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2284 Commits

Author SHA1 Message Date
Robert Lefebvre
abd2a60036 AC_PID: Create Leaky Integrator Function. 2012-11-26 21:01:20 -05:00
Robert Lefebvre
ca23a7ba76 ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Andrew Tridgell
d33d884f69 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Michael Oborne
e1659b62d2 AP remove debug include 2012-11-26 19:02:17 +08:00
Michael Oborne
b2976c1114 AP: fix ap hil. 2012-11-26 18:53:51 +08:00
Andrew Tridgell
d090d7d731 examples: mark some examples as unable to build 
some are not worth fixing. Some can't build on 1280/2560
 2012-11-24 21:09:55 +11:00
Andrew Tridgell
ff916d3982 RC_Channel: fixed example build 2012-11-24 21:09:00 +11:00
Andrew Tridgell
5c48988ed9 Filter: fixed example build 2012-11-24 21:08:48 +11:00
Andrew Tridgell
a3bd61cfb8 DigitalWriteFast: fixed example build 2012-11-24 21:08:36 +11:00
Andrew Tridgell
7761195f64 RangeFinder: fixed example build 2012-11-24 21:08:25 +11:00
Andrew Tridgell
cbef768b69 AP_PID: fixed example build 2012-11-24 21:08:14 +11:00
Andrew Tridgell
18fbcdf9e6 AP_InertialSensor: fixed example build 2012-11-24 21:08:06 +11:00
Andrew Tridgell
cb7979d5fd AP_GPS: fixed examples build 2012-11-24 21:07:53 +11:00
Andrew Tridgell
510d01b1c2 AP_Baro: fixed example build 2012-11-24 21:07:41 +11:00
Andrew Tridgell
a83e22181f AC_PID: fixed example build 2012-11-24 21:07:34 +11:00
rmackay9
21d72bb49b AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G 
Note: Z offsets do tend to be larger than x and y offsets
 2012-11-23 00:34:42 +09:00
Andrew Tridgell
24c0413b7e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell
9317cb6925 APM_RC: fixed APM1 example sketch 2012-11-22 15:42:33 +11:00
Andrew Tridgell
a8edc27849 APM_RC: added a test for ISR masking in APM_RC 2012-11-22 15:42:33 +11:00
rmackay9
8c1088807c DigitalWriteFast: added keywords for syntax colouring in Arduino IDE 2012-11-22 12:25:57 +09:00
Andrew Tridgell
0cec543610 SITL: run the timer_scheduler() when there are no SITL packets 
otherwise we can block in the ADC code
 2012-11-21 22:20:14 +11:00
Andrew Tridgell
b103b94950 Revert "APM_RC: Modified get_last_update() to be more interrupt friendly" 
This reverts commit 50ba0ce4fa41c6d4101dff8da17c267a65750522.

It didn't build, and I want to do a release based on tested code
 2012-11-21 21:48:02 +11:00
Andrew Tridgell
655446feec INS: make it possible to do accel cal on a different serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell
8aa8f81b2f FastSerial: added a vprintf_P() function 
used by CLI on UART2
 2012-11-21 21:41:34 +11:00
Andrew Tridgell
aeb39dabb9 AP_Menu: allow menus to work on ports other than UART0 2012-11-21 21:41:34 +11:00
John Arne Birkeland
3adaffd783 APM_RC: Modified get_last_update() to be more interrupt friendly 2012-11-21 10:34:04 +01:00
Andrew Tridgell
5eeb6638f2 RC_Channel: added aileron_with_input aux function 2012-11-21 13:34:26 +11:00
Andrew Tridgell
a66da57d0a SITL: added in recursion check in timer_handler() 2012-11-21 09:10:10 +11:00
Andrew Tridgell
d6d7e2674f Semaphore: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell
da6f6f3e41 PeriodicProcess: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell
3646b4b846 INS: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell
4673ecfdf2 AP_Baro: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:17 +11:00
Andrew Tridgell
d75d97dcfb AnalogSource: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:09 +11:00
Andrew Tridgell
0c8cef5714 ADC: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:30:03 +11:00
Andrew Tridgell
27e3f0c091 SITL: fixed a interrupt recursion bug 
this can be triggered by the timer scheduler re-enabling interrupts
 2012-11-20 22:29:26 +11:00
Andrew Tridgell
5002be9aa8 AP_Param: fixed Vector3f elements with 16 character names 2012-11-20 22:27:11 +11:00
Andrew Tridgell
46473d7a8f AP_Param: support up to 16 character parameter names 
MAVLink allows for 16 chars, with no null termination if all 16 are
used
 2012-11-20 21:35:22 +11:00
Andrew Tridgell
bbb2bbc721 INS: set the acceptable calibration error equal on all axes 2012-11-20 19:28:49 +11:00
Andrew Tridgell
b9fb683236 INS: show calibration values on failure 
this will help debug bad calibrations
 2012-11-20 19:28:15 +11:00
Andrew Tridgell
e2afc9ea18 INS: get check for send_msg the right way around! 
I broke this in my previous commit
 2012-11-20 19:10:30 +11:00
Andrew Tridgell
4174cfd4a7 INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell
98a806fb90 INS: make calibrate_accel() return a bool 
this will allow APM to auto set MANUAL_LEVEL to 1
 2012-11-20 18:32:27 +11:00
Andrew Tridgell
2a70138ad1 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell
f2744f8ff7 INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9
317b719a62 AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
Andrew Tridgell
41baa09c96 AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P 
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
 2012-11-19 22:50:05 +11:00
Andrew Tridgell
df19bef23c SITL: don't define __AVR_ATmega2560__ on desktop build 
this allows us to properly separate the desktop build in the code
 2012-11-19 09:03:35 +11:00
Andrew Tridgell
1229cb06c0 DigitalWriteFast: added README about license and author 2012-11-19 08:46:47 +11:00
Andrew Tridgell
7800b27b42 AP_OpticalFlow: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell
859401f334 AP_Limits: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell
0534406f6d SITL: added SREG declaration 2012-11-19 08:42:36 +11:00
Andrew Tridgell
7c90931306 DigitalWriteFast: fixed memory cast to work on SITL build 2012-11-19 08:25:53 +11:00
Andrew Tridgell
85b87b752a APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
rmackay9
55e47f5504 DigitalWriteFast: first addition of lib to speed up read and writes of analog pins 2012-11-19 01:07:10 +09:00
rmackay9
85a77554e1 Filter: improved low pass filter allows setting gain using time_step and cutoff freq 2012-11-19 01:06:06 +09:00
rmackay9
2374806bfc APM_RC: allow ppm sum for as few as 5 channels 2012-11-16 11:07:11 +09:00
rmackay9
25d404587c APM_RC: fix _last_update definition to resolve build error 2012-11-16 10:00:56 +09:00
John Arne Birkeland
47d2602019 APM_RC - Interupt safe get_last_update(); 2012-11-15 22:42:28 +01:00
rmackay9
414f9b9759 ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
Andrew Tridgell
e28cbed1e9 AP_AHRS: prevent a large delta_t from affecting DCM solution 
this should fix large changes in attitude directly after arming
ArduCopter
 2012-11-13 15:33:10 +11:00
Andrew Tridgell
a523c319ce SITL: fixed build with new sonar driver 2012-11-13 15:12:38 +11:00
rmackay9
48fcf1ee8b AP_RangeFinder_MaxsonarI2CXL: fix compiler error re undefine I2c 2012-11-12 12:23:46 +09:00
rmackay9
7681e25d99 AP_RangeFinder_MaxsonarI2CXL: resolve shadowed variable compiler warning 2012-11-12 10:41:09 +09:00
Andrew Tridgell
7868d5ed3d AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell
d43f61de3c I2C:: catch some more types of I2C errors for error count 2012-11-12 11:25:07 +11:00
Andrew Tridgell
9b42a97de9 AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
rmackay9
242ab5325f AP_RangeFinder: added support for MaxBotix XL I2C sonar 2012-11-12 00:25:29 +09:00
rmackay9
fb91be06f2 AP_IMU: delete now that all functionality is moved to AP_InertialSensor 2012-11-11 22:44:36 +09:00
Jason Short
efeffc1c4b APM1 Dataflash update 
My data flash would never erase, this fixed it.
 2012-11-09 22:15:16 -08:00
John Arne Birkeland
77c35d0ae4 Optimized APM_RC.InputCh() to prevent global interrupt disable each time a value is read. 2012-11-08 01:03:24 +01:00
rmackay9
caeeca3c3c AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9
4053346022 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9
93010fc79f AC_PID: fixed example sketch's compile errors 2012-11-07 23:34:10 +09:00
rmackay9
34ae673058 AP_Mount: resolve compiler warning about unused mount_open variable 2012-11-07 23:29:25 +09:00
rmackay9
56f374fc7d AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9
3fcc38315f AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9
4ad8c402b0 ThirdOrderCompFilter3D: fix compiler error 2012-11-07 19:47:48 +09:00
rmackay9
c717d333b0 AP_Baro: added get_last_update which returns the time the barometer sensor was last read 2012-11-07 19:21:25 +09:00
rmackay9
e2b1cb7e8d AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9
575382b5f4 APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9
ebf3e609a2 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9
9b4d107e96 ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9
4a6261af64 AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9
8ab0611261 AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9
e835cef181 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
Andrew Tridgell
85054c1541 AP_AnalogSource: allow for the 'NONE' pin in Arduino ADC 
This allows us to have a configuration parameter for a pin which
defaults to -1, meaning not to read a pin at all. It will always
return 0
 2012-11-06 21:45:40 +11:00
Andrew Tridgell
33338e7173 AP_Var: move the MetaClass lib into AP_Var 
AP_Var is the only one that uses it, and it generates warnings in our
build if we leave it in AP_Common
 2012-11-06 21:42:54 +11:00
Andrew Tridgell
c14788240f SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell
2d1b68fb22 AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell
3a1f85a4b0 RC_Channel: added pwm_to_angle_dz() function 
will be used by k_aileron in APM
 2012-11-05 23:37:25 +11:00
Andrew Tridgell
df96832900 AP_Param: fixed a bug with setting nested parameters 
This bug meant that setting a parameter in a parent class for a doubly
nested parameter group, where the parameter index in the parent class
is 4 or greater would actually set the first element in that parent
class.

At the moment only one parameter fits these narrow constraints - the
RCn_DZ element of the RC_Channel_aux class. So if someone set RC5_DZ
to 17 in ArduPlane it would actually set RC5_MIN to 17.
 2012-11-05 22:08:43 +11:00
Andrew Tridgell
c1fbad52c0 RC_Channel: removed set_filter() and scale_output 
these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
 2012-11-05 20:49:42 +11:00
Andrew Tridgell
7a679dc19a AP_AHRS: require at least 6 satellites to use the GPS for velocity 
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
 2012-11-05 20:07:37 +11:00
Andrew Tridgell
1cbd8ba7b3 AP_GPS_UBLOX: ask for nav settings every 20 seconds 
this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
 2012-11-05 14:58:40 +11:00
Andrew Tridgell
2ed3c84a8c AP_GPS: start detection timer on first bytes 
this prevents a uBlox plugged in late from being detected as a NMEA
GPS
 2012-11-05 14:58:40 +11:00
Andrew Tridgell
1fcf6ebca7 AP_GPS: removed shadowed class variable _nav_setting 
this caused a uBlox to incorrectly configure as "portable" instead of
airborne if the detection took more than 2 seconds. That led to
terrible performance.
 2012-11-05 14:58:40 +11:00
Andrew Tridgell
3c025c6113 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell
5d2bfab23c AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
rmackay9
f32c1ce80a AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9
19a2b368e5 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00