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3438 Commits

Author SHA1 Message Date
Andrew Tridgell
e4fb54fcc9 RangeFinder: added new AP_RangeFinder_analog 
this is a generic analog rangefinder, supporting 3 types of functions
between voltage and distance.
 2013-03-01 11:19:02 +11:00
Andrew Tridgell
efd2da3eb8 DataFlash: started on file interface 2013-03-01 07:18:26 +11:00
Andrew Tridgell
7b524d15fa DataFlash: added log_num to dump interface 
this will be used by the file oriented logging code
 2013-03-01 07:18:25 +11:00
Andrew Tridgell
c52ef80f06 DataFlash: added Block layer in classes 
this will allow the addition of a DataFlash_File implementation of the
DataFlash API which will store logs in a traditional filesystem. That
will align better with the PX4 design, and be more useful for fast
transfer of logs to a host computer
 2013-03-01 07:18:25 +11:00
Andrew Tridgell
0ffcffa81c DataFlash: fixed signed/unsigned errors in API 2013-03-01 07:18:25 +11:00
Andrew Tridgell
9b551f162c DataFlash: make the public interface much narrower 
make many variables private, to simplify interface ready for PX4
 2013-03-01 07:18:25 +11:00
Andrew Tridgell
5a55fd9a2f AP_HAL: added HAL_BOARD_NAME define 2013-03-01 07:18:25 +11:00
Andrew Tridgell
20825cc903 DataFlash: removed the byte and word based interfaces 
simplifing ready for PX4 flash logging
 2013-03-01 07:18:25 +11:00
Pat Hickey
e0457f21de AP_HAL_PX4: fix off-by-one error in RCOutput channel sending 2013-02-23 15:04:17 -08:00
Andrew Tridgell
a3ef58ac92 AP_HAL: moved AnalogIn example to generic examples 
it is not AVR specific anymore
 2013-02-22 12:50:47 +11:00
Andrew Tridgell
5b92c67286 HAL_AVR: fixed analog input with high channel numbers 2013-02-22 12:48:54 +11:00
Andrew Tridgell
fae396e64f HAL_AVR: expand analog input test to more channels 2013-02-22 12:48:29 +11:00
Andrew Tridgell
c373429a6e HAL_PX4: fixed a buffer handling bug 
BUF_SPACE() was badly buggy, which could lead to memory corruption
 2013-02-20 18:15:56 +11:00
Andrew Tridgell
160e5fa311 HAL_PX4: show a message if we fail to upgrade PX4IO firmware 2013-02-20 18:15:23 +11:00
Andrew Tridgell
f67480fa50 AP_GPS: ensure constructors zero all key variables 
this prevents a crash on PX4 if a GPS is attached after startup
 2013-02-20 11:33:39 +11:00
Andrew Tridgell
93ef403529 AP_GPS: removed unused AP_GPS_Shim.h 2013-02-20 11:33:39 +11:00
Andrew Tridgell
02c5c3ec4a HAL_PX4: changed scheduler priorities 
put sensor priority above main sketch, to prevent occasional blocking
for sensor data
 2013-02-20 11:30:54 +11:00
Randy Mackay
963231a19b AHRS: fix example sketch to use roll/pitch trim 2013-02-19 18:56:09 +09:00
Randy Mackay
3321db8dde AHRS: limit trim to 10 degrees 2013-02-19 18:50:57 +09:00
Randy Mackay
21de9f5f47 AP_InertialSensor: return roll and pitch trim angles 2013-02-19 12:45:44 +09:00
Andrew Tridgell
54e7bce75e HAL_PX4: cope with O_NONBLOCK not working in NuttX on ttyACM0 
writes will block anyway, which clags up APM
 2013-02-19 12:02:46 +11:00
Andrew Tridgell
8041768c67 HAL_PX4: perform automatic update of px4io firmware 2013-02-18 13:55:58 +11:00
Andrew Tridgell
8e2a20bea8 HAL_PX4: enable ttyACM0 as main console, ttyS1 as telemetry port 2013-02-18 13:55:33 +11:00
Andrew Tridgell
727f8ff029 AP_GPS: removed the old MTK16 driver 
the MTK19 driver supports both the 1.6 and 1.9 protocol
 2013-02-16 22:03:53 +11:00
Andrew Tridgell
fb4e68f0f0 SITL: added SIM_GPS_BYTELOSS option 
this allows testing of protocol recovery after losing bytes on the GPS
serial link
 2013-02-16 22:00:16 +11:00
Andrew Tridgell
3a582663fb SITL: improve time field handling in simulated GPS 2013-02-16 21:36:06 +11:00
Andrew Tridgell
428966160a SITL: added support for MTK16 and MTK19 simulated GPS types 2013-02-16 20:59:48 +11:00
Andrew Tridgell
10cd466035 SITL: added simulation of the original MTK GPS 2013-02-16 20:16:13 +11:00
Andrew Tridgell
2ec2c58f67 SITL: added SIM_GPS_TYPE control 
for choosing what sort of GPS to simulate
 2013-02-16 20:15:57 +11:00
Andrew Tridgell
a63275d284 AP_InertialSensor: expand register range in MPU6000 _dump_registers() 2013-02-13 19:33:40 +11:00
Andrew Tridgell
fe964fcda0 PID: change to float input/output 
this makes the PID library a bit more flexible for smaller range
numbers. Note that this library is used on ArduPlane and Rover, not
Copter
 2013-02-09 20:36:26 +11:00
Andrew Tridgell
e45b137816 HAL_PX4: added run_debug_shell() implementation for PX4 2013-02-07 15:04:33 +11:00
Andrew Tridgell
70f7cde9b8 AP_HAL: added run_debug_shell() hal.util method 2013-02-07 15:04:33 +11:00
zlite
4800c57fb4 Fixed cosmetic typo in user display message 
Corrected "it's" to "its". Just one of those grammar things that drives me crazy ;-)
 2013-02-06 16:34:33 -08:00
Andrew Tridgell
1121254606 AP_InertialSensor: added filter frequency support to PX4 driver 2013-02-07 11:20:45 +11:00
Andrew Tridgell
5643c371b9 AP_InertialSensor: removed unused new_data_available() and temperature() APIs 2013-02-07 10:23:37 +11:00
Andrew Tridgell
7b1245937c AP_InertialSensor: always sample at 200Hz in MPU6000 
this changes the sampling to 200Hz regardless of requested rate, and
it is downsampled inside num_samples_available() using a shift. This
gives better noise resistance in ArduPlane.

This patch also makes it possible to update the filter frequency while
running, which is very useful for bench testing with a vibration
source
 2013-02-07 10:23:08 +11:00
Jochen Tuchbreiter
c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Michael
5d91b06de3 RC_Channel: added secondary elevator support 2013-02-05 08:57:28 +11:00
Andrew Tridgell
db8da71f65 Revert "AP_HAL_AVR: Improved AVRTimer micros() and millis()" 
This reverts commit 527dcdf3b9.

This was causing the MPU6000 startup code to fail, due to time running
backwards.
 2013-02-03 21:32:22 +11:00
John Arne Birkeland
527dcdf3b9 AP_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()

pull request 62, approved and merged by pat
 2013-02-01 09:32:40 -08:00
Randy Mackay
7729ec950e AP_Math: longitude_scale function made public 
Added LATLON_TO_M and LATLON_TO_CM #defines
 2013-01-27 23:21:39 +09:00
Andrew Tridgell
4fd7630ec9 HAL_PX4: IO_SET_FEATURES is not needed any more 2013-01-27 15:05:28 +11:00
Andrew Tridgell
8375abdd99 HAL_PX4: fixed max storage write size 2013-01-27 15:04:47 +11:00
Andrew Tridgell
e4a204d2f6 HAL_PX4: reopen storage file on any IO error 2013-01-27 13:39:11 +11:00
Randy Mackay
6f5050a8b9 Copter: minor casting fixup for wp_distance 2013-01-27 11:27:43 +09:00
Randy Mackay
bad81a5113 AP_InertialSensor_MPU6k: remove unnecessary check of sign when receiving fifo packet from dmp 2013-01-27 11:22:39 +09:00
Andrew Tridgell
90e264d56a HAL_PX4: disable manual override in PX4 for now 2013-01-27 12:52:14 +11:00
Andrew Tridgell
02b4ecc273 HAL_PX4: get RC input from PX4IO board 
this allows us to support DSM and SBUS receivers
 2013-01-27 12:52:14 +11:00
Randy Mackay
d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Andrew Tridgell
d7409b6a25 HAL_PX4: startup in low priority to fix CLI 
this ensures that tight sensor loops in setup() can run without
sleeping
 2013-01-25 20:44:36 +11:00
Andrew Tridgell
7359348e2c HAL_PX4: added support for /fs/microsd/APM/nostart 
prevents APM startup
 2013-01-25 20:44:36 +11:00
Andrew Tridgell
8f2f4b1bc5 HAL_PX4: use write() to /dev/pwm_output for servo output 
this lowest the cost of PWM output a lot, but relies on the new I2C
based IO firmware
 2013-01-25 20:44:36 +11:00
Andrew Tridgell
9b4c75c66b RC_Channel: don't change trim if radio in is zero 2013-01-25 20:44:36 +11:00
Andrew Tridgell
f9d43f4c3e HAL_PX4: prevent loop() overruns using hrt 
this ensures if loop() takes more than 1 second, the main task gets
its priority dropped until loop() completes
 2013-01-24 15:04:57 +11:00
Andrew Tridgell
70227d5d93 HAL_PX4: added scheduler performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell
0e79b93289 HAL_PX4: added storage performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell
fc8065b50f HAL_PX4: added UART performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell
6cf1d5e1ff HAL_PX4: handle IO errors on microsd 
this should handle EINTR gracefully
 2013-01-24 15:04:57 +11:00
Randy Mackay
542e2e1358 AP_PerfMon: fixes to make it work under AP_HAL (almost) 2013-01-23 21:22:17 +09:00
Andrew Tridgell
966b9b9b9c HAL_PX4: format panic messages with a newline 2013-01-23 16:54:44 +11:00
Andrew Tridgell
c9799fb2b7 HAL_PX4: writing more than 512 bytes at a time can cause IO errors 
the vfat fs in NuttX is really very picky!
 2013-01-23 16:54:44 +11:00
Andrew Tridgell
952df2fced HAL_PX4: new buffered storeage driver for microsd cards 
this does all IO in the timer thread, avoids writes that don't change
data, and does all writes in multiples of 128 byte chunks. This should
be about as friendly to SD cards as we can get.
 2013-01-23 16:37:40 +11:00
Andrew Tridgell
f72b532405 HAL_PX4: ensure all writes go via buffers 
this prevents output corruption by direct fd writes
 2013-01-23 09:22:51 +11:00
Andrew Tridgell
2a10727902 HAL_PX4: run timer thread as SCHED_FIFO 
this ensures it never yields to the main thread, which would break our
locking assumptions
 2013-01-23 09:21:50 +11:00
Andrew Tridgell
930e79a9e1 HAL_PX4: fixed rcin->valid() for RC override input 2013-01-23 07:57:59 +11:00
Andrew Tridgell
06e63d3167 HAL_PX4: use pthread_yield() in main loop 
this lowers the latency of the main loop somewhat
 2013-01-23 07:36:13 +11:00
Andrew Tridgell
6e8501603c HAL_PX4: avoid RCOutput ioctl unless values change 
this lowers latency somewhat
 2013-01-23 07:29:59 +11:00
Andrew Tridgell
89cb3fbd61 HAL_PX4: fixed blocking IO in UART driver 2013-01-22 21:52:21 +11:00
Andrew Tridgell
6ffa18fa61 HAL_PX4: rewrite UART driver to be much more efficient 
this does the IO in the timer thread, and uses buffers in the main
task to avoid system call costs in the flight code.

The cost of PX4 read and write system calls is quite high - about 10
to 15 usec. We can't afford to pay that per byte
 2013-01-22 21:22:01 +11:00
Andrew Tridgell
37be83994f SITL: allow motor multiplier to work on quad simulation 2013-01-22 21:22:01 +11:00
Andrew Tridgell
f0469a21f2 AP_Baro: fixed timestamp on baro for PX4 
milliseconds not microseconds
 2013-01-22 21:22:01 +11:00
Andrew Tridgell
80eaa52ed8 AP_Compass: use report timestamp on PX4 for accurate timing 2013-01-22 21:22:01 +11:00
rmackay9
6f1035debc InertialNav: added 300ms timeout after which error from gps heading will be set to zero 2013-01-22 18:37:54 +09:00
Jonathan Challinger
6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell
546ed19ffc HAL_PX4: improved efficiency of serial writes 
use buffer at a time writes when possible, and use O_NONBLOCKING to
avoid txspace()
 2013-01-22 10:50:26 +11:00
Andrew Tridgell
18cfd29f2f HAL_PX4: added a read buffer to the UART driver 
this lowers the average cost of reading bytes by a large amount, and
prevents the GPS driver from chewing lots of time.
 2013-01-22 10:34:04 +11:00
Andrew Tridgell
db0bd86317 HAL_PX4: name the eeprom file after the sketch 
this makes it easier to switch between ArduPlane and ArduCopter
 2013-01-21 22:04:17 +11:00
Andrew Tridgell
f60d657f72 AP_InertialSensor: added timer for accumulating samples for PX4 
this makes the driver much more tolerant of sketch timing errors
 2013-01-21 21:51:32 +11:00
Andrew Tridgell
3d0cb755d2 AP_InertialSensor: user a timer to drive data collection on PX4 
this reduces the chance of missing a sample if the main sketch is a
bit slow
 2013-01-21 19:44:01 +11:00
Andrew Tridgell
b9b3ef91a1 AP_Baro: added timer to PX4 driver 
this gives us more samples when main sketch is reading slowly
 2013-01-21 18:20:05 +11:00
Andrew Tridgell
1188c9e335 HAL_PX4: added Util instance 
this fixes hal.util->vsnprintf_P()
 2013-01-21 17:10:42 +11:00
Andrew Tridgell
52f560a4c2 HAL_PX4: enabled AnalogIn driver 2013-01-21 13:56:57 +11:00
Andrew Tridgell
ed94292c25 HAL_PX4: start adc driver in rc.APM 2013-01-21 13:55:58 +11:00
Andrew Tridgell
e42cf918fd HAL_PX4: added AnalogIn driver 
this allows airspeed to work on a PX4
 2013-01-21 13:55:06 +11:00
Andrew Tridgell
39e28d48c2 HAL_PX4: switched scheduler to use a pthread 
this allows the timer tasks to access file descriptors in the main APM
task, which makes writing PX4 device drivers much easier
 2013-01-21 13:54:09 +11:00
Andrew Tridgell
ffb2924dd4 HAL_PX4: added APM startup script 2013-01-21 08:27:02 +11:00
Andrew Tridgell
6a5421a361 AP_Baro: ask for maximum poll rate for PX4 2013-01-21 08:27:02 +11:00
Andrew Tridgell
74f7b0f218 AP_Baro: added accumulate method to PX4 driver, and fixed scaling 2013-01-20 22:13:21 +11:00
Andrew Tridgell
0655b1a925 HAL_PX4: fixed thread_running on failed startup 2013-01-20 22:13:20 +11:00
Andrew Tridgell
16d72ca160 AP_InertialSensor: update PX4 driver to use read() method 2013-01-20 22:13:20 +11:00
Andrew Tridgell
6119201307 AP_AHRS: ensure compass is non-NULL for set_board_orientation() 2013-01-17 17:23:34 +11:00
Andrew Tridgell
7294d9ef35 AP_Menu: fixed build with older compilers 
avoids relocation truncated to fit error
 2013-01-17 07:26:26 +11:00
Andrew Tridgell
76092eb590 AP_HAL: remove unused peek() interface from UART drivers 
this is a bit tricky to implement on some platforms, and is unused
anyway
 2013-01-16 14:43:18 +11:00
Andrew Tridgell
e852d6300f AP_HAL_AVR: fixed multi-channel RC output 2013-01-16 14:21:55 +11:00
James Bielman
4fa7bb1486 Add AVR compatibility header for missing math.h definitions. 
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
 2013-01-16 13:52:17 +11:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell
d00b06d449 Filter: added a butter filter to example 2013-01-16 09:15:35 +11:00
Andrew Tridgell
befc6b7b9b Filter: fixed butter filter build on px4 2013-01-16 09:15:22 +11:00
Andrew Tridgell
2ce18f588b AP_HAL: added AP_HAL_Macros.h 
this adds a define for constexpr, allowing code to build either with
or without -std=gnu++0x
 2013-01-16 09:12:55 +11:00
Pat Hickey
53ea7c564e Butter filter: needs header guards 2013-01-15 12:47:43 -08:00
Jonathan Challinger
c66571b87d Filter: added 2nd-order butterworth filters. 2013-01-14 19:18:47 -08:00
Andrew Tridgell
c6b006cf5f DataFlash: move log reading logic into common library 2013-01-15 14:03:51 +11:00
Andrew Tridgell
bd9c61562f HAL_PX4: added -d command line option to app 
allows control of serial device
 2013-01-14 16:21:27 +11:00
Andrew Tridgell
64a8a8e4c9 HAL_PX4: fixed using mavlink on the console 
this disables the ONLCR termios flag, which was injecting extra
carriage returns in the output
 2013-01-14 16:21:27 +11:00
Andrew Tridgell
4c4b6afaff HAL_AVR_SITL: fixed log dump 
the sockets need to default blocking, and only be non-blocking per
call

fixes issue #9
 2013-01-14 08:26:29 +11:00
Andrew Tridgell
4609114a81 HAL_Empty: fixed example build 2013-01-14 07:03:34 +11:00
Andrew Tridgell
a3556c8cf8 HAL_AVR: fixed example build 2013-01-14 07:03:25 +11:00
Andrew Tridgell
d844a1ba3c AP_InertialSensor: fixed PX4 example build 2013-01-13 21:10:53 +11:00
Andrew Tridgell
98a55bf2a1 AP_Limits: removed old declaration 2013-01-13 20:46:44 +11:00
Randy Mackay
109b1069d8 AP_InertialNav: added constraint to how large local accelerometer offset corrections can become 2013-01-13 19:55:09 +11:00
Andrew Tridgell
f683cff9e2 DataFlash: speed up SPI transfers in DataFlash_APM1 2013-01-13 19:26:43 +11:00
Andrew Tridgell
6bd361b9cd OpticalFlow: make surface_quality uint8_t 2013-01-13 17:53:54 +11:00
Andrew Tridgell
f644a356c9 AP_AHRS: document more rotation combinations 2013-01-13 17:32:48 +11:00
Andrew Tridgell
38062bbb6d AP_Math: support some more rotation combinations 2013-01-13 17:32:48 +11:00
Andrew Tridgell
848fc3e32d AP_AHRS: added AHRS_ORIENTATION parameter 2013-01-13 17:32:48 +11:00
Andrew Tridgell
d7996acdf7 AP_InertialSensor: added set_board_orientation() method 2013-01-13 17:32:48 +11:00
Andrew Tridgell
60a4447a86 AP_Compass: added set_board_orientation() method 2013-01-13 17:32:48 +11:00
Andrew Tridgell
8015f0f626 DataFlash: update SITL implementaion for new API 2013-01-13 17:31:43 +11:00
Andrew Tridgell
9ef1f8509b DataFlash: update test code for new macros 2013-01-13 17:31:42 +11:00
Andrew Tridgell
83b074dd87 DataFlash: moved macros into common header 2013-01-13 17:31:42 +11:00
Andrew Tridgell
f3005c4267 DataFlash: use bulk SPI transfer() method 
this reduces the per-byte overhead of flash logging to about 3.9 usec
 2013-01-13 17:31:42 +11:00
Andrew Tridgell
a06202e750 HAL_SMACCM: added bulk SPI transfer() method 2013-01-13 17:31:42 +11:00
Andrew Tridgell
3dc0a990a1 HAL_Empty: added bulk SPI transfer() method 2013-01-13 17:31:42 +11:00
Andrew Tridgell
b5b7fd2f9a HAL_AVR: added bulk transfer() method 
this is quite a lot faster than the byte at a time method
 2013-01-13 17:31:42 +11:00
Andrew Tridgell
6415f00ce3 AP_HAL: added a bulk transfer() method 
very useful for dataflash
 2013-01-13 17:31:42 +11:00
Pat Hickey
af8f576c67 AP_HAL_SMACCM: add LICENSE file 2013-01-12 11:54:19 -08:00
Pat Hickey
3d0a4394b6 DataFlash Empty: conform to blockread/write virtual if 2013-01-12 10:44:05 -08:00
Andrew Tridgell
7274d847f8 DataFlash: update for new block API 2013-01-12 17:21:21 +11:00
Andrew Tridgell
28a0ba6c4a DataFlash: added block based dataflash writes 
these are about 10x faster than the old writes
 2013-01-12 17:21:04 +11:00
Andrew Tridgell
252d11ccfa AP_GPS: initialise _step to zero in all drivers 
new() does not zero-fill memory
 2013-01-12 16:04:23 +11:00
Andrew Tridgell
64734dc51c AP_Scheduler: show scheduler task slips 
this is when a task doesn't run at the desired rate
 2013-01-12 13:04:52 +11:00
Andrew Tridgell
1cb64dacf9 AP_Scheduler: expose debug variable 2013-01-12 12:06:55 +11:00
Andrew Tridgell
7ddadcf34e AP_Scheduler: added new scheduler library 
this will be used for main loop control
 2013-01-12 12:02:57 +11:00
Andrew Tridgell
30b50a858d Filter: fixed a warning on PX4 2013-01-11 21:17:34 +11:00
Andrew Tridgell
6142eac4b4 AP_InertialSensor: simplify get_delta_time() API 
use a single float return rather than two APIs.

This also changes the MPU6k driver to match the new 2.9 behaviour of
using the MPU6k sample timing instead of micros()
 2013-01-11 21:17:21 +11:00
Andrew Tridgell
7c7a215934 HAL_PX4: fixes for new Scheduler API 2013-01-11 12:25:26 +11:00
Andrew Tridgell
2fe4656a50 Merge pull request #4 from GaloisInc/master 
Thanks Pat!
 2013-01-10 17:24:59 -08:00
Andrew Tridgell
6aecdb3d7d HAL_AVR: tweak the default serial buffer sizes 
this reduces memory fragmentation a lot, saving memory
 2013-01-11 11:16:09 +11:00
Andrew Tridgell
0cb8192861 HAL_AVR: ensure we can handle a 256 size buffer 2013-01-11 10:32:52 +11:00
Andrew Tridgell
cf04935438 HAL_AVR: make Console a direct wrapper of uartA 
this saves a bunch of memory, and we don't really need separate
console support on AVR
 2013-01-11 10:23:51 +11:00
Pat Hickey
7b5153c79b AP_HAL_AVR_SITL: main calls system_initialized 2013-01-10 14:37:22 -08:00
Pat Hickey
4d5d08ad10 AP_HAL_Empty: main calls system_initialized 2013-01-10 14:37:07 -08:00
Pat Hickey
2b621dc579 AP_HAL_AVR: main calls system_initialized 2013-01-10 14:36:53 -08:00
James Bielman
25d078e2bd AP_Baro_MS5611: Don't panic if taking semaphore fails during init. 
- The MPU6000 holds on to the I2C semaphore for quite some time during
  init, which caused a panic when the MS5611 is also on I2C.
 2013-01-10 14:22:41 -08:00
James Bielman
edfddbab57 AP_HAL_SMACCM: Implement new scheduler methods. 
- Set the system initialized after call to "setup" in main.
 2013-01-10 14:22:15 -08:00
Pat Hickey
910e09fc96 AP_InertialSensor_MPU6000: fix sync/async semaphore usage with new scheduler 2013-01-10 14:12:19 -08:00
Pat Hickey
83adb72f16 AP_HAL_Empty: Stub out new Scheduler methods 2013-01-10 14:07:44 -08:00
Pat Hickey
a228519b18 AP_HAL_AVR_SITL: Implement new Scheduler methods 2013-01-10 14:07:43 -08:00
Pat Hickey
930a789b25 AP_HAL_AVR: Implement new scheduler methods 2013-01-10 14:07:43 -08:00
Pat Hickey
7a0f95c11c AP_HAL: add Scheduler methods in_timerprocess, system_initialize 2013-01-10 14:07:43 -08:00
Pat Hickey
6d64bf2921 AP_HAL_SMACCM: Semaphores fixup 2013-01-10 13:52:30 -08:00
James Bielman
9abf3d2c0f AP_HAL_SMACCM: Panic if taking a semaphore held by current thread. 
- Catches bugs with attempted recursive semaphore taking.
 2013-01-10 13:16:43 -08:00
Andrew Tridgell
ea3b405959 MAVLink: moved CRC table into program 
this saves 256 bytes of memory
 2013-01-10 21:28:07 +11:00
Andrew Tridgell
f3783b0306 AP_GPS: put SIRF init_messages in progmem 
this saves 32 bytes of memory
 2013-01-10 21:27:41 +11:00
Andrew Tridgell
dbad61816b AP_InertialSensor: only build Oilpan driver on APM1 2013-01-10 21:01:55 +11:00
Andrew Tridgell
2c603a0960 AP_Baro: only build BMP085 driver on APM1 2013-01-10 21:01:07 +11:00
Andrew Tridgell
63634c4e8a HAL_SMACCM: fixed build warning 2013-01-10 16:29:46 +11:00
Andrew Tridgell
130aaae168 HAL_AVR: switched to 8 bit mask 
max buffer size is now 256. This makes serial faster
 2013-01-10 16:29:34 +11:00
Andrew Tridgell
03b26c7d6d AP_Motors: fixed setup of ESC update speeds 2013-01-10 15:52:46 +11:00
Pat Hickey
ea6147162a AP_HAL_SMACCM: fix to goofed PPM_MAX_CHANNELS macro 2013-01-09 17:24:23 -08:00
Pat Hickey
8f5da03f93 AP_HAL_SMACCM: guard compilation on CONFIG_HAL_BOARD 2013-01-09 13:32:34 -08:00
Pat Hickey
59365f1b90 AP_HAL_AVR: UARTDriver guard needs AP_HAL_Boards.h 2013-01-09 13:32:13 -08:00
Pat Hickey
ab5522a20a AP_HAL_SMACCM: remove meaningless example dir 2013-01-09 13:15:10 -08:00
James Bielman
0160a10ba7 AP_HAL_SMACCM: Increase scheduler stack sizes. 2013-01-09 11:19:51 -08:00
James Bielman
46b0742710 AP_HAL_SMACCM: Fix pin conflict between uartC and I2C. 
- uartC is currently disconnected.
- Set uartB to USART6 for GPS communication.
 2013-01-09 11:19:51 -08:00
James Bielman
7827a4a54a ArduCopter: Add AP_HAL_SMACCM support. 
- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.
 2013-01-09 11:19:51 -08:00
James Bielman
4e0806186f AP_HAL_SMACCM: Implement RCInput driver. 2013-01-09 11:19:51 -08:00
James Bielman
8e38ef6567 MPU6000: Flip Y and Z axes for SMACCM_HAL. 
- The accelerometer is upside-down on the PX4FMU vs the APM2.
 2013-01-09 11:19:51 -08:00
James Bielman
1309b7332a MPU6000: Use signed addition when accumulating readings. 
- Fixes very erratic accel readings on the PX4 board.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell
8cb0ed364a AP_Baro: read 4 pressure values for every temperature value on BMP085 2013-01-09 23:44:26 +11:00
Andrew Tridgell
1ce1fa3864 AP_Baro: update example to use accumulate() 2013-01-09 23:06:24 +11:00
Andrew Tridgell
8ceabc97f1 AP_Baro: added accumulate() function 
this allows us to read the BMP085 much faster
 2013-01-09 23:05:17 +11:00
Andrew Tridgell
8f424cdf21 AP_Compass: ensure we check we got the semaphore 2013-01-09 20:42:20 +11:00
Andrew Tridgell
e76c77e86a AP_HAL: mark semaphore take operations as WARN_IF_UNUSED 
this prevents common bugs
 2013-01-09 20:42:02 +11:00
Andrew Tridgell
90523ae975 AP_HAL: added WARN_IF_UNUSED macro 
useful for key functions
 2013-01-09 20:41:37 +11:00
Andrew Tridgell
8e1bee3a5e HAL_AVR: make _taken volatile 2013-01-09 20:33:37 +11:00
Andrew Tridgell
f48790a56e AP_InertialSensor: poll for new data in num_samples_available() 
this lowers the latency for new data
 2013-01-09 20:31:09 +11:00
Andrew Tridgell
4ab1cddd15 AP_InertialSensor: ensure we always have the SPI semaphore for MPU6k 2013-01-09 20:30:20 +11:00
Andrew Tridgell
9b972af307 AP_Baro: skip timer if we don't get the SPI semaphore 2013-01-09 20:27:48 +11:00
Andrew Tridgell
dc66708856 MAVLink: cope with available() returning -1 2013-01-09 13:31:00 +11:00
Andrew Tridgell
7be1335b3a AP_Param: removed copy_name() and add token to find_by_index() 
this allows callers to avoid another var_info traverse
 2013-01-09 13:30:51 +11:00
Andrew Tridgell
c9fe7fe932 MAVLink: use buffer send and fast CRC if possible 2013-01-08 14:37:40 -08:00
Andrew Tridgell
df91734883 MAVLink: import latest upstream messages and headers 2013-01-08 14:37:40 -08:00
Andrew Tridgell
feeebae03f GCS_MAVLink: added comm_send_buffer() 
this reduces the overhead of sending messages
 2013-01-08 14:37:39 -08:00
Andrew Tridgell
7f20f720e8 HAL_AVR: started I2C in high speed mode 
this speeds up the compass a lot
 2013-01-08 14:37:39 -08:00
Andrew Tridgell
c8ae665ac3 AP_Param: added copy_name_token() 
this avoids an expensive var_info traversal on every copy_name call
 2013-01-08 14:37:39 -08:00
Andrew Tridgell
44285cfbad DataFlash: fixed a semaphore bug in APM1 dataflash code 2013-01-08 14:37:39 -08:00
Andrew Tridgell
b39166b71a MPU6000: fixed minor timing bug 
if we miss a sample due to SPI contention we shouldn't update last
sample time
 2013-01-07 11:07:29 +11:00
Andrew Tridgell
f93a7d50eb AP_GPS: fixed debug code 2013-01-07 11:06:53 +11:00
Andrew Tridgell
5ac23d358f HAL_PX4: update for new i2cdriver interface 2013-01-07 11:05:30 +11:00
Andrew Tridgell
319e1a4e84 HAL_PX4: support setting servo rate 2013-01-07 11:05:30 +11:00
Pat Hickey
0660873fa7 AP_HAL_AVR: pull-up UART RX lines to fix GPS spoofing (Tridge) 
Tridge discovered this bugfix:
https://groups.google.com/d/topic/drones-discuss/aek6LJeYQo8/discussion
 2013-01-05 21:03:02 -08:00
Pat Hickey
1b7b096b05 AP_Relay: fix pin used on APM2/SITL per Sando on drones-discuss 
* My bad, thanks for the fix Sandro
 2013-01-05 13:51:59 -08:00
Andrew Tridgell
f7e5f88199 AP_GPS: make UBLOX driver a bit more robust 2013-01-05 20:39:31 +11:00
Andrew Tridgell
3b0398dc14 AP_GPS: fixed UBLOX example for PX4 2013-01-05 20:39:30 +11:00
Pat Hickey
dd27984eac SITL: instansiate EmptyI2CDriver with EmptySemaphore 2013-01-04 16:20:22 -08:00
Pat Hickey
0db60464f7 AP_HAL_Empty: add semaphore to I2CDriver 2013-01-04 16:19:51 -08:00
Pat Hickey
4c31cc0c2b AP_HAL_AVR: add semaphore to I2CDriver 2013-01-04 16:19:38 -08:00
Pat Hickey
3da864499d AP_HAL Semaphore: don't use limits, they don't work on c++ 2013-01-04 16:19:15 -08:00
James Bielman
bb4474fa6d AP_HAL_SMAACM: Add timeout for SPI transfers. 
- Detects lockup in the lower level SPI driver.
- Add scheduler task tags for FreeRTOS debugging.
 2013-01-04 15:44:21 -08:00
James Bielman
eca1417858 AP_HAL: Add semaphores to I2C driver. 
- Guard I2C transactions with this semaphore in the MS5611 and
  HMC5843 drivers.
 2013-01-04 15:43:43 -08:00
Andrew Tridgell
30447018d5 HAL_PX4: handle %S in format strings 2013-01-05 08:10:07 +11:00
Andrew Tridgell
c16db01395 HAL_SITL: add pragma pack 
may be needed on some systems
 2013-01-05 08:01:30 +11:00
Andrew Tridgell
08d518e07f HAL_PX4: switch to libc vdprintf() 
vdprintf has now been added to NuttX
 2013-01-05 08:01:10 +11:00
Andrew Tridgell
c15bf95e19 AP_Baro: fixed example build on AVR 2013-01-04 22:45:02 +11:00
Andrew Tridgell
84bd10d279 HAL_PX4: minor cleanups 2013-01-04 22:27:04 +11:00
Andrew Tridgell
aa64a41512 AP_Baro: removed debug line 2013-01-04 22:26:51 +11:00
Andrew Tridgell
5829d44a22 HAL_PX4: disable failsafe handler 
this won't work until we can set RC output values in timers
 2013-01-04 22:26:16 +11:00
Andrew Tridgell
0fcc6d7389 HAL_PX4: added an RC Output driver 2013-01-04 22:25:36 +11:00
Andrew Tridgell
4fe7ad6267 AP_Baro: added averaging to PX4 baro driver 2013-01-04 21:08:20 +11:00
Andrew Tridgell
26bc278181 AP_Compass: use queue length 10 in PX4 driver 
and remove unnecessary poll() call
 2013-01-04 20:12:03 +11:00
Andrew Tridgell
dbcaa4cf3c AP_Baro: average over multiple samples in PX4 baro driver 2013-01-04 20:11:30 +11:00
Andrew Tridgell
44837a11f2 HAL_PX4: added baudrate support to UART driver 2013-01-04 19:42:30 +11:00
Andrew Tridgell
965fc8a9d1 HAL_PX4: enable uartB as GPS port 2013-01-04 19:41:50 +11:00
Andrew Tridgell
2f111b857b AP_GPS: ported test code for PX4 2013-01-04 19:41:36 +11:00
Andrew Tridgell
f701d0cc85 AP_GPS: a couple more places where we should restart 
this prevents us losing a byte
 2013-01-04 19:40:49 +11:00
Andrew Tridgell
3bfff4bd6d AP_GPS: pragma pack is needed on ARM 
we rely on GPS data structures having byte alignment. Luckily GCC can
cope with this.
 2013-01-04 19:39:15 +11:00
Andrew Tridgell
741174f5d5 AP_Compass: first cut at a PX4 compass driver 2013-01-04 16:21:24 +11:00
Andrew Tridgell
2ac6541526 AP_Baro: added PX4 barometer driver 2013-01-04 14:58:24 +11:00
Andrew Tridgell
cf5d102912 AP_Common: added board ID for PX4 2013-01-04 14:26:28 +11:00
Andrew Tridgell
fd23f6bd33 InertialSensor: added PX4 example sketch 2013-01-04 14:26:14 +11:00
Andrew Tridgell
ae09b31176 AP_InertialSensor: added PX4 gyro/accel driver 2013-01-04 14:25:57 +11:00
Andrew Tridgell
9f423a24ad HAL_PX4: yield CPU in delay() 
this allows other apps to run
 2013-01-04 12:34:35 +11:00
Pat Hickey
bc3b6fcb9f AP_HAL_AVR_SITL: remove begin/end atomic, adjust timer procs 2013-01-03 17:33:14 -08:00
Pat Hickey
688ec864dc AP_HAL_AVR: deprecate begin/end atomic, timer procs run on resume 2013-01-03 17:33:14 -08:00
Pat Hickey
ea2a03344e AP_HAL Scheduler: remove begin_atomic and end_atomic from api 
* application-level atomic operations can now only be defined in
  terms of suspend/resume_timer_procs
 2013-01-03 17:33:14 -08:00
James Bielman
8f4a2e4c0e AP_HAL_SMACCM: Scheduler timer process implemented correctly. 
- Use "g_atomic" for suspend/resume timer procs.
 2013-01-03 17:33:13 -08:00
James Bielman
d84ba8ef59 Use HAL suspend/resume timer procs rather than atomic. 
- Preparation for removing begin/end atomic.
 2013-01-03 17:33:13 -08:00
James Bielman
578c4859e4 AP_HAL_SMACCM: Update to new semaphore interface. 
- Renamed files to match AVR HAL.
 2013-01-03 17:33:13 -08:00
Andrew Tridgell
155fca8a4b HAL_PX4: make APM sketches into daemons 
this also moves uartA onto UART5, allowing ttyS0 for nsh
 2013-01-04 11:14:35 +11:00
Pat Hickey
8503f3e2ae Optflow: uses new Semaphore 2013-01-03 13:48:07 -08:00
Pat Hickey
d808c19c10 AP_InertialSensor_MPU6000: uses new semaphores 
* some refactoring to fix differences between timerprocess
  and non-timerprocess usage
 2013-01-03 13:48:07 -08:00
Pat Hickey
5d91f342bb AP_Baro_MS5611: uses new semaphore lib 2013-01-03 13:48:07 -08:00
Pat Hickey
a556a95565 AP_ADC: uses new semaphore interface 2013-01-03 13:48:07 -08:00
Pat Hickey
390e96311e DataFlash: change to new style Semaphore library 2013-01-03 13:48:07 -08:00
Pat Hickey
f178d1bd02 AP_HAL_Empty: implement new Semaphore interface 2013-01-03 13:48:07 -08:00
Pat Hickey
2d6b649aa4 AP_HAL_AVR: Semaphore unit test 2013-01-03 13:48:07 -08:00
Pat Hickey
0029148b3a AP_HAL_AVR: Implements new Semaphore interface 2013-01-03 13:48:07 -08:00
Pat Hickey
74e2ba2168 AP_HAL_AVR Scheduler: _in_timer_proc is volatile protected 
* and AVRSemaphore is a friend, so it can read _in_timer_proc
  to know the current context.
 2013-01-03 13:48:07 -08:00
Pat Hickey
81d77d4a70 AP_HAL: New semaphore interface 
* it now looks like a semaphore!
 2013-01-03 13:48:07 -08:00
James Bielman
acf05a29ee AP_InertialSensor_MPU6000: Poll status register if there is no data ready pin. 2013-01-03 13:48:06 -08:00
James Bielman
264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
James Bielman
5753ae5692 AP_Baro: Add I2C support to MS5611 driver. 2013-01-03 13:48:06 -08:00
James Bielman
a4af314b57 Add AP_HAL_SMACCM implementation. 
- Add a board definition for SMACCMPilot.
- Support the SMACCM HAL in required utility libraries.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell
1fc95a2d45 HAL_PX4: support PPM RC Input 
HIL flying now works properly
 2013-01-04 08:31:23 +11:00
Andrew Tridgell
e729a8b277 AP_HAL: rename Semaphores cpp file to match header 2013-01-03 21:36:48 +11:00
Andrew Tridgell
38bccee230 HAL_PX4: initial RCInput driver (overrides only) 2013-01-03 21:30:35 +11:00
Andrew Tridgell
85007cb766 HAL_Empty: fixed throttle in Empty RCInput 2013-01-03 21:14:00 +11:00
Andrew Tridgell
d492b72a2c HAL_PX4: use /dev/ttyS0 for uartA 
this also changes txspace and available to use FIONWRITE and FIONREAD
 2013-01-03 21:12:10 +11:00
Andrew Tridgell
1e69b88261 HAL_PX4: use write() in panic() 
this allows panic from the UARTDriver
 2013-01-03 21:11:37 +11:00
Andrew Tridgell
ac7117245a HAL_PX4: added a storage driver 
stores 'eeprom' to a sdcard file
 2013-01-03 19:35:05 +11:00
Andrew Tridgell
b30fa6535b HAL_PX4: support reboot 2013-01-03 19:34:36 +11:00
Andrew Tridgell
c6c336a6e8 HAL_PX4: implement peek() and available() 
keep a 1 byte buffer
 2013-01-03 17:27:53 +11:00
Andrew Tridgell
cc7f4353b4 HAL_PX4: update simple example 2013-01-03 13:17:32 +11:00
Andrew Tridgell
b0f1ceb76b HAL_PX4: removed some files not needed any more 2013-01-03 13:17:11 +11:00
Andrew Tridgell
d9d5eb52bf HAL_PX4: use fd IO instead of stdio 
this allows for hal console output from within timers, which is very
handy for debugging
 2013-01-03 13:16:41 +11:00
Andrew Tridgell
c6305b5876 HAL_PX4: rework Scheduler using hrt calls 
thanks to Julian Oes for the suggestion
 2013-01-03 13:15:57 +11:00
Andrew Tridgell
9373a4e5b3 HAL_PX4: added a uartA driver 
uses stdin/stdout for IO
 2013-01-03 11:03:05 +11:00
Andrew Tridgell
2294acc652 AC_PID: fixed build on ARM 2013-01-02 22:09:02 +11:00
Andrew Tridgell
e7dea077b4 AP_Motors: fixed example sketch 2013-01-02 22:02:46 +11:00
Andrew Tridgell
5053fb8acc HAL_PX4: implement atomic operations 2013-01-02 21:45:17 +11:00
Andrew Tridgell
5a70f3becf HAL_PX4: added a scheduler implementation 2013-01-02 21:39:26 +11:00
Andrew Tridgell
e25e500516 AP_HAL: fixed SPI3 Semaphores.h 2013-01-02 21:07:25 +11:00
rmackay9
45b6dbf580 AP_Limit: small fixes to make parameter descriptions appear in mission planner 2013-01-02 18:50:03 +09:00
rmackay9
cf409abc63 AP_Mount: add parameter descriptions 2013-01-02 16:47:39 +09:00
rmackay9
e594f18b75 AP_InertialSensor: added parameter descriptions 2013-01-02 16:32:43 +09:00
Andrew Tridgell
a3c26d44e4 AP_HAL: rename Sempahore.h to Semaphores.h 
this is needed to allow build on MacOS, as its case-insensitive
filesystem picks up the NuttX semaphore.h
 2013-01-02 18:22:13 +11:00
rmackay9
55e6544e64 AP_InertialNav: added parameter descriptions 2013-01-02 16:17:00 +09:00
rmackay9
bf77a0f2e4 AP_Compass: added parameter descriptions 2013-01-02 16:08:44 +09:00
rmackay9
9e5861ccaf AP_AHRS: small fix to parameter comments 2013-01-02 16:08:38 +09:00
rmackay9
77331f6538 AP_AHRS: another attempt at updating the TRIM parameter descriptions 2013-01-02 15:47:59 +09:00
rmackay9
e6c10f4f0b AP_ARHS: add description to AHRS_TRIM parameters 2013-01-02 15:44:42 +09:00
Andrew Tridgell
374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell
2ba2e1c279 Derivative: removed reference to DESKTOP_BUILD 2013-01-02 15:40:01 +11:00
Andrew Tridgell
3f6f0b6d79 Oilpan: removed reference to DESKTOP_BUILD 2013-01-02 15:39:41 +11:00
Andrew Tridgell
f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
Andrew Tridgell
ba1a6eb073 AP_HAL: fixed SITL build 2013-01-02 14:48:15 +11:00
Andrew Tridgell
d0ae51e92a memcheck: fixed for PX4 build 2013-01-02 14:45:09 +11:00
Andrew Tridgell
f9ab781d57 APM_Control: include AP_Common.h 2013-01-02 14:45:09 +11:00
Andrew Tridgell
456e8bfb6e AP_Common: include stdlib.h for abs() 2013-01-02 14:45:09 +11:00
Andrew Tridgell
609ef220a6 AP_GPS: more state machine fixes for MTK19 GPS 2013-01-02 14:45:09 +11:00
Andrew Tridgell
ac8fcd5b23 AP_Common: include stdbool.h for ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
d6b00bd848 AP_ADC: fixed bool problem on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
d3f154bbae AP_HAL: include stdbool.h for ARM build 2013-01-02 14:45:09 +11:00
Andrew Tridgell
4764a03aaa AP_Param: fixed ARM PX4 build 2013-01-02 14:45:09 +11:00
Andrew Tridgell
3ac3aeb1b1 AHRS: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
5277dd4b0f APM_Control: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell
eb74fddd9f AP_Math: added global GRAVITY_MSS define 2013-01-02 14:45:08 +11:00
Andrew Tridgell
6901c56a2e yaw fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell
583845cc17 ahrs fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell
5923808526 AP_Relay: allow for no relay pin 2013-01-02 14:45:08 +11:00
Andrew Tridgell
3a762f891e AP_Param: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
Andrew Tridgell
1b0670e67c AHRS: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
Andrew Tridgell
d55acbc00a AP_YawController: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
Andrew Tridgell
f7939ad179 AP_Relay: allow relay object in SITL 2013-01-02 10:19:43 +11:00
Andrew Tridgell
8d901b3f5a HAL_AVR: fixed a warning 2013-01-02 10:19:28 +11:00
Andrew Tridgell
c980b32319 GPS: fixed state machine logic errors in MTK19 driver 2013-01-02 10:12:55 +11:00
Andrew Tridgell
8c0d1d7084 GPS: fixed MTK19 driver for AP_HAL merge 2013-01-02 09:55:37 +11:00
rmackay9
92e271e517 AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1 2013-01-02 09:55:37 +11:00
rmackay9
af4d998697 AP_InertialNav: correct lat/lon to cm 2013-01-02 09:55:37 +11:00
Sandro Benigno
6abe1fe94f AP Camera changes required to work with modified AP_Relay lib. 2013-01-02 09:55:37 +11:00
Andrew Tridgell
0b2960e504 fixup relay merge 2013-01-02 09:55:37 +11:00
Sandro Benigno
cc7f26a99b New Relay class and the subclasses for APM1 and APM2. 
Updated AP_Camera class.
 2013-01-02 09:31:32 +11:00
Craig@3DR
2de676306e Improved parsing in auto detect 2013-01-02 09:24:31 +11:00
Craig@3DR
8cfefbc275 Updated rev number in driver 2013-01-02 09:22:21 +11:00
rmackay9
b8b17a4a70 ArduCopter: added AP_PerfMon library 2013-01-02 09:20:08 +11:00
rmackay9
bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
rmackay9
37b56662bd AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations 2013-01-02 09:19:39 +11:00
rmackay9
120b494d83 Filter: #include AP_Buffer.h no longer needed now that completementary filter has been moved to InertialNav library 2013-01-02 09:19:39 +11:00
rmackay9
3aca61cefb AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch) 2013-01-02 09:19:17 +11:00
rmackay9
41cc1c74d8 AP_InertialNav: increase time constant for Z axis to 7 seconds 2013-01-02 09:19:17 +11:00
rmackay9
a76aec675a AP_InertialSensor: resolved compile warning re uninitialised variable 2013-01-02 09:18:03 +11:00
rmackay9
90d7f00965 AP_GPS_MTK16: saved 22 bytes of ram by moving error message into program space. 
Perhaps there's no point in writing an error message to a console that likely nobody will be viewing anyway.
 2013-01-02 09:18:03 +11:00
rmackay9
811550cca6 AP_GPS_MTK19: small bug fix re "==" vs "=" 
Also saved 22 bytes of RAM by moving error message into program space.
 2013-01-02 09:16:48 +11:00
Craig@3DR
f778961acf Added support for Mediatek firmware Rev 1.9 2013-01-02 09:16:47 +11:00
rmackay9
557f4e65de AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2013-01-02 09:12:40 +11:00
rmackay9
1f7614929f AP_AHRS: save trim to eeprom when set_trim is called 2013-01-02 09:12:17 +11:00
rmackay9
e9fa5dec0f AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2013-01-02 09:11:25 +11:00
rmackay9
1c08f176ea AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2013-01-02 09:11:25 +11:00
Andrew Tridgell
18581d0220 HAL_AVR: change order of CS pin init - fixes APM2 boot problem 
We now init the MPU6k CS pin before the MS5611 CS pin. This should not
matter at all, but it turns out that it solves the APM2 boot
problem. We should investigate why, as this may indicate an electrical
problem.

Pair-Programmed-With: Pat Hickey
 2013-01-02 08:55:47 +11:00
Andrew Tridgell
57bf6531b4 Progmem: use right CONFIG_HAL_BOARD #ifdefs 2013-01-01 18:26:12 +11:00
Andrew Tridgell
da10e68e87 HAL_PX4: added basic console driver (output only) 2013-01-01 18:19:18 +11:00
Andrew Tridgell
0ef003a45f AP_HAL: added PX4 board support 2012-12-30 20:02:45 +11:00
Andrew Tridgell
24a291cf66 HAL_AVR: only build on APM boards 2012-12-30 20:02:45 +11:00
Andrew Tridgell
b41440175f HAL_PX4: started on new PX4 HAL structures 2012-12-30 20:02:45 +11:00
Andrew Tridgell
0adc4afcb5 InertialSensor: add reboot option in MPU6000 test 2012-12-27 21:29:00 +11:00
Andrew Tridgell
212728be34 InertialSensor: ensure MPU6000 is out of sleep mode before configuring 
the MPU6000 starts in sleep mode, and can take a while to wakeup
 2012-12-27 21:28:41 +11:00
Andrew Tridgell
091c14a33e SITL: disabled buffering on stdout 
this fixes the ArduPlane log dump
 2012-12-24 08:00:57 +11:00
Andrew Tridgell
0186fabb3b build: allow building with the "Empty" HAL 
useful for porting
 2012-12-24 07:30:50 +11:00
Andrew Tridgell
122b8716a7 InertialSensor: added auto reset of MPU6000 on startup failure 
this works around the problem of the MPU6000 failing to come up on DTR
reset or warm reboot
 2012-12-24 07:17:03 +11:00
Andrew Tridgell
44ad850542 InertialSensor: latch the data ready pin high on new data 
this ensures we don't miss a sample due to another source of delay
 2012-12-23 17:46:36 +11:00
Andrew Tridgell
fcb09c3993 InertialSensor: fixed example app for new syntax 2012-12-23 12:49:34 +11:00
Andrew Tridgell
e2edad8a3f InertialSensor: fixed last sample time in MPU6000 
we lost this in the final work on the DTR bug
 2012-12-23 08:59:35 +11:00
Andrew Tridgell
feb11f0bc9 PX4: mark example as nobuild for now 2012-12-22 14:40:10 +11:00
Andrew Tridgell
e7b915b0f4 AP_Math: fixed error comment 2012-12-22 12:52:42 +11:00
Andrew Tridgell
463a089e5c InertialNav: fixed example build 2012-12-22 12:50:31 +11:00
Andrew Tridgell
c3dc23d295 AP_HAL: fixed warning in progmem 2012-12-22 09:49:19 +11:00
Andrew Tridgell
1a53bc783c InertialSensor: poll data ready pin instead of an interrupt for MPU6k 2012-12-22 09:16:31 +11:00
Pat Hickey
563ca3f79b AP_HAL_AVR: expose gpio pin 70 for mpu6000 interrupt input 2012-12-22 09:11:14 +11:00
Pat Hickey
1678dcc6f0 AP_HAL: GPIO INTERRUPT defines 2012-12-22 09:11:11 +11:00
Andrew Tridgell
93040e5725 AP_HAL: removed the defer_timer_process() function 
this is now unused
 2012-12-21 20:01:42 +11:00
Andrew Tridgell
9548e7e79e InertialSensor: simplify the data_ready interrupt handling 
this avoids using the defer process code, and fixes a nasty bug that
caused the APM to lockup on reset
 2012-12-21 20:01:19 +11:00
Andrew Tridgell
c5ba33d39a AP_Baro: fixed MS5611 semaphore handling 2012-12-21 19:33:57 +11:00
Andrew Tridgell
47358929e2 HAL_AVR: fixed attach_interrupt race condition 2012-12-21 19:33:57 +11:00
Andrew Tridgell
8d47a739a1 SITL: fixed a return value in snprintf functions 2012-12-20 22:46:22 +11:00
Andrew Tridgell
cd430cb6a8 RC_Channel: added no_deadzone version of set_pwm() 2012-12-20 22:41:58 +11:00
Andrew Tridgell
f504e2ec67 InertialSensor: removed sample rate in example 
not needed any more
 2012-12-20 15:16:43 +11:00
Andrew Tridgell
9931009db2 Math: use pythagorous2() in some more places 2012-12-20 15:16:18 +11:00
Andrew Tridgell
13ea0bb5d8 AP_Camera: disable relay on APM2 2012-12-20 14:53:24 +11:00
Andrew Tridgell
4a6b46c661 AP_GPS: fixed multiple GPS detection bug 2012-12-20 14:53:24 +11:00
Andrew Tridgell
fb4540a349 DataFlash: disable some debug code 2012-12-20 14:53:24 +11:00
Andrew Tridgell
f549950a9c AP_GPS: remove some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
3aa39da6cd AP_Baro: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
e282554035 AHRS: removed some debug code 2012-12-20 14:53:23 +11:00
Andrew Tridgell
a180437028 AP_Compass: disable auto-declination on 1280 
this saves a few k of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell
60d3df50ae AP_HAL: changed delay() to take a uint16_t 
this allows for up to 32 second delays, and saves a bit of flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell
d8bed0c2aa AP_Math: fixed get_distance() function 2012-12-20 14:53:23 +11:00
Pat Hickey
6437bd3a08 AP_InertialSenor MPU6000 test: fixed for user interact changes 2012-12-20 14:53:23 +11:00
Pat Hickey
9055681b3a AP_InertialSensor: use AP_InertialSensor_UserInteract 
* permits polymorphic user interaction, so we can plug in a
  pure mavlink interface
 2012-12-20 14:53:23 +11:00
Pat Hickey
a2cf47e769 AP_InertialSensor: start implementing UserInteract 
* untested implementation in terms of BetterStream
 2012-12-20 14:53:23 +11:00
Pat Hickey
b2d69e6a8c AP_HAL_Empty: betterstreams get vprintfs 2012-12-20 14:53:23 +11:00
Pat Hickey
823efc4734 AP_HAL_AVR_SITL: implement BetterStream's vprintf methods 2012-12-20 14:53:22 +11:00
Pat Hickey
1ed6a49a7a AP_HAL_AVR: implementation for each BetterStream vprintf 
* had to rename the utility vprintf function calls to print_vprintf
  to make the naming work.
 2012-12-20 14:53:22 +11:00
Pat Hickey
7681fef988 AP_HAL: BetterStream gets vprintf and vprintf_P methods 2012-12-20 14:53:22 +11:00
Pat Hickey
ec8f08d743 AP_HAL_AVR_SITL: rename vprintf utility to print_vprintf 2012-12-20 14:53:22 +11:00
Pat Hickey
5ab4e57673 AP_HAL_AVR: rename vprintf function to print_vprintf 
* because it takes an AP_HAL::Print
 2012-12-20 14:53:22 +11:00
Pat Hickey
1b0bde2779 AP_HAL_AVR: rename vprintf files to print_vprintf 2012-12-20 14:53:22 +11:00
Andrew Tridgell
bada70d871 InertialSensor: fixed example build on 1280 2012-12-20 14:53:22 +11:00
Andrew Tridgell
8a70e173a7 AP_HAL: restrict build to right board type 2012-12-20 14:53:22 +11:00
Andrew Tridgell
3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell
7277d4934d AP_InertialSensor: move constructor into cpp 2012-12-20 14:53:22 +11:00
Andrew Tridgell
ceb3f577d8 libraries: use new math functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell
a072afa223 AP_Math: expand some macros into functions 
this saves some flash
 2012-12-20 14:52:38 +11:00
Andrew Tridgell
a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Pat Hickey
4c715bfd04 AP_HAL_AVR_SITL: add Util driver, fix deprecated deps on HAL_AVR.h 2012-12-20 14:52:37 +11:00
Pat Hickey
771f2a3acf AP_HAL_Empty: add Util driver 2012-12-20 14:52:37 +11:00
Pat Hickey
f9eff068f9 AP_HAL_AVR: UtilityStringTest added 2012-12-20 14:52:37 +11:00
Pat Hickey
defc539e57 AP_HAL_AVR: implement string Utils in terms of existing vprintf 2012-12-20 14:52:37 +11:00
Pat Hickey
b3abe89989 AP_HAL_AVR: add Util stubs 2012-12-20 14:52:37 +11:00
Pat Hickey
0d702045b8 AP_HAL: Add Util member for string utilities 2012-12-20 14:52:37 +11:00
Pat Hickey
372c0074b1 AP_HAL_AVR: remove old style HAL_AVR classes (deprecated) 2012-12-20 14:52:37 +11:00
Andrew Tridgell
2679eabdef Cleanup: removed unused AP_GPS_IMU 2012-12-20 14:52:37 +11:00
Andrew Tridgell
678c281f78 Cleanup: removed unused AP_Navigation 2012-12-20 14:52:37 +11:00
Andrew Tridgell
32afc3f9ae Filter: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell
29f5e346c2 Menu: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell
a76688e630 Math: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell
b8843489be HAL_AVR: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell
b673320f72 ADC: fixed example warnings 2012-12-20 14:52:36 +11:00
Andrew Tridgell
22ada8b9c3 RC_Channel: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell
62bfded26c PID: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell
393455cdbb RangeFinder: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell
b06e072c87 AP_InertialSensor: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell
c15eb97c8d AP_Baro: fixed example build 2012-12-20 14:52:36 +11:00
Andrew Tridgell
bd2a733a6b HAL_Empty: allow example build for other backends 2012-12-20 14:52:36 +11:00
Andrew Tridgell
8beaec61a8 AP_GPS: fixed build for new syntax 2012-12-20 14:52:36 +11:00
Pat Hickey
eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell
44f860e102 InertialSensor: fixed some compiler warnings 2012-12-20 14:52:35 +11:00
Andrew Tridgell
fc66f5594f AHRS: allow AHRS test to build with SITL 2012-12-20 14:52:34 +11:00
Andrew Tridgell
7ecf8981b9 SITL: added dummy SPI and make RCInput 50Hz 2012-12-20 14:52:34 +11:00
Andrew Tridgell
e020694c03 SITL: fixed build of apm1/apm2 target 2012-12-20 14:52:34 +11:00
Andrew Tridgell
4cff98dcae AP_HAL: added AP_HAL_BOARD_DRIVER define 
this makes example sketches easier to read
 2012-12-20 14:52:33 +11:00
Andrew Tridgell
abbe37be37 SITL: added emulated airspeed sensor on a pin 2012-12-20 14:52:33 +11:00
Andrew Tridgell
46f7c9e92b SITL: added basic analogin implementation 2012-12-20 14:52:33 +11:00
Andrew Tridgell
472b45bc2a SITL: fixed use of local printf() method in UART driver 2012-12-20 14:52:33 +11:00
Andrew Tridgell
7be507948f SITL: added SITL_State::loop_hook() 
this prevents us using so much CPU time, and ensures stdout is flushed
 2012-12-20 14:52:33 +11:00
Andrew Tridgell
69bebbcaf8 SITL: removed old SITL code 2012-12-20 14:52:33 +11:00
Andrew Tridgell
0c9d37e2ee SITL: added RCInput and RCOutput 2012-12-20 14:52:33 +11:00
Andrew Tridgell
28f0ce6185 Build: use -O0 for SITL 2012-12-20 14:52:33 +11:00
Andrew Tridgell
dcc17dad94 SITL: added panic() method in scheduler 2012-12-20 14:52:33 +11:00
Andrew Tridgell
475496cee2 Revert "Arduino.mk: use target variables rather than recursive make for apm1, apm2.." 
This reverts commit fcd58cc1d7892bb8b45db75c35e1bdccaa2d47bb.

still doesn't work ...
 2012-12-20 14:52:33 +11:00
Andrew Tridgell
975506c840 Build: add debugging in SITL build 2012-12-20 14:52:33 +11:00
Andrew Tridgell
448fc6719f HAL_Empty: fixed return in dataflash 2012-12-20 14:52:33 +11:00
Andrew Tridgell
6627e7ea0e HAL_Empty: fixed I2CDriver declaration 2012-12-20 14:52:33 +11:00
Andrew Tridgell
5f7f6966af SITL: fixed GPS and UART startup 2012-12-20 14:52:32 +11:00
Andrew Tridgell
334b96b375 SITL: switched to empty driver for unimplemented backends 2012-12-20 14:52:32 +11:00
Andrew Tridgell
18db7b2efd GPS: move _port setting to init() 
this is needed to avoid constructor ordering dependencies
 2012-12-20 14:52:32 +11:00
Pat Hickey
107ab1a694 AP_Baro: translated to SPI transactions 2012-12-20 14:52:32 +11:00
Pat Hickey
b502732249 AP_InertialSensor: rewrite basic code for spi device transactions 
* I'm not touching that DMP stuff because I'm pretty convinced it should
  instead be deprecated
 2012-12-20 14:52:32 +11:00
Pat Hickey
3153105682 AP_HAL_AVR: spi transaction handle null RX properly 2012-12-20 14:52:32 +11:00
Pat Hickey
992de8c2b9 AP_ADC_ADS7844: changed to use spidevicedriver transaction 2012-12-20 14:52:32 +11:00
Pat Hickey
b43b003777 AP_ADC: fix typo in test 2012-12-20 14:52:32 +11:00
Pat Hickey
5c1e7abf0e AP_HAL_Empty: add spi driver transaction 2012-12-20 14:52:32 +11:00
Pat Hickey
4fe889c9c5 AP_HAL_AVR: Implement bulk SPI transaction 2012-12-20 14:52:32 +11:00
Pat Hickey
d2f7402243 AP_HAL: add bulk transaction to SPIDeviceDriver 2012-12-20 14:52:32 +11:00
Pat Hickey
087b1fa196 AP_HAL_AVR: AnalogIn returns new ADCSource each time a channel is requested 
* fixes a bug where multiple sources created as pin -1, then change to
  appropriate pin on mavlink messages. Make treat each creation as distinct
  object.
 2012-12-20 14:52:32 +11:00
Pat Hickey
d5a46ca1e3 AP_ADC: uses scheduler panic 2012-12-20 14:52:32 +11:00
Pat Hickey
d92e8045c1 AP_Baro: uses scheduler panic 2012-12-20 14:52:31 +11:00
Pat Hickey
2c2279722b AP_Baro_MS5611: use scheduler panic 2012-12-20 14:52:31 +11:00
Pat Hickey
a4f41c1d29 AP_InertialSensor: MPU6000 uses scheduler panic 2012-12-20 14:52:31 +11:00
Pat Hickey
90670cb499 AP_HAL_AVR: panic in spidevice0 2012-12-20 14:52:31 +11:00
Pat Hickey
885fc79af5 AP_HAL_Empty: add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey
9656b0ad0e AP_HAL_AVR: add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey
c86004d676 AP_HAL: Add panic method to scheduler 2012-12-20 14:52:31 +11:00
Pat Hickey
8fe3c5e5d6 Arduino.mk: use target variables rather than recursive make for apm1, apm2.. 2012-12-20 14:52:31 +11:00
Pat Hickey
76dabef7d6 AP_HAL_Empty: fix public declaration for i2cdriver 2012-12-20 14:52:31 +11:00
Pat Hickey
eda450a166 AP_HAL: I2CDriver bug fixed for pure virtual base class 2012-12-20 14:52:31 +11:00
Pat Hickey
de6f9e52b2 AP_HAL_Empty: finished up scaffolding 2012-12-20 14:52:31 +11:00
Pat Hickey
4c930b77a4 DataFlash_Empty defined 2012-12-20 14:52:31 +11:00
Pat Hickey
b7cd4312f3 AP_HAL_Empty: more scaffolding complete 2012-12-20 14:52:31 +11:00
Andrew Tridgell
7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell
6a56f72918 Build: added empty Arduino.h 2012-12-20 14:52:30 +11:00
Andrew Tridgell
98ead51801 SITL: fill in a lot more of the AP_HAL SITL backend 2012-12-20 14:52:30 +11:00
Andrew Tridgell
4a54ffb523 Baro: use local include to reduce boilerplate 2012-12-20 14:52:30 +11:00
Andrew Tridgell
d473203737 Build: added global board targets 2012-12-20 14:52:30 +11:00
Pat Hickey
3cc204321c AP_Motors_Class: add Progmem typedef 2012-12-20 14:52:30 +11:00
Pat Hickey
8d0c56a19a AP_Curve: put template in cpp file 
* required for the new funny way avr-gcc 4.7 does PSTR.
 2012-12-20 14:52:30 +11:00
Pat Hickey
6ea38432b9 AP_Progmem_AVR: prog_char typedef was deprecated in avr-gcc 4.7, add compat def 2012-12-20 14:52:30 +11:00
Pat Hickey
3e3c0f57ae AP_HAL_Empty: started building out the scaffolding 2012-12-20 14:52:30 +11:00
Pat Hickey
b79bd01761 SPIDriver: namespace explicit to better permit copypasta 2012-12-20 14:52:30 +11:00