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2043 Commits

Author SHA1 Message Date
Andrew Tridgell b787dc8cce APM: added wdt.h for SITL build of APM 2012-09-10 15:52:53 +10:00
rmackay9 9f1033dc42 AP_InertialSensor_Stub: added num_samples_available method to fix HIL build 2012-09-10 11:38:13 +09:00
rmackay9 130f3b0030 AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called 2012-09-10 11:38:08 +09:00
rmackay9 7a265dbf61 AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete 2012-09-10 11:38:03 +09:00
rmackay9 55ef1e0a29 AP_PeriodicProcess: queue_process changes to suspend other processes before running queued process 
Also restored suspend_timer to void return type
 2012-09-10 11:37:58 +09:00
rmackay9 6ea5c21f7c AP_ADC: added num_samples_available to allow main loop to be synced with arrival of new sensor data for Oilpan. 2012-09-10 11:37:43 +09:00
rmackay9 fc4ff007e6 AP_IMU: added num_samples_available to allow main loop timing to be synced with arrival of new data from IMU. 2012-09-10 11:37:38 +09:00
rmackay9 0a6219695b AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately 
This reduces the delay between when data arrives and when it is used
by up to 1ms.

Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
 2012-09-10 11:37:33 +09:00
Craig Elder 90b74f5bab APM_RC: fixed noisy PWM output on startup for APM2 
This reduces the number of rubbish pulses on the APM2 PWM output pins
on startup, which should help with booting some cheaper ESCs.

Thanks to Randy for the idea!
 2012-09-10 08:09:28 +10:00
Andrew Tridgell 4c07add542 AP_Camera: updated for new RC_Channel_aux API 2012-09-08 15:13:06 +10:00
Andrew Tridgell f41270a3ce AP_Mount: updated for new RC_Channel_aux API 2012-09-08 15:12:52 +10:00
Andrew Tridgell 3b97339104 RC_Channel: simplified RC_Channel_aux and fixed issue 725 
it is perfectly valid to configure two RC channels with the same
function, especially when that function is manual output (ie. copy
input to output)

This removes the g_rc_function[] indirection array
 2012-09-08 15:12:28 +10:00
Andrew Tridgell de28cc8b28 AHRS: added AHRS_WIND_MAX option 
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
 2012-09-08 11:37:07 +10:00
Andrew Tridgell 8458607928 APM_OBC: changed termination servo values, and added loop counter 2012-09-08 11:37:00 +10:00
Andrew Tridgell fa84ba451a APM_OBM: Failsafe board sketch 
this combines with the OBC failsafe module
 2012-09-08 10:07:17 +10:00
Andrew Tridgell cca04d195a APM_OBC: handle separate terminate pin correctly 2012-09-08 10:07:14 +10:00
Andrew Tridgell 13145e4c01 OBC: added FS_TERM_PIN option 
this sets a pin for flight termination
 2012-09-08 10:07:08 +10:00
Andrew Tridgell 3a1ff7bdd9 Mavlink: enable MAVLINK_SEPARATE_HELPERS 
this fixes a seq number problem with SIMSTATE packets
 2012-09-08 10:06:19 +10:00
Andrew Tridgell 6922dcdea2 Compass: added compass.accumulate() API 
this allows us to accumulate mag readings using spare CPU cycles
 2012-09-08 10:05:54 +10:00
rmackay9 5994117f6f RC_Channel_aux: bug fix which could cause channel to be assigned to the wrong function and miss others 2012-09-02 12:46:04 +09:00
Andrew Tridgell d5b218c80b SITL: use AP_Declination code to get right compass dec for autotest 2012-08-29 13:33:01 +10:00
Pat Hickey 7b3009a238 APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg 
* Previously had the ICR register for ch1/2/9 (on timer5) swapped with
  ch3/4/10 (on timer1).
* This bug probably didn't make a difference in operation since
  SetFastOutputChannels is typically only used for copters, where at
  least CH1,2,3,4 would be set to fast all at once.
 2012-08-28 17:12:41 -07:00
Andrew Tridgell e2b8817a89 APM: added the ability to forcibly crash the plane on OBC failsafe breach 
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.

To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
 2012-08-28 20:18:24 +10:00
Andrew Tridgell 71500347ec APM_OBC: don't use _saved_wp when zero 2012-08-28 20:18:23 +10:00
Andrew Tridgell d13d117e61 APM: removed reset_I() and instead auto-reset integrator in PID library 
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
 2012-08-28 20:18:23 +10:00
Andrew Tridgell dd7c815c5f SITL: zero wind for first 15s 
this allows for airspeed calibration on startup
 2012-08-28 20:18:23 +10:00
rmackay9 c965963d7b AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop 2012-08-28 17:02:07 +09:00
Craig Elder 2da75b3c3c Revert "APM1: Delay serial3 init to not brick Xbee radios" 
This reverts commit 25d14a9d6a4a1ea60eb78485296298c98c1595d0.
 2012-08-27 15:00:23 -07:00
Amilcar Lucas b48a1f1fc4 ArduPlane: Fix 1280 builds 
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
 2012-08-27 01:33:45 +02:00
Amilcar Lucas 769f04b7d6 Improve comments, no functional changes 2012-08-27 01:32:27 +02:00
Amilcar Lucas 7a0c47d049 Improve comment aligment 2012-08-27 00:37:10 +02:00
Andrew Tridgell 747a926809 APM_OBC: ensure pins are setup as outputs 
constructor is run before parameters are loaded
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 2be785899b AHRS: added airspeed_estimate() function 
this allows the APM code to use an airspeed estimate for navigation
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 697b2074a5 SITL: added SIM_WIND_* parameters 
this allows control of the simulated wind during a flight
 2012-08-25 17:49:26 +10:00
Craig Elder b2c38d7dd4 APM1: Delay serial3 init to not brick Xbee radios 2012-08-24 17:55:20 -07:00
Andrew Tridgell 8b53f1272a AHRS: new functions to support APM_Control library 2012-08-22 12:42:37 +10:00
Jonathan Challinger 59875f8d53 APM_Control: added new APM controllers library 
See
http://www.challinger.us/2012/07/16/tuning-arduplane-roll-and-pitch-controllers/
for details
 2012-08-22 12:39:07 +10:00
uncrustify 08c8dffd48 uncrustify libraries/DataFlash/DataFlash.h 2012-08-21 19:19:52 -07:00
uncrustify 2e97fd3e9f uncrustify libraries/DataFlash/DataFlash.cpp 2012-08-21 19:19:52 -07:00
uncrustify 744ad19630 uncrustify libraries/AP_Motors/AP_MotorsHeli.h 2012-08-21 19:19:52 -07:00
uncrustify b1b1975018 uncrustify libraries/AP_Motors/AP_MotorsHeli.cpp 2012-08-21 19:19:52 -07:00
uncrustify 40a4777d31 uncrustify libraries/AP_Limits/AP_Limit_Geofence.cpp 2012-08-21 19:19:52 -07:00
uncrustify 97035fbead uncrustify libraries/AP_GPS/GPS.h 2012-08-21 19:19:52 -07:00
uncrustify 20d1a94778 uncrustify libraries/AP_GPS/AP_GPS_IMU.h 2012-08-21 19:19:52 -07:00
uncrustify 4cd477d13d uncrustify libraries/AP_GPS/AP_GPS_IMU.cpp 2012-08-21 19:19:52 -07:00
uncrustify 6c885df832 uncrustify libraries/AP_GPS/AP_GPS_UBLOX.cpp 2012-08-21 19:19:52 -07:00
uncrustify a48aa18d6f uncrustify libraries/AP_GPS/AP_GPS_MTK16.cpp 2012-08-21 19:19:52 -07:00
uncrustify 03b42037a0 uncrustify libraries/AP_GPS/AP_GPS_NMEA.h 2012-08-21 19:19:51 -07:00
uncrustify da81115079 uncrustify libraries/AP_GPS/AP_GPS_NMEA.cpp 2012-08-21 19:19:51 -07:00
uncrustify a8ed24da6c uncrustify libraries/AP_GPS/AP_GPS_SIRF.cpp 2012-08-21 19:19:51 -07:00