Andrew Tridgell
b1c27407a2
AP_HAL: added voltage_average() interface to AnalogIn
...
returns voltage in Volts, using averaged reading over samples.
Where possible this should be auto-scaled against a known reference
voltage
2013-03-03 16:16:01 +11:00
Randy Mackay
e113eb526b
Compass: add get_motor_compensation
...
Remove redundant set_motor_compensation call
2013-03-02 17:53:03 +09:00
Andrew Tridgell
987cdaf3e1
DataFlash: make it safe to do DataFlash logging from timers
...
this uses a non-blocking semaphore take if we are in a timer
process. Useful for logging failsafe events
2013-03-02 17:42:06 +11:00
Randy Mackay
bfb29ce22b
Compass: remove virtual functions to save RAM
2013-03-02 00:07:32 +09:00
Randy Mackay
886725291c
Compass: enable motor compensation for 1280
...
Expand motor compenstion vector's range limit
2013-03-02 00:03:29 +09:00
Randy Mackay
8093c98cd3
Compass: add motor compensation to HIL library
2013-03-02 00:03:24 +09:00
Randy Mackay
d8515ff85e
Compass: basic compensation for motor interference
2013-03-02 00:03:16 +09:00
John Arne Birkeland
fc566096de
AVR HAL: RCJitterTest example
...
Used to test jitter on the PPM R/C input system.
2013-03-01 23:38:30 +09:00
Randy Mackay
318a831b57
INS: set default filter to 20hz for APM2.x and PX4
2013-03-01 19:35:34 +09:00
Andrew Tridgell
cbdeb20dad
MAVLink: rebuilt with new RANGEFINDER message
2013-03-01 12:01:31 +11:00
Andrew Tridgell
44768c911f
MAVLink: added RANGEFINDER message
2013-03-01 11:59:40 +11:00
Andrew Tridgell
8ed2f7d21c
AnalogIn: run the example sketch a bit slower
...
5Hz is plenty
2013-03-01 11:19:26 +11:00
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