Pat Hickey
a28099b04c
AP_Semaphore: make into separate library rather than part of AP_Common
2012-10-09 10:55:06 -07:00
rmackay9
cfc55afb41
AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability.
...
Resolves climb-on-yaw problem.
2012-10-09 15:48:15 +09:00
rmackay9
8ae437dc23
AP_AHRS_MPU6000: resolve compiler warning re shadowing
2012-10-06 13:22:43 +09:00
rmackay9
d754804135
DataFlash: modified to use AP_Semaphore for SPI3 bus when required.
...
Also fixed test sketch which seemed broken.
2012-10-06 12:41:50 +09:00
rmackay9
9ef95d59ba
AP_OpticalFlow: modified to use AP_Semaphore for SPI3 bus when required
2012-10-06 12:41:42 +09:00
rmackay9
3220719645
AP_Semaphore: added new library to help remove conflicts over SPI bus
2012-10-06 12:41:35 +09:00
rmackay9
c2c2d560bb
AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter
...
_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
2012-09-30 00:21:18 +09:00
rmackay9
db15b3b563
AP_PeriodicProcessStub: fixed build due to missing reference to _suspended
2012-09-29 14:41:25 +09:00
rmackay9
1cd4b08fac
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
rmackay9
56320d282f
AP_PeriodicProcess: added running() method which tells the caller whether the timer is suspended or not
2012-09-29 13:47:55 +09:00
rmackay9
2c29fd8ba4
AP_TimerProcess: added simple example sketch
2012-09-29 13:23:51 +09:00
rmackay9
4bca609b9f
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
2012-09-28 19:21:59 +09:00
rmackay9
2fd9022f03
ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)
2012-09-28 18:34:23 +09:00
rmackay9
d0177688b4
AP_OpticalFlow: save and restore SPI bus speed to remove conflict with dataflash that runs at 8Mhz
2012-09-28 17:29:45 +09:00
rmackay9
435e2c2824
AP_Motors: enable throttle curve by default
2012-09-25 23:36:35 +09:00
Andrew Tridgell
e59a031611
MAVLink: comm_get_txspace should return 0 on error
...
it is used in expressions that add constants
2012-09-25 07:20:43 +10:00
Andrew Tridgell
24ab456f8e
PeriodProcess: fixed build warning
2012-09-25 07:10:35 +10:00
Andrew Tridgell
b39cc974dc
OpticalFlow: fixed SITL build
2012-09-25 07:10:22 +10:00
Andrew Tridgell
dbf501c646
GPS: fixed SIRF auto detect code
2012-09-25 07:10:07 +10:00
Andrew Tridgell
bec34f3af6
SPI3: fixed the build
2012-09-25 07:03:23 +10:00
rmackay9
825246617e
AP_TimerProcess: add one additional slot for optical flow
2012-09-24 18:39:28 +09:00
rmackay9
97a66a5346
AP_OpticalFlow: small fixes to test sketch to make it work with modified lib
2012-09-24 18:39:22 +09:00
rmackay9
f55d3de12a
AP_OpticalFlow: remove APM2 version of library now that AP_OpticalFlow_ADNS3080 class can autodetect which SPI bus the sensor is on
2012-09-24 18:39:17 +09:00
rmackay9
99eaa37a38
AP_OpticalFlow_ADNS3080: detect if optical flow sensor is on standard or secondary SPI bus
2012-09-24 18:39:12 +09:00
rmackay9
17ccc7e62e
AP_OpticalFlow: use AP_PeriodicProcess to read at 20hz
2012-09-24 18:39:07 +09:00
rmackay9
1cf0b2334a
SPI3: add new library to make use of secondary SPI bus
2012-09-24 18:39:01 +09:00
rmackay9
c28d4e9ad6
AP_Motors: remove stray debug message re set-up of throttle curve
2012-09-23 12:25:31 +09:00
rmackay9
4825d16cd8
AP_Airspeed: fixed constructor compile error in example sketch
2012-09-23 11:44:28 +09:00
Andrew Tridgell
f2e160a5e7
AP_Baro: removed _sync_access check
...
this isn't needed as the common variables are already protected by
cli()/sei()
2012-09-20 17:34:33 +10:00
Andrew Tridgell
1b793bf3f4
RC_Channel: don't force radio_out in enable_aux_servos()
...
this is called regularly, and causes the servo to twitch
2012-09-20 17:34:32 +10:00
Andrew Tridgell
4cfea44f9f
DCM: limit the contribution of the baro to vertical acceleration
...
limit to a max of 0.5g
2012-09-20 17:34:32 +10:00
Andrew Tridgell
a84d7b6f4f
DCM: disable use of baro for vertical accel by default
...
this has caused problems with too many users
2012-09-20 17:34:32 +10:00
rmackay9
c6ee948d60
AP_GPS: added get_lag method to return expected lag from the GPS.
2012-09-20 15:48:22 +09:00
rmackay9
53aced1def
AP_LeadFilter: moved lag to be a parameter passed into the get_position function.
...
This saves 4 bytes of memory and will work better with the way we initialise the gps.
2012-09-20 15:27:27 +09:00
rmackay9
d97ab4f490
AP_LeadFilter: bug fix so velocity * _lag is used (otherwise we are assuming a 1sec lag)
2012-09-20 13:17:42 +09:00
rmackay9
f002d6e9a6
AP_LeadFilter: added set_lag feature to allow us to adjust it for different GPSs
2012-09-20 13:10:24 +09:00
Robert Lefebvre
739d31f06e
Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges.
2012-09-19 20:43:58 -04:00
Andrew Tridgell
0922b82d42
AP_Param: added find_by_index()
2012-09-20 07:42:35 +10:00
Andrew Tridgell
8a33e2ba37
GPS: disable auto detection of NMEA and SiRF on a 1280 board
...
saves a bit more flash space
2012-09-19 19:36:48 +10:00
Andrew Tridgell
f3f9d644d9
AP_Airspeed: a bit more filtering
...
this helps reduce noise at low speed
2012-09-19 16:23:25 +10:00
rmackay9
aaab3c08aa
ArduCopter: added throttle curve (although disabled by default) for all multicopters
2012-09-18 23:05:08 +09:00
Andrew Tridgell
3306ba95a7
MPU6k: save 72 bytes of memory
...
the buffer can be on the stack
2012-09-18 13:58:50 +10:00
Andrew Tridgell
2bc1d4a5ae
SITL: prevent a fd leak in GPS code
2012-09-17 14:45:48 +10:00
Andrew Tridgell
c62197370a
GPS: replaced the GPS auto-detect mechanism
...
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup
The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
2012-09-17 14:45:47 +10:00
Andrew Tridgell
08cf9823fd
RC_Channel_aux: minor cleanups
...
remove unused enable_out_ch() and enable k_manual channels. This
ensures k_manual channels used for bottle drop are initialised
correctly to trim output
2012-09-16 15:50:13 +10:00
Andrew Tridgell
644b3c6e17
RC_Channel: support channel reversal on range channels
...
this makes it possible to have a reverse throttle in ArduPlane
2012-09-16 15:06:26 +10:00
rmackay9
9965dd8b1a
HIL: changes to fix HIL for ArduCopter after recent timing changes.
...
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
2012-09-15 18:42:56 +09:00
Michael Oborne
f9c11627a5
fix AP attitude hil - with randys help
2012-09-15 16:47:18 +08:00
rmackay9
54d07f6d04
ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library
2012-09-13 21:31:13 +09:00
rmackay9
3c0153e9dc
AP_AHRS: fix to allow example sketch to compile
2012-09-13 16:45:52 +09:00
Andrew Tridgell
efabf7403e
GPS: NMEA bug fix from Alexey Kozin
...
thanks Alexey!
2012-09-12 15:04:24 +10:00
Andrew Tridgell
715541b508
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
2012-09-12 14:42:04 +10:00
Andrew Tridgell
f5efb25e62
APM: added wdt.h for SITL build of APM
2012-09-10 15:52:53 +10:00
rmackay9
8624b0138e
AP_InertialSensor_Stub: added num_samples_available method to fix HIL build
2012-09-10 11:38:13 +09:00
rmackay9
d8142c2351
AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called
2012-09-10 11:38:08 +09:00
rmackay9
bd3eab7c0f
AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete
2012-09-10 11:38:03 +09:00
rmackay9
b1b3b806ad
AP_PeriodicProcess: queue_process changes to suspend other processes before running queued process
...
Also restored suspend_timer to void return type
2012-09-10 11:37:58 +09:00
rmackay9
5a3645d36a
AP_ADC: added num_samples_available to allow main loop to be synced with arrival of new sensor data for Oilpan.
2012-09-10 11:37:43 +09:00
rmackay9
38feee9c61
AP_IMU: added num_samples_available to allow main loop timing to be synced with arrival of new data from IMU.
2012-09-10 11:37:38 +09:00
rmackay9
3901387c8d
AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately
...
This reduces the delay between when data arrives and when it is used
by up to 1ms.
Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
2012-09-10 11:37:33 +09:00
Craig Elder
b667c6eb8c
APM_RC: fixed noisy PWM output on startup for APM2
...
This reduces the number of rubbish pulses on the APM2 PWM output pins
on startup, which should help with booting some cheaper ESCs.
Thanks to Randy for the idea!
2012-09-10 08:09:28 +10:00
Andrew Tridgell
5060b8bd2e
AP_Camera: updated for new RC_Channel_aux API
2012-09-08 15:13:06 +10:00
Andrew Tridgell
540f7894dc
AP_Mount: updated for new RC_Channel_aux API
2012-09-08 15:12:52 +10:00
Andrew Tridgell
89dc79fded
RC_Channel: simplified RC_Channel_aux and fixed issue 725
...
it is perfectly valid to configure two RC channels with the same
function, especially when that function is manual output (ie. copy
input to output)
This removes the g_rc_function[] indirection array
2012-09-08 15:12:28 +10:00
Andrew Tridgell
8f70a24fd4
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
2012-09-08 11:37:07 +10:00
Andrew Tridgell
c983de9d8b
APM_OBC: changed termination servo values, and added loop counter
2012-09-08 11:37:00 +10:00
Andrew Tridgell
9d6bce87dc
APM_OBM: Failsafe board sketch
...
this combines with the OBC failsafe module
2012-09-08 10:07:17 +10:00
Andrew Tridgell
8836851243
APM_OBC: handle separate terminate pin correctly
2012-09-08 10:07:14 +10:00
Andrew Tridgell
6a90b7722a
OBC: added FS_TERM_PIN option
...
this sets a pin for flight termination
2012-09-08 10:07:08 +10:00
Andrew Tridgell
2e7939cbf4
Mavlink: enable MAVLINK_SEPARATE_HELPERS
...
this fixes a seq number problem with SIMSTATE packets
2012-09-08 10:06:19 +10:00
Andrew Tridgell
b555d86ec0
Compass: added compass.accumulate() API
...
this allows us to accumulate mag readings using spare CPU cycles
2012-09-08 10:05:54 +10:00
rmackay9
20936fb87d
RC_Channel_aux: bug fix which could cause channel to be assigned to the wrong function and miss others
2012-09-02 12:46:04 +09:00
Andrew Tridgell
39a4c6e861
SITL: use AP_Declination code to get right compass dec for autotest
2012-08-29 13:33:01 +10:00
Pat Hickey
0cef8ea12d
APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg
...
* Previously had the ICR register for ch1/2/9 (on timer5) swapped with
ch3/4/10 (on timer1).
* This bug probably didn't make a difference in operation since
SetFastOutputChannels is typically only used for copters, where at
least CH1,2,3,4 would be set to fast all at once.
2012-08-28 17:12:41 -07:00
Andrew Tridgell
7ab7770c3d
APM: added the ability to forcibly crash the plane on OBC failsafe breach
...
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.
To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
2012-08-28 20:18:24 +10:00
Andrew Tridgell
60a6fed34a
APM_OBC: don't use _saved_wp when zero
2012-08-28 20:18:23 +10:00
Andrew Tridgell
fc942b2ff9
APM: removed reset_I() and instead auto-reset integrator in PID library
...
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
2012-08-28 20:18:23 +10:00
Andrew Tridgell
aaa4e64238
SITL: zero wind for first 15s
...
this allows for airspeed calibration on startup
2012-08-28 20:18:23 +10:00
rmackay9
67252c8a9b
AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop
2012-08-28 17:02:07 +09:00
Craig Elder
a4834b5219
Revert "APM1: Delay serial3 init to not brick Xbee radios"
...
This reverts commit 25d14a9d6a4a1ea60eb78485296298c98c1595d0.
2012-08-27 15:00:23 -07:00
Amilcar Lucas
90aa5f2004
ArduPlane: Fix 1280 builds
...
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
2012-08-27 01:33:45 +02:00
Amilcar Lucas
25916e9a92
Improve comments, no functional changes
2012-08-27 01:32:27 +02:00
Amilcar Lucas
18c8389c26
Improve comment aligment
2012-08-27 00:37:10 +02:00
Andrew Tridgell
7715a2b75f
APM_OBC: ensure pins are setup as outputs
...
constructor is run before parameters are loaded
2012-08-25 17:49:26 +10:00
Andrew Tridgell
be6f3aed72
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
Andrew Tridgell
b8decb4fd7
SITL: added SIM_WIND_* parameters
...
this allows control of the simulated wind during a flight
2012-08-25 17:49:26 +10:00
Craig Elder
dc60fe5616
APM1: Delay serial3 init to not brick Xbee radios
2012-08-24 17:55:20 -07:00
Andrew Tridgell
ba41612e7d
AHRS: new functions to support APM_Control library
2012-08-22 12:42:37 +10:00
Jonathan Challinger
10505093e1
APM_Control: added new APM controllers library
...
See
http://www.challinger.us/2012/07/16/tuning-arduplane-roll-and-pitch-controllers/
for details
2012-08-22 12:39:07 +10:00
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uncrustify libraries/Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h
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uncrustify libraries/AP_Relay/AP_Relay.h
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uncrustify libraries/AP_Relay/AP_Relay.cpp
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uncrustify libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
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uncrustify libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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uncrustify libraries/AP_RangeFinder/RangeFinder.h
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uncrustify libraries/AP_RangeFinder/RangeFinder.cpp
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uncrustify libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
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