James Goppert
480f92294c
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-28 00:56:29 -05:00
James Goppert
59fc8e7a63
Updated apo for merge with apm 2.0 changes.
...
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
2011-11-28 00:53:30 -05:00
Andrew Tridgell
210536096f
desktop: improved the accuracy of the sensor emulation
2011-11-28 16:22:33 +11:00
Andrew Tridgell
ff727e87ca
ADC: remove a very small (0.2 degrees/s) bias in the ADC code
...
small bias from integer rounding
2011-11-28 16:22:33 +11:00
James Goppert
02ba05aa0f
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-27 23:56:17 -05:00
James Goppert
21a27ee083
Fixed mode switching.
2011-11-27 23:55:28 -05:00
Andrew Tridgell
af075b6ab0
desktop: setup TCP sockets as non-blocking
...
the sendto() blocks unexpectedly on MacOS
2011-11-28 13:53:57 +11:00
Andrew Tridgell
833f5f5895
mavlink: move Mavlink_compat.h to common code
...
this will allow it to be used by ArduCopter
2011-11-28 13:53:57 +11:00
Doug Weibel
e965d95ba8
Added back the feature to prompt users when an invalid CLI command is entered.
...
Thanks to Yury Smirnov for this patch!
2011-11-26 21:10:53 -07:00
Andrew Tridgell
e2e613cdfc
upload: force hex file format for upload
...
this should fix a problem with hex file format detection on MacOS
2011-11-27 09:36:10 +11:00
Andrew Tridgell
dff3be2017
desktop: build fix for fjall
2011-11-26 18:24:29 +11:00
Andrew Tridgell
0e8a17f645
desktop: fixed desktop build for strlcat_P() changes
2011-11-26 17:18:09 +11:00
Andrew Tridgell
e9c7f8de21
AP_Common: added typesafe wrapper for memcpy_P()
2011-11-26 17:17:50 +11:00
Andrew Tridgell
57c4385a18
AP_Common: replace strlcat_P() with a C implementation
...
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
2011-11-26 17:02:56 +11:00
Andrew Tridgell
d496a2d1fe
desktop: added framerate and initial height code
...
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
2011-11-25 20:00:19 -08:00
Andrew Tridgell
a44720d7bb
desktop: fixed swap_float()
...
get indexes right
2011-11-25 20:00:19 -08:00
Andrew Tridgell
dba786198e
desktop: import updated DataFlash code
...
this fixes a logging bug
2011-11-25 20:00:19 -08:00
Andrew Tridgell
78af52083b
desktop: fixed ADC value for airspeed
2011-11-25 20:00:19 -08:00
Andrew Tridgell
a9dfc68bc0
libraries: rename purple to APM2
2011-11-25 20:00:19 -08:00
Andrew Tridgell
8e5f64f8b6
DataFlash_Purple: added new logging methods needed for ArduPlane
...
builds, but not tested yet
2011-11-25 20:00:18 -08:00
Andrew Tridgell
49b768f2f3
DataFlash_APM1: re-add defines lost from merge
2011-11-25 20:00:18 -08:00
Andrew Tridgell
65f2549825
desktop: fixed desktop build
...
vtable error
2011-11-25 20:00:18 -08:00
Andrew Tridgell
7e64cfcc93
desktop: normalise roll and pitch rates
2011-11-25 20:00:18 -08:00
Andrew Tridgell
0ef727d707
desktop: added SKETCH as a define
...
useful for automatically handling copter vs plane
2011-11-25 20:00:18 -08:00
Andrew Tridgell
2bed1dcfd5
desktop: first version of register level SITL support
...
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
2011-11-25 20:00:18 -08:00
Pat Hickey
0549a50e9e
APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple
...
* I have not tested any of these on real hardware.
2011-11-25 20:00:18 -08:00
Pat Hickey
718f3dee00
APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits.
2011-11-25 20:00:18 -08:00
Andrew Tridgell
67e5c89226
compass: added AP_COMPASS_APM2_SHIELD
...
this makes the orientation clearer
2011-11-25 20:00:18 -08:00
Andrew Tridgell
2259bacd67
barometer: fixed for purple build
2011-11-25 20:00:18 -08:00
Andrew Tridgell
e3a74626d6
barometer: support 'make purple' for barometer example code
2011-11-25 20:00:18 -08:00
Andrew Tridgell
252e858011
fixed InertialSensor stub build
2011-11-25 20:00:18 -08:00
Pat Hickey
48f92c49fa
hil-sensors: added stub libraries for InertialSensor and PeriodicProcess
...
* Also added dummy ivar to APM_BMP085_hil
2011-11-25 20:00:18 -08:00
Andrew Tridgell
1a8a1973a1
AP_IMU: fixed shim driver prototype
2011-11-25 20:00:18 -08:00
Andrew Tridgell
bbd6a6cdbb
desktop: fixed build with updated dataflash interface
2011-11-25 20:00:17 -08:00
Andrew Tridgell
55bd85fe90
desktop: make AP_InertialSensor pure virtual
...
fixed a link error in Desktop build
thanks to Pat for the C++ foo
2011-11-25 20:00:17 -08:00
Andrew Tridgell
01cd9cc6d6
dataflash: fixed datatypes to be compatible with desktop build
2011-11-25 20:00:17 -08:00
Andrew Tridgell
da50903649
desktop: make DataFlash for Desktop build replace APM1 build
2011-11-25 20:00:17 -08:00
Andrew Tridgell
3b5c124fc6
make configure default to 2560
...
1280 is less common for devs these days
2011-11-25 20:00:17 -08:00
Pat Hickey
afef359ee9
purple: rework DataFlash to separate purple and APM1 hardware support
...
the purple support is still a work in progress, but the APM1 support
should be fine
2011-11-25 20:00:16 -08:00
Pat Hickey
c65a8c4616
build: added jtag-program make target
...
useful for when you have hosed your USB
2011-11-25 20:00:16 -08:00
Pat Hickey
433caaedc0
purple: rework AP_IMU library to use AP_IntertialSensor library
...
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
2011-11-25 20:00:16 -08:00
Pat Hickey
db8708911a
purple: added AP_InertialSensor library
...
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
2011-11-25 20:00:16 -08:00
Pat Hickey
ce4547a1a5
purple: rework the RC_Channel library for the APM_RC changes
2011-11-25 20:00:16 -08:00
Pat Hickey
d62ddd30f9
RangeFinder: rework to use AnalogSource library
...
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
2011-11-25 20:00:16 -08:00
Pat Hickey
0caf351c32
purple: Added AnalogSource library
...
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
2011-11-25 20:00:16 -08:00
Pat Hickey
6d876bc54d
AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register
...
this makes it possible to build the ADC library when another driver
may also want that interrupt
2011-11-25 20:00:16 -08:00
Pat Hickey
7474a8be53
purple: added PeriodicProcess library
...
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
2011-11-25 20:00:16 -08:00
Pat Hickey
812d35a442
purple: added ISR_Registry() library
...
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
2011-11-25 20:00:16 -08:00
Pat Hickey
5cb60f76cf
purple: rework APM_RC library for purple hardware
...
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
2011-11-25 20:00:16 -08:00
Pat Hickey
004a4425cd
barometer: add purple_hardware option to Init()
...
this allows selection of right hardware at Init() time
2011-11-25 20:00:15 -08:00
Jason Short
6ecb6f21a6
increased filter
2011-11-25 11:34:05 -08:00
James Goppert
65e8b587f9
Working on comments.
2011-11-24 15:54:08 -05:00
James Goppert
d31b1b31f4
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-24 14:28:25 -05:00
James Goppert
fc84c15426
Separated controller block class.
...
Also improved documentation of AP_ControllerBlock.
2011-11-24 13:28:14 -05:00
James Goppert
aaca5094b6
Removed old variable from hal.
2011-11-24 02:08:27 -05:00
Wenyao Xie
3c217d4186
Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error.
2011-11-22 16:42:51 -05:00
Andrew Tridgell
154c55c9dc
desktop: more fixes for DataFlash filesystem changes
2011-11-20 19:06:24 +11:00
James Goppert
50e8de999f
Fixed most of quad guidance issues.
2011-11-19 23:34:14 -05:00
James Goppert
7a742c4a2a
Working on memory problem.
2011-11-19 22:20:06 -05:00
James Goppert
1c5db5e963
Bug located in quad position loop, improved hil.
2011-11-19 21:39:14 -05:00
James Goppert
cc66b43d12
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-18 14:36:47 -05:00
Andrew Tridgell
927c2dbd67
desktop: added support for new DataFlash functions
2011-11-18 17:50:12 +11:00
Doug Weibel
a11ea12ca8
Change to logging file system.
...
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this. Just making this commit in case I need to roll back
2011-11-17 21:25:51 -07:00
Jason Short
7f2ec90703
Upped pressure filter a bit
2011-11-17 11:12:18 -08:00
Wenyao Xie
6c51157b2d
Working on new hil message for mavlink.
2011-11-15 17:15:54 -05:00
Andrew Tridgell
8a3ea5bfff
desktop: when in the CLI, use blocking writes
...
this prevents us missing information from the logs
2011-11-11 09:53:46 +11:00
Andrew Tridgell
34af368b8a
desktop: don't start alarm till setup() has finished
2011-11-10 21:57:47 +11:00
Jason Short
34e6b3535d
MAV_CMD_DO_SET_ROI
2011-11-09 12:07:57 -08:00
Andrew Tridgell
af1ddacc1b
desktop: don't alarm in CLI
...
loop() is not called in menu system
2011-11-10 00:14:04 +11:00
Andrew Tridgell
3303c09a9d
desktop: exit if loop() doesn't run for 5 seconds
...
this should stop runaway processes
2011-11-09 19:40:34 +11:00
Andrew Tridgell
c30af84897
desktop: force awk on macos
...
this may help on jasons box
2011-11-09 17:21:53 +11:00
Andrew Tridgell
4b50d2e639
desktop: exit on EOF from stdin
2011-11-09 17:21:53 +11:00
Jason Short
d5fb801678
Removed debugging code from APM_PI
2011-11-08 14:41:21 -08:00
Andrew Tridgell
5a45f9cd25
desktop: fixed malloc cast
2011-11-09 08:47:49 +11:00
Andrew Tridgell
11c908c7b4
desktop: be more careful with signed/unsigned in DataFlash
2011-11-09 08:44:19 +11:00
Andrew Tridgell
d8d5f97a0a
desktop: use less stack
...
this avoids a problem on cygwin on windows
2011-11-09 08:09:56 +11:00
Andrew Tridgell
389e2ff03e
desktop: another MacOS fix
2011-11-08 18:07:19 +11:00
Andrew Tridgell
b2254016e1
desktop: make desktop build more portable
...
this should help on MacOS
thanks to MikeS for his assistance
2011-11-08 17:26:53 +11:00
Andrew Tridgell
3b52687342
dataflash: type fixup for ReadInt()
2011-11-08 17:26:53 +11:00
Andrew Tridgell
f073837ea7
desktop: use the libc printf engine
...
getting ftoa_engine right was too much work
2011-11-08 11:59:30 +11:00
Andrew Tridgell
6b583869c0
desktop: fixed ultoa_invert()
...
the string was backwards
2011-11-08 11:13:48 +11:00
Andrew Tridgell
fd3154f20d
desktop: improved ftoa_engine.c
...
this still doesn't perfectly match the assembler, but its closer
2011-11-08 11:05:36 +11:00
Andrew Tridgell
ecf3d26f43
barometer: fixed a build warning
2011-11-08 11:05:36 +11:00
Jason Short
34a53f6f7d
Removed some old debug prints from motors.pde
...
added ability to not increment I term for traversals.
2011-11-07 14:32:39 -08:00
Andrew Tridgell
acad6b37c4
autotest: fill flash with 0xff on erase
2011-11-07 23:42:18 +11:00
Andrew Tridgell
a199835632
Desktop: added -w option to wipe eeprom and dataflash
2011-11-07 22:56:13 +11:00
Andrew Tridgell
eb0756f362
Desktop: added support for DataFlash in Desktop build
...
this will allow Jason to look at the logs of the quad sim
2011-11-07 22:56:13 +11:00
Andrew Tridgell
ee99ec839b
digital.c for CLI
2011-11-07 22:56:13 +11:00
Andrew Tridgell
5410dff523
DataFlash: use CPU independent data types
...
this ensures that the DataFlash API is consistent for different CPU
architectures, which matters for the Desktop build, and will matter
for ARM and other CPUs later
2011-11-07 22:56:13 +11:00
Andrew Tridgell
b314fd8cd3
Desktop: enable the CLI in desktop build
...
this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI
2011-11-07 22:56:13 +11:00
Andrew Tridgell
75d7ee01d1
desktop: fixed 2 crashes in the menu code
...
handle an empty line gracefully, and use pgm_read_pointer() for
functions pointers in progmem
2011-11-07 22:56:13 +11:00
Andrew Tridgell
152da9c91b
added pgm_read_pointer()
...
this will be used by the menu code to make reading pointers from
progmem portable
2011-11-07 22:56:13 +11:00
Andrew Tridgell
11109e4a03
force LANG=C for MacOS awk
2011-11-07 13:33:38 +11:00
Doug Weibel
d4fff166cf
Add an accessor for the DCM drift correction integrator to monitor performance
...
Also made the get_health accessor an inline function.
2011-11-05 09:02:23 -06:00
Doug Weibel
beb6c4dbf4
Changed the DCM drift correction integrator limit to a vector magnitude of 30 degrees/second.
...
The drift correction integrator limit previously was near/at the gyro saturation limit. If we have that much drift there is a serious hardware problem. 30 degrees/second is arbitrary but should handle all temperature variation, etc.
2011-11-05 09:01:20 -06:00
Doug Weibel
b105e7fd41
In case of DCM renorm "blow-up" reset the drift correction integrators
...
This should aid in recovery if we loose the AHRS solution and have to force to initial orientation. Also removed some old commented out code moved to the IMU object
2011-11-05 08:59:16 -06:00
James Goppert
f7c60e1ac7
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 21:58:10 -04:00
Andrew Tridgell
e5654ccd04
desktop: fixed TCP buffering issue with HIL
...
the TCP layer was buffering the servo updates, which caused very poor HIL flight
2011-11-02 09:38:44 +11:00
Simon Salykov
389b89056a
Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed
...
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar
2011-11-01 19:09:57 +01:00
Jason Short
53d7cac075
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-11-01 09:30:54 -07:00