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4078 Commits

Author SHA1 Message Date
Andrew Tridgell 49d3d624d7 DataFlash: enabled DataFlash_File for Linux 2013-09-28 21:24:02 +10:00
Andrew Tridgell bcf4f48e65 HAL_Linux: switched to pthread based scheduling 2013-09-28 21:24:02 +10:00
Andrew Tridgell da14ad2e2d AP_Compass: neaten up HMC5883 debug 2013-09-28 21:24:02 +10:00
Andrew Tridgell ce7d458855 AP_Compass: added Linux support to the compass test 2013-09-28 21:24:02 +10:00
Andrew Tridgell 6fc5b06043 AP_Compass: fixed some old Serial.print calls 2013-09-28 21:24:02 +10:00
Andrew Tridgell 58a31318ee AP_HAL_Linux: initial I2C driver implementation 
this works sufficiently for the HMC5883
 2013-09-28 21:24:02 +10:00
Andrew Tridgell 6b95d870ad AP_Progmem: only AVR uses progmem 
no need to list all other boards
 2013-09-28 21:24:02 +10:00
Andrew Tridgell 1f3a051e7b AP_Progmem: Linux doesn't use progmem 2013-09-28 21:24:02 +10:00
Andrew Tridgell 018b8fde95 AP_Notify: blank Linux LED defines 2013-09-28 21:24:02 +10:00
Andrew Tridgell 1243ab9e63 AP_Compass: added HAL_Linux support 2013-09-28 21:24:02 +10:00
Andrew Tridgell 296417a228 AP_HAL: added AP_HAL_LINUX define 2013-09-28 21:24:01 +10:00
Andrew Tridgell 4ba044c441 AP_HAL_Linux: initial Linux AP_HAL 2013-09-28 21:24:01 +10:00
Andrew Tridgell 096660c4f9 AP_InertialSensor: mark flymaple as nobuild 
won't build with build_examples.sh script
 2013-09-27 16:57:13 +10:00
Mike McCauley e4eef61ec3 AP_InertialSensor: Flymaple sensors improvements 
Flymaple sensors are now raw sampled at 800Hz, and LowPassFilter2p is used
to filter to the desired filter cutoff frequency.
Flymaple sensor polling is done in the main thread NOT in the timer
interrupts.
 2013-09-27 15:45:59 +10:00
Mike McCauley 23429b6b9c AP_InertialSensor: Flymaple now polls sensors at 800Hz. More changes to 
come...
 2013-09-27 15:45:57 +10:00
Mike McCauley 29bced05bd AP_InertialSensor: Added examples/Flymaple for testing 2013-09-27 15:45:54 +10:00
Mike McCauley d11f952ef1 AP_InertialSensor: Formalise and document Flymaple Gyro scaling factor 2013-09-27 15:45:52 +10:00
Mike McCauley db2b7ed4e3 AP_HAL_FLYMAPLE: UARTDriver libmaple internal ring buffers enlarge on demand 2013-09-27 15:45:49 +10:00
Mike McCauley adfcdca074 AP_HAL_FLYMAPLE: Sensor reading improvements 
I2C speed increased to 400kHz
Accelerometer 8g max, Normal power, 800Hz bandwidth
Gyros: 2000 degrees/sec, 256Hz LPF, 8kHz internal sample rate
 2013-09-27 15:45:47 +10:00
Randy Mackay f7ba0438ef InertialSensor: remove DMP 
this saves 3K of flash
 2013-09-27 10:43:33 +09:00
Randy Mackay 8306d74da0 AHRS: remove DMP as an ahrs 2013-09-27 10:42:46 +09:00
Andrew Tridgell 14636e1cdf AP_InertialSensor: changed num_samples_available() to sample_available() 
this makes the interface clearer. It also fixes a 3D accel cal bug.
 2013-09-27 10:49:00 +10:00
Andrew Tridgell 99da118faa Filter: added in Leonards LowPassFilter2p filter 
this is a backport from PX4
 2013-09-26 22:38:32 +10:00
Andrew Tridgell 3c86fceed9 AP_Progmem: removed SMACCM support 2013-09-26 22:38:32 +10:00
Andrew Tridgell 2469dcf8e6 AP_Notify: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell 1ec5cbed81 AP_InertialSensor: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell 60f3a8b6cf AP_HAL: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell 3f0f8dfa62 AP_Compass: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell 13cdc56a5a AP_Common: removed SMACCM support 2013-09-26 22:38:31 +10:00
Andrew Tridgell 58f9349af4 HAL_SMACCM: removed SMACCM HAL port 
this port is no longer maintained or used. Pat asked me to remove it
 2013-09-26 22:38:31 +10:00
Randy Mackay f144de21b4 AC_Fence: fix example sketch 2013-09-26 17:52:13 +09:00
Randy Mackay e5c5084e76 InertialNav: fix example sketch 2013-09-26 14:40:32 +09:00
Mike McCauley 708c603420 AP_HAL_FLYMAPLE: UARTDriver now has correct implementation of txspace that looks at HardwareSerial ring buffer 2013-09-25 15:46:07 +10:00
Mike McCauley e4b5d0a3d6 AP_InertialSensor: Final Flymaple orientation fixes 2013-09-25 15:46:07 +10:00
Mike McCauley 276068356e AP_InertialSensor: Further Flymaple orientation fixes 2013-09-25 15:46:07 +10:00
Mike McCauley 06478bde52 AP_HAL_FLYMAPLE: Console is now a thin wrapper around uartA, consistent with AVR 2013-09-25 15:46:07 +10:00
Mike McCauley b02dbca9d4 AP_InertialSensor: fix orientation of Flymaple sensors 2013-09-25 15:46:07 +10:00
Mike McCauley 4cd952446d AP_HAL_FLYMAPLE: added documentation about safety of noInterrupts()/interrupts() 2013-09-25 15:46:07 +10:00
Randy Mackay ab71f2e535 AP_Camera: remove unused methods 
throttle_pic, distance_pic and transistor_pic were not defined nor
called
 2013-09-24 23:25:54 +09:00
Randy Mackay cddbaf0459 GPS_Glitch: make accessor functions const 2013-09-24 21:41:56 +09:00
Randy Mackay 55c94b3b41 GPS_Glitch: bug fix for enable/disable parameter 2013-09-24 21:41:54 +09:00
Randy Mackay 54cb815fec AP_Notify: add gps glitching and failsafe flags 2013-09-24 21:41:51 +09:00
Randy Mackay a2c0415ba9 GPS_Glitch: make enable/disable a parameter 2013-09-24 21:41:42 +09:00
Randy Mackay 78124f2fca GPS_Glitch: remove unused recovered flag 2013-09-24 21:41:38 +09:00
Randy Mackay 90953a96e5 ToshibaLED: flash blue-yellow for gps failsafe and glitch 2013-09-24 21:41:25 +09:00
Randy Mackay 4bac26171b AP_Notify: add gps_glitch flag 2013-09-24 21:41:22 +09:00
Randy Mackay 262fcb301a InertialNav: rename set_current_position to set_home_position 2013-09-24 21:41:19 +09:00
Randy Mackay 81dd4f8b0c InertialNav: integrate GPS glitch detection 2013-09-24 21:41:13 +09:00
Randy Mackay 4dcfce7104 GPS_Glitch: glitch detection class 2013-09-24 21:41:10 +09:00
Randy Mackay c6a99ac24a AutoTest: add support for GPS glitching 2013-09-24 21:41:04 +09:00
Andrew Tridgell c1d56f74b5 AP_Common: change flymaple product ID to 0x100 
keep it well away from the Invensense product IDs for the MPU6000
 2013-09-24 13:51:28 +10:00
Mike McCauley 7850d1f2ce AP_Progmem: Add Flymaple support 2013-09-24 13:51:28 +10:00
Mike McCauley b7e182e056 AP_Notify: Add flymaple LED definitions 2013-09-24 13:51:28 +10:00
Mike McCauley 4d10a96077 AP_InertialSensor: Add flymaple support 2013-09-24 13:51:27 +10:00
Mike McCauley ec5425578e AP_HAL: Added Flymaple board 2013-09-24 13:33:25 +10:00
Mike McCauley 8f61a36e58 AP_Common: Flymaple compatibility 2013-09-24 13:33:25 +10:00
Mike McCauley e3c20f06ac AP_Baro: Chnages to flymaple port. 
Flymaple has no EOC pin
 2013-09-24 13:33:25 +10:00
Mike McCauley c1d3bedb60 AP_Airspeed: changes for Flymaple port pins and caibration constants 2013-09-24 13:33:25 +10:00
Mike McCauley 9bfc52d9af HAL_FLYMAPLE: initial port to flymaple board 
See libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt
 2013-09-24 13:32:50 +10:00
Mike McCauley 2fa0c39f3a AP_Compass: added Flymaple orientation 2013-09-24 13:18:35 +10:00
Andrew Tridgell 37ad9e3f82 PID: fixed example build 2013-09-24 11:57:21 +10:00
Andrew Tridgell d64660739e AP_OpticalFlow: fixed example build 2013-09-24 11:57:14 +10:00
Andrew Tridgell 448167e958 AP_GPS: fixed examples build 2013-09-24 11:57:03 +10:00
Andrew Tridgell af2d7232c5 APM_Control: make the default time constant 0.75 
thanks to Tom for the testing!
 2013-09-24 07:37:12 +10:00
Andrew Tridgell 770b7b5901 AP_InertialSensor: prevent a lockup in MPU6000 driver 
thanks to the VRBrain port for noticing this bug.

Failing to get the semaphore is an expected error with the MPU6000, as
we read data both from timer context and mainline code. That means
semaphore conflicts are inevitable. We shouldn't consider them an
error, and shouldn't panic when some arbitrary number of them have
happened since boot.

Instead the wait_for_sample() code checks that we receive new data at
least every 50ms. That is a much safer test.
 2013-09-23 22:48:36 +10:00
Andrew Tridgell 36ea705956 AP_OpticalFlow: fixed build with print() API change 2013-09-23 18:10:22 +10:00
Andrew Tridgell 0e9aef7e52 AP_HAL: changed base defines for print() 
this avoids a conflict with wirish from libmaple
 2013-09-23 18:10:21 +10:00
Mike McCauley 2e061fc507 AP_Param: Fix compiler warning on Flymaple 2013-09-23 18:10:21 +10:00
Mike McCauley 4c65c42411 AP_Compass: fixed ARM 32 bit compatibility 2013-09-23 18:10:21 +10:00
Andrew Tridgell 87bb3bc5dc AP_HAL: added AP_HAL_PX4 define 2013-09-22 16:02:42 +10:00
Andrew Tridgell 21010104e6 AP_HAL_Empty: added register_io_process() 2013-09-22 16:02:05 +10:00
Andrew Tridgell 928e06f52c AP_HAL: use fabs() in print 
fixes build on Arduino
 2013-09-22 13:18:40 +10:00
Andrew Tridgell 45d9140946 AP_HAL_SMACCM: updates for new API 2013-09-22 12:22:15 +10:00
Andrew Tridgell 40af9ab674 AP_HAL_PX4: updates for new API 2013-09-22 12:22:05 +10:00
Andrew Tridgell d0bb998352 AP_HAL_Empty: updates for new API 2013-09-22 12:21:54 +10:00
Andrew Tridgell dbb70fc57c AP_HAL_AVR_SITL: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:21:22 +10:00
Andrew Tridgell 33fe27a104 AP_HAL_AVR: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:21:11 +10:00
Andrew Tridgell d46f5f6943 AP_HAL: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:20:59 +10:00
Michael Oborne 54fc004956 SITL: fix sitl timer issues under cygwin 2013-09-21 22:06:38 +10:00
Andrew Tridgell fc119d9b80 AP_Baro: cleaned up temperature and pressure units 
thanks to Mike McCauley for pointing this out
 2013-09-21 21:30:41 +10:00
Andrew Tridgell 7de47931a8 DataFlash: use %f not %.6f 2013-09-21 15:48:39 +10:00
Andrew Tridgell 16a7faa223 AP_Param: use %f not %.6f for param show 2013-09-21 15:45:19 +10:00
Andrew Tridgell 0d662c52b3 AP_HAL: fixed length return from snprintf 2013-09-21 15:45:05 +10:00
Andrew Tridgell 0063f1fad8 AP_HAL: added Util.cpp 
common printf functions
 2013-09-21 14:25:42 +10:00
Andrew Tridgell 05b426c1fc HAL_PX4: use common printf implementation on UARTs 2013-09-21 14:23:52 +10:00
Andrew Tridgell f5c0f765fc AP_HAL_SMACCM: use common printf implementation 2013-09-21 14:23:13 +10:00
Andrew Tridgell b9d6f8e8b1 AP_HAL_AVR: removed unused script 2013-09-21 13:30:02 +10:00
Andrew Tridgell 85b3f0d18d AP_HAL: expanded printf test suite 2013-09-21 13:29:52 +10:00
Andrew Tridgell e12a4178f3 AP_HAL_SMACCM: convert to new AP_HAL printf 2013-09-21 13:29:40 +10:00
Andrew Tridgell 80e2a5cc32 AP_HAL_PX4: convert to new AP_HAL printf 2013-09-21 13:29:32 +10:00
Andrew Tridgell 4c1925b578 AP_HAL_Empty: convert to new AP_HAL printf 2013-09-21 13:29:22 +10:00
Andrew Tridgell bb44fa4385 AP_HAL_AVR_SITL: convert to new AP_HAL printf 2013-09-21 13:29:12 +10:00
Andrew Tridgell 60122f9877 AP_HAL: moved printf implementation from AP_HAL_AVR to AP_HAL 
this gives a common printf implementation on all boards, which
simplifies testing, and also simplifies porting to new boards
 2013-09-21 13:28:46 +10:00
Andrew Tridgell 4ad4b60fbc HAL: added Printf test sketch 
for testing new non-asm printf code
 2013-09-21 11:16:08 +10:00
Andrew Tridgell 16a0dfc38c HAL_AVR: changed to C implementation of float formatting 
Many thanks to Soren Kuula for this work!
 2013-09-21 11:16:08 +10:00
Randy Mackay 4b18c670e3 DataFlash: explicitly print floats to 6 dec places 
C++ default is to print 6 decimal places but nuttx displays none by
default
 2013-09-20 22:13:02 +09:00
Randy Mackay 3f84e0adf6 AP_Param: explicitly print floats to 6 dec places 
C++ default is to print 6 decimal places but nuttx displays none by
default
 2013-09-20 22:12:33 +09:00
Andrew Tridgell 4d2bfe1078 AP_InertialSensor: fixed another example build 2013-09-19 21:09:34 +10:00
Andrew Tridgell e1aa6e3ff1 libraries: fixed examples for no flash_leds() callback 2013-09-19 18:38:28 +10:00
Andrew Tridgell f8e9d48a76 AP_InertialSensor: removed the flash_leds() callback 
AP_Notify now handles this
 2013-09-19 18:32:19 +10:00
Andrew Tridgell 66ee484b3c AP_Notify: convert to unix style file 2013-09-19 16:27:31 +10:00
Andrew Tridgell 445edb8793 GCS_MAVLink: remove CR/LF 2013-09-19 16:27:14 +10:00
Andrew Tridgell 18896d9c9b AP_Math: fixed DOS CR/LF errors 2013-09-19 16:26:32 +10:00
Andrew Tridgell cf633e4d79 AP_HAL: convert to unix file format 2013-09-19 16:26:14 +10:00
Andrew Tridgell a5b29f44d5 AP_HAL: added hal.gpio->usb_connected() function 
this replaces the USB_MUX_PIN on APM2, and works on PX4 and FMUv2
 2013-09-19 16:23:40 +10:00
Randy Mackay d3fcfe669d Copter Motors: increase MOT_SPIN_ARMED to int16 2013-09-18 13:28:01 +09:00
Andrew Tridgell 0d6b847966 AP_Notify: grab initial flags state in init() 
this prevents annoying tones on startup of APM:Plane
 2013-09-18 10:55:42 +10:00
Andrew Tridgell 284492cfec AP_GPS: fixed an initialisation problem with GPS drivers 
before the first full packet arrives we could report uninitialised
values for groundspeed and heading
 2013-09-16 21:20:36 +10:00
Andrew Tridgell 4864496ae6 SITL: reduce default GPS delay to 0.4 
closer to real uBlox delay
 2013-09-16 11:41:51 +10:00
Andrew Tridgell 84ed2141a0 AP_Math: fixed float rounding in location_offset() 
this prevents rounding of positions in the rover code
 2013-09-16 11:38:55 +10:00
Andrew Tridgell 3e24ff1b07 AP_SteerController: change the scaling of the D term 
this should cope better with low speed
 2013-09-16 09:42:45 +10:00
Andrew Tridgell e85d275fe5 SITL: added SIM_SERVO_RATE parameter 
this allows a slew rate for servos to be specified in degrees/second
 2013-09-16 09:16:52 +10:00
Andrew Tridgell 98b4ed1522 AP_SteerController: lower the default STEER2SRV_D 2013-09-16 08:26:29 +10:00
Randy Mackay d16587340d AP_Notify: add PX4's tone_alarm 
Sounds added for arming, disarming and low battery events
 2013-09-15 17:24:00 +09:00
Andrew Tridgell 9be02fb493 AC_Fence: changed to AP_Vehicle.h 2013-09-13 11:46:32 +10:00
Andrew Tridgell fbe4be94cf APM_Control: changed to AP_Vehicle.h 2013-09-13 11:46:22 +10:00
Andrew Tridgell 15a4582ed7 AP_AHRS: changed to AP_Vehicle.h 2013-09-13 11:46:10 +10:00
Andrew Tridgell 2e742582e4 AP_Airspeed: changed to AP_Vehicle.h 
also allow updates to ARSPD_RATIO from user while autocal is running
 2013-09-13 11:45:57 +10:00
Andrew Tridgell 23fc6f8aed AP_HAL_AVR: changed to AP_Vehicle.h 2013-09-13 11:45:24 +10:00
Andrew Tridgell c64950e4f5 AP_InertialNav: changed to AP_Vehicle.h 2013-09-13 11:45:10 +10:00
Andrew Tridgell a67413d495 AP_Mount: changed to AP_Vehicle.h 2013-09-13 11:44:54 +10:00
Andrew Tridgell 645eb711cb DataFlash: changed to AP_Vehicle.h 2013-09-13 11:44:42 +10:00
Andrew Tridgell 16d2ad9796 AP_TECS: changed to AP_Vehicle.h 2013-09-13 11:44:31 +10:00
Andrew Tridgell 30ebcd36ac AP_SpdHgtControl: removed AircraftParameters 2013-09-13 11:44:19 +10:00
Andrew Tridgell 79a4bc6ea4 AP_Vehicle: added new header for parameters in multiple libraries 
this adds a header where we can put vehicle specific parameters that
will be used in multiple libraries
 2013-09-13 11:43:59 +10:00
Andrew Tridgell 5bef6dd539 AP_Motors: fixed example build 2013-09-13 10:53:53 +10:00
Andrew Tridgell cc4fad23d9 AP_Airspeed: updates for Pixhawk 2013-09-13 10:48:57 +10:00
Andrew Tridgell 2990359043 PX4: Implement accurate ratiometric voltage reading on Pixhawk 
this uses the monitoring of the 5V rail to compensate for changes in
the 5V reference versus the 3.3V ADC reference. It reduces the noise
on ratiometric sensors by a factor of about 6x.
 2013-09-13 10:48:57 +10:00
Randy Mackay 0a047ae1c1 Copter Motors: increased spin-when-armed to 70 
Changed choices to be displayed in ground stations
 2013-09-12 22:36:04 +09:00
Randy Mackay 62cb5c172b Copter Motors: add slow start feature 
Combined armed, frame orientation and slow_start into flags bitmask
Removed ability to set max throttle because it was never used
Re-ordered class variables
 2013-09-12 22:27:44 +09:00
Randy Mackay ac98644405 Sprayer: minor change to flags type 2013-09-12 22:24:14 +09:00
Andrew Tridgell bc3249fada SITL: fixed Vcc voltage 2013-09-12 16:34:38 +10:00
Andrew Tridgell 3a3cecf5ff PX4: support getting servorail voltage from ORB 2013-09-12 16:28:06 +10:00
Andrew Tridgell 457ca0b57d AP_ADC_AnalogSource: fixed APM1 build 2013-09-12 13:28:11 +10:00
Andrew Tridgell fb56feb6b2 HAL_PX4: support all analog input pins, with scaling 
this allows voltage/current/Vcc sensing on FMUv2
 2013-09-12 13:26:00 +10:00
Andrew Tridgell a80d3344f5 AP_HAL_AVR: support voltage_latest() 2013-09-12 13:25:17 +10:00
Andrew Tridgell a587b1140a AP_HAL: added voltage_latest() interface 
this will be used for reading the 5V rail
 2013-09-12 13:23:04 +10:00
Andrew Tridgell b7e54bd463 AP_Airspeed: reduce speed of autocal 
it was responding to noise too rapidly

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-09-12 07:48:57 +10:00
Andrew Tridgell 2171f2a80b AP_SteerController: move scaler onto integrator input 
this should make integrator scale with speed

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-09-12 07:48:57 +10:00
Randy Mackay 5e7a6b3b98 Sprayer: add pump min rate and test 
If pump is enabled while copter is disarmed it will spray as if
travelling at 1m/s
 2013-09-11 17:04:58 +09:00
Randy Mackay b3c636dfa3 AP_Notify: add radio and battery failsafe 
radio and battery failsafe are slow flashing yellow
pre-arm check failure changed to double flashing yellow
 2013-09-11 14:36:05 +09:00
Andrew Tridgell 341dca4dfe AP_L1_Control: added set_default_period() 
used by the rover code
 2013-09-09 19:55:53 +10:00
Andrew Tridgell 7b3a674d66 AP_InertialSensor: added set_default_filter() method 2013-09-09 19:18:52 +10:00
Andrew Tridgell 229841052a AP_Compass_PX4: removed MAGIOCSSAMPLERATE call 2013-09-09 18:04:41 +10:00
Andrew Tridgell c044385fff AP_AHRS: added groundspeed() method 
this gives ground speed in m/s from GPS
 2013-09-09 18:04:41 +10:00
Andrew Tridgell 0918393fed APM_Control: fixed some documentation typos 2013-09-09 18:04:40 +10:00
Andrew Tridgell 7413c15959 APM_Control: added a ground vehicle steering controller 
this will be used both for the rover code, and for ground steering of
a plane on takeoff
 2013-09-09 18:04:40 +10:00
Andrew Tridgell f5d20b4085 SITL: reduce the minimum accel and gyro noise 
on APM2 and PX4 we do a lot of smoothing of accels and gyros, so a 2
bit error isn't a good representation of the min noise
 2013-09-09 18:04:40 +10:00
Andrew Tridgell 396c4f30d2 AP_InertialSensor_PX4: don't set QUEUEDEPTH 
the default of 2 samples is fine
 2013-09-09 18:04:40 +10:00
Andrew Tridgell db14a85fc5 AP_Compass: added more debugging to AP_Compass_PX4 driver 
this helps debug compass initialisation issues
 2013-09-09 18:04:40 +10:00
Andrew Tridgell 8b80beadc4 PX4: make FMUv2 identify itself differently 
so we can tell which is which in logs
 2013-09-09 18:04:40 +10:00
Andrew Tridgell 7328369b91 GCS_MAVLink: added FENCE_ACTION_GUIDED_THR_PASS 2013-09-08 07:29:30 +10:00
Andrew Tridgell ff0f6bcd42 AP_InertialSensor: fixed example build 2013-09-07 21:03:59 +10:00
Andrew Tridgell b8b72819c1 AP_Compass: ignore COMPASS_ORIENT for internal compass 
this means if COMPASS_ORIENT is not 0 and the external compass fails
to start on boot we don't end up with a bad compass orientation
 2013-09-07 16:49:51 +10:00
Andrew Tridgell 5484b97419 AP_GPS: reset _fix_count to 0 on nav settings update 
this makes it run every 20s exactly
 2013-09-04 13:18:00 +10:00
Andrew Tridgell 879d44f930 AP_GPS: use the mask bits to only set dynamic model 
this ensures we don't try to change any other CFG_NAV5 settings
 2013-09-04 13:17:20 +10:00
Andrew Tridgell fa107bdb58 PX4: moved UART handling to its own thread 
this prevents slow writes to the SD card from interfering with MAVLink
or GPS serial communication
 2013-09-04 13:15:27 +10:00
Andrew Tridgell 7082e0f8aa AP_HAL: added hold_in_bootloader parameter to scheduler->reboot() 2013-09-04 11:58:13 +10:00
Andrew Tridgell 1328316bfc AP_Airspeed: fixed saving of airspeed ratios 2013-08-31 10:26:27 +10:00
Paul Riseborough 1c7bdc40ec AP_Airspeed : Expanded range of ARSPD_RATIO adjustment 2013-08-31 08:03:11 +10:00
Andrew Tridgell e8fc8cea01 AP_Scheduler: updated docs 2013-08-30 15:33:30 +10:00
Andrew Tridgell 8d08f6d669 AP_Relay: document new relay pin numbers 2013-08-30 15:21:23 +10:00
Andrew Tridgell 5e33bbd197 PX4: fixed sense of relay pins 2013-08-30 15:05:29 +10:00
Andrew Tridgell c56017d8f1 AP_AHRS: added in new orientations 2013-08-30 14:19:17 +10:00
Andrew Tridgell 9320e82ac2 AP_Compass: added in new orientations 2013-08-30 14:19:03 +10:00
Andrew Tridgell fbf79c07f0 AP_Compass: added COMPASS_EXTERNAL option 
this allows configuring of a compass as being externally attached
 2013-08-30 14:02:09 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell b29369bc03 AP_Notify: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell 905e07edf9 AP_Mount: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell 01387a1553 AP_Motors: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell 873e54deb1 AP_Math: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell 5caf2e0ea4 AP_InertialSensor: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell a2902d4a0f AP_InertialNav: fixed example build 2013-08-30 13:01:38 +10:00
Andrew Tridgell 83fbb29db1 HAL_PX4: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell 0bfc18b72d HAL_AVR: fixed examples build 2013-08-30 13:01:36 +10:00
Andrew Tridgell e6bd3b65b9 AP_GPS: fixed examples build 2013-08-30 13:01:36 +10:00
Andrew Tridgell 517c44bbaa AP_Baro: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell e6794239ca AC_Fence: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell 6182571c21 AP_AHRS: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell 69c8df3326 AP_Airspeed: fixed example build 
removed Airspeed_Calibration test, as it is not useful
 2013-08-30 13:01:36 +10:00
Andrew Tridgell b57af23933 DataFlash: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell 7535ecb282 AP_Notify: enable board LEDs for ESC calibration 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-08-30 13:01:36 +10:00
Andrew Tridgell d67ad2c7ee AP_Notify: added missing files 2013-08-30 13:01:35 +10:00
Andrew Tridgell 67401294f4 GCS_MAVLink: added missing header 2013-08-30 13:01:35 +10:00
Andrew Tridgell 7b1e2b0e78 AP_GPS: don't need notify.h here 2013-08-30 13:01:35 +10:00
Andrew Tridgell 65a490c209 AP_InertialSensor: update for new notify API 2013-08-30 13:01:35 +10:00
Andrew Tridgell 495c4bbbbe AP_Notify: simplify interface to avoid timers and external calls 
this changes AP_Notify to use updates via notify.update() at 50Hz,
avoiding the need for the 1kHz timer. It also creates a parent class
for ToshibaLED so that the I2C and PX4 ToshibaLED drivers can be
abstracted out.

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-08-30 13:01:35 +10:00
Randy Mackay 2658cda4bc Toshiba_LED_PX4: local #defines for led brightness 2013-08-30 13:01:35 +10:00
Randy Mackay 07abfc59ac AP_HAL_PX4: compile error fix 2013-08-30 13:01:35 +10:00
Randy Mackay 82b7b2cb3e GPS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay 5651bdbe3a INS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay 0797489ad8 Motors: use AP_Notify static flags variable 2013-08-30 13:01:35 +10:00
Randy Mackay 0c1db12538 AP_Notify: add ToshibaLED_PX4 2013-08-30 13:01:35 +10:00
Randy Mackay a52b1831ca AP_Notify: make flags static variable 2013-08-30 13:01:35 +10:00
Randy Mackay 496962f037 GPS: update notify 2013-08-30 13:01:35 +10:00
Randy Mackay 54007854a9 Notify: add ToshibaLED 2013-08-30 13:01:35 +10:00
Randy Mackay f8a872f01e AP_Motors: update notify 2013-08-30 13:01:34 +10:00
Randy Mackay ac36a09747 AP_HAL: add toggle to GPIO 2013-08-30 13:01:34 +10:00
Randy Mackay b1278fa006 AP_Notify: early draft of library 2013-08-30 13:01:34 +10:00
Andrew Tridgell 0527bae8cb PX4: support PX4IO relay pins 
this allows the pins to be used in the relay code
 2013-08-30 13:01:34 +10:00
Andrew Tridgell 0c06dff2db AP_Airspeed: constrain internal state of calibration code 2013-08-30 13:01:34 +10:00
Andrew Tridgell 3916a07dcf AP_Airspeed: added logging of airspeed calibration internals 2013-08-30 13:01:34 +10:00
Andrew Tridgell ce3fb290f1 AP_Airspeed: fixed initialisation of auto-calibration 2013-08-30 13:01:34 +10:00
Andrew Tridgell dd747505c5 DataFlash: report when DataFlash write fails 2013-08-30 13:01:34 +10:00
Andrew Tridgell 395739dded AP_Baro: simplify PX4 driver 
we can now rely on queueing in NuttX driver
 2013-08-30 13:01:34 +10:00
Andrew Tridgell 1ff669eb97 AP_Compass: simplify PX4 compass driver 
we can now rely on queueing in the NuttX driver
 2013-08-30 13:01:34 +10:00
Andrew Tridgell 4c752e4a94 AP_Math: simplify rotations test code 2013-08-30 13:01:34 +10:00
Andrew Tridgell 4662858077 DataFlash: we don't need AP_AHRS.h 2013-08-30 13:01:34 +10:00
Andrew Tridgell e2b0e07973 AP_Math: removed unused matrix rotation code 
we only need to rotate vectors
 2013-08-30 13:01:34 +10:00
Andrew Tridgell c6e29c9519 GCS_MAVLink: update to latest upstream mavlink headers 2013-08-30 13:01:34 +10:00
Andrew Tridgell a295a01bbc AP_Math: added missing 90 degree rotations 
this ensures we can handle all 90 degree rotations of the compass and
main board. A test in examples/rotations shows that we have them all.
 2013-08-30 13:01:33 +10:00
Andrew Tridgell c6c59174b3 AP_Airspeed: return when airspeed init fails 2013-08-30 13:01:33 +10:00
Andrew Tridgell 5607c89df0 AP_Baro: use fabs() not abs() 
thanks to Randy for spotting this
 2013-08-30 13:01:33 +10:00
Andrew Tridgell 31e1b7fcf6 AP_Airspeed: list MEAS airspeed in ARSPD_PIN docs 2013-08-30 13:01:33 +10:00
Andrew Tridgell 9b3c54fc39 PX4: ensure storage buffer is DMA aligned 
this helps for boards which use DMA for FAT IO
 2013-08-30 13:01:33 +10:00
Andrew Tridgell e5ad9dbd15 AP_InertialSensor: switch PX4 driver to fixed time per sample model 
this makes the driver much simpler, and does away with the need for an
accumulate function
 2013-08-30 13:01:33 +10:00
Andrew Tridgell 38fe89d661 AP_InertialSensor: switch to non-averaging system for PX4 IMUs 
always use the latest value, based on a lowpass filter in the driver
 2013-08-30 13:01:33 +10:00
Andrew Tridgell 2340bb6220 PX4: use a minimum transmit buffer for UARTs of 512 bytes 
this avoids writes stalling on the GPS port. We can't afford this
memory on APM2, but we can on PX4, and it means that while the GPS is
blocking at startup it doesn't cause any scheduler slips
 2013-08-30 13:01:33 +10:00
Andrew Tridgell e5f19e314d PX4: systemreset() now takes a boolean argument 
this chooses whether to stay in the bootloader
 2013-08-30 13:01:33 +10:00
Andrew Tridgell 46c5d18585 AP_InertialSensor: disable averaging on FMUv2 
the new filter from Leonard means we shouldn't average values, and
instead just use the last value
 2013-08-30 13:01:33 +10:00
Julian Oes c3b27629ec AP_InertialSensor: run PX4 FMUv2 at 800Hz 
this gives much better noise suppression
 2013-08-30 13:01:33 +10:00
Andrew Tridgell 4794d90bbb HAL_PX4: support up to 16 analog channels 2013-08-30 13:01:32 +10:00
Andrew Tridgell 3bc035d83a HAL_PX4: fixed GPIO build 
don't use vehicle includes
 2013-08-30 13:01:32 +10:00
Andrew Tridgell ef5a42fabc AP_HAL: added RCOutput example sketch 
useful for testing all 14 channels via APM API
 2013-08-30 13:01:32 +10:00
Andrew Tridgell 2b1fcc964f AP_Math: added a quick test of floating point location accuracy 
just confirming some maths ...
 2013-08-30 13:01:32 +10:00
Andrew Tridgell 0f677e3a10 HAL_PX4: fixed build on FMUv1 2013-08-30 13:01:32 +10:00
Andrew Tridgell 091b989b30 HAL_PX4: some GPIO functions are not available on FMUv2 yet 2013-08-30 13:01:32 +10:00
Julian Oes 56e94d70e9 PX4: Adaptations to latest build changes 2013-08-30 13:01:32 +10:00
Andrew Tridgell dc97a8eff7 AP_ADC: fixed license text 
we are on GPLv3 now
 2013-08-30 13:01:32 +10:00
Andrew Tridgell 587fb58720 AP_AHRS: fixed license text 
APM is under GPL, not LGPL
 2013-08-30 13:01:32 +10:00
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps 
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
 2013-08-28 11:33:10 +09:00
Andrew Tridgell feac9d1306 AP_Compass: fixed a bug in the tilt compass calculation 
The simplification applied a few months ago was incorrect
 2013-08-18 21:08:52 +10:00
Andrew Tridgell a12991923e RC_Channel: prevent overwrite of memory on high RC_Channel constructor 2013-08-18 11:42:23 +10:00
Randy Mackay 04b84664e5 AC_Fence: add safety margin parameter 
This will allow auto modes to proactively avoid breaching the fence
 2013-08-15 16:05:38 +09:00
Andrew Tridgell 33cbe6151a SITL: support multiple instances of SITL running at once 2013-08-14 16:35:24 +10:00
Andrew Tridgell 3c967a9c71 AP_TECS: use a ahrs reference 
saves a pointer access
 2013-08-14 14:58:49 +10:00
Andrew Tridgell 144516c941 AP_L1_Control: set min groundspeed to 0.1 
this works better for slow rovers
 2013-08-14 14:57:23 +10:00
Andrew Tridgell c6e37aaec3 APM_Control: use a ahrs reference, not pointer 
saves pointer check
 2013-08-14 14:56:18 +10:00
Andrew Tridgell a98d7bd050 GCS_MAVLink: updated to latest upstream mavlink defintions 2013-08-14 14:36:44 +10:00
Andrew Tridgell b43bf44552 AP_GPS: improved the precision of the NMEA driver 
this brings the NMEA driver to the same lat/lon precision as the uBlox
driver (approx 1cm)
 2013-08-14 14:36:44 +10:00
Andrew Tridgell 97baec8bc7 SITL: update for new SIMSTATE message 2013-08-14 14:36:44 +10:00
Andrew Tridgell e75c48c029 SITL: added simulated NMEA GPS 
useful for validating the NMEA GPS driver
 2013-08-14 14:36:44 +10:00
Andrew Tridgell 31fce44063 AP_L1_Control: use a reference to AHRS 
makes code a bit simpler
 2013-08-13 13:49:26 +10:00
Andrew Tridgell 08ec43ef89 AP_L1_Control: use get_position() 2013-08-13 12:07:35 +10:00
Andrew Tridgell b74ed795f2 AP_L1_Control: removed _maxf() and _geo2planar() functions 
not needed any more
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 653fa5a191 AP_L1_Control: adjust position for GPS lag 
this should help for rovers
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 57d2dd814d AP_AHRS: added get_position_lag() call 
provide position lag to libraries
 2013-08-13 12:07:35 +10:00
Andrew Tridgell fd4bceaafe AP_L1_Control: avoid using float global coordinates 
this increases the navigation precision of rovers using L1 control
down to the centimeter level
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 5434b2c017 AP_Math: update location code to avoid float rounding 
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.

This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
 2013-08-13 12:07:34 +10:00
Andrew Tridgell df8e8c64e8 AP_L1_Control: use projected position for turns 2013-08-13 12:07:34 +10:00
Andrew Tridgell 9c88872ad0 AP_L1_Control: use a better ground speed estimate at low speeds 
this should prevent a rover going in the wrong direction at the start
of a mission
 2013-08-13 12:07:34 +10:00
Andrew Tridgell 953051b49e AP_L1_Control: added lateral acceleration interface 
this will be used by the Rover code for steering
 2013-08-12 13:38:38 +10:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay c7464f635c AC_Sprayer: turn on/off the spinner with the pump 2013-08-05 21:12:28 +09:00
Randy Mackay e4ca7d2fdf AC_Sprayer: first implementation 2013-08-05 21:11:09 +09:00
Andrew Tridgell 9cb6c987d4 AP_Math: fixed example build 2013-08-05 12:37:51 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations 
this makes life easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:12 +10:00
Andrew Tridgell f3b3e23bbc AP_Camera: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:09 +10:00
Andrew Tridgell 6b5ee80b70 AP_InertialNav: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:06 +10:00
Andrew Tridgell cf4a74cfb8 AP_L1_Control: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:02 +10:00
Andrew Tridgell 612ede81f4 AP_Limits: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:57 +10:00
Andrew Tridgell 1d75b52411 AP_Math: use const references not pointers for location functions 
this makes life a bit easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:40 +10:00
Randy Mackay 47f5c9b7a4 AC_Fence: remove unused gps pointer 2013-08-03 19:04:59 +09:00
Andrew Tridgell b7e3851ef8 AP_Scheduler: prevent a divide by zero 2013-08-02 22:07:00 +10:00
Andrew Tridgell a7cbebbeba APM_Control: rename 'stabilize' to 'disable_integrator' 
this better reflects what it does
 2013-08-02 21:54:48 +10:00
Paul Riseborough 0c64c800b3 AP_L1_Control : Fixed bug in track capture angle limit 2013-08-02 21:47:45 +10:00
Paul Riseborough 34f0af25cc AP_TECS : Improvements and bug fixes to feed-forward throttle demand 
This fixes a bug in the feed-forward throttle that prevented the bank to throttle compensation from working properly during descents.
It also adds bank to throttle compensation to the non-airspeed sensor throttle algorithm.
 2013-08-02 21:47:01 +10:00
Randy Mackay 8d26fb5581 Copter Motors: by default spin motors at 65 when armed 2013-07-28 18:18:52 +09:00
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Randy Mackay de59ea3ddc Copter Fence: reduce circle @Range to 30m 2013-07-27 10:28:33 +09:00
Andrew Tridgell 57752df68e APM_Control: set a small D value by default 
0.02 may help with some planes that have slow response

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-26 16:07:00 +10:00
Andrew Tridgell a192b9ee46 AP_Scheduler: added load_average() function 
useful to give a load average in SYS_STATUS mavlink message
 2013-07-26 16:07:00 +10:00
Andrew Tridgell fef6a76078 RC_Channel: rename 'Manual' to RCPassThru 
this should make it clearer what it does
 2013-07-26 16:07:00 +10:00
Randy Mackay f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Andrew Tridgell 2874ec67c7 DataFlash: slight efficiency improvement 
fixes issue #314

thanks Dongfang!
 2013-07-23 09:46:02 +10:00
Andrew Tridgell 63873d6af3 HAL_AVR: fixed example build 2013-07-23 09:42:51 +10:00
Paul Riseborough ba009e55e3 AP_Baro : Fixed bug in temperature units in AP_Baro_HIL 2013-07-22 12:50:02 +10:00
Andrew Tridgell ebebee4f06 AP_Baro: extend the atmospheric model to higher altitudes 2013-07-22 12:50:02 +10:00
Paul Riseborough 5a68c515dc AP_Airspeed: Altitude Calibration - added constrain on P matrix diagonals 2013-07-22 12:50:02 +10:00
Andrew Tridgell 3ba0dec4b3 AP_Airspeed: fixed typo 2013-07-22 12:50:02 +10:00
Paul Riseborough d1805f4349 AP_Airspeed: Airspeed Calibration computational efficiency improvement 2013-07-22 12:50:02 +10:00
Andrew Tridgell 0c6725f289 AP_Baro: improved the accuracy of the barometer model 2013-07-22 12:50:01 +10:00
Andrew Tridgell c5028c04da APM_Control: scale controllers for altitude 
this allows the attitude controllers to better handle a wider range of
altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 097718e833 AP_L1_Control: scale loiter and wp radius with altitude 
this should keep the aircraft stable in loiter at very high altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell e6d9d14fad AP_Airspeed: added example sketch for airspeed calibration 2013-07-22 12:50:01 +10:00
Andrew Tridgell 620d067ee1 AP_TECS: use ahrs EAS2TAS for true airspeed 2013-07-22 12:50:01 +10:00
Andrew Tridgell ec73fadc45 AP_AHRS: added true airspeed support in AHRS 
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 3c66cb8af1 AP_Airspeed: added EAS2TAS in airspeed driver 
this keeps the true airspeed ratio in the airspeed driver, which seems
the most logical place
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 893d2da6f6 AP_Airspeed: added auto-calibration support 
This uses a Kalman filter to calculate the right ARSPD_RATIO at runtime

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 01c124d5f5 AP_GPS: added velocity_vector() method 2013-07-22 12:50:00 +10:00
Andrew Tridgell 468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Randy Mackay e2fbc00b52 LeadFilter: removed this unused library 
This was used to project the GPS position forward to compensate for lag
but this has become unnecessary with the introduction of the inertial
nav in x and y axis.
 2013-07-21 14:30:49 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Randy Mackay 0325ad5d0d AP_AHRS: use rotateXY for speed 
Saves 0.1ms at 100hz
 2013-07-20 18:00:36 +09:00
Randy Mackay 540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre 957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Andrew Tridgell c691e16139 HAL_AVR: fixed example build 2013-07-18 17:36:38 +10:00
Andrew Tridgell 3e21d0594c APM_Control: pass in aircraft parameters and expose coordinate rate offset 
this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:26 +10:00
Andrew Tridgell fb0e48a25d AP_TECS: adapt for new airspeed variable names 2013-07-18 14:53:23 +10:00