013-10-24 14:22:47 +11:00
Andrew Tridgell
f34b1c280d AP_BattMonitor: added set_monitoring() API 
needed for test sketch
 2013-10-23 09:40:42 +11:00
Andrew Tridgell
d305dd5946 AP_AHRS: debounce the GPS/compass consistency test 
we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
 2013-10-23 09:40:42 +11:00
texlan
78acea820f Copter: fix symmetry in stability patch for Tricopters 
Removes the "Increase opposing motors by 1/2 the overage of the high
motor" logic and merely moves all 3 motors down by the same amount if
one is over out_max. This eliminates the asymmetric scaling of
the previous logic when more than one motor is over out_max. This
resolves #537
 2013-10-21 20:12:53 +09:00
Randy Mackay
8f4665c4c7 ToshibaLED: ignore I2C errors during init 2013-10-21 20:01:34 +09:00
Randy Mackay
443023bbbf AP_HAL: add ignore_errors to I2C driver 2013-10-21 20:01:32 +09:00
Randy Mackay
943d7374f6 Copter: slow start motors from 0 to min throttle 2013-10-20 14:51:35 +09:00
texlan
53553751d1 Copter: Correctly set limit.lower flags for Tricopters 
Resolves #536
 2013-10-19 23:08:25 +09:00
Andrew Tridgell
1c091cbca5 HAL_PX4: fixed a scheduler bug that affects UART IO 
we need to detect if we are in a timer task using a PID, not a
flag. This is the same type of bug I fixed last week, but now fixed
properly.

The bug could well be the "USB bug" that Craig has been chasing
 2013-10-19 16:50:38 +11:00
Randy Mackay
e0c4785b2a Copter: OctaQuad H-frame support 2013-10-18 10:41:07 +09:00
Andrew Tridgell
3393a5c99e AP_Baro: prevent a race condition in the SITL baro driver 2013-10-17 17:22:19 +11:00
Andrew Tridgell
86afc26609 HAL_SITL: decrease wind with altitude 
this prevents JSBSim crash on the runway
 2013-10-17 17:22:19 +11:00
Andrew Tridgell
98d391efa0 AP_Camera: added note on DO_SET_CAM_TRIGG_DIST in docs 2013-10-15 10:09:39 +11:00
Andrew Tridgell
ede927f68a HAL_SITL: added airspeed noise control 2013-10-14 15:40:45 +11:00
Mike McCauley
c524a7c717 AP_HAL_FLYMAPLE: remove obsolete debugging code from RCInput 2013-10-14 11:34:47 +10:00
Mike McCauley
6f04e5f2e7 AP_HAL_FLYMAPLE: RCInput now more robust in the face of connect/disconnect of 
a PPM-SUM source

Also remove some left over debug code.
 2013-10-14 11:34:47 +10:00
Mike McCauley
ce1a8fb831 AP_HAL_FLYMAPLE: Added new example test sketch RCInput.pde 2013-10-14 11:34:47 +10:00
Mike McCauley
3226a81611 AP_HAL_FLYMAPLE: Improvements to RCInput 
More reasonable sync pulse times, add input filter to prevent false triggering
 2013-10-14 11:34:47 +10:00
Mike McCauley
fe6cacf081 AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp 2013-10-14 11:34:47 +10:00
Mike McCauley
0920d9ac49 AP_HAL_FLYMAPLE: UARTDriver Use new libmaple TX buffers. 
Caution: requires latest libmaple from
git@github.com:mikemccauley/libmaple.git
 2013-10-14 11:34:47 +10:00
Mike McCauley
38512e3756 AP_HAL_FLYMAPLE: I2CDriver improvements to interrupt hygiene 2013-10-14 11:34:47 +10:00
Mike McCauley
8e5a9b06fb AP_HAL_FLYMAPLE: Fix example Scheduler.pde fo recent changes to API 2013-10-14 11:34:47 +10:00
Mike McCauley
bc55a2844c AP_HAL_FLYMAPLE: Fix example Scheduler.pde to compile with recent changes to 
scheduler API
 2013-10-14 11:34:47 +10:00
Andrew Tridgell
72b97168c9 AP_RangeFinder: improved SONAR_PIN docs 2013-10-14 10:03:52 +11:00
Andrew Tridgell
7831113f84 AP_InertialSensor: yield the CPU for the right time in wait_for_sample() 
this improves timing performance
 2013-10-14 08:45:58 +11:00
Andrew Tridgell
d973730b88 HAL_PX4: use hrt timer and semaphores to improve timing 
this gives much more accurate microsecond delays, while also ensuring
we yield the CPU when possible
 2013-10-14 08:29:30 +11:00
Andrew Tridgell
8532e2bff8 AP_InertialSensor: fixed timing of PX4 sensor samples 2013-10-13 22:15:50 +11:00
Andrew Tridgell
c4d62f6b92 AP_Scheduler: fixed SCHED_DEBUG docs 2013-10-13 21:41:01 +11:00
Andrew Tridgell
0f4da25e68 AP_Scheduler: make sure we run remaining tasks on overrun 
when a task overruns its time, we can still run the rest of the tasks
in the task list
 2013-10-13 21:41:01 +11:00
Andrew Tridgell
a5788dde8f HAL_AVR: added Scheduler.set_timer_speed() support 2013-10-13 11:03:37 +09:00
Andrew Tridgell
7ef187fcfd AP_HAL: added optional set_timer_speed() scheduler API 
will be used by copter to reduce interrupt load on APM2
 2013-10-13 11:03:35 +09:00
Andrew Tridgell
4de2a654ab AP_Mount: changed ahrs to be a const reference 
saves a bit of code
 2013-10-13 11:03:24 +09:00
Andrew Tridgell
34770fe6bf HAL_AVR: fixed SPI bus speed switching 
this fixes a bug in changing the bus speed between devices
 2013-10-13 11:03:17 +09:00
Randy Mackay
f2f61af125 HAL_AVR: scheduler interrupt 500hz for APM2 2013-10-13 11:03:13 +09:00
Andrew Tridgell
9833900f91 AP_InertialSensor: run MPU6000 sensor register reads at 8MHz 
run other register IO at 500kHz
 2013-10-13 11:03:08 +09:00
Andrew Tridgell
04836ea763 HAL_AVR: set initial bus speed on MPU6k to 500kHz, then change to 8MHz 
this should allow us to work even with older chips. See the MPU6000
product specification, which says max 20MHz for sensor and interrupt
regs, and max 1MHz for all other regs
 2013-10-13 11:03:06 +09:00
Andrew Tridgell
5ccf8409b4 AP_HAL: added an optional spi.set_bus_speed() API 
this will be used by MPU6000 on APM2 to change speed after init
 2013-10-13 11:03:04 +09:00
Andrew Tridgell
4dc2f4bd58 HAL_AVR: spi3 at 8mhz for mpu6k and ms5611 2013-10-13 11:03:02 +09:00
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