Andrew Tridgell
fb90d16092
Filter: make the DerivativeFilter test GNUPlot friendly
...
makes testing easier
2012-08-08 12:07:36 +10:00
Andrew Tridgell
2de06df08d
Filter: automatically cope with duplicate timestamps
...
this makes it easier for callers to avoid excessive slope calculations
Thanks to Jon Challinger for the idea
2012-08-08 12:07:35 +10:00
Andrew Tridgell
c9a56e2223
Filter: fixed a off-by-one DerivativeFilter bug
...
many thanks to Jon Challinger for noticing this!
2012-08-08 12:07:35 +10:00
Amilcar Lucas
fbc25e4baa
AP_Mount: move mount to a "retracted position" into the fuselage with a fourth servo
2012-08-06 01:27:29 +02:00
Amilcar Lucas
36bcd827b4
AP_Mount: Allow using any RC channel to control any of the mount axes.
...
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
2012-08-05 23:48:57 +02:00
Amilcar Lucas
fe4713b46e
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
Amilcar Lucas
f3f89004e9
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
Amilcar Lucas
431ed1c9b9
More flexible RC support
2012-08-04 18:39:20 +02:00
Andreas M. Antonopoulos
1ea2cb7b75
AP_Limits: experimental "bounce" mode.
2012-07-31 18:39:58 -07:00
Robert Lefebvre
54b320a9a0
Fixing Trad Heli Ext ESC Controller
...
-Added ramp-down rate instead of instantly setting ramp to zero when throttle is dropped to bottom. This is to allow "warm-restart" if shutdown was unintentional.
-Actual ESC still goes to zero while throttle is dropped to the bottom, only the ramp counter winds down slowly behind the scenes.
2012-07-31 17:47:25 -04:00
rmackay9
23a1e33e20
AP_InertialSensor_MPU6000: another attempt at fixing the SITL build
2012-07-28 17:19:19 +09:00
rmackay9
06a4aaa763
AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully)
...
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
2012-07-28 16:33:04 +09:00
rmackay9
9a558be53e
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
2012-07-28 16:23:25 +09:00
rmackay9
ea4e56309d
AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning
2012-07-28 15:22:37 +09:00
rmackay9
a49454e905
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
2012-07-28 14:27:26 +09:00
rmackay9
0820ebddb9
AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude
2012-07-28 14:17:38 +09:00
rmackay9
5a9211c278
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
2012-07-28 14:16:56 +09:00
rmackay9
c2b47d2bf9
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
2012-07-28 14:16:15 +09:00
rmackay9
ae119b08b3
AP_IMU_INS: added gx(), gy() and gz() methods to return gyro offsets
2012-07-28 14:15:23 +09:00
rmackay9
dfea845c37
AP_InertialSensor: methods added to access DMP functionality
2012-07-28 14:14:43 +09:00
Andrew Tridgell
e0b6ed12be
MAVLink: rename the message_definitions directory
2012-07-26 10:03:36 +10:00
Andrew Tridgell
b4fc025151
MAVLink: removed MAVLink 0.9 message definitions
...
we are now 1.0 only
2012-07-26 10:03:36 +10:00
rmackay9
960c2f08af
AP_Mount: addition of Amilcar's mount_type
...
set_roi_cmd modified to take a Location. I know the intention was for set_roi_cmd to interpret the MAVLink command directly but unfortunately in arduCopter missions are only made up of waypoints (which are Locations).
2012-07-25 11:00:38 +09:00
Jonathan Challinger
21f0ed00b3
AHRS: normalise GA_b before computing error vector only if too large
...
When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
2012-07-23 17:16:50 +10:00
Andrew Tridgell
99410cbbfe
AP_AnalogSource: fixed reporting of VCC
...
the VCC pin number should not be converted
2012-07-21 19:49:24 +10:00
Andrew Tridgell
5f5c884a6d
AHRS: if we don't have gps correction enabled, zero the yaw correction
2012-07-20 17:21:04 +10:00
Andrew Tridgell
4f41b876b1
AHRS: allow the gps/accelerometers to control yaw when rolled
...
this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
2012-07-20 11:50:04 +10:00
Andrew Tridgell
404803a734
MAVLink: imported updated generated mavlink C code
...
no functionality changes
2012-07-20 11:50:03 +10:00
Jason Short
25c3ed6c4b
Oilpan ADC parameters added
...
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
Jason Short
8a4a9a929e
Lead Filter: simplified calculation
2012-07-18 22:57:10 -07:00
Andrew Tridgell
f704408094
GPS-UBlox: removed duplicate config messages
...
these were left over from debugging
2012-07-19 15:23:15 +10:00
Amilcar Lucas
13fb2e6dc9
RC_Channel parameters: Fix a typo
2012-07-18 22:39:49 +02:00
Amilcar Lucas
dea5b88379
Support up to 7 aux servo outputs
2012-07-18 21:58:22 +02:00
rmackay9
a2e6af1f9c
AP_Mount: added set_manual_rc_channel and set_manual_rc_channel_function to allow input of pitch, roll and yaw controls from a regular RC_Channel (i.e. not RC_Channel_aux)
...
For now, angles red in are always of the range -45 deg ~ 45 deg which is consistent with the existing arducopter implementation but should be improved to scale the pilot's input to the mount's actual range.
2012-07-18 23:20:05 +09:00
Amilcar Lucas
8acc432084
Replace long with int32_t
2012-07-18 02:12:31 +02:00
Amilcar Lucas
f5c2ffca34
Use ascending order in the values
2012-07-18 02:11:49 +02:00
Amilcar Lucas
23f009f665
Improve parameter documentation, it still does not work, but is an improvement.
...
I just do not understand why these parameters do not appear in Mission planner :(
2012-07-17 23:32:30 +02:00
Michael Oborne
b97f9bb803
Airspeed Library - fix param names.
...
The Group definition give the start of the param name.
This way we can maintain multiple instances if required of the same library as options.
2012-07-16 21:48:47 +08:00
Andrew Tridgell
dfb22554aa
Airspeed: Added AP_Airspeed sensor library
...
this will allow an airspeed sensor object to be passed to AHRS for
dead reckoning
2012-07-16 11:21:20 +10:00
rmackay9
bec5321b8b
AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel!
2012-07-16 00:38:58 +09:00
rmackay9
3b9a1d4305
RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised.
...
changed parameter names of "update_aux_servo_function" to make it more clear that any 4 servos can be passed in (not just servos 5~8).
Also allowed NULL servos to be passed in as parameters because we only need 3 in ArduCopter.
2012-07-15 16:28:53 +09:00
rmackay9
e83275d8ae
AP_Camera: changed "int" to "int16_t" and "long" to "int32_t" here and there.
2012-07-15 16:26:12 +09:00
Andreas M. Antonopoulos
31fd74d94c
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Michael Oborne
804898c2a5
fix param config names
2012-07-14 15:34:15 +08:00
Robert Lefebvre
716ce6a5a7
Change to prevent Tricopter servos from going hard-over during Disarmed state.
...
Believe this was an oversight when the change to AP_Motors went in.
2012-07-13 23:12:26 -04:00
Robert Lefebvre
ab1212d8d2
Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input".
...
Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying. This could probably become a parameter.
2012-07-13 22:59:28 -04:00
Andreas M. Antonopoulos
9dfb3c4db9
Added Michael Pursifull's Maxsonar HRLV model support
2012-07-11 18:46:47 -07:00
rmackay9
d3426420ad
AP_Camera: moved seme constructor initialisers around to remove compile warnings
2012-07-12 09:33:22 +09:00
rmackay9
1105a35c77
AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0)
...
Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
2012-07-11 21:19:17 +09:00
Amilcar Lucas
eb647b5320
AP_Mount: add support for non-spring-loaded joysticks
2012-07-11 00:07:33 +02:00
Amilcar Lucas
ad60fac863
RC_Channel: improve parameter documentation
2012-07-11 00:07:10 +02:00
Amilcar Lucas
42301af148
Remove unused function, remove unnecessary angle wrapping.
2012-07-11 00:06:45 +02:00
Amilcar Lucas
74ef712cd1
Allow mount control when no AHRS exists
...
Allow mount control on non stabilized axes
2012-07-11 00:06:26 +02:00
Andrew Tridgell
63a83b95b4
AP_Math: added get_distance_cm() to return in centimeters
2012-07-11 07:49:05 +10:00
Andrew Tridgell
15133b1105
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
Andrew Tridgell
9b6acf168e
AHRS: added AHRS_GPS_GAIN parameter
...
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
Andrew Tridgell
2bc530d04f
AP_Param: added some docs on the eeprom header format
2012-07-10 14:03:49 +10:00
Craig Elder
0534ac12b1
DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method.
2012-07-09 15:23:35 -07:00
Amilcar Lucas
a79f55656a
RC_Channel: Improve documentation
2012-07-07 21:57:30 +02:00
Amilcar Lucas
8bd7ef9b9a
AP_Mount: Fix radians/degrees scaling regressions
...
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
2012-07-07 21:56:56 +02:00
Andrew Tridgell
ec70e87495
AnalogSource: prevent a division by zero on zero ADC data
2012-07-06 19:59:18 +10:00
Andrew Tridgell
7bc724d118
APM: changed PID library to do automatic deltat calculation
...
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
Andrew Tridgell
44755bf3ce
AP_Baro: improved barometer averaging
...
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
Andrew Tridgell
43d6015811
Filter: split the DerivativeFilter steps into update() and slope()
...
this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
Andrew Tridgell
4723698489
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
Andrew Tridgell
9845a55cb1
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
Andrew Tridgell
e33554a1f9
AHRS: only enable barometer for AHRS if it is smooth enough
...
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
Andrew Tridgell
1ce4a03147
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
Andrew Tridgell
9f3da1bf7f
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
Andrew Tridgell
5f38669666
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
Andrew Tridgell
735c88e9b3
AP_Baro: added get_pressure_samples() interface
...
this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
Andrew Tridgell
92001e3e7d
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
Andrew Tridgell
999a1d1d55
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
Andrew Tridgell
a07e280eda
Filter: cope with non-uniform time steps in the DerivativeFilter
...
this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
Andrew Tridgell
ce3f8be6c7
SITL: add some minimal noise when motors are off
...
this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
Andrew Tridgell
fe54329de2
MAVLink: remove MAVLink 0.9 protocol support
...
this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
Andrew Tridgell
9d7ed30023
AHRS: only use GPS for yaw when compass is not being used
...
this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
Andrew Tridgell
6653c0b874
AHRS: enable barometer for vertical velocity
...
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
Andrew Tridgell
a5d607d25a
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
Andrew Tridgell
f97289792b
Filter: added DerivativeFilter implementation
...
this adds a DerivativeFilter implementation of up to 10 points
2012-07-05 13:00:46 +10:00
Andrew Tridgell
cf2c546051
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
rmackay9
be3d035a64
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
Amilcar Lucas
6904bef611
Document++
2012-07-05 00:33:46 +02:00
Amilcar Lucas
8400bd67f8
Remove unused function
2012-07-05 00:33:10 +02:00
Andrew Tridgell
dc6d70bc15
SITL: added SIM_GPS_DELAY parameter
...
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
2012-07-04 21:05:22 +10:00
rmackay9
cac0757c2e
AP_AHRS: removed DCM_test example sketch
...
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
Andrew Tridgell
03516b7dfa
AHRS: make DCM drift correction not rely on accurate yaw
...
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
Andrew Tridgell
6cf2e2fa13
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
Andrew Tridgell
7be29c8b04
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
Andrew Tridgell
8fa1acb141
AP_Math: add include of math.h
...
this is needed for location.cpp
2012-07-04 13:59:23 +10:00
Andrew Tridgell
597170afdc
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
Andrew Tridgell
c6ff292721
DataFlash: fallback to BlockErase if ChipErase fails
...
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
2012-07-04 12:42:46 +10:00
Andrew Tridgell
84a489498d
Math: added location functions to math library
...
these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
Andrew Tridgell
e0685f4408
AHRS: make P gain on PI roll/pitch controller tunable
...
this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
Andrew Tridgell
1142ec0665
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
Andrew Tridgell
f150c645c8
Mount: enable mount control via eeprom parameters
...
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
Andrew Tridgell
7a77832f45
Baro: average over all pressure/temperature samples on MS5611
...
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings
This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
Andrew Tridgell
f7b06e0a64
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
Andrew Tridgell
2bd5cd3b9a
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
Andrew Tridgell
0341e0e5f0
SITL: added support for new analog source
...
removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
Andrew Tridgell
2046e396a2
AnalogSource: make the Arduino AnalogSource interrupt driven
...
this fixes several problems with reading analog sources:
- we were getting poor values because we didn't wait long enough for
an analog source to settle
- we wasted a lot of CPU cycles waiting for conversions
- we were not taking averages over many samples, which we did with
the old AP_ADC driver on the APM1
2012-07-01 15:01:05 +10:00
Andrew Tridgell
b5aa821071
AHRS: include the P terms in get_gyro()
...
this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
Andrew Tridgell
02b9ea4dfe
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
Andrew Tridgell
117bae9585
SITL: added SITL class for controlling simulation
...
this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
Andrew Tridgell
37494dda2b
AHRS: don't add the P terms in _omega
...
this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
Andrew Tridgell
21ae2957fb
AHRS: disable barometer for vertical acceleration
...
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
Andrew Tridgell
e531061caa
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
Andrew Tridgell
8600ad8d7f
AHRS: revert to the old drift correction algorithm
...
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
Andrew Tridgell
70bfacc350
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
Andrew Tridgell
57579e494b
Barometer: fixed airstart for APM
...
we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
Andrew Tridgell
ce016b5ae8
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
Andrew Tridgell
0fa1f29cf3
AHRS: implement spin rate limits
...
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
Andrew Tridgell
3ffecc18d8
AHRS: cope with copters with no compass
...
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
Andrew Tridgell
3458962184
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
Andrew Tridgell
426006d98f
SITL: fixed GPS heading in simulated UBlox
...
longitude scale does not apply to velocity->heading conversions
2012-06-27 16:01:50 +10:00
Andrew Tridgell
20c1baf585
SITL: changes UBlox simulation to 5Hz
...
this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
Andrew Tridgell
d9583ae5eb
Compass: remove the need to call calculate() on the compass object
...
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.
This significantly reduces the calculation involved in compass updates
The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
2012-06-27 16:01:50 +10:00
Andrew Tridgell
5370f9c411
AHRS: normalize the ge vector in drift correction, and use barometer
...
The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
Andrew Tridgell
53e950531e
Baro: added get_altitude() and get_climb_rate() interfaces
...
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity
The climb rate uses a 5 point average filter
2012-06-27 16:01:50 +10:00
Andrew Tridgell
9fd3d15026
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
Jonathan Challinger
1ff9461bfb
AHRS: brought DCM more inline with Bill's implementation
...
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
Andrew Tridgell
73faaddc1b
AHRS: first successful version of Bills new drift correction system
...
This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
Andrew Tridgell
0399aa9480
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
Andrew Tridgell
2600afe18a
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
Andrew Tridgell
5316a45c20
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
Andrew Tridgell
19954f30e5
GPS: added velocity and acceleration components
...
used by AHRS for acceleration correction
2012-06-27 16:01:49 +10:00
Andrew Tridgell
2b352d2b5c
Math: added comment
2012-06-27 16:01:49 +10:00
Andrew Tridgell
f23cebc808
Math: moved more template functions to the .cpp files
...
save a bit more code space for larger functions
2012-06-27 16:01:49 +10:00
rmackay9
c034e38cbd
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
abb6eb2471
Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek.
2012-06-21 11:14:20 -07:00
Amilcar Lucas
cd0411ba33
Add linebreaks to increase readability.
2012-06-21 00:36:10 +02:00
Amilcar Lucas
be6923be0f
Improve parameters descriptive text
2012-06-21 00:20:37 +02:00
Amilcar Lucas
1ead5f1690
Documentation improvements, no functional changes (only comments)
2012-06-17 22:53:54 +02:00
Amilcar Lucas
8f646467e5
Move local temp variables to the stack it saves 1952 bytes
...
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
2012-06-17 22:25:51 +02:00
Wingspinner
d9e6a1ece9
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:40:14 +00:00
Wingspinner
ceba24ff8f
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:38:52 +00:00
Andrew Tridgell
b32726e867
GPS: need pgmspace.h for _write_progstr_block()
2012-06-15 16:27:11 +10:00
Andrew Tridgell
ae9883a8e2
GPS: fixed auto-config of UBlox setup with no UBX messages
...
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
2012-06-15 15:53:27 +10:00
Andrew Tridgell
b7e807cd58
FastSerial: added tx_pending() method
...
this allows the caller to wait for the tx buffer to drain
2012-06-15 15:53:27 +10:00
Amilcar Lucas
a12cb8fd9a
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
Amilcar Lucas
f7ef60565e
Add "3 axis camera stabilization" and "point camera to 3D point" functionality
...
Patch by Gregory Fletcher and reviewed by me
2012-06-13 20:55:19 +02:00
Amilcar Lucas
e9226d6f0a
Spellcheck
2012-06-13 20:44:35 +02:00
rmackay9
fca914b7cf
AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy
2012-06-12 20:27:50 +09:00
Andrew Tridgell
f9c5b135bc
GPS: use the new nav_setting in a couple of the sample sketches
2012-06-10 16:35:13 +10:00
Andrew Tridgell
0542539fc9
GPS: add stub settings for nav_setting in the other GPS drivers
...
only Ublox supports nav_setting so far
2012-06-10 16:34:53 +10:00
Andrew Tridgell
926dfbc0e9
GPS: added auto-configuration of UBlox GPS
...
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
2012-06-10 16:34:13 +10:00
Andrew Tridgell
04a71197f9
FastSerial: avoid buffer re-allocation on re-open if possible
...
we commonly re-open serial ports a lot in the AUTO GPS driver
2012-06-09 07:43:22 +10:00
Andrew Tridgell
f347572fc2
SITL: map() is a C++ function, so needs to be in C++ part of the header
...
this fixes the ACM build
2012-06-08 17:09:23 +10:00
Andrew Tridgell
9adaacedcd
GPS: added debug code to the main GPS class
2012-06-08 16:42:03 +10:00
Andrew Tridgell
f4718cafad
GPS: re-open the serial port with a 256 byte serial receive buffer
...
this ensures all GPS parsers have a 256 byte buffer available
2012-06-08 16:42:03 +10:00
Andrew Tridgell
ddebf7b443
GPS: fixed the UBLOX parser to handle unknown messages
...
the parser was broken in several ways:
1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
thought the message had a bad checksum, which meant it got out of protocol sync
2) the read() method would return false if the last message from the GPS was of an unknown type.
So we relied on the last msg always being one that we understand and want
3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get
a new fix when we get box a new position and velned message
4) the total message size per update is more than 128 bytes, but the serial port was opened
with only a 128 byte buffer, so we got corruption regularly
2012-06-08 16:42:02 +10:00
Andrew Tridgell
148e59a4de
GPS: tidy up the auto gps test
2012-06-08 16:42:02 +10:00
Robert Lefebvre
f7be9a4b5d
TradHeli adding ramp up time to Ch8 Throttle Pass-through.
2012-06-07 22:55:47 -04:00
Robert Lefebvre
0c8078c436
AP_MotorsHeli Syntax correction.
2012-06-04 15:53:07 -04:00
Andrew Tridgell
43fe5bab78
re-enable the AP_Mount build
2012-06-04 19:32:11 +10:00
Andrew Tridgell
b4fbda7a28
GPS: fixed a race condition in the ublox driver
...
the status update comes as a separate message from the lat/lon
2012-06-04 14:47:58 +10:00
Andrew Tridgell
a6c1a86c23
mavlink: fixed build with uart resend
2012-06-04 13:45:55 +10:00
Andrew Tridgell
1ad17bc78c
MAVLink: updates to mavlink headers to fix mavlink 1.0 issues
2012-06-04 13:34:07 +10:00
Andrew Tridgell
4f7a80a04d
Mavlink: fixed library build for MAVLink 1.0
2012-06-04 13:14:52 +10:00
Andrew Tridgell
34234b7003
SITL: fixed SITL build with mavlink10
2012-06-04 13:14:52 +10:00
Andrew Tridgell
7602f698eb
mavlink10: fixed MAV_VAR -> MAVLINK_TYPE
2012-06-04 13:14:51 +10:00
Andrew Tridgell
2c3bfd896a
MAVLink: updated to latest upstream mavlink
...
this includes no significant changes
2012-06-04 13:14:51 +10:00
Jason Short
1ebfb8fe25
GPS time set to unsigned int32
2012-06-03 11:13:50 -07:00
rmackay9
bad6591e6d
AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure
2012-06-03 17:31:17 +09:00
rmackay9
8f8e91a620
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
rmackay9
080c5184d5
ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures.
...
All real work on this issue done by Michael Oborne.
2012-06-02 17:46:00 +09:00
rmackay9
8f3169a200
AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work.
...
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
2012-06-02 16:13:23 +09:00
rmackay9
3246f2bad3
RC_Channel library: change all "int" types to "int16_t".
...
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
2012-06-02 14:20:58 +09:00
rmackay9
37e4637c13
RC_Channel.pde: fixed compile errors so that it actually works!
2012-06-02 14:00:44 +09:00
rmackay9
df3fb5c041
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
Jason Short
477aa6e47a
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
Jason Short
7ee38df5a2
Issue 416: RC_Channel – Fix to make dead_zones still output 0
2012-05-31 12:05:47 -07:00
Jason Short
2cc9fde3c9
removed never used filter, and fixed a constrain that could make range calcs go bad
2012-05-31 11:45:07 -07:00
Jason Short
00cabc6343
Channel rage fix - low output was always 0 vs _low
2012-05-31 11:31:48 -07:00
Robert Lefebvre
bafb478924
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Robert Lefebvre
ffc04b7305
Fix TradHeli Collective Yaw Effect bug.
2012-05-25 15:25:21 -04:00
Andrew Tridgell
734dcebb2a
SITL: fixed ChipErase()
...
the loop never completed
2012-05-23 21:15:45 +10:00
Andrew Tridgell
5e0d937e50
SITL: fixed build with new ChipErase() call
2012-05-23 17:33:33 +10:00
Andrew Tridgell
c2fb8a7a98
DataFlash: use ChipErase() instead of PageErase() on all pages
...
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).
We need to test and ensure the behaviour is equivalent apart from the
speed
2012-05-22 19:29:02 -07:00
Andrew Tridgell
8f27297896
DCM: fixed a bug when using GPS for yaw correction
...
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
Andrew Tridgell
37f652e19b
AP_Common: fixed some duplicate product ID warnings
2012-05-17 23:37:32 +10:00
rmackay9
eaeaa3811a
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
Craig Elder
fe742f1c23
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
...
this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
Craig Elder
c323a71933
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
Craig Elder
a22b15adf1
PRODUCT: Define product IDs for all supported products
2012-05-09 18:30:36 -07:00
Craig Elder
b824a87b90
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
...
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00
Chris Anderson
46614e9acd
fixed typo ("minimum" should have been "maximum")
2012-05-06 15:50:19 -07:00
Andrew Tridgell
76a3fd9a4e
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
ae1702c20b
Baro: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
3115d48ba1
ADC: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
57ac39649a
TimerProcess: added suspend_timer()/resume_timer()
...
this will be used to avoid races in driver initialisation
2012-05-01 12:06:54 +10:00
rmackay9
3b2d203f0f
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
...
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
Andrew Tridgell
8f2cecae4d
MAVLink: re-generated with new pygen
...
this moves the enums to make them less order sensitive
2012-04-30 12:27:30 +10:00
Adam M Rivera
292f9699fa
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
Andrew Tridgell
3177f57d48
build: cope with Arduino 1.0 in command line build
...
this should autodetect 1.0 versus older builds
2012-04-27 15:38:42 +10:00
Adam M Rivera
21886104a6
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
Adam M Rivera
b1f19dbb01
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
Andrew Tridgell
532ac607b2
sitl: support MAVLink 1.0 builds
2012-04-24 22:24:58 +10:00
Andrew Tridgell
fef4134702
MAVLink: removed the cpp part of the library
...
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
2012-04-24 22:24:58 +10:00
Andrew Tridgell
9bf8d60dae
MAVLink: one more define for MAVLink 1.0 compat
2012-04-24 19:54:20 +10:00
Andrew Tridgell
fd9d2f856e
MAVLink: re-add the XML message definitions
...
these are a very useful reference for the current headers in the code
2012-04-24 10:57:43 +10:00
Andrew Tridgell
a54cd57568
MAVLink: imported new mavlink header updates
...
this fixes the camera control code which was broken by a previous
import
2012-04-24 10:57:43 +10:00
Andrew Tridgell
bff8fc8947
APM_RC: added OutputCh_current() method
...
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
2012-04-24 10:57:43 +10:00
Andrew Tridgell
6d837891b0
DCM: buffer omega_I changes over 10 seconds
...
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
Andrew Tridgell
398a608b83
DCM: drop the 'drop z' method
...
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
rmackay9
c62ce95768
AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228
2012-04-21 23:07:57 +09:00
rmackay9
346ca5c865
DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus.
...
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
2012-04-21 20:14:45 +09:00
rmackay9
577f18a09c
AP_OpticalFlow - updated test sketch to allow testing of APM2 version
2012-04-21 20:11:18 +09:00
rmackay9
e9fd7c955d
AP_OpticalFlow - added support for optical flow for APM2
2012-04-21 20:10:35 +09:00
rmackay9
026cd4e64f
AP_OpticalFlow - moved most pin definitions into .cpp file
2012-04-21 20:09:15 +09:00
James Goppert
750c30afc1
MAVLink update to 1.0.7
2012-04-20 12:31:50 -04:00
Andrew Tridgell
4652b30adf
GPS: u-center config file for 3DR Ublox
2012-04-20 22:05:30 +10:00
Andrew Tridgell
0b194259be
GPS: fixed auto GPS test
2012-04-20 22:05:30 +10:00
Andrew Tridgell
3141cfe059
GPS: detect new style 3DR UBlox
2012-04-20 22:05:30 +10:00
Andrew Tridgell
64d5f4c26a
GPS: fixed the UBlox test code
2012-04-20 20:57:08 +10:00
James Goppert
b5ca40e8c5
Updated MAVLink to 1.0.6 release.
2012-04-19 15:46:29 -04:00
Adam M Rivera
2c8cd0b07b
AP_AHRS_HIL.h: Fixed HIL build by adding missing public property.
2012-04-16 10:26:14 -05:00
Andrew Tridgell
a9de75156b
AHRS: added AHRS_YAW_P parameter
...
this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
analoguedevices
ce5d71c08c
added missing #include
2012-04-09 14:32:54 +00:00
rmackay9
4dac4c4c11
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
rmackay9
cc191b86c0
AP_Compass - changed parameter initialisation order to remove compiler warning
2012-04-09 17:37:02 +09:00
Andrew Tridgell
7921d33c40
MAVLink: imported new mavlink headers
...
this adds local and remote radio noise levels
2012-04-08 12:22:17 +10:00
rmackay9
1b4ac37e66
AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames.
2012-04-07 12:16:12 +09:00
rmackay9
e63e858b64
AP_MotorsOcta - V Frame - test order fix spotted by David Wiens
2012-04-07 08:11:28 +09:00
rmackay9
d0cbd577cd
AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method.
2012-04-05 00:28:04 +09:00
rmackay9
c27b83c8a8
AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used
2012-04-05 00:24:56 +09:00
rmackay9
e9f0103063
AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino.
2012-04-05 00:06:33 +09:00
rmackay9
40e5a15452
AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function.
...
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
2012-04-04 23:59:51 +09:00
rmackay9
71ad185238
ArduCopter - AP_Motors library - added new library which has few advantages over current code:
...
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)
Later check-ins will incorporate into the main ArduCopter code.
2012-04-02 17:26:37 +09:00
Andrew Tridgell
5ce5f3d176
MAVLink: import change to txbuf as a percentage
2012-04-02 11:18:53 +10:00
Andrew Tridgell
8a215c8b55
MAVLink: imported new headers, with RADIO packet
2012-04-01 21:44:44 +10:00
Andrew Tridgell
08b66e18b7
FastSerial: added set_blocking_writes() interface
...
this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
2012-03-30 17:46:20 +11:00
Andrew Tridgell
c2ff66c9cd
examples: fixed build of some examples with new AP_Declination code
2012-03-30 14:25:27 +11:00
Andrew Tridgell
825340d53d
Compass: added COMPASS_AUTODEC option
...
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library
when it is 0 we will use the value configured by the user
2012-03-30 14:25:27 +11:00
Andrew Tridgell
e4e052ff91
AP_Declination: save some more memory by putting the declination keys in progmem
...
there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
2012-03-30 14:25:27 +11:00
Andrew Tridgell
edb627a5c1
AP_Declination: added timing information to declination test
2012-03-30 14:25:27 +11:00
Andrew Tridgell
01c4cde14f
AP_Declination: fixed build under SITL
2012-03-30 14:25:27 +11:00
Adam M Rivera
9c414e9573
AP_Declination_test: Updated test with better print messages.
2012-03-30 14:25:26 +11:00
Adam M Rivera
cff189e911
AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation.
2012-03-30 14:25:26 +11:00
Adam M Rivera
380b9ece44
AP_Declination: Updated comments to reflect new LUT size.
2012-03-30 14:25:06 +11:00
Adam M Rivera
c04e074c89
AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes.
2012-03-30 14:21:58 +11:00
Adam M Rivera
662f11f801
AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT.
2012-03-30 14:21:58 +11:00
Adam M Rivera
0178906389
AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP.
2012-03-30 14:21:58 +11:00
Adam M Rivera
08259bb2de
AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail.
2012-03-30 14:21:58 +11:00
Adam M Rivera
64c236800c
AP_Declination: Moved check for y index of zero to after the y index is properly transformed.
2012-03-30 14:21:58 +11:00
Adam M Rivera
e99d26cfa3
AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting.
2012-03-30 14:21:58 +11:00
Adam M Rivera
d9c9e0e608
AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change.
2012-03-30 14:21:58 +11:00
Adam M Rivera
8b1c383f97
AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly.
2012-03-30 14:21:57 +11:00
Adam M Rivera
c0813f8d62
AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular.
2012-03-30 14:21:57 +11:00
Adam M Rivera
289d7a2784
AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps.
2012-03-30 14:21:57 +11:00
Adam M Rivera
63ce400f77
AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array.
2012-03-30 14:21:57 +11:00
Adam M Rivera
782c1aaaa3
AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before.
2012-03-30 14:21:57 +11:00
Adam M Rivera
9888a4730f
AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype.
2012-03-30 14:21:57 +11:00
Adam M Rivera
d883bdf75e
AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range.
2012-03-30 14:21:57 +11:00
Adam M Rivera
719636d00c
AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t.
2012-03-30 14:21:57 +11:00
Andrew Tridgell
071f89df2e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
...
when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
Andrew Tridgell
20941c15c3
Compass: fixed a comment
2012-03-29 12:39:53 +11:00
Andrew Tridgell
79deeef0a0
Compass: added some more comments
...
explain the algorithm a bit more
2012-03-29 12:39:53 +11:00
rmackay9
fd5e1c2f7b
Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use
2012-03-28 22:02:52 +09:00
rmackay9
99cdc69110
AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up
2012-03-28 22:00:57 +09:00
Andrew Tridgell
972bdcfa39
SITL: add magnetic field noise to the simulated compass
2012-03-28 20:55:27 +11:00
Andrew Tridgell
dc127fe749
SITL: ensure we don't run the sitl timer twice
...
this caused problems with random()
2012-03-28 20:55:27 +11:00
Andrew Tridgell
2a011578f9
Compass: implement noise resistant varient of offset learning
...
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
2012-03-28 20:55:27 +11:00
Andrew Tridgell
16f094a1c5
ADC: minor fix to the ADC Ch6() code
...
we don't need to add count any more, as floating point maths doesn't
need to round up
2012-03-27 15:37:24 +11:00
Andrew Tridgell
a3d3dd86cf
Compass: implement Bills new offset nulling algorithm
...
this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
2012-03-27 15:37:24 +11:00
rmackay9
cf1a6f8ab8
APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway
2012-03-25 21:13:31 +09:00
rmackay9
2324be7e68
Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one)
2012-03-25 16:15:25 +09:00
rmackay9
bdda74fd28
Filter - remove obsolete warning from comments re alloc/malloc dangers
2012-03-25 16:14:07 +09:00
rmackay9
dc58c8a905
AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t)
2012-03-24 23:21:11 +09:00
rmackay9
766abb8e6c
AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway)
2012-03-24 14:47:21 +09:00
Andrew Tridgell
477b31fb0d
Math: added mul_transpose() operation
...
this is equivalent to multiplying by m.transposed(), but is more
efficient
2012-03-23 16:48:52 +11:00
Andrew Tridgell
1b3a7d47bd
AHRS: fixed build of AHRS example
2012-03-22 23:00:45 +11:00
Andrew Tridgell
fb9790e1f4
Math: moved matrix multiple operations to .cpp file
...
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space
We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
2012-03-21 10:43:48 +11:00
Andrew Tridgell
ece2aac4b9
Math: fixed the build of the eulers test in SITL
2012-03-21 10:41:55 +11:00
Andrew Tridgell
e93b31c76b
SITL: improve the simulated compass
...
this implements a much more accurate model of a compass using matrix
rotations, instead of trying to calculate components directly
2012-03-21 10:41:55 +11:00
rmackay9
f8ad719825
AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods
2012-03-20 11:51:15 +09:00
Andrew Tridgell
aeb010b6e9
AHRS: added AHRS specific MAVLink headers
2012-03-19 17:35:20 +11:00
Andrew Tridgell
07b6f55122
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00
Andrew Tridgell
f1898c3335
DCM: use the new rotate() method from AP_Math
...
this allows us to use a tested and optimised rotation method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
9a40b4b1de
Math: added a test for the rotate() method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
7d155c77b1
Math: added rotate() method to Matrix3f
...
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
2012-03-19 17:29:02 +11:00
Andrew Tridgell
a41281ab7f
Math: added zero() and identity() methods to Matrix3f
2012-03-19 17:29:02 +11:00
Andrew Tridgell
fbe8592d3c
Quaternion: change signs in AP_AHRS_Quaternion
...
thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
Andrew Tridgell
df79703ed1
Math: change signs in quaternion library
...
thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
Andrew Tridgell
c87b945fd2
Math: allow eulers test to build with AP_Declination library
2012-03-19 17:29:02 +11:00
Andrew Tridgell
39067299a5
Math: fixed build of eulers test on SITL
2012-03-19 17:29:02 +11:00
Andrew Tridgell
b6040878b4
Math: added a function to combine standard rotations
...
this will allow us to have an overall board rotation plus a per-sensor
rotation
2012-03-19 17:29:02 +11:00
Andrew Tridgell
784f08728b
AP_Mount: adapt library for AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
3b43d3f9b9
AHRS: fixup the AHRS test suite for the new framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
fe63e79416
AHRS: adapt the quaternion library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
2d12bdb412
AHRS: adapt the DCM_HIL library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
bf96d05605
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
e976c70e19
AHRS: rename DCM and Quaternion implementions ready for AHRS class
...
this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00
Andrew Tridgell
1170893aaa
MAVLink: rename DCM message to AHRS
2012-03-19 17:29:01 +11:00
rmackay9
f3eb15167c
AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy)
...
- also removed unused _offset_press variable
2012-03-18 15:18:05 +09:00
rmackay9
ed0d1da4f5
AP_Baro - added average filter for temperature to replace broken filter
...
- added average filter (for last two values) for raw pressure
- changed some "long" to int32_t and "unsigned long" to uint32_t
2012-03-18 01:06:02 +09:00
Michael Oborne
42960efe80
sitl cygwin mods
2012-03-15 08:16:50 +08:00
Andrew Tridgell
adcc20e4d3
Quaternion: credit Justin with the initial idea of using Madgwick
...
thanks Justin!
2012-03-13 13:27:45 +11:00
Andrew Tridgell
9a6adb9990
DCM: adjust yaw kp constant down to 0.4
...
this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
2012-03-12 17:49:26 +11:00
Andrew Tridgell
aa408655f8
Compass: fixed the order of rotations in the compass driver
...
this should fix the massive heading issues that people have been
reporting. Please test!
2012-03-12 17:33:15 +11:00
Andrew Tridgell
0e6037322a
AP_Declination: fixed build of test sketch
2012-03-12 17:33:15 +11:00
Amilcar Lucas
a203282779
correct small typos in comments
2012-03-11 21:30:09 +01:00
Andrew Tridgell
42a29169f0
SITL: added pgm_read_byte_far()
2012-03-11 20:59:47 +11:00
Andrew Tridgell
b4d69ef473
AP_Declination: fixed usage of headers
2012-03-11 20:59:47 +11:00
Adam M Rivera
ad3a20b6a3
AP_Declination: Updated comment.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
c390db5d92
AP_Declination: Added method set_initial_location
...
This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
94d1c48544
AP_Declination: Increased range of supported latitude coordinates.
...
Fixed incorrect type usage to save stack space.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
1709403b87
Added AP_Declination test sketch. I will be improving the test sketch soon.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
3f28184cb0
Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup.
...
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Andrew Tridgell
d4aa0a4879
Compass: removed an incorrect comment
2012-03-11 20:07:38 +11:00
Andrew Tridgell
a20f57c59e
Compass: don't save the orientation to EEPROM
...
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
2012-03-11 15:37:07 +11:00
Andrew Tridgell
cc1961b1e8
Math: any euler angle with pitch > 90 is invalid
...
both DCM and quaternion always return pitch in the range -90 to 90
2012-03-11 15:37:07 +11:00
Andrew Tridgell
36e92bf4ba
Quaternion: update for new Quaternion interface
2012-03-11 15:37:07 +11:00
Andrew Tridgell
eea63ecd6e
DCM: update for new Matrix3f interface
2012-03-11 15:37:07 +11:00
Andrew Tridgell
01535a7a21
AP_Math: update the test suite
2012-03-11 15:37:07 +11:00
Andrew Tridgell
6d08e38d5d
AP_Math: made rotation matrices more C++
...
thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
Andrew Tridgell
92ada85f49
AP_Math: allow null pointers in Quaternion::to_euler()
...
this matches the Matrix3f method
2012-03-11 15:37:07 +11:00
Andrew Tridgell
18fcb14335
Quaternion: use the new quaternion API
2012-03-11 15:37:07 +11:00
Andrew Tridgell
a9b8c4dd82
AP_Math: re-work quaternion functions to be more C++ like
...
thanks to Adam for the suggestion!
2012-03-11 15:37:07 +11:00
Andrew Tridgell
ea0fb311af
I2C: fixed cr/lf mess
2012-03-11 15:37:07 +11:00
Andrew Tridgell
5203df2cf8
OpticalFlow: adapt optical flow library to new rotation system
2012-03-11 15:37:07 +11:00
Andrew Tridgell
7aa6ba2c86
OpticalFlow: fixed line endings
...
this library was a mixture of dos and unix line endings, which makes
for very messy editing
2012-03-11 15:37:07 +11:00
Andrew Tridgell
3c145ab61c
Compass: update the compass driver to use the new vector.rotate() method
2012-03-11 15:37:07 +11:00
Andrew Tridgell
24a9fe8827
Math: added a test suite for the new rotation methods
2012-03-11 15:37:07 +11:00
Andrew Tridgell
85c3c1d2ea
Math: added vector3.rotate() and matrix3.rotation() methods
...
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
2012-03-11 15:37:07 +11:00
Andrew Tridgell
a30b03cd0a
SITL: lower the noise and drift levels for general autotest usage
2012-03-10 10:34:34 +11:00
Andrew Tridgell
07e8360970
InertialSensor: fixed HIL build
2012-03-10 10:34:34 +11:00
Andrew Tridgell
6d06d9d070
MAVLink: bring the v1.0 MAVLink in sync with 0.9
2012-03-10 10:34:34 +11:00
Andrew Tridgell
fed5426274
DCM: after some experimentation, raise the ki values a bit
...
this tracks the max gyro drift more accurately
2012-03-10 10:34:34 +11:00
Andrew Tridgell
89b4a9f4ed
Quaternion: use gyro drift value from sensor driver
2012-03-10 10:34:34 +11:00
Andrew Tridgell
fd74414884
Quaternion: go back to the full update_MARG()
...
the separate drift controller is too erratic on yaw hold to be usable
at the moment
2012-03-10 10:34:34 +11:00
Andrew Tridgell
1002bbcbfe
SITL: cleanup the gyro drift calculations
...
use units that are more easily understood
2012-03-10 10:34:34 +11:00
Andrew Tridgell
ad21913605
Quaternion: make the quaternion test more generic
...
works with DCM too
2012-03-10 10:34:33 +11:00
Andrew Tridgell
a889135e78
Quaternion: update to get_gyro_drift() interface
2012-03-10 10:34:33 +11:00
Andrew Tridgell
e0cc9c93a1
Quaternion: removed some unused variables
2012-03-10 10:34:33 +11:00
Andrew Tridgell
b67b0afd10
DCM: separate out the omega_yaw_P from omega_P
...
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
2012-03-10 10:34:33 +11:00
Andrew Tridgell
f4b1dae7cf
IMU: added get_gyro_drift_rate() interface
...
this just calls down to the InertialSensor layer
2012-03-10 10:34:33 +11:00
Andrew Tridgell
f46fba54dc
AP_InertialSensor: added a get_gyro_drift_rate() interface
...
this returns the expected max drift rate for the particular type of
gyro being used
2012-03-10 10:34:33 +11:00
Andrew Tridgell
9e07fa3af6
DCM: removed the limit on linear acceleration
...
we get linear accelerations of more than 1g when turning corners
2012-03-10 10:34:33 +11:00
Andrew Tridgell
ab1aec0f77
Quaternion: minor tuning
2012-03-10 10:34:33 +11:00
Andrew Tridgell
e470bf2354
DCM: minor tuning based on testing my quad
2012-03-10 10:34:33 +11:00
Andrew Tridgell
97faa47ba6
SITL: make the yaw match the APM conventions
2012-03-10 10:34:33 +11:00
Andrew Tridgell
d1713bd2fb
SITL: fixed the pwm output on startup
2012-03-10 10:34:33 +11:00
Andrew Tridgell
8b37790bd1
Quaternion: code cleanups and added comments
2012-03-10 10:34:32 +11:00
Andrew Tridgell
f5e5ccff6a
DCM: code cleanup and added more comments
2012-03-10 10:34:32 +11:00
Andrew Tridgell
e2b2c9181e
Quaternion: bumb up gyro drift limit to match DCM
2012-03-10 10:34:32 +11:00
Andrew Tridgell
2b6fae6e16
ADC: removed the ADC level accel smoothing
...
the quaternion code does a better job of handling this noise than this
filter does
2012-03-10 10:34:32 +11:00
Andrew Tridgell
8ad6b5f4d1
Quaternion: separate out drift correction from main updates
2012-03-10 10:34:32 +11:00
Andrew Tridgell
ff4f7ccc65
InertionSensor: update for new Ch6() interface
2012-03-10 10:34:32 +11:00
Andrew Tridgell
d1976449fd
IMU: fixed a warning
2012-03-10 10:34:32 +11:00
Andrew Tridgell
e9f35bfa7f
GPS: expose last_fix_time
2012-03-10 10:34:32 +11:00
Andrew Tridgell
17daa2f31c
Compass: change last_update to be in microseconds
2012-03-10 10:34:32 +11:00
Andrew Tridgell
404a4e4896
ADC: use floats for ADC averaging
...
this costs almost nothing and improved accel/gyro calibration
2012-03-10 10:34:32 +11:00
Andrew Tridgell
4c6afa36cb
DCM: removed update_DCM_fast
...
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
2c279639a3
AP_IMU: fixed led flashing in gyro cal
...
thanks Pat!
2012-03-10 10:34:31 +11:00
Andrew Tridgell
b39323bf1b
AP_Math: expanded the math test suite
2012-03-10 10:34:31 +11:00
Andrew Tridgell
a8fd31a5e1
AP_Math: added quaternion->matrix and earth frame routines
...
this will be used for 3d acceleration
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d3dc5bd751
AP_Math: better way of handling safe_sqrt()
...
better to test the result, than predict it
2012-03-10 10:34:31 +11:00
Andrew Tridgell
b273df0725
SITL: avoid parent pid code on cygwin
...
this causes problems on windows
2012-03-10 10:34:31 +11:00
Andrew Tridgell
e1ff9a641b
SITL: prevent nested timer interrupts
2012-03-10 10:34:31 +11:00
Andrew Tridgell
d11aab610d
Quat: test patch for michael
2012-03-10 10:34:31 +11:00
Andrew Tridgell
a954f68f27
Quaternion: added NaN paranoid checking
...
this is for Michael to run
2012-03-10 10:34:30 +11:00
Andrew Tridgell
d24b055b66
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
Andrew Tridgell
1f5095e722
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +11:00
Andrew Tridgell
89a10c584d
Quaternion: added more numerical safety in the quaternion code
...
prevent infinities from creeping in and prevent large drift changes
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f2e6714598
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f71311fdc0
Quaternion: fix the gyro bias in centripetal and remove smoothing
...
the centripetal code needs to take account of the current gyro
bias.
It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
2012-03-10 10:34:30 +11:00
Andrew Tridgell
76736792f8
SITL: disable interrupts during register updates
...
this may prevent bogus mode channel reads
2012-03-10 10:34:30 +11:00
Andrew Tridgell
e445a455d0
Quaternion: use GPS to correct for linear acceleration
...
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ea1b500a6
Quaternion: don't update if we have a very long deltat
...
this can be caused by stopping the system in a debugger
2012-03-10 10:34:30 +11:00
Andrew Tridgell
8b73166605
Compass: fixed last_update time for HIL compass
2012-03-10 10:34:30 +11:00
Andrew Tridgell
2969e16f7d
RC: disable interrupts when reading the RC registers
...
this prevents getting bogus values which could cause a flight mode
change
2012-03-10 10:34:30 +11:00
Andrew Tridgell
efe2686b33
GPS: added an acceleration estimate to the GPS driver
...
This uses the GPS ground speed to estimate acceleration
2012-03-10 10:34:30 +11:00
Andrew Tridgell
02ae5358d5
GPS: fixed some stdint types
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2f5a4cdc4a
Quaternion: added in reporting of gyro drift and rp/yaw errors
2012-03-10 10:34:29 +11:00
Andrew Tridgell
934a05bbc6
fixed comment
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a60cf111c5
DCM: fixed an uninitialised variable warning
2012-03-10 10:34:29 +11:00
Andrew Tridgell
7d9c4094a2
Quaternion: tweak the quaternion gains a bit
2012-03-10 10:34:29 +11:00
Andrew Tridgell
e33bb217bc
AP_IMU: improved the gyro calibration code
...
this should give a much more accurate result
2012-03-10 10:34:29 +11:00
Andrew Tridgell
de1cfc8e34
Quaternion: drop the gyro drift rates down
...
this should allow us to cope with noise more readily
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2d6680f144
DCM: fixed bug in accel averaging
...
sorry Randy!
2012-03-10 10:34:29 +11:00
Andrew Tridgell
73594199c8
AP_Quaternion: fixed build on Arduino 1.0
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a85ba80246
AP_Quaternion: added DCM compatibility interfaces
...
useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell
626f8598ed
AP_IMU: added new_data_available() interface
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a052aa8435
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61d649e7ac
AP_ADC: added new_data_available() interface
...
returns true if more samples are available
2012-03-10 10:34:28 +11:00
Andrew Tridgell
4a277f9871
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
353f9e613f
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fb23c617fa
Quaternion: added an AP_Quaternion library
...
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a05eeab55e
SITL: reduce the simulated compass offsets
...
this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell
d03b11092b
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
Andrew Tridgell
71d3847bfc
SITL: added a drift_level multiplier
...
this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61ebcfe9fe
DCM: fixed the averaging of accel values for update_DCM_fast()
...
this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
Andrew Tridgell
de32c3bc31
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0e2e69431
SITL: fixed delay() to account for signal interrupions
...
when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell
37ab76c9e6
DCM_Test: fixed example code to work with SITL
...
this also fixes the compass setup
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d2a969ee95
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
79b8ddc236
DCM: added a small amount of accel smoothing to update_DCM_fast()
2012-03-10 10:34:27 +11:00
Andrew Tridgell
55413bfcc1
DCM: don't use the z accel sensor for drift correction
...
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
2012-03-10 10:34:27 +11:00
Andrew Tridgell
a78b00513b
DCM: added a small amount of gyro and accel smoothing
...
possibly not needed, but convenient to be able to test with different
values
2012-03-10 10:34:27 +11:00
Andrew Tridgell
82032b17a9
DCM: added reporting interfaces for DCM state
2012-03-10 10:34:27 +11:00
Andrew Tridgell
ae6a94a933
SITL: added sitl_simstate_send()
...
used to report simulator state in logs
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d106e3a970
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
4e354a9731
DCM: got rid of _error_roll_pitch from object state
...
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
2012-03-10 10:34:27 +11:00
Jason Short
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
Jason Short
34cf1e8fb3
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
2012-03-06 20:55:35 -08:00
rmackay9
6c1299fe7e
AP_RC - removed unused library
2012-03-04 18:21:52 +09:00
Andrew Tridgell
dd9065123c
SITL: use the new noise model
...
use the new noise model at a low level for master until we sort out
DCM noise handling
2012-03-02 18:31:07 +11:00
Andrew Tridgell
63ea5dfb49
APM_RC: allow the fast RC speed to be passed as a parameter
...
this will allow users to test different speeds
2012-03-02 17:57:08 +11:00
Andrew Tridgell
f1a389fe19
AP_Param: ensure we can't have duplicate keys in Parameters.h
...
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
2012-03-02 15:48:28 +11:00
Andrew Tridgell
1476f044e6
I2C: added lockup_count() interface
...
used for reporting I2C problems
2012-03-02 15:48:27 +11:00
Andrew Tridgell
c9031f1d36
SITL: implement cli()/sei() properly for desktop build
...
this disables simulated hardware interrupts during critical sections
2012-03-02 15:48:27 +11:00
Jason Short
59e1d43f60
Updated fastPWM to 490Hz
2012-02-29 22:17:38 -08:00
Pat Hickey
8fa559930f
AP_Param: nested group recursion into next_group disableable by macro
...
* c.f. 0251932c81fe7eb, e5515bb6ef82
2012-02-29 19:48:43 -08:00
Pat Hickey
8b3d013294
AP_Param: One more nexted group recursion disableable by macro
...
* c.f. e5515bb6ef82
2012-02-29 18:48:54 -08:00
rmackay9
9832ac879e
AP_Compass - fixed compile warning
2012-02-29 22:57:35 +09:00
rmackay9
0311b70004
AP_Baro - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:46:29 +09:00
rmackay9
64f9f1d92e
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:49 +09:00
rmackay9
7c1d1b45a7
AP_DCM - fixed small compiler warning to do with order of parameters in constructor
2012-02-29 22:45:26 +09:00
rmackay9
3cbd172ea9
RC_Channel - fixed small compiler warning
2012-02-29 22:44:29 +09:00
rmackay9
ced49f7d01
AP_ADC - removed small compiler warning
2012-02-29 22:43:46 +09:00
Pat Hickey
42078f2794
AP_Param: Make nested group recursion disableable by macro
...
* Eliminates recursive calls inside AP_Param.
This is important to Pat @ Galois, but not the project in general.
Recursion depth on these functions is bounded structurally using
existing nested group constructors (can't create loops in finite space)
and checked at init time
2012-02-28 16:28:27 -08:00
rmackay9
400a4b0bdb
AP_RangeFinder - changed example sketch to work with new Filter library
2012-02-28 21:02:10 +09:00
rmackay9
5b89c65d9c
Filter - updated example sketch to use modified library
2012-02-28 21:01:35 +09:00
rmackay9
d17a015df1
Filter - added AverageFilter, removed SumFilter
...
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
2012-02-28 21:01:11 +09:00
Andrew Tridgell
078268528e
AP_Param: show numerical value in eeprom dump utility
2012-02-28 09:43:49 +11:00
Andrew Tridgell
701da6c30f
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
...
this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
2012-02-28 09:43:49 +11:00
Andrew Tridgell
34f1ebcfb4
SITL: simulate noise on each ADC channel separately
...
scale the noise based on the period of the motors
2012-02-28 09:43:49 +11:00
Andrew Tridgell
4cdc0a8c11
SITL: raise the ADC noise level to 8 bits when flying
...
this is about the level of noise of a aircraft that has a lot of
vibration
2012-02-28 09:43:49 +11:00
Andrew Tridgell
b32701e008
IMU: removed unused accel_filtered code
2012-02-28 09:43:49 +11:00
Andrew Tridgell
ac44b73951
AP_Param: fixed setting of CAM_P_G in ArduCopter
...
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
2012-02-27 10:54:33 +11:00
Andrew Tridgell
7fe4a41c31
AP_Param: make the templating code a bit clearer
...
add comments on the arguments, and name them in a clearer way
2012-02-27 10:54:33 +11:00
Andrew Tridgell
5bf138fb38
DCM: fixed the sense of the compass GPS test in initial yaw
...
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
2012-02-26 22:24:45 +11:00
rmackay9
747e045193
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
2012-02-26 17:57:28 +09:00
rmackay9
e01477a7a8
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
2012-02-26 17:34:36 +09:00
rmackay9
b345529241
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
...
increased maximum sample buffer size from 6 to 10
2012-02-26 17:17:46 +09:00
rmackay9
3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
rmackay9
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
rmackay9
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
rmackay9
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
Andrew Tridgell
bd2776aedd
Compass: use constructor to set initial values for _learn and _use_for_yaw
...
this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
Andrew Tridgell
56bb74ef36
DCM: disable compass null offsets when setting initial yaw
...
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
Andrew Tridgell
f50f4357ca
Compass: catch the case of a user enabling a compass mid-flight
...
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
Andrew Tridgell
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
Andrew Tridgell
c3319afadd
Compass: added COMPASS_LEARN and COMPASS_USE parameters
...
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
Andrew Tridgell
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
Andrew Tridgell
3cf0eebac8
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
...
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
Andrew Tridgell
007a6b8958
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1d95137b71
SITL: added -C option to desktop mode
...
this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
Andrew Tridgell
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
Andrew Tridgell
c63ca9c697
DCM: tidy up use of error_course and in_motion
...
in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
Andrew Tridgell
d5b619218c
DCM: use rotation_matrix_from_euler() to calculate initial yaw
...
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
Andrew Tridgell
48cad8bc25
DCM: use rotation_matrix_from_euler() in matrix reset
...
this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
Andrew Tridgell
5009679617
DCM: use calculate_euler_angles() to get eulers from DCM
...
this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
Andrew Tridgell
df6013616e
AP_Math: added rotmat <-> euler functions
...
these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
Andrew Tridgell
50f85835bd
Compass: ensure we don't produce NAN values for compass heading
...
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
Andrew Tridgell
8190204287
AP_Math: added safe_sqrt() function
...
this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
Andrew Tridgell
0acea11152
DCM: tidy up the nan checking in DCM
...
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
Andrew Tridgell
b4c8d6491a
DCM: added matrix recovery on reset
...
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
Andrew Tridgell
1a32ececb4
AP_Math: added a safe_asin() function
...
this adds range checking to asin()
2012-02-24 11:52:55 +11:00
Andrew Tridgell
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
Jason Short
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
Andrew Tridgell
8707965c15
DCM: changed the sense of floating point range comparison
...
This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
Andrew Tridgell
9caa4aeb44
DCM: range check the matrix before calculating pitch
...
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
2012-02-23 08:16:08 +11:00
Andrew Tridgell
13693e1a04
DCM: reset more values on renorm blowup
...
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
2012-02-23 08:16:08 +11:00
Andrew Tridgell
5cfe1ad5dc
DCM: remove the taylor expansion optimisation for renormalisation
...
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
2012-02-23 08:16:08 +11:00
Andrew Tridgell
f30c721886
AP_Param: added ParamToken type for variable list traversal
2012-02-19 17:05:28 +11:00
Jason Short
669e8e34ea
added a limit to range output
2012-02-18 21:08:17 -08:00
Randy Mackay
0b369cf78b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
...
also removed reference to DCM (no longer required) and removed some old code.
2012-02-18 18:09:40 +09:00
Andrew Tridgell
2472f0a2f3
SITL: increase the amount of noise in the simulated ADC
...
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
2012-02-18 19:27:15 +11:00
Andrew Tridgell
9602b1f91b
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
2012-02-18 19:27:15 +11:00
Andrew Tridgell
371a91cfcf
IMU: move _sensor_cal to general IMU class
...
this makes it available both in shim and INS subclasses
2012-02-18 10:51:57 +11:00
Andrew Tridgell
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
Andrew Tridgell
70a135c47c
AP_Param: fixed copy-assignment operators for AP_Param vectors
2012-02-18 10:51:57 +11:00
Andrew Tridgell
e656928c01
AP_Param: added a set_and_save_ifchanged() method
...
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
2012-02-18 10:51:57 +11:00
Andrew Tridgell
6f080742b8
AP_Param: added an initialised() method
...
this will be used by the compass code
2012-02-18 10:51:57 +11:00
justinbeech
5255512bf9
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
...
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
Jason Short
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
Andrew Tridgell
3fbb5a2d6c
ADC: on channel overflow we should not zero last_ch6_micros
...
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
Jason Short
8e88d9e19e
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
Michael Oborne
b020a87c13
eedump ap param in perl
2012-02-15 21:31:58 +08:00
Andrew Tridgell
bc89b53bdc
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
Andrew Tridgell
63d768143d
Compass: enable compass offsets for HIL compass
...
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
Andrew Tridgell
7d21692301
fixed dump size
2012-02-15 10:44:09 +11:00
Andrew Tridgell
d2cc6740f0
show group_element too
2012-02-15 10:42:21 +11:00
Andrew Tridgell
aaba4db144
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
Andrew Tridgell
812b7ae5ae
SITL: catch floating point errors
...
if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c39914e734
DCM: added a SITL_debug() for DCM normalisation errors
...
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7355f5613c
added SITL_debug() macro
...
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
Andrew Tridgell
273a974814
SITL: add some magnetometer offsets
...
this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
Andrew Tridgell
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Andrew Tridgell
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
Andrew Tridgell
6c20ff9492
AP_Param: allow dumping of AP_Vector3f
...
this means the 'show' command in the CLI shows the compass offsets now
2012-02-14 08:34:50 +11:00
Andrew Tridgell
4ec3857476
GPS: change back to 4Hz for MTK GPS
...
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
2012-02-13 22:50:20 +11:00
Andrew Tridgell
e70e1814ac
AP_Baro: fixed some signed/unsigned warnings
...
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
Andrew Tridgell
550b0be231
move AP_Var code and example into libraries/AP_Var
...
you can use AP_Var by defining USE_AP_VAR
2012-02-13 16:22:53 +11:00
Andrew Tridgell
e7e7450f90
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c497ad9b7e
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
Andrew Tridgell
845d056c18
fixed PID initialisation
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c6b6898266
RC_Channel_aux: catch invalid function settings
...
a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
Andrew Tridgell
d41c56214c
fixed types in GPS detect code
...
using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
ee2cb32a44
change back to 256 max variables in _var_info[]
...
this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
2012-02-13 16:22:52 +11:00
Andrew Tridgell
6cf7015859
added indexes to group info structures
2012-02-13 16:22:52 +11:00
Andrew Tridgell
7621b96a52
AP_Param: added group idx, and change packing of header elements
...
adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM
The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
2012-02-13 16:22:52 +11:00
Andrew Tridgell
711cee9dfa
fixed support for AP_PARAM_SPARE
...
spare group elements are needed if we remove a group parameter
2012-02-13 16:22:52 +11:00
Andrew Tridgell
db8a58f994
fixed build on arduino 1.0
2012-02-13 16:22:52 +11:00
Andrew Tridgell
170fdef857
convert APM_PI library to AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
74e0d2ef2a
convert AC_PID library to AP_Param
2012-02-13 16:22:52 +11:00
Andrew Tridgell
4a9cb731d4
fixed missing return in D value
2012-02-13 16:22:52 +11:00
Andrew Tridgell
c4b7a3116a
restore _fCut that was lost in AP_Param development
2012-02-13 16:22:51 +11:00
Andrew Tridgell
df77c462a4
fixed initialisation of RC_Channel class
2012-02-13 16:22:51 +11:00
Andrew Tridgell
244d2055ff
AP_Param: fixed desktop build
2012-02-13 16:22:51 +11:00
Andrew Tridgell
c195be594a
desktop: more progmem string functions
2012-02-13 16:22:51 +11:00
Andrew Tridgell
34bc88eab5
AP_Param: added generic cast_to_float
2012-02-13 16:22:51 +11:00
Andrew Tridgell
a1057fe738
AP_Param: disable debug ready for production
2012-02-13 16:22:51 +11:00
Andrew Tridgell
7ffb9b462d
AP_Param: make ptype in first() and next() optional
2012-02-13 16:22:51 +11:00
Andrew Tridgell
5c3e059eea
adapt Mavlink_compat.h to AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
dff75dba96
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
Andrew Tridgell
b6ee5ca982
added nested group support and validation
2012-02-13 16:22:51 +11:00
Andrew Tridgell
30c76664ce
added size of Vector6f
2012-02-13 16:22:51 +11:00
Andrew Tridgell
fc0f1c52ca
modify RC_Channel for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
013d66527d
modify the PID library for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
78564f6a92
modify the IMU code for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
32d997b95f
modify the compass code for AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
2154288e2b
hacks to get AP_Param to compile
2012-02-13 16:22:50 +11:00
Andrew Tridgell
937f8a4741
new AP_Param subsystem
2012-02-13 16:22:50 +11:00
justinbeech
4b0c71d6ac
Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements.
2012-02-13 00:00:06 +00:00
analoguedevices
a07f37f1b4
Removed outdated comment:
...
" // deadzone moved to
//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
2012-02-11 16:51:02 +00:00
Michael Oborne
651bd6953b
fix uint > int issue - for hil
2012-02-11 11:35:59 +08:00
Pat Hickey
fb76aa9ca9
APM_RC_APM2: Add support for CH_10 and CH_11
...
* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11
* Only the code in enable_out, disable_out, and OutputCh needed to change.
* CH_10 and CH_11 always have an output period of 20ms (50Hz).
2012-02-06 22:11:01 -08:00
Randy Mackay
2f25c1f9f1
AC_PID Library - added example sketch
2012-02-05 17:35:15 +09:00
Randy Mackay
a694e16540
APM_PerfMon - removed because it's too big to use with our limited memory now anyway! I have a backup in case we need to resurrect it in the future.
2012-02-05 11:11:59 +09:00
Jason Short
5185901f79
Added D term to APM_PI - need to refactor this as a parent class and two child classes to save code space, remove dupes
2012-01-28 21:21:43 -08:00
Randy Mackay
b543bbf514
Arduino 1.0 - GPS_IMU - small fix to make it compile. Does anyone use this lib?!
2012-01-28 17:56:56 +09:00
Randy Mackay
8bcc567406
AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again
2012-01-28 17:54:20 +09:00
Randy Mackay
2e1e34fb9c
Arduino 1.0 - small fix to make AP_Baro_MS5611_test.pde compile under Arduino 1.0
2012-01-28 13:21:35 +09:00
Randy Mackay
52f6e56f72
AP_ADC library - tiny fix to make example sketch work after some changes to AP_PeriodicProcess library
2012-01-28 13:12:19 +09:00
Randy Mackay
98f3386ea0
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
Randy Mackay
443a9c0ea7
OpticalFlow - fixed minor compiler warnings and moved chip select to A3 for APM2
2012-01-26 23:35:49 +09:00
Randy Mackay
f27b41179b
Sonar - changed default pin to A0
2012-01-26 22:50:48 +09:00
Randy Mackay
13caa24515
Optical Flow - added overflow check
2012-01-25 21:45:52 +09:00
Pat Hickey
ef60642bb2
APM_RC examples: add calls to enable_out after init
2012-01-24 09:09:08 -08:00
Andrew Tridgell
9bb92ff4ac
fixed example in PID library
2012-01-23 08:47:46 +11:00
Pat Hickey
a13e371d1e
APM_RC: PWM outputs are disabled by default on init
2012-01-22 12:03:11 -08:00
Pat Hickey
47204921e9
APM_RC enable_out and disable_out added to APM1 and APM2
...
* Outputs still enabled by default
2012-01-22 12:03:11 -08:00
Jason Short
0e58efca89
Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration.
2012-01-20 22:52:29 -08:00
Michael Oborne
e71266c258
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
Andrew Tridgell
20aef3a8b8
added a simple DCM library example
2012-01-18 21:25:19 +11:00
Andrew Tridgell
4b8e2e701c
fixed Oilpan test for new library structure
2012-01-18 20:31:58 +11:00
Doug Weibel
e109992c12
Add a CLI setup action to reset the magnetometer offsets
...
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI. Useful if you somehow get bad offsets or if you change magnetometer. If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values. I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
2012-01-15 16:15:08 -07:00
Mike Smith
d79f62ce66
Teach the Makefile about the new Arduino sourcefile suffix
2012-01-15 11:51:38 -08:00
Jason Short
e68f9191c9
updated channel notes
2012-01-15 10:24:15 -08:00
Andrew Tridgell
817e7442bd
baro: fixed an integer overflow issue at high altitudes
...
the averaging array was using 16 bit numbers, but we are storing
numbers with 19 significant bits. That caused overflow at high
altitude, and some very interesting altitude graphs!
Thanks to Michael Oborne for spotting this in a log
2012-01-14 19:51:35 +11:00
Randy Mackay
4e9c668315
OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600
2012-01-14 12:34:29 +09:00
Andrew Tridgell
f4490b62c7
DCM: prevent a segmentation fault when compass is not enabled
...
when compass is disabled _compass is NULL
2012-01-13 15:48:07 +11:00
Doug Weibel
622217357c
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
Andrew Tridgell
a6e87915eb
desktop: floating point precision changes from Justin Beech
2012-01-11 21:31:59 +11:00
Jason Short
f43c29e840
fixed type error
2012-01-10 23:43:44 -08:00
Jason Short
ecaf5ac461
sensorSign swicth
2012-01-10 23:43:44 -08:00
Jason Short
d7d04f67e4
AP Rangefinder had some bad characters in it. Converted and cleaned the text files.
2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
Pat Hickey
d015e0d6d9
APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV
...
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
a separate macro expansion for the MSK value.
2012-01-09 21:57:01 -08:00
Doug Weibel
22d2db53d8
Repair dataflash test
2012-01-08 21:29:19 -07:00
Jason Short
f6e268395f
allows main code to manually set the integrator value
2012-01-04 09:28:36 -08:00
Andrew Tridgell
54b91ce2f4
sitl: added build targets for different ACM frames
2012-01-04 21:45:46 +11:00
Andrew Tridgell
7aa294eca2
AP_Compass: when I2c fails, don't retry for 1s
2012-01-04 16:35:47 +11:00
Andrew Tridgell
a7a00a35ab
AP_Baro: when I2c fails, don't retry for 1s
2012-01-04 16:35:16 +11:00
Andrew Tridgell
65fbeea6d1
DataFlash: cope with older dataflash chips
...
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
2012-01-04 16:16:35 +11:00
Michael Oborne
6a279138e9
add gps character count.
...
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
2011-12-31 13:05:33 +08:00
Michael Oborne
e66e21cf20
remove gps callback in wait loop
2011-12-31 09:35:40 +08:00
Randy Mackay
19ed12444b
GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago.
2011-12-30 22:25:00 +09:00
Jason Short
3878ac01ef
removed newlines to clean up code
2011-12-29 23:02:01 -08:00
Randy Mackay
ff66a3417c
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
...
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
2011-12-30 12:06:31 +09:00
Andrew Tridgell
671d0b82ad
Baro: fixed MS5611 example sketch
2011-12-28 21:49:29 +11:00
Andrew Tridgell
5f0e070f4e
compass: show timing in compass test
2011-12-28 21:44:18 +11:00
Andrew Tridgell
c448e85ed1
Baro: show timing in baro test
2011-12-28 21:43:52 +11:00
Andrew Tridgell
669a129175
DCM: don't use compass unless its healthy
2011-12-28 20:41:54 +11:00
Andrew Tridgell
603b605eb1
I2C: fixed some warnings
2011-12-28 20:41:53 +11:00
Andrew Tridgell
f4e1f3d54d
desktop: exclude I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
9ef1c421bd
MPU6k: don't init the Wire library
...
we don't use Wire any more
2011-12-28 20:41:53 +11:00
Andrew Tridgell
2960abf41f
I2C: convert barometer library to new I2C library
...
this also adds a healthy attribute and error checking
2011-12-28 20:41:53 +11:00
Andrew Tridgell
f93c716126
I2C: convert compass code to new I2C library
...
this also adds a healthy attribute, and error checking on all I2C
calls
2011-12-28 20:41:53 +11:00
Andrew Tridgell
632e74b76d
I2C: imported the I2C library from Wayne Truchsess
...
this gives us a more robust interface, including timeouts
2011-12-28 20:28:31 +11:00
Andrew Tridgell
f8e1d88815
TimerProcess: prevent a race in setting up the timer callbacks
2011-12-28 16:00:49 +11:00
Andrew Tridgell
089470a671
DataFlash: moved high level logging logic to library
...
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.
This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
2011-12-28 16:00:48 +11:00
Andrew Tridgell
42eb62cc46
DataFlash: fixed sense of card detect
2011-12-28 16:00:48 +11:00
Andrew Tridgell
1cb8728a6b
MPU6000: protect the driver from double initialisation
...
initialising twice can lockup the driver
2011-12-28 16:00:48 +11:00
Andrew Tridgell
f2bbfb1296
MPU6000: minor fixes
...
the hardware functions should be private, and cs_pin should be uint8_t
2011-12-28 16:00:48 +11:00
Andrew Tridgell
d35113f8a6
TimerProcess: check for duplicate registrations
...
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
2011-12-28 16:00:48 +11:00
Andrew Tridgell
0a08a0b515
TimerProcess: make some variables uint8_t
...
save a couple of bytes
2011-12-28 16:00:48 +11:00
Mike Smith
ac3f7512cc
Fix issue #423 - FastSerial flush bug.
2011-12-26 15:52:21 -08:00
Andrew Tridgell
9f5718bcfa
added in DataFlash.cpp
...
forgot this ....
2011-12-26 19:34:06 +11:00
Andrew Tridgell
887ff43e1f
desktop: added attachInterrupt() support
2011-12-26 19:17:11 +11:00
Andrew Tridgell
22c8db774f
desktop: fixed for new DataFlash inheritance
2011-12-26 19:17:11 +11:00
Andrew Tridgell
dd26ef3089
dataflash: reworked classes to move most code to parent class
...
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.
This should prevent discrepancies creeping in between APM1 and APM2
support again
2011-12-26 19:17:11 +11:00
Andrew Tridgell
8bf05982ae
dataflash: fixed APM2 flash logging
...
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
2011-12-26 19:17:11 +11:00
Andrew Tridgell
df0d151891
MPU6000: change to 98Hz low pass filter
...
based on recommendation from Pat
2011-12-26 19:17:11 +11:00