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2257 Commits

Author SHA1 Message Date
uncrustify 4aa6f1d7a3 uncrustify libraries/AP_IMU/IMU.h 2012-08-21 19:03:13 -07:00
uncrustify a704f06119 uncrustify libraries/AP_IMU/AP_IMU_INS.cpp 2012-08-21 19:03:13 -07:00
uncrustify af92d8a690 uncrustify libraries/AP_IMU/IMU.cpp 2012-08-21 19:03:13 -07:00
uncrustify c42f1260e0 uncrustify libraries/AP_IMU/examples/IMU_Oilpan_test/IMU_Oilpan_test.pde 2012-08-21 19:03:13 -07:00
uncrustify 0fce87c934 uncrustify libraries/AP_IMU/examples/IMU_MPU6000_test/IMU_MPU6000_test.pde 2012-08-21 19:03:13 -07:00
uncrustify f597b7101a uncrustify libraries/AP_GPS/AP_GPS_HIL.h 2012-08-21 19:03:13 -07:00
uncrustify 175ba76d13 uncrustify libraries/AP_GPS/AP_GPS_MTK16.h 2012-08-21 19:03:02 -07:00
uncrustify c901ad2ebf uncrustify libraries/AP_GPS/AP_GPS_None.h 2012-08-21 19:03:02 -07:00
uncrustify b00ced6fad uncrustify libraries/AP_GPS/AP_GPS_406.h 2012-08-21 19:02:53 -07:00
uncrustify a0e16a1e84 uncrustify libraries/AP_GPS/AP_GPS.h 2012-08-21 19:02:53 -07:00
uncrustify c1454461ee uncrustify libraries/AP_GPS/AP_GPS_UBLOX.h 2012-08-21 19:02:46 -07:00
uncrustify ceed417538 uncrustify libraries/AP_GPS/AP_GPS_MTK.h 2012-08-21 19:02:40 -07:00
uncrustify bcd77b4cca uncrustify libraries/AP_GPS/AP_GPS_Auto.h 2012-08-21 19:02:40 -07:00
uncrustify 31d2076794 uncrustify libraries/AP_GPS/AP_GPS_SIRF.h 2012-08-21 19:02:40 -07:00
uncrustify f23d3daca9 uncrustify libraries/AP_GPS/AP_GPS_Shim.h 2012-08-21 19:02:40 -07:00
uncrustify 2a0242439a uncrustify libraries/AP_GPS/GPS.cpp 2012-08-21 19:02:32 -07:00
uncrustify 671359697e uncrustify libraries/AP_GPS/AP_GPS_HIL.cpp 2012-08-21 19:02:12 -07:00
uncrustify 45c94412ef uncrustify libraries/AP_GPS/AP_GPS_Auto.cpp 2012-08-21 19:02:11 -07:00
uncrustify f5699540a6 uncrustify libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde 2012-08-21 19:01:35 -07:00
uncrustify 802a04512f uncrustify libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde 2012-08-21 19:01:35 -07:00
uncrustify 01cc566199 uncrustify libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 994c292877 uncrustify libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 85901d3b44 uncrustify libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 9a440bad90 uncrustify libraries/AP_Declination/AP_Declination.h 2012-08-21 19:01:34 -07:00
uncrustify 06e0708308 uncrustify libraries/AP_Declination/AP_Declination.cpp 2012-08-21 19:01:34 -07:00
uncrustify f5e8f5e730 uncrustify libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde 2012-08-21 19:01:34 -07:00
uncrustify 0133fcb64b uncrustify libraries/AP_Compass/AP_Compass_HMC5843.h 2012-08-21 19:01:34 -07:00
uncrustify c693a6002b uncrustify libraries/AP_Compass/AP_Compass_HIL.h 2012-08-21 19:01:21 -07:00
uncrustify c8ede643dc uncrustify libraries/AP_Compass/AP_Compass_HMC5843.cpp 2012-08-21 19:01:20 -07:00
uncrustify 662d285f44 uncrustify libraries/AP_Compass/Compass.cpp 2012-08-21 19:01:20 -07:00
uncrustify ad8df60749 uncrustify libraries/AP_Compass/AP_Compass_HIL.cpp 2012-08-21 19:01:20 -07:00
uncrustify fe29885835 uncrustify libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde 2012-08-21 19:01:20 -07:00
uncrustify f45a727fe6 uncrustify libraries/AP_Common/AP_Loop.h 2012-08-21 19:01:03 -07:00
uncrustify 0ed851024e uncrustify libraries/AP_Common/include/menu.h 2012-08-21 19:01:02 -07:00
uncrustify ea986d1c6e uncrustify libraries/AP_Common/AP_Common.h 2012-08-21 19:01:02 -07:00
uncrustify 3e37a14e6f uncrustify libraries/AP_Common/AP_MetaClass.h 2012-08-21 19:01:02 -07:00
uncrustify 05ff8d51c9 uncrustify libraries/AP_Common/c++.h 2012-08-21 19:00:52 -07:00
uncrustify 4017224463 uncrustify libraries/AP_Common/tools/eedump.c 2012-08-21 19:00:51 -07:00
uncrustify 3bfe5e9774 uncrustify libraries/AP_Common/tools/eedump_apparam.c 2012-08-21 19:00:51 -07:00
uncrustify eb1fff9584 uncrustify libraries/AP_Common/menu.cpp 2012-08-21 19:00:51 -07:00
uncrustify a6567abdc3 uncrustify libraries/AP_Common/AP_Param.cpp 2012-08-21 19:00:51 -07:00
uncrustify d9234edebc uncrustify libraries/AP_Common/c++.cpp 2012-08-21 19:00:51 -07:00
uncrustify 0890404680 uncrustify libraries/AP_Common/examples/menu/menu.pde 2012-08-21 19:00:51 -07:00
Pat Hickey b78c1b21a7 uncrustify libraries/AP_Common/AP_Param.h with fixups by hand 2012-08-21 19:00:51 -07:00
uncrustify 11fb74ee7b uncrustify libraries/AP_Camera/AP_Camera.h 2012-08-21 19:00:51 -07:00
uncrustify 03637aa176 uncrustify libraries/AP_Camera/AP_Camera.cpp 2012-08-21 19:00:51 -07:00
uncrustify 14aab7e878 uncrustify libraries/AP_Baro/AP_Baro.h 2012-08-21 19:00:51 -07:00
uncrustify 963e250dca uncrustify libraries/AP_Baro/AP_Baro_MS5611.h 2012-08-21 19:00:50 -07:00
uncrustify dbb7b33728 uncrustify libraries/AP_Baro/AP_Baro_BMP085.h 2012-08-21 19:00:50 -07:00
uncrustify 1e86bf09de uncrustify libraries/AP_Baro/AP_Baro_BMP085.cpp 2012-08-21 19:00:18 -07:00
uncrustify bd4f1179b1 uncrustify libraries/AP_Baro/AP_Baro_MS5611.cpp 2012-08-21 19:00:18 -07:00
uncrustify 46c682454a uncrustify libraries/AP_Baro/AP_Baro_BMP085_hil.cpp 2012-08-21 19:00:18 -07:00
uncrustify 2444811dfe uncrustify libraries/AP_Baro/AP_Baro.cpp 2012-08-21 19:00:18 -07:00
uncrustify 003a60d5f6 uncrustify libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde 2012-08-21 19:00:18 -07:00
uncrustify 990ad20db5 uncrustify libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde 2012-08-21 19:00:17 -07:00
uncrustify ed2fb8574d uncrustify libraries/AP_AnalogSource/AnalogSource.h 2012-08-21 19:00:17 -07:00
uncrustify 9306fc5870 uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.h 2012-08-21 19:00:17 -07:00
uncrustify 49f440ae3e uncrustify libraries/AP_AnalogSource/AP_AnalogSource_ADC.h 2012-08-21 19:00:17 -07:00
uncrustify bf75296577 uncrustify libraries/AP_AnalogSource/AP_AnalogSource_Arduino.cpp 2012-08-21 19:00:17 -07:00
uncrustify 5e7867f972 uncrustify libraries/AP_AnalogSource/examples/AnalogSource_Arduino/AnalogSource_Arduino.pde 2012-08-21 19:00:17 -07:00
uncrustify 89dad7de7b uncrustify libraries/AP_Airspeed/AP_Airspeed.h 2012-08-21 19:00:17 -07:00
uncrustify 314b84f209 uncrustify libraries/AP_Airspeed/AP_Airspeed.cpp 2012-08-21 19:00:17 -07:00
uncrustify 6c5f73fde4 uncrustify libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde 2012-08-21 19:00:17 -07:00
uncrustify bc04ade2c1 uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp 2012-08-21 18:59:34 -07:00
uncrustify d77b6e7f52 uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp 2012-08-21 18:59:34 -07:00
uncrustify 4846ba119e uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde 2012-08-21 18:59:13 -07:00
uncrustify 520ab058a7 uncrustify libraries/AP_ADC/AP_ADC_HIL.h 2012-08-21 18:59:13 -07:00
uncrustify 2ff3af5e01 uncrustify libraries/AP_ADC/AP_ADC.h 2012-08-21 18:59:13 -07:00
uncrustify 549950ee2d uncrustify libraries/AP_ADC/AP_ADC_ADS7844.h 2012-08-21 18:59:13 -07:00
uncrustify bd0b3ee6b2 uncrustify libraries/AP_ADC/AP_ADC_HIL.cpp 2012-08-21 18:59:13 -07:00
uncrustify 0fcf421752 uncrustify libraries/AP_ADC/AP_ADC.cpp 2012-08-21 18:59:13 -07:00
uncrustify dcf4a9824d uncrustify libraries/AP_ADC/AP_ADC_ADS7844.cpp 2012-08-21 18:59:13 -07:00
uncrustify 7bfe32fd3d uncrustify libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde 2012-08-21 18:59:13 -07:00
uncrustify 7aea7dc825 uncrustify libraries/AC_PID/AC_PID.h 2012-08-21 18:59:13 -07:00
uncrustify 66ab46fa88 uncrustify libraries/AC_PID/AC_PID.cpp 2012-08-21 18:59:13 -07:00
uncrustify 2f5b292d50 uncrustify libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde 2012-08-21 18:59:13 -07:00
Andrew Tridgell 2b6af43c92 AHRS: removed AP_AHRS_Quaternion 
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
 2012-08-22 10:41:31 +10:00
Andrew Tridgell 37d3affe3b AP_GPS: fixed build of new MTK code 2012-08-22 10:02:21 +10:00
Craig Elder 661d1500d2 GPS: Corrections to Media Tek GPS Driver. Change to 5Hz and SBAS 2012-08-22 09:56:25 +10:00
Robert Lefebvre e1d6103045 TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Andrew Tridgell 6c0b7b7f53 AHRS: fixed duplicate gps_use variable in DCM 2012-08-21 20:17:03 +10:00
Andrew Tridgell cc0e8be85a AHRS: moved var_info[] into top level AP_AHRS class 2012-08-21 15:58:09 +10:00
Andrew Tridgell 89db3458c8 AHRS: added set_fast_gains() method 
this will be used by arducopter on the ground
 2012-08-21 15:38:06 +10:00
Robert Lefebvre 3d0ef1b3e6 Changing TradHeli param motors.acro_mode to motors.flybar_mode to better reflect it's intent. 2012-08-20 23:13:50 -04:00
Robert Lefebvre ab0559359d Adding new Trad Heli parameters. 2012-08-20 16:45:19 -04:00
rmackay9 4371fdda6c AP_Compass: fix for mismatching set_initial_location parameters (forgot to change long to int32_t in .cpp file) 2012-08-18 20:41:38 +09:00
rmackay9 9f81d0c601 AP_GPS: revert delay callback to be "unsigned long" 2012-08-18 20:33:45 +09:00
rmackay9 cef3e1d732 DataFlash: revert delay callbacks to use "unsigned long" 2012-08-18 20:28:31 +09:00
rmackay9 ba48bffb46 DataFlash: change "unsigned long" to "uint32_t" in callback functions 2012-08-18 19:22:14 +09:00
rmackay9 9973e4ae13 DataFlash: replaced "int" with "int16_t" 2012-08-18 18:31:20 +09:00
rmackay9 995b8a571b AP_Common: change a few more "int" to "int16_t" 2012-08-18 18:05:18 +09:00
rmackay9 ea860126e0 AP_Compass: replace "long" with "int32_t" 2012-08-18 16:58:16 +09:00
rmackay9 2ad383505c AP_GPS: replaced "int" with "int16_t" and "long" with "int32_t" 2012-08-18 16:35:38 +09:00
Andrew Tridgell 7d8903a8bf AP_Baro: the HIL baro needs to inherit calibrate() from the parent class 
this was what caused the renorm errors
 2012-08-18 16:32:23 +10:00
Andrew Tridgell 01ae8f8771 AHRS: check for bad values in the error before they can affect DCM 
this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
 2012-08-18 13:54:11 +10:00
Andrew Tridgell adda41a2ec Filter: ensure the derivative filter never returns an invalid number 2012-08-18 13:54:11 +10:00
rmackay9 756d1a3fff AP_Limits: change order of initialisation of class variables to remove compiler warnings. 2012-08-18 12:51:32 +09:00
Michael Oborne 0996782582 Fix Airspeed use use 2012-08-18 08:30:15 +08:00
Andrew Tridgell 7948b3aee7 AHRS: force an extra read of the compass on startup 
the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.

Thanks to Randy and Jason for the bug report!
 2012-08-17 17:57:39 +10:00
Andrew Tridgell 84c39774fa DataFlash: fixed SITL build 2012-08-17 16:27:19 +10:00
Andrew Tridgell 1ccff12b54 SITL: added SIM_ENGINE_MUL 
this allows for simulated engine failures
 2012-08-17 14:22:08 +10:00
Jason Short ff32718d9b Dataflash fix for missing card error 2012-08-16 15:37:28 -07:00
Andrew Tridgell faeb206239 SITL: make abs() 16 bit in SITL 
this will help us find abs() bugs in autotest
 2012-08-16 15:18:17 +10:00
Andrew Tridgell 50e2458df0 math: more abs() fixes 
abs() is 16 bit
 2012-08-16 15:17:42 +10:00
Jason Short e2c3149b2f Location Lib : Abs was overflowing causing bad comparison 2012-08-15 22:01:51 -07:00
Jason Short 555e26d5fa Location Lib. Potential fix for bad angle and distance calcs. 
last_lat changed to int32_t since it can be negative.
 2012-08-15 21:36:55 -07:00
Jason Short a6b874b591 DataFlash : Removed Chip Erase - relying on Block erase only 2012-08-15 21:04:24 -07:00
Jason Short 44b715af9b Dataflash Logs : Fixed block erase on APM2 
Byte order for 512 vs 528 was reversed.
 2012-08-15 21:04:24 -07:00
Andrew Tridgell 9c3c1c4f54 APM: fixed hil build 2012-08-16 12:53:37 +10:00
Andrew Tridgell 41a974683e Quaternion: we no longer support acceleration in the GPS driver 
remove the linear acceleration compensation code
 2012-08-15 20:07:53 +10:00
Andrew Tridgell 79aae2114c GPS: support getting raw velocity values from a UBlox 
this may give better velocity numbers than the value from COG
 2012-08-15 20:06:35 +10:00
Andrew Tridgell f4023d1b44 AP_Airspeed: remove airspeed filter and run at 10Hz 
this saves on the filter memory, and gives just as good a result
 2012-08-15 12:39:35 +10:00
Andrew Tridgell a361a3aebd AP_AnalogSource: make read_average() return a float 
this allows it to take advantage of better than 1 bit resolution by
averaging
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 7bb8fa1e58 MAVLink: added FENCE_ACTION_REPORT 2012-08-15 12:39:35 +10:00
Andrew Tridgell 44852276da AHRS: added ahrs.yaw_initialised() 
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 93f45f232f APM: added 'OBC' failsafe module for ArduPlane 
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.

This includes:

 - manual pin
 - heartbeat pin
 - waypoint for heartbeat failure
 - waypoint for GPS failure
 2012-08-15 12:39:34 +10:00
Pat Hickey 394a3059b7 APM_RC_APM2: updated comments for clarity 2012-08-13 15:34:17 -07:00
rmackay9 4e7e78d091 AP_RC_Channel: deleted this library as nobody seems to be using it. 
Everyone is using RC_Channel instead which includes parameters.
 2012-08-13 16:36:10 +09:00
rmackay9 c22f3ae563 GPS_IMU: deleted this empty library as nobody seems to be using it. 2012-08-13 16:35:29 +09:00
rmackay9 cb71edb427 Waypoints: deleted this library as nobody seems to be using it. 2012-08-13 16:35:08 +09:00
rmackay9 8f475f9d38 Trig_LUT: deleted this library as nobody seems to be using it 2012-08-13 16:34:50 +09:00
rmackay9 1115dde0d4 AP_EEPROMB: deleted this library as nobody seems to be using it. 2012-08-13 16:34:33 +09:00
rmackay9 a3a56c488a APM_RC: rename example sketch directories for APM2 so they can be opened easily from arduino ide 2012-08-13 11:50:53 +09:00
Andrew Tridgell 562069cbd7 AHRS: avoid a compiler bug in quaternion code 
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
 2012-08-13 11:08:10 +10:00
Andrew Tridgell fa1b72adc5 AHRS: use airspeed for wind in forward flight 
when not turning we can use the airspeed sensor directly to calculate
the wind speed.
 2012-08-12 10:54:25 +10:00
Andrew Tridgell 3a92509b18 AHRS: added AHRS_GPS_USE parameter 
this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
 2012-08-11 22:06:03 +10:00
Andrew Tridgell 8ddf864431 Mavlink: re-generate with WIND message 2012-08-11 22:06:03 +10:00
Andrew Tridgell f8a17ba1e9 Mavlink: added WIND message 
this allows us to log the wind estimation result
 2012-08-11 22:06:03 +10:00
Andrew Tridgell 2c7ab7c659 AHRS: added wind estimation code 
this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
 2012-08-11 22:06:03 +10:00
Andrew Tridgell 20a30e3a6b AP_Math: added matrix column extraction functions 2012-08-11 22:06:02 +10:00
Amilcar Lucas f103d375c9 RC_Channel_aux: cycle thru all functions except k_none and k_nr_aux_servo_functions 
Probably makes no difference because g_rc_function[k_none] == NULL
 2012-08-11 13:43:21 +02:00
Andrew Tridgell 708280511c AHRS: added long-term dead-reckoning 
this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
 2012-08-11 12:00:31 +10:00
Andrew Tridgell 06070dbf23 AP_GPS: added last_ground_speed() method 
used for dead-reckoning in AHRS
 2012-08-11 11:59:47 +10:00
Andrew Tridgell f68211a011 AP_GPS: fixed types to be stdint types 2012-08-11 11:59:03 +10:00
Andrew Tridgell 96d1249dad SITL: fill in SIMSTATE.lat and SIMSTATE.lng 2012-08-11 11:58:25 +10:00
Andrew Tridgell 90f00ebd01 MAVLink: re-generate MAVLink C code 2012-08-11 11:58:06 +10:00
Andrew Tridgell b47cceb442 MAVLink: added SIMSTATE.lat and SIMSTATE.lng 
this allows us to display both true and estimated position on the
groundstation
 2012-08-11 11:57:45 +10:00
Andrew Tridgell e1ffd37411 AP_Math: added location_update() and location_offset() functions 
these will be used by AHRS dead reckoning
 2012-08-11 11:56:54 +10:00
Andrew Tridgell e48b0f8558 AHRS: make airspeed sensor available to AHRS 
this will be used for long term dead-reckoning
 2012-08-11 08:57:32 +10:00
Andrew Tridgell d3cc6e5fab ACM: fixed HIL build 2012-08-11 08:34:16 +10:00
Jason Short d37ca9343b MOTORS Mixer: temp removal of Yaw Contrib code 2012-08-09 17:00:11 -07:00
Jason Short 4e001286a6 AHRS DCM: FOrmatting 2012-08-09 16:59:43 -07:00
Amilcar Lucas aef8c7af0a AP_Mount: Reduce parameter name length, to allow MNT2_* strings to be smaller than the limit of 15 characters 2012-08-10 00:16:52 +02:00
Andrew Tridgell a2f802e5da build: fixed more build warnings 2012-08-09 16:19:39 +10:00
Andrew Tridgell 0491188c03 MPU6000: fixed some build warnings 2012-08-09 16:19:21 +10:00
Andrew Tridgell c69dccceb2 AP_MetaClass: fixed a warning 2012-08-09 16:19:04 +10:00
Andrew Tridgell 73d70354a3 AP_Param: fixed some build warnings 2012-08-09 16:18:53 +10:00
Andrew Tridgell d3c399c5d9 MAVLink: removed obsolete files 2012-08-09 15:25:49 +10:00
Andrew Tridgell 52b6e4ab2e MAVLink: added generator.sh script 
this is used to re-generate our MAVLink C code
 2012-08-09 15:25:06 +10:00
Andrew Tridgell a7399c405d MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell 16d63978f1 MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Amilcar Lucas 1683f18bff Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas 45b10a51ff AP_Mount: Enable Joystick speed code, now that the framework supports more than 16 parameters per group. 
Save some bytes by skiping the redundant *_rc_in initialization in the AP_Mount() constructor
 2012-08-08 22:45:36 +02:00
Andrew Tridgell eeaa855b03 SITL: fixed deletion of eeprom.bin 
with the new AP_Param constructor order, we need to erase rather than
unlink the eeprom
 2012-08-08 18:01:06 +10:00
Andrew Tridgell 5e19c0cf04 AP_Airspeed: removed values passed to constructor 2012-08-08 16:38:39 +10:00
Andrew Tridgell fc26d49260 AP_Param: avoid saving values within 0.01% of the default value 
this saves some more space due to rounding errors
 2012-08-08 13:13:30 +10:00
Andrew Tridgell 3159c9ed99 AP_Mount: fixed defaults for angles 
this saves some eeprom space by not saving the 4500 values
 2012-08-08 13:04:49 +10:00
Andrew Tridgell 891ed81f74 AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious 2012-08-08 12:12:30 +10:00
Andrew Tridgell 6245592447 SITL: added pgm_read_dword() and pgm_read_float() 2012-08-08 12:11:57 +10:00
Andrew Tridgell e9d0ae3e7f AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell 7be604cffd AP_Param: update AHRS for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell 3dfe55e72c AP_Param: update PID libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell 45c7c9b8d1 AP_Param: major update to use default values in var_info table 
this stores the default value for all scalar variables in the var_info
table, which makes it possible to avoid storing default values in
eeprom. That allows us to oversubscribe the eeprom space with a much
lower risk of overrun.
 2012-08-08 12:11:57 +10:00
Andrew Tridgell b0e403e6fb AP_Baro: the DerivativeFilter now handles duplicate data 
this saves a few bytes of memory
 2012-08-08 12:07:36 +10:00
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