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2992 Commits

Author SHA1 Message Date
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