Commit Graph

1129 Commits

Author SHA1 Message Date
Pat Hickey
a19afd926a APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Doug Weibel
756793611f Repair dataflash test 2012-01-08 21:29:19 -07:00
Jason Short
d0af95f0e3 allows main code to manually set the integrator value 2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
60185509f4 AP_Compass: when I2c fails, don't retry for 1s 2012-01-04 16:35:47 +11:00
Andrew Tridgell
9fb3b13af3 AP_Baro: when I2c fails, don't retry for 1s 2012-01-04 16:35:16 +11:00
Andrew Tridgell
880c7e6411 DataFlash: cope with older dataflash chips
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
2012-01-04 16:16:35 +11:00
Michael Oborne
306e2e3f7d add gps character count.
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
2011-12-31 13:05:33 +08:00
Michael Oborne
3d85f99546 remove gps callback in wait loop 2011-12-31 09:35:40 +08:00
Randy Mackay
a2edba69b1 GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago. 2011-12-30 22:25:00 +09:00
Jason Short
7adc80c513 removed newlines to clean up code 2011-12-29 23:02:01 -08:00
Randy Mackay
bbe6dea980 OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
074fd31506 Baro: fixed MS5611 example sketch 2011-12-28 21:49:29 +11:00
Andrew Tridgell
820153d7ae compass: show timing in compass test 2011-12-28 21:44:18 +11:00
Andrew Tridgell
f871235480 Baro: show timing in baro test 2011-12-28 21:43:52 +11:00
Andrew Tridgell
8f74631882 DCM: don't use compass unless its healthy 2011-12-28 20:41:54 +11:00
Andrew Tridgell
7c098491b9 I2C: fixed some warnings 2011-12-28 20:41:53 +11:00
Andrew Tridgell
5f38663d44 desktop: exclude I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
e1c9c063a5 MPU6k: don't init the Wire library
we don't use Wire any more
2011-12-28 20:41:53 +11:00
Andrew Tridgell
7ba744a11a I2C: convert barometer library to new I2C library
this also adds a healthy attribute and error checking
2011-12-28 20:41:53 +11:00
Andrew Tridgell
acf4e9b61d I2C: convert compass code to new I2C library
this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
Andrew Tridgell
8ee336e715 I2C: imported the I2C library from Wayne Truchsess
this gives us a more robust interface, including timeouts
2011-12-28 20:28:31 +11:00
Andrew Tridgell
e7dab19260 TimerProcess: prevent a race in setting up the timer callbacks 2011-12-28 16:00:49 +11:00
Andrew Tridgell
5e4f66e525 DataFlash: moved high level logging logic to library
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.

This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
2011-12-28 16:00:48 +11:00
Andrew Tridgell
bd9488f1e4 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell
6ca613337b MPU6000: protect the driver from double initialisation
initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
Andrew Tridgell
18d26dc74e MPU6000: minor fixes
the hardware functions should be private, and cs_pin should be uint8_t
2011-12-28 16:00:48 +11:00
Andrew Tridgell
4d71482d1c TimerProcess: check for duplicate registrations
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
2011-12-28 16:00:48 +11:00
Andrew Tridgell
dbaa6fb6d2 TimerProcess: make some variables uint8_t
save a couple of bytes
2011-12-28 16:00:48 +11:00
Mike Smith
3582ad4e20 Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell
637d4675e1 added in DataFlash.cpp
forgot this ....
2011-12-26 19:34:06 +11:00
Andrew Tridgell
9bb0bd0341 desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell
a39a470d75 desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell
977326e991 dataflash: reworked classes to move most code to parent class
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.

This should prevent discrepancies creeping in between APM1 and APM2
support again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
13b2ddcbe1 dataflash: fixed APM2 flash logging
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
2011-12-26 19:17:11 +11:00
Andrew Tridgell
04daeab7c0 MPU6000: change to 98Hz low pass filter
based on recommendation from Pat
2011-12-26 19:17:11 +11:00
Andrew Tridgell
10ca54ef8f MPU6000: use data ready interrupt to prevent stale data
We listen for a data ready interrupt and only read new data in read()
if there is new data
2011-12-26 19:17:11 +11:00
Andrew Tridgell
760aa62c75 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay
4620186328 Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay
c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
b72f9c2e9f added MPU6000 test sketch
this doesn't work yet - Pat, any idea why?
2011-12-25 12:03:39 +11:00
Andrew Tridgell
f11a5edbc7 removed dead test program
this one doesn't build, and has been replaced by IMU_MPU6000_test
2011-12-24 18:11:04 +11:00
Andrew Tridgell
8780a60234 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7720254dd AP_Baro: update MS5611 driver for new ap_proceduce prototype
this saves calling millis() quite so often
2011-12-21 23:31:38 +11:00
Andrew Tridgell
f97b405b56 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
79d6c21dde PeriodicProcess: added set_failsafe() call
this adds an optional failsafe function that will be called in the
timer loop
2011-12-21 23:31:38 +11:00
Andrew Tridgell
11b8d56434 added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
bc9e943969 rollover is not a bug
subtracting unsigned numbers does the right thing
2011-12-21 23:31:38 +11:00
Andrew Tridgell
97f8d21c1b added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell
59d2d2d783 fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00