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1551 Commits

Author SHA1 Message Date
James Goppert 28b835713a Improved along track calculation for APO. 2011-12-04 01:25:14 -05:00
James Goppert 47e88b1f91 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 00:45:34 -05:00
Wenyao Xie e6aee7963f Rover live test WORKS! "Murphy's Law is a turtle" 2011-12-03 22:42:08 -05:00
Jason Short 17fbbb4e7b Access to _clamp val. May want to make a private member and write accessor. 2011-12-03 17:57:12 -08:00
Jason Short d54d9b618c Added faster conversion from and to degrees*100 / rads 2011-12-03 17:56:41 -08:00
Andrew Tridgell b11b83e2cf GPS: added FAKE_GPS_LOCK_TIME 
this allows you to fake up a GPS lock after a specific number of
seconds
 2011-12-04 09:06:57 +11:00
Wenyao Xie 132f554787 Fixed apo live mode bugs for 2.0 update. 2011-12-03 15:38:37 -05:00
Wenyao Xie 29c2dafb94 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-03 14:00:23 -05:00
James Goppert dfd00becba Changed BlockPIDDfb behaviour. 2011-12-03 12:13:11 -05:00
Andrew Tridgell 9dd2021ec8 autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell a0baf71322 autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell 3a377255f0 desktop: show the full path to the desktop executable 2011-12-02 21:46:55 +11:00
Andrew Tridgell 65cdeecdf0 desktop: added SO_REUSEADDR after accept() 2011-12-02 17:37:55 +11:00
Andrew Tridgell d37b843361 desktop: fixed calculation of angular velocities 
thanks to James Goppert for the frame conversion maths
 2011-12-02 17:37:54 +11:00
James Goppert ed26538c45 Commented out debugging in guide. 2011-11-29 18:08:50 -05:00
James Goppert 48ad2d1ed1 Merge branch 'master' of github.com:arktools/ardupilotone 
Conflicts:
	libraries/APO/AP_Guide.cpp
 2011-11-29 18:06:38 -05:00
James Goppert 54775519d9 Working on yaw command. 2011-11-29 17:38:18 -05:00
Wenyao Xie 35f74dd2db Fixed guidance bugs in APO. 2011-11-29 17:37:42 -05:00
James Goppert 93550f4659 APO fixes. 2011-11-29 13:59:44 -05:00
James Goppert 1833f69961 Fixed apo radio error. 2011-11-28 12:29:05 -05:00
James Goppert 480f92294c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-28 00:56:29 -05:00
James Goppert 59fc8e7a63 Updated apo for merge with apm 2.0 changes. 
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
 2011-11-28 00:53:30 -05:00
Andrew Tridgell 210536096f desktop: improved the accuracy of the sensor emulation 2011-11-28 16:22:33 +11:00
Andrew Tridgell ff727e87ca ADC: remove a very small (0.2 degrees/s) bias in the ADC code 
small bias from integer rounding
 2011-11-28 16:22:33 +11:00
James Goppert 02ba05aa0f Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-27 23:56:17 -05:00
James Goppert 21a27ee083 Fixed mode switching. 2011-11-27 23:55:28 -05:00
Andrew Tridgell af075b6ab0 desktop: setup TCP sockets as non-blocking 
the sendto() blocks unexpectedly on MacOS
 2011-11-28 13:53:57 +11:00
Andrew Tridgell 833f5f5895 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Doug Weibel e965d95ba8 Added back the feature to prompt users when an invalid CLI command is entered. 
Thanks to Yury Smirnov for this patch!
 2011-11-26 21:10:53 -07:00
Andrew Tridgell e2e613cdfc upload: force hex file format for upload 
this should fix a problem with hex file format detection on MacOS
 2011-11-27 09:36:10 +11:00
Andrew Tridgell dff3be2017 desktop: build fix for fjall 2011-11-26 18:24:29 +11:00
Andrew Tridgell 0e8a17f645 desktop: fixed desktop build for strlcat_P() changes 2011-11-26 17:18:09 +11:00
Andrew Tridgell e9c7f8de21 AP_Common: added typesafe wrapper for memcpy_P() 2011-11-26 17:17:50 +11:00
Andrew Tridgell 57c4385a18 AP_Common: replace strlcat_P() with a C implementation 
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
 2011-11-26 17:02:56 +11:00
Andrew Tridgell d496a2d1fe desktop: added framerate and initial height code 
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
 2011-11-25 20:00:19 -08:00
Andrew Tridgell a44720d7bb desktop: fixed swap_float() 
get indexes right
 2011-11-25 20:00:19 -08:00
Andrew Tridgell dba786198e desktop: import updated DataFlash code 
this fixes a logging bug
 2011-11-25 20:00:19 -08:00
Andrew Tridgell 78af52083b desktop: fixed ADC value for airspeed 2011-11-25 20:00:19 -08:00
Andrew Tridgell a9dfc68bc0 libraries: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 8e5f64f8b6 DataFlash_Purple: added new logging methods needed for ArduPlane 
builds, but not tested yet
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 49b768f2f3 DataFlash_APM1: re-add defines lost from merge 2011-11-25 20:00:18 -08:00
Andrew Tridgell 65f2549825 desktop: fixed desktop build 
vtable error
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 7e64cfcc93 desktop: normalise roll and pitch rates 2011-11-25 20:00:18 -08:00
Andrew Tridgell 0ef727d707 desktop: added SKETCH as a define 
useful for automatically handling copter vs plane
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Pat Hickey 0549a50e9e APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple 
* I have not tested any of these on real hardware.
 2011-11-25 20:00:18 -08:00
Pat Hickey 718f3dee00 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell 67e5c89226 compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 2259bacd67 barometer: fixed for purple build 2011-11-25 20:00:18 -08:00
Andrew Tridgell e3a74626d6 barometer: support 'make purple' for barometer example code 2011-11-25 20:00:18 -08:00
Andrew Tridgell 252e858011 fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 48f92c49fa hil-sensors: added stub libraries for InertialSensor and PeriodicProcess 
* Also added dummy ivar to APM_BMP085_hil
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1a8a1973a1 AP_IMU: fixed shim driver prototype 2011-11-25 20:00:18 -08:00
Andrew Tridgell bbd6a6cdbb desktop: fixed build with updated dataflash interface 2011-11-25 20:00:17 -08:00
Andrew Tridgell 55bd85fe90 desktop: make AP_InertialSensor pure virtual 
fixed a link error in Desktop build

thanks to Pat for the C++ foo
 2011-11-25 20:00:17 -08:00
Andrew Tridgell 01cd9cc6d6 dataflash: fixed datatypes to be compatible with desktop build 2011-11-25 20:00:17 -08:00
Andrew Tridgell da50903649 desktop: make DataFlash for Desktop build replace APM1 build 2011-11-25 20:00:17 -08:00
Andrew Tridgell 3b5c124fc6 make configure default to 2560 
1280 is less common for devs these days
 2011-11-25 20:00:17 -08:00
Pat Hickey afef359ee9 purple: rework DataFlash to separate purple and APM1 hardware support 
the purple support is still a work in progress, but the APM1 support
should be fine
 2011-11-25 20:00:16 -08:00
Pat Hickey c65a8c4616 build: added jtag-program make target 
useful for when you have hosed your USB
 2011-11-25 20:00:16 -08:00
Pat Hickey 433caaedc0 purple: rework AP_IMU library to use AP_IntertialSensor library 
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
 2011-11-25 20:00:16 -08:00
Pat Hickey db8708911a purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00
Pat Hickey ce4547a1a5 purple: rework the RC_Channel library for the APM_RC changes 2011-11-25 20:00:16 -08:00
Pat Hickey d62ddd30f9 RangeFinder: rework to use AnalogSource library 
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
 2011-11-25 20:00:16 -08:00
Pat Hickey 0caf351c32 purple: Added AnalogSource library 
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
 2011-11-25 20:00:16 -08:00
Pat Hickey 6d876bc54d AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register 
this makes it possible to build the ADC library when another driver
may also want that interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey 7474a8be53 purple: added PeriodicProcess library 
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
 2011-11-25 20:00:16 -08:00
Pat Hickey 812d35a442 purple: added ISR_Registry() library 
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey 5cb60f76cf purple: rework APM_RC library for purple hardware 
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
 2011-11-25 20:00:16 -08:00
Pat Hickey 004a4425cd barometer: add purple_hardware option to Init() 
this allows selection of right hardware at Init() time
 2011-11-25 20:00:15 -08:00
Jason Short 6ecb6f21a6 increased filter 2011-11-25 11:34:05 -08:00
James Goppert 65e8b587f9 Working on comments. 2011-11-24 15:54:08 -05:00
James Goppert d31b1b31f4 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-24 14:28:25 -05:00
James Goppert fc84c15426 Separated controller block class. 
Also improved documentation of AP_ControllerBlock.
 2011-11-24 13:28:14 -05:00
James Goppert aaca5094b6 Removed old variable from hal. 2011-11-24 02:08:27 -05:00
Wenyao Xie 3c217d4186 Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error. 2011-11-22 16:42:51 -05:00
Andrew Tridgell 154c55c9dc desktop: more fixes for DataFlash filesystem changes 2011-11-20 19:06:24 +11:00
James Goppert 50e8de999f Fixed most of quad guidance issues. 2011-11-19 23:34:14 -05:00
James Goppert 7a742c4a2a Working on memory problem. 2011-11-19 22:20:06 -05:00
James Goppert 1c5db5e963 Bug located in quad position loop, improved hil. 2011-11-19 21:39:14 -05:00
James Goppert cc66b43d12 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-18 14:36:47 -05:00
Andrew Tridgell 927c2dbd67 desktop: added support for new DataFlash functions 2011-11-18 17:50:12 +11:00
Doug Weibel a11ea12ca8 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
Jason Short 7f2ec90703 Upped pressure filter a bit 2011-11-17 11:12:18 -08:00
Wenyao Xie 6c51157b2d Working on new hil message for mavlink. 2011-11-15 17:15:54 -05:00
Andrew Tridgell 8a3ea5bfff desktop: when in the CLI, use blocking writes 
this prevents us missing information from the logs
 2011-11-11 09:53:46 +11:00
Andrew Tridgell 34af368b8a desktop: don't start alarm till setup() has finished 2011-11-10 21:57:47 +11:00
Jason Short 34e6b3535d MAV_CMD_DO_SET_ROI 2011-11-09 12:07:57 -08:00
Andrew Tridgell af1ddacc1b desktop: don't alarm in CLI 
loop() is not called in menu system
 2011-11-10 00:14:04 +11:00
Andrew Tridgell 3303c09a9d desktop: exit if loop() doesn't run for 5 seconds 
this should stop runaway processes
 2011-11-09 19:40:34 +11:00
Andrew Tridgell c30af84897 desktop: force awk on macos 
this may help on jasons box
 2011-11-09 17:21:53 +11:00
Andrew Tridgell 4b50d2e639 desktop: exit on EOF from stdin 2011-11-09 17:21:53 +11:00
Jason Short d5fb801678 Removed debugging code from APM_PI 2011-11-08 14:41:21 -08:00
Andrew Tridgell 5a45f9cd25 desktop: fixed malloc cast 2011-11-09 08:47:49 +11:00
Andrew Tridgell 11c908c7b4 desktop: be more careful with signed/unsigned in DataFlash 2011-11-09 08:44:19 +11:00
Andrew Tridgell d8d5f97a0a desktop: use less stack 
this avoids a problem on cygwin on windows
 2011-11-09 08:09:56 +11:00
Andrew Tridgell 389e2ff03e desktop: another MacOS fix 2011-11-08 18:07:19 +11:00
Andrew Tridgell b2254016e1 desktop: make desktop build more portable 
this should help on MacOS

thanks to MikeS for his assistance
 2011-11-08 17:26:53 +11:00
Andrew Tridgell 3b52687342 dataflash: type fixup for ReadInt() 2011-11-08 17:26:53 +11:00
Andrew Tridgell f073837ea7 desktop: use the libc printf engine 
getting ftoa_engine right was too much work
 2011-11-08 11:59:30 +11:00
Andrew Tridgell 6b583869c0 desktop: fixed ultoa_invert() 
the string was backwards
 2011-11-08 11:13:48 +11:00
Andrew Tridgell fd3154f20d desktop: improved ftoa_engine.c 
this still doesn't perfectly match the assembler, but its closer
 2011-11-08 11:05:36 +11:00
Andrew Tridgell ecf3d26f43 barometer: fixed a build warning 2011-11-08 11:05:36 +11:00
Jason Short 34a53f6f7d Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell acad6b37c4 autotest: fill flash with 0xff on erase 2011-11-07 23:42:18 +11:00
Andrew Tridgell a199835632 Desktop: added -w option to wipe eeprom and dataflash 2011-11-07 22:56:13 +11:00
Andrew Tridgell eb0756f362 Desktop: added support for DataFlash in Desktop build 
this will allow Jason to look at the logs of the quad sim
 2011-11-07 22:56:13 +11:00
Andrew Tridgell ee99ec839b digital.c for CLI 2011-11-07 22:56:13 +11:00
Andrew Tridgell 5410dff523 DataFlash: use CPU independent data types 
this ensures that the DataFlash API is consistent for different CPU
architectures, which matters for the Desktop build, and will matter
for ARM and other CPUs later
 2011-11-07 22:56:13 +11:00
Andrew Tridgell b314fd8cd3 Desktop: enable the CLI in desktop build 
this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI
 2011-11-07 22:56:13 +11:00
Andrew Tridgell 75d7ee01d1 desktop: fixed 2 crashes in the menu code 
handle an empty line gracefully, and use pgm_read_pointer() for
functions pointers in progmem
 2011-11-07 22:56:13 +11:00
Andrew Tridgell 152da9c91b added pgm_read_pointer() 
this will be used by the menu code to make reading pointers from
progmem portable
 2011-11-07 22:56:13 +11:00
Andrew Tridgell 11109e4a03 force LANG=C for MacOS awk 2011-11-07 13:33:38 +11:00
Doug Weibel d4fff166cf Add an accessor for the DCM drift correction integrator to monitor performance 
Also made the get_health accessor an inline function.
 2011-11-05 09:02:23 -06:00
Doug Weibel beb6c4dbf4 Changed the DCM drift correction integrator limit to a vector magnitude of 30 degrees/second. 
The drift correction integrator limit previously was near/at the gyro saturation limit.  If we have that much drift there is a serious hardware problem.  30 degrees/second is arbitrary but should handle all temperature variation, etc.
 2011-11-05 09:01:20 -06:00
Doug Weibel b105e7fd41 In case of DCM renorm "blow-up" reset the drift correction integrators 
This should aid in recovery if we loose the AHRS solution and have to force to initial orientation.  Also removed some old commented out code moved to the IMU object
 2011-11-05 08:59:16 -06:00
James Goppert f7c60e1ac7 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:58:10 -04:00
Andrew Tridgell e5654ccd04 desktop: fixed TCP buffering issue with HIL 
the TCP layer was buffering the servo updates, which caused very poor HIL flight
 2011-11-02 09:38:44 +11:00
Simon Salykov 389b89056a Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed 
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar
 2011-11-01 19:09:57 +01:00
Jason Short 53d7cac075 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short c3d8775797 Baro 
Minimized the baro filtering to use a new approach to rate control. Redid the state machine so the temp is sampled more often.
 2011-11-01 09:22:21 -07:00
Amilcar Lucas 01df18b292 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00
Amilcar Lucas c73b3c7235 Update the SIL README file 2011-10-31 21:56:25 +01:00
James Goppert ed0722e298 ArduPlane cmake build working. 2011-10-31 13:18:48 -04:00
James Goppert 249ce91d78 Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne 12d8b2cb9e prevent div by 0 2011-10-30 21:28:39 +08:00
Andrew Tridgell cdc677ab83 added desktop header 2011-10-30 17:31:32 +11:00
Andrew Tridgell d74a223f7e make desktop serial more responsive 2011-10-30 13:00:54 +11:00
Andrew Tridgell 3991f9eff3 move g_rc_function[] to RC_Channel library 
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
 2011-10-29 18:42:18 +11:00
Andrew Tridgell e3c5177967 merge NULL ptr mavlink array fix 
this fixes a segfault in ArduPlane when using a NULL pointer for
satellite_prn in GPS status
 2011-10-29 18:29:18 +11:00
Andrew Tridgell 8cc449dc43 updated to latest upstream mavlink headers 
this includes the new APM_Camera headers from ardupilotmega.xml
 2011-10-29 18:07:09 +11:00
James Goppert 57301ce647 Cleaned up AP_GPS formatting. 2011-10-28 14:52:50 -04:00
James Goppert dd0ac600b3 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 14:45:01 -04:00
James Goppert 585507f188 Clean up formatting for AP_Common 2011-10-28 14:43:43 -04:00
Michael Oborne 1c72598393 Fix HIL DCM to match actual 2011-10-28 17:40:18 +08:00
Andrew Tridgell 8eb74df024 minor mavlink 1.0 updates 2011-10-28 15:54:22 +11:00
James Goppert 02ab5bea78 APO multiple mode handling added. 2011-10-27 19:42:57 -04:00
James Goppert 18c3eaf479 Fixed APO bug in current waypoint update. 2011-10-27 17:23:08 -04:00
James Goppert 7da0daa9d0 Adding bash formatting script using astyle. 2011-10-27 16:30:15 -04:00
James Goppert 3de8533c5e Merge https://code.google.com/p/ardupilot-mega 2011-10-27 16:21:44 -04:00
James Goppert 5d9c37bbed Fixed APO controller bug preventing motor arming. 2011-10-27 16:19:42 -04:00
Jason Short 003e6e06a1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short 3b3f6bd168 RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
James Goppert 2507b801f0 Fixed APO examples. 2011-10-26 14:59:40 -04:00
James Goppert f0fe8ecb90 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-26 13:25:49 -04:00
James Goppert 8cd9ced373 Further APO controller cleanup. 2011-10-26 13:25:06 -04:00
jasonshort d8a0ce6933 Just in case the Min and Max functions are not playing nice with AP_Var 2011-10-26 16:48:50 +00:00
Jason Short 07c1e6facd AP_PI AP_Var change 
using the If statement rather than Max to avoid potential AP_Var issues. I don't know if this is a real prob or not. Just being careful.
 2011-10-26 09:46:16 -07:00
James Goppert 18e8bb3d6a APO formatting. 2011-10-26 12:31:11 -04:00
James Goppert dd4ff8c0aa Updated APO Controllers. 2011-10-25 19:40:07 -04:00
James Goppert 97ef98fa8f Further abstracted APO Controllers 
Currently APO quad/plane/tank need to be updated
for new controller changes.
 2011-10-25 18:53:39 -04:00
Andrew Tridgell 31747d5607 imported custom_mode size fix 2011-10-24 13:41:15 +11:00
Andrew Tridgell 8b135a5be3 fixed mavlink10 desktop build 2011-10-24 13:09:19 +11:00
Andrew Tridgell 14f8c71932 import latest MAVLink 1.0 headers and XML 2011-10-24 12:20:46 +11:00
Andrew Tridgell 0c672d6885 updated to latest mavlink 1.0 messages 2011-10-24 10:20:36 +11:00
Andrew Tridgell 9644ff5c01 mavlink: added mavlink10 target for desktop build 2011-10-24 10:20:36 +11:00
Andrew Tridgell 314a4158d6 mavlink: make it possible to build with mavlink 1.0 headers 2011-10-24 10:20:36 +11:00
Andrew Tridgell f6385dd1a2 mavlink: import latest mavlink 0.9 headers 2011-10-24 10:20:36 +11:00
Andrew Tridgell 615d96ab81 mavlink: import mavlink 1.0 message definitions 2011-10-24 10:20:35 +11:00
Andrew Tridgell ac2e129996 mavlink: import mavlink 1.0 includes 2011-10-24 10:20:35 +11:00
Andrew Tridgell d6479367b3 RC_Channel_aux is needed for ArduPlane build 2011-10-24 10:20:19 +11:00
James Goppert 986fca3116 Corrected battery monitoring in apo. 2011-10-20 02:28:47 -04:00
James Goppert 9e9da38c67 Arming fixes. 2011-10-19 20:09:06 -04:00
James Goppert 73c3f1098a Added loop priority, fixed arming bug for apo. 2011-10-19 13:22:29 -04:00
James Goppert 8397fea4f4 More cleanup. 2011-10-19 00:31:59 -04:00
James Goppert a48206f468 Some cleanup. 2011-10-19 00:25:00 -04:00
James Goppert dcc2c2c0cf Added arming mechanism. 2011-10-19 00:21:19 -04:00
James Goppert 9573b60ac9 Incorporated dcm changes from arducopter into apo. 2011-10-18 22:00:24 -04:00
James Goppert 0bb0059d35 Updated apo rates. 2011-10-18 20:11:14 -04:00
Andrew Tridgell ce1abb974b desktop: refactor the TCP code 
this supports all 3 serial ports, plus cleans up the code
 2011-10-17 19:32:48 +11:00
James Goppert 0a0bbb8afe Updated ArduRover/ ArduBoat for new apo changes. 
Still need to add arming/ disarming to rover/boat controllers.
 2011-10-16 03:15:22 -04:00
James Goppert 955d159c91 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-16 02:58:38 -04:00
James Goppert 0283b8c695 Added battery monitoring, arming to apo. 
Arming added for quadrotor. Need to add to rover still. Battery
monitoring added with auto shut-off in quadrotor controller.
Finally split apo header and source files to allow faster
compiling/ fix cyclic header inclusions.
 2011-10-16 02:55:34 -04:00
Jason Short 995be48a2d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 13:09:18 -07:00
Jason Short 23c0bb9814 Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
James Goppert dfb71226eb APO quad stabilized flight working well. 2011-10-14 18:28:29 -04:00
Michael Oborne 6987e6c4b2 hil sensor cleanup 2011-10-14 18:14:32 +08:00
Michael Oborne b02c3608ef fix delta time in imu shim 2011-10-13 22:36:51 +08:00
Michael Oborne 392160314e Sensor hil fix's 2011-10-13 22:22:03 +08:00
Michael Oborne d89e944254 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 17:49:35 +08:00
James Goppert 76a3625024 Got APO quad stabilized flight to hover. 
Needs more gain tuning.
 2011-10-12 20:05:01 -04:00
Michael Oborne a3de6667ca fastserial tcp 2011-10-13 07:25:30 +08:00
Michael Oborne 8536452c5a Desktop: cygwin fixs for AP and AC SIL 2011-10-11 20:30:34 +08:00
Andrew Tridgell 19666f5a43 desktop: more cygwin fixes 2011-10-11 21:33:31 +11:00
Andrew Tridgell e991d81eee desktop: removed the need for libbsd 
this should help the cygwin build that MikeO is working on
 2011-10-11 21:04:07 +11:00
Andrew Tridgell e2c6dc68a2 desktop: added Makefile.desktop 2011-10-11 20:53:43 +11:00
Andrew Tridgell 93d09039ce desktop: fixed a warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell 99f0e92531 desktop: silence an implicit cast warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell 3633d846f6 desktop: make the main loop a bit more responsive 
this introduces less delays on linux than usleep()
 2011-10-11 17:49:40 +11:00
Andrew Tridgell 6f44415b19 desktop: make ISRs normal C++ functions 
this will make it possible to add an abstract register simulation
class that allows us to intercept device IO
 2011-10-11 17:49:40 +11:00
Andrew Tridgell 74a85a1f3e update README with build and usage information 2011-10-11 17:49:40 +11:00
Andrew Tridgell 52dc221969 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Michael Oborne ec7fa70fd6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-11 08:05:14 +08:00
Andrew Tridgell ed2bec75b9 added build makefiles 2011-10-10 07:18:38 +11:00
James Goppert d47e43e0c4 APO GPS bug fix. 2011-10-09 15:57:29 -04:00
James Goppert 5c16a380c0 Fixed APO bug. 2011-10-09 11:46:56 -04:00
Andrew Tridgell 67630d42e7 opticalflow: use the right path for SPI.h 2011-10-09 22:40:00 +11:00
Andrew Tridgell 6899189395 added a README 2011-10-09 22:16:14 +11:00
Andrew Tridgell ab755ab11f use ifdef for DESKTOP_BUILD 2011-10-09 22:16:14 +11:00
Andrew Tridgell 95475c6221 use nanosleep() instead of usleep() 2011-10-09 22:16:14 +11:00
Andrew Tridgell 41d734846e fixed millis() and micros() 2011-10-09 22:16:14 +11:00
Andrew Tridgell 320d4a330b desktop: use a bit less CPU 2011-10-09 22:16:13 +11:00
Andrew Tridgell ea2823cd5f desktop: use non-blocking IO 2011-10-09 22:16:13 +11:00
Andrew Tridgell e3fd61d758 desktop: expand eeprom to 4k initial size 2011-10-09 22:16:13 +11:00
Andrew Tridgell dfef42ff48 desktop: flush all serial writes 2011-10-09 22:16:13 +11:00
Andrew Tridgell 4109374959 first rough build for desktop CPUs 
this allows ArduPlane to build and startup on 'desktop' systems (eg. a
Linux box). Very rough for now, and only for HIL so far
 2011-10-09 22:16:13 +11:00
Andrew Tridgell e177800116 fixed PROGMEM declaration for desktop build 2011-10-09 22:16:13 +11:00
Andrew Tridgell e6e9334e4c memcheck: allow memcheck to build on desktop systems 2011-10-09 22:16:12 +11:00
Andrew Tridgell a3e6f5d51f initialise spare bits in AP_Var headers 
if we ever need these bits, it would be nice to know that they are
zero in existing eeproms
 2011-10-09 22:09:00 +11:00
Andrew Tridgell cb8f8ec083 fastserial: allow vprintf() to build without assembler 2011-10-09 22:08:59 +11:00
Andrew Tridgell 88668dd2d1 ap_common: use intptr_t for pointer casts 
this allows building on systems with pointers that aren't 16 bits long
 2011-10-09 22:08:59 +11:00
Andrew Tridgell 298cc51118 modefilter: fixed type to be consistent with declaration 2011-10-09 22:08:59 +11:00
Andrew Tridgell f39deb3589 GPS: fixed type to be consistent with declaration 2011-10-09 22:08:59 +11:00
Andrew Tridgell 09bd94cd6d eeprom: fixed types to be consistent with declarations 2011-10-09 22:08:59 +11:00
James Goppert 6689a99a66 Updated APO, HIL working well, live mode ready to test 2011-10-06 19:17:49 -04:00
James Goppert a02ce5aed7 Reducing copy ctor calls in apo. 2011-10-06 12:00:45 -04:00
James Goppert f988623dab Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-03 13:22:59 -04:00
James Goppert 684599cd21 Cleanup of AP_RcChannel, removed scaled class. 2011-10-03 13:22:23 -04:00
Amilcar Lucas a751208f9f More improvements to MS Windows 
Now the avr-gdb, avrdude and avarice tools do not need to be in the path.
 2011-10-03 19:16:55 +02:00
James Goppert c678452fe1 Added AP_RcChannel_Scaled to APO 2011-10-03 12:42:27 -04:00
Amilcar Lucas c59c0c2502 Spellcheck apo library 2011-10-03 12:50:41 +02:00
amilcar 85588cb02e Fix serial port on windows 2011-10-03 12:10:27 +02:00
amilcar c6722112e7 Make it work on windows "out-of-the-box" 2011-10-03 12:08:19 +02:00
James Goppert 286dd7c949 Removed extra waypoint loading. 2011-10-02 23:32:12 -04:00
John Arne Birkeland 8464093c18 APM_RC: Cosmetic changes to increase readability and some minor optimizations 2011-10-02 18:05:00 +02:00
Amilcar Lucas c46fe580c2 Implement relay get() 2011-10-02 02:28:40 +02:00
Amilcar Lucas 4b35757a1e Moved relay control functions to it's own library 2011-10-02 01:00:27 +02:00
Jason Short eba281e3de Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-01 15:55:31 -07:00
Jason Short 945a7c13a7 Heavy Accel Filter + mild Gyro Filter. To use, filter_result must be set to true on ADC. Off by default. 2011-10-01 15:44:53 -07:00
Amilcar Lucas fcbbc89251 Added a comment to the BOARD type of teh make configure output file 2011-10-02 00:04:21 +02:00
Amilcar Lucas d327bdde80 Fix Arduino version detection on some systems 2011-10-02 00:03:57 +02:00
rmackay9 e5c473637f Merge remote-tracking branch 'origin/master' 2011-10-01 21:56:29 +09:00
rmackay9 1ff58aaa81 AP_Optflow - small fix to lat/lon calculation and made example sketch work again 2011-10-01 21:51:14 +09:00
Jason Short cf59e8ad82 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short 9a4bd31a8b Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert ac3e73f5c0 Optional recursion added. 2011-09-30 17:17:51 -04:00
James Goppert 10fec5e534 Updated cmake. 2011-09-30 16:55:27 -04:00
Jason Short 4c30b544dc Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short df1a39f650 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
Jason Short 7b08185d83 Optimized PI loop 2011-09-29 22:37:56 -07:00
James Goppert 9a2da8f22f Arduino version directory updated to lib/version.txt 
Also updated cmake files.
 2011-09-29 22:10:26 -04:00
James Goppert 112d5e9531 Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert 126508514a Added cmake files. 2011-09-29 14:16:36 -04:00
James Goppert 3a00ceb593 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short e384390ec0 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-26 22:12:52 -07:00
Jason Short 1243e76f29 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Amilcar Lucas af105c6967 fix quotes and indentation 2011-09-27 04:40:00 +02:00
James Goppert f7a307e349 Added override for mega upload protocol. 2011-09-26 20:29:09 -04:00
Amilcar Lucas a3152b2410 Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
James Goppert 90a3a5b1e5 Modified Arduino.mk to use correct upload protocol if not overrided. 
The previous comment of upload protocol not working cannot be verified on
linux. If this problem persists on cygwin, please override with
UPLOAD_PROTOCOL=arduino in the enivornment before calling Arduino.mk
 2011-09-22 13:35:26 -04:00
Jason Short 39cefe9554 RC_Channel tweaks. using Radio_trim rather than 1500 in Raw output. Cleaned up line in calc PWM to be easier to read. 2011-09-21 14:52:20 -07:00
Jason Short 13e83aed2f changed PI to float 2011-09-19 14:41:32 -07:00
Jason Short 3b4743ef03 changed PI Library to take Float for DeltaTime 
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
 2011-09-19 14:02:42 -07:00
Andrew Tridgell cc4bae4b42 fixed inconsistent linefeeds in ADC code 
the linefeeds had bacome inconsistent in this library, making some
editors fail to load the code
 2011-09-19 11:04:02 +10:00
Andrew Tridgell e40fe2293b MAVLink: enable separate MAVLink helpers 
this makes the core MAVLink functions into library calls, instead of
being inlined. The resulting code size doesn't change, but it means we
can safely call MAVLink functions from multiple places without causing
undue code bloat
 2011-09-18 11:03:27 +10:00
Amilcar Lucas c9d9ee0d3b Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Andrew Tridgell f1974cac21 fixed ArduCopter HIL build 2011-09-17 14:58:02 +10:00
Andrew Tridgell a13c68a404 fixed build of OpticalFlow code 2011-09-17 14:58:02 +10:00
Andrew Tridgell a828d00125 ADC: randomise the sampling rate 
this is based on suggestions from Kari and Mike, and should reduce the
aliasing effects we get from the simple averaging
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 465c10a31f build: cope with more depths for libraries 
this finds the libraries at more levels up from the current directory
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 1b5c7e8a90 ADC: show timing information in ADC test 2011-09-17 14:58:02 +10:00
Andrew Tridgell 4a7c9c406f show noise levels in ADC test 2011-09-17 14:58:02 +10:00
Andrew Tridgell 2ae78e197e ADC: the bottom 3 bits of ADC output are always zero 
its a 12 bit ADC .... silly of me to think the bottom 3 bits are
valid!
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 812cd3562f updated ADC test for new API 2011-09-17 14:58:02 +10:00
Andrew Tridgell 1c5e8f0381 change ADC sample rate to 1kHz 
this costs us about 9% of our CPU, but should make aliasing much less
of a problem.
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 55bcb8a1c0 RangeFinder: use new ADC interface 
the new interface gives values 8 times as large as previously
 2011-09-17 14:58:02 +10:00
Andrew Tridgell d96fbf8acf DCM: re-work the DCM to use the new IMU/ADC features 
this gives us higher resolution DCM calculations, with much more
accurate timing of the update delta time.
 2011-09-17 14:58:02 +10:00
Andrew Tridgell bb35fdec10 IMU: re-work the IMU library to take advantage of the ADC Ch6() call 
This changes the IMU code to read 6 synchronised ADC channels at one
time, giving us matching values, and exposing the exact averaging time
to callers
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 8a31af801f ADC: re-work for ADC code for full resolution and accurate timing 
this changes the ADC code to return the full resolution of the
sensors. It also adds a new Ch6() interface that returns 6 channels at
once, so the IMU can read 3 accelerometers and 3 gyros at once, and
get the exact time that the values were accumulated over
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 1b1f955b86 GPS: change example serial rate to 115200 
this matches default for AP/AC
 2011-09-17 14:58:02 +10:00
Andrew Tridgell 89f664e3b0 barometer: print a message on barometer init in example code 
this helps track down initialisation problems
 2011-09-17 14:58:02 +10:00
Jason Short 5d61e9289c added sin and cos yaw from DCM, renamed "get" function because it doesn't return a value. 2011-09-16 19:24:57 -07:00
Jason Short 1f52ad27d9 roughed in an expo option idea 
made min and max values 1100, 1900
removed hard coded init for camera values
 2011-09-16 19:06:53 -07:00
Jason Short 867e01cab5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-16 18:35:14 -07:00
Jason Short 9a508a20f4 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Janne M 45c4872e6d Issue #415: Modified spotlight search string. Added UPLOAD_PROTOCOL parameter to makefile to use different programmer. 2011-09-15 22:38:22 +03:00
Mike Smith f79d4caeff Add options to generate assembly listings for all of the compiled 
files.  This is a possible starting point for a tool to analyse the
call graph and stack usage of APM.

It's also interesting by itself.
 2011-09-14 22:39:34 -07:00
unknown 7bb800aafc Merge branch 'master' of https://code.google.com/p/ardupilot-mega/ 2011-09-14 16:02:21 +02:00
unknown 9f028bb5a0 Adding CMake support 2011-09-14 15:44:55 +02:00
Amilcar Lucas c58b563584 Revert more of 6dcbc7f44bc0. 
Fix an issue with initialization of channels that on-line changed their function.
For the curious people that the code size overhead of having any aux channel do any function (with this code) is 44 bytes.
 To see wich code I'm talking about, do a git diff 05057ac2d455..this_commit (replace this commit with the commit hash of this commit)
 2011-09-13 14:01:35 +02:00
Amilcar Lucas ef955eace4 These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy 2011-09-13 01:54:47 +02:00
Amilcar Lucas dd843d18ec Added support for routing any function to any of the aux. servos. 
This is a manual merge from the APM_Camera branch.
It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0
 2011-09-13 01:24:06 +02:00
Jason Short bca934b538 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-12 12:57:56 -07:00
Jason Short 4a2f58b013 Cleaned up guided mode 
Reduced ADC filter to 3 from 6 to increase speed of filter.
 2011-09-12 12:57:36 -07:00
DrZiplok e84a422bd4 GNU sed wants -r, Darwin/BSD sed wants -E. 2011-09-12 18:43:31 +00:00
Amilcar Lucas f7f745055d Use the G_RC_AUX macro when possible. Added more comments. Remove unused code 2011-09-12 20:21:12 +02:00
Mike Smith ae77029c98 Reinstate a Cygwin workround that was backed out by the previous changes. 
Not all platforms support (or require) the -r argument to sed.
 2011-09-11 22:20:54 -07:00
Olivier ADLER 7e3983210c Merge branch 'APM_Camera' of https://code.google.com/p/ardupilot-mega/ 
Conflicts:
	ArduPlane/ArduPlane.pde
	libraries/AP_Camera/AP_Camera.h
	libraries/AP_Mount/AP_Mount.cpp
	libraries/AP_Mount/AP_Mount.h
 2011-09-12 00:31:18 +02:00
Amilcar Lucas b8832fe9ab Use G_RC_AUX macro to simplify accessing the auxiliary servos 2011-09-12 00:02:47 +02:00
Amilcar Lucas 69a9f44fee This is ugly, but it fixes compilation on arduino 2011-09-11 23:25:06 +02:00
Amilcar Lucas 5a27954e26 Moved update_aux_servo_function() to the RC_Channel_aux.* files. 
This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong
 2011-09-11 23:07:30 +02:00
Jason Short e8fcf72966 Added a state machine intended to run at 250hz to the DCM. Spread load of DCM out to lower CPU. 2011-09-11 11:03:55 -07:00
Amilcar Lucas 966f9f962a Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ? 2011-09-11 19:13:01 +02:00
Amilcar Lucas 7544b9abd3 Make the switch case complete 2011-09-11 18:32:24 +02:00
Amilcar Lucas 59bd4d731a Fix RC range reversal 2011-09-11 04:12:46 +02:00
Amilcar Lucas a0dc3b552e I do not understand this, but it looks like it needs int8 here 2011-09-11 02:41:48 +02:00
Amilcar Lucas 5bf21d5159 Fix manual values mapping 2011-09-11 02:36:39 +02:00
Amilcar Lucas a78de771d4 Moved enum values around to make code simpler to read and use 2011-09-11 02:34:47 +02:00
Amilcar Lucas 93e13ace97 Added comments and TODO 2011-09-10 23:57:27 +02:00
Andrew Tridgell 6d059b8eba Revert "added support for AP_ADC MAVLink packet" 
This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.

I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
 2011-09-10 22:00:29 +02:00
Andrew Tridgell 4c8bbb23f4 Revert "added support for AP_ADC MAVLink packet" 
This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.

I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
 2011-09-10 23:29:16 +10:00
Andrew Tridgell bf7d62e788 mavlink: import new version with AP_ADC packet 
this adds the AP_ADC packet which gives us raw ADC values
 2011-09-10 14:17:45 +02:00
Amilcar Lucas b977007bdf Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable 2011-09-10 13:26:29 +02:00
Amilcar Lucas cba78a29ab Again remove some more files from the APM_Camera branch 2011-09-10 12:51:48 +02:00
Andrew Tridgell 7a0f19d49d mavlink: import new version with AP_ADC packet 
this adds the AP_ADC packet which gives us raw ADC values
 2011-09-10 19:06:46 +10:00
Amilcar Lucas a540f60cc8 These files are not meant to be in master, they should only be in the APM_Camera branch for now 2011-09-09 16:37:42 +02:00
Amilcar Lucas 9e80f2e920 This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:18:38 +02:00
Amilcar Lucas 581603c3b7 This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:02:22 +02:00
jasonshort 3b80bc8c58 Adding reverse to Channel Raw output (unscaled output) to fix camera reversing. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3297 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-08 04:58:42 +00:00
joeholdsworth@gmail.com 7977cddc13 updated make file for cygwin compatibility 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3277 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-05 17:15:01 +00:00
tridge60@gmail.com f61aa4d68c updated XML MAVLink definitions 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3272 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-05 06:19:39 +00:00
jasonshort 2e3ae1a30e Changed bit shifts to division, relying on the compiler. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3265 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-05 04:32:17 +00:00
tridge60@gmail.com fc0c75963b renamed ACM_PI to APM_PI to fix build 
the library name needs to match the header name for the arduino build
to work

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3254 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-05 01:15:24 +00:00
jasonshort 2ebcc08b06 Adding ACM_PI 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3253 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-05 00:56:50 +00:00
tridge60@gmail.com f2ea0b4fd8 BetterSerial has txspace() now 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3248 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 22:52:22 +00:00
tridge60@gmail.com 6cfb9a9c2b replace space() with txspace() 
space() was actually intended to be tx buffer space, it just had a
bug. The name txspace() is clearer however, and should prevent
confusion as to which buffer its for

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3247 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 22:52:11 +00:00
tridge60@gmail.com 2dde50366f added comm_get_txspace() to GCS_MAVLink 
this gives us the number of bytes available in the transmit buffer for
a mavlink channel

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3246 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 21:23:24 +00:00
tridge60@gmail.com 85a8d1b5c5 added txspace() method to FastSerial 
this returns the number of bytes available in the transmit buffer

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3245 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 21:23:15 +00:00
tridge60@gmail.com e7b71b3cb6 fixed spelling 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3244 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 21:23:06 +00:00
jasonshort 58e9a913a1 Added two filters to the RawTemp and RawPress values to increase accuracy from noisy temp sensor. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3242 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 17:47:50 +00:00
jasonshort 5f8ac1d269 Reverted to older PID. Restored the older filter, and removed PI command. I am no longer using PID for the quad and have switched to PIPI loops which perform much better. The D term in this class is not that great. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3241 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 17:47:07 +00:00
tridge60@gmail.com b8538ed5fb shrink the size of mavlink_message_t using max dialect message size 
this makes mavlink_message_t much smaller, but setting
MAVLINK_MAX_PAYLOAD_LEN to the maximum message size in this
dialect. This saves us 320 bytes of memory

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3239 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 08:51:51 +00:00
tridge60@gmail.com d5821bb54f import new mavlink version 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3238 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 08:50:24 +00:00
rmackay9@yahoo.com ada9c36e0c AP_RangeFinder - removed LV version because we use XL which covers both types of sonars 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3237 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 06:55:58 +00:00
tridge60@gmail.com a2589c3573 AP_Var: added EEPROM wear levelling 
This adds a variable length dummy variable at the front of the EEPROM
when we erase it, which has the effect of moving the location of any
hot variables within the EEPROM. This should improve EEPROM
life. Thanks to Mike for the implementation.

Pair-Programmed-With: Mike Smith

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3234 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 06:39:57 +00:00
tridge60@gmail.com 3255503032 AP_Var: avoid wearing out EEPROM by re-writing the same value 
when saving a variable, this avoids EEPROM wear by checking if the
existing value is already the same as the value being written, and
avoiding the write.

Thanks to Mike Smith for the implementation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3233 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 06:39:49 +00:00
tridge60@gmail.com cb4c53eddd AP_Var: fixed a logic bug in APVar::key() 
We were using && instead of & for a bit check. Thanks to Mike for
spotting this!

Pair-Programmed-With: Mike Smith

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3232 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 06:39:40 +00:00
tridge60@gmail.com 442e7ddc49 AP_Var: fill all of EEPROM with 0xFF on erase_all() 
This wipes all parameter values, and also clears out any waypoints as
the waypoint format could have changed between firmware revisions.

This also ensures that the AP_Var code can't re-use any key values
from the old EEPROM state, which makes us less dependent on the old
EEPROM being in a good state

Pair-Programmed-With: Mike Smith

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3231 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 06:39:28 +00:00
tridge60@gmail.com 7ac3544573 dataflash: fixed some compiler warnings 
tmp is not needed

Pair-Programmed-With: Mike Smith

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3230 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 06:39:14 +00:00
hazyhxj@gmail.com 2cbb662e1f Fix NMEA GPS error 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3227 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 05:14:42 +00:00
mich146@hotmail.com 86bc84c259 update "NO_GPS" issue as per Justin Beech 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3225 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 04:46:14 +00:00
tridge60@gmail.com 5cac97ca8d added memcheck library 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3206 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-01 00:50:31 +00:00
tridge60@gmail.com bba6b90104 mavlink: imported new version with MEMINFO message 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3205 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-01 00:50:13 +00:00
tridge60@gmail.com ca8141cfb6 imported new MAVLink implementation 
this new implementation reduces code size, and also reduces stack
usage, while avoiding the gcc union stack bug

Note that we will gain even more when we move to the new protocol
version, especially in terms of code size

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-31 05:23:18 +00:00
james.goppert 9f7631dc0f Fixed debug command. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3196 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-30 17:33:51 +00:00
joeholdsworth@gmail.com 725ccbc109 update to arduino.mk file to allow easier use with cygwin. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3166 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-23 23:02:39 +00:00
joeholdsworth@gmail.com 9e36c13f9c nightly check in, version not stable. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3164 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-23 20:36:30 +00:00
joeholdsworth@gmail.com c140113583 Checkin before beddy byes 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3154 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-22 21:50:11 +00:00
joeholdsworth@gmail.com f92e7323f5 Amilcar Lucas & Ritchie Wilson's camera code mixed in with ap_mount code, this needs to be separated. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3145 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-21 21:14:02 +00:00
joeholdsworth@gmail.com 2048d132b0 change of mind payloads should be split into their separate folders. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3144 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-21 19:58:15 +00:00
joeholdsworth@gmail.com 8c020108cb git-svn-id: https://arducopter.googlecode.com/svn/trunk@3143 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-08-21 19:55:54 +00:00
joeholdsworth@gmail.com 764619f6e7 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3142 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-08-21 19:33:32 +00:00
joeholdsworth@gmail.com 463dc4b533 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3141 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-08-21 18:49:42 +00:00
joeholdsworth@gmail.com 71725824e9 git-svn-id: https://arducopter.googlecode.com/svn/trunk@3140 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-08-21 18:48:28 +00:00
joeholdsworth@gmail.com 3fa8b249e5 Payload libraries, code for things like camera control, mount control antenna control should go here. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3139 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-21 18:33:39 +00:00
jasonshort 9cdba838a6 removed AP_Common ref 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3102 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 19:27:40 +00:00
jasonshort 9336fa9bd1 upped D filter to 6 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3096 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-14 05:44:29 +00:00
tridge60@gmail.com eb8de79be4 Compass: added a gain multiplier 
this adjusts the calibration based on the change in gain between
calibration and runtime

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3090 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 10:39:11 +00:00
tridge60@gmail.com 69b6e5225a added SET_MAG_OFFSETS magnetometer message 
this allows reset of the mag offsets without wiping your EEPROM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3088 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 09:00:21 +00:00
tridge60@gmail.com 32c576f28c Compass: several fixes to compass calibration code 
this changes the calibration code to require at least 5 good reads
from the compass during initialisation. The calibration is taken as
the average of the 5 values.

This also fixes the expected values for the 3 axes for the 5883 to
match reality.

We also save a bit of code space by adding a common rotate_for_5883L()
routine.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3087 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 08:17:25 +00:00
tridge60@gmail.com 5ffd66bc83 MAVLink: added missing files from recent update 
thanks to Randy for spotting this

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3086 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 06:30:29 +00:00
tridge60@gmail.com 1989497ae9 we don't have a separate 5883L driver any more 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3085 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 06:30:13 +00:00
tridge60@gmail.com 9232a0f652 Compass: removed the old 5883L driver 
we now use a single driver for both mags

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3083 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 05:09:58 +00:00
tridge60@gmail.com 1dcd7a358e PID: fixed an uninitialised variable 
we did not initialise derivative to zero

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3082 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 04:46:21 +00:00
tridge60@gmail.com 92822dbd6b ModeFilter: fixed a shadowed variable 
mode is a member of the class already, so call the local variable
fmode

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3081 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 04:46:10 +00:00
tridge60@gmail.com 6205752740 MAVLink: pull in latest changes from upstream MAVLink 
this gives us the new SENSOR_OFFSETS message for debugging sensor
calibration

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3080 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-13 04:45:48 +00:00
jasonshort 1d9bc92d41 Added a generic Sin and Cos look table. Not sure if it works yet as a library. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3075 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-11 22:31:15 +00:00
tridge60@gmail.com 4f099ae158 cope with double initialisation of the compass 
if we've already initialised, then the orientation matrix will already
be right

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3072 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-10 14:07:15 +00:00
tridge60@gmail.com 2995878e99 compass: add a small delay in compass init 
this adds a 50ms delay after setting the compass gains before reading
the compass. Added as paranoia after some strange results on a 5843

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3070 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-10 12:47:25 +00:00
rmackay9@yahoo.com 998b00693c AP_OpticalFlow - small but important fixes for position calcs 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3040 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-07 13:19:18 +00:00
mich146@hotmail.com 22d6499ef7 perl version of eedump 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3037 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-07 10:36:31 +00:00
james.goppert 1e4f463298 Updated GCS_MAVLink to match mavlink master. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3017 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-08-05 08:18:08 +00:00
tridge60@gmail.com f951ffb602 IMU: fixed HIL init with callback 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2988 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 23:35:37 +00:00
tridge60@gmail.com 22b5eb4273 GPS: added delay hook for GPS detection 
this allows for MAVLink to be up during GPS detection

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:37 +00:00
tridge60@gmail.com 28cf3dfc79 IMU: added delay callback hooks to IMU initialisation 
this allows the imu init() call to use a custom replacement for
delay(), which will allow for the processing of MAVLink packets during
IMU initialisation

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2986 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:25 +00:00
rmackay9@yahoo.com f096d8cb23 OpticalFlow - add check to see if sensor has initialised correctly. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2974 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 04:31:36 +00:00
jasonshort e63fc0fe68 removed scaling on control in because it might cause rounding issues. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2969 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 23:48:38 +00:00
jasonshort e32f8057bb Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2968 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 23:34:25 +00:00
jasonshort ebf1697158 Reworked the filtering algorithm based on Maxbotics recommendations to use a Mode filter 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2965 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:35:36 +00:00
jasonshort 39677e7e66 Added some missing functions needed to get HIL to compile 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2964 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:34:23 +00:00
jasonshort 5c3837757a Added ability to grab an unfiltered value from the ADC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2963 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 20:33:45 +00:00
tridge60@gmail.com 74edb558f4 GPS: fixed the GPS specific test programs 
This fixes the build

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2962 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 08:48:17 +00:00
jasonshort 7026405951 Changed the PID derivative filter to a moving average with 4 samples. Having great luck with it and High kD when using noisy sensors. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2957 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-29 21:52:37 +00:00
tridge60@gmail.com 1dc0063e67 HIL: fixed radio_status in setHIL() for APM_RC 
thanks to Michael Oborne for noticing this!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2952 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-28 12:11:25 +00:00
rmackay9@yahoo.com b930b892c2 DataFlash library - changed to use standard arduino SPI library 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2928 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-19 23:00:18 +00:00
rmackay9@yahoo.com ab8d8fedb9 AP_OpticalFlow - fixes to position calculations (lat was reversed and would calculate position even with surface quality was very low) 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2913 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 21:51:27 +00:00
jasonshort 5c3113955d doubled Slew rate limiter to 2 m/s max @ 10 hz. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2912 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 18:18:47 +00:00
tridge60@gmail.com f915eb7052 GPS-HIL: set new_data on setHIL() 
this fixes navigation for ACM in HIL

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2909 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 12:42:36 +00:00
jasonshort de76785499 Added a slew rate limit 
reworked filter, same results, just wanted to get rid of modulus.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2900 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-17 19:05:18 +00:00
tridge60@gmail.com c22ebd22b4 compass: fixed a compiler warning 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2844 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-13 09:10:24 +00:00
tridge60@gmail.com d71ed55596 build: added EXTRAFLAGS to make rules 
this allows you to create a local makefile like this:

 include Makefile

 hil:
	make -f Makefile EXTRAFLAGS="-DHIL_MODE=HIL_MODE_ATTITUDE -DSERIAL3_BAUD=115200"

and then use 'make hil'

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2843 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-13 09:07:09 +00:00
jasonshort f6e5825349 Cleaned up or reverse code. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2842 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-13 05:54:40 +00:00
tridge60@gmail.com db2e139812 fixed 5843 detection code 
we were looking for the wrong regA value

Thanks to Chris for the debugging help! (and happy birthday!)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2828 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-09 22:27:15 +00:00
tridge60@gmail.com ddb823829d compass: added error checking on I2C transactions 
this adds error checking to all operations on the compass, to ensure
that we don't accept invalid data

This also fixes the calibration values for the 5883L to match the
recommended values in the spec

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2815 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-09 12:10:00 +00:00
tridge60@gmail.com a45c33727a mavlink: fixed a signed/unsigned warning 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2814 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-09 12:09:50 +00:00
jasonshort d18262b729 Added heavily filtered Accelerometer values for experimentation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2779 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-08 03:58:19 +00:00
jasonshort ce7dc48026 added ki_Yaw private variable and accessors. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2778 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-08 03:57:12 +00:00
jasonshort 8a0843e69a Added a limit to the atan function to calc the heading. Just trying to avoid, bad values screwing up the DCM. - Jason 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2777 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-08 03:56:04 +00:00
deweibel@gmail.com 45e57a0639 Commit test - just adding an unneeded comment 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2740 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-03 19:39:55 +00:00
tridge60@gmail.com 02351bd23a compass: fixed normal operation mode change for 5883L 
We need to set the right rates after config too. Thanks to Randy for
spotting this one

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2737 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-03 12:00:45 +00:00
tridge60@gmail.com cde84445b3 compass: fixed output rate and averaging for 5883L 
we need to setup the right output rate, or the compass gets very laggy

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2736 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-03 08:32:58 +00:00
tridge60@gmail.com 8fcceaa919 AP_Compass: fixed calibration of 5883L compass 
this fixes a compass initialisation bug where if the first value from
the compass isn't in the right range we would set bad calibration
scaling factors.

This also changes the maximum acceptable calibration values to 2000,
which is needed for the 5883 compass

pair-programmed-with: Randy Mackay

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2718 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-02 11:31:38 +00:00
tridge60@gmail.com e9bb030fd4 AP_Compass: report compass initialisation failure 
don't just put out rubbish values

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2717 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-02 11:31:27 +00:00
rmackay9@yahoo.com fd2547216d AP_Compass_test - added display to auto detected compass 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2716 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-01 16:26:27 +00:00
jasonshort 98632a97c0 temporally revert to prior version of Sonar class to narrow in on a bug. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2708 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-30 22:32:26 +00:00
rmackay9@yahoo.com f7ba02f825 AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2700 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-28 16:47:53 +00:00
rmackay9@yahoo.com 151aa5d415 AP_Compass - added auto detect of 5843 vs 5883L to AP_Compass_HMC5843 class 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2699 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-28 16:30:42 +00:00
jasonshort db0e5760a4 removed redundant FP calcs for speed up. 
added ability to alternate normalization and drift correction. Not fully implemented, needs further testing.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@2691 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-26 22:54:08 +00:00
jasonshort ebfb132f34 IMU speedup by shorting the temp calculation. If someone bothers to temp calibrate their sensors, they'll need to edit this shortcut. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2677 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-26 06:23:22 +00:00
DrZiplok 569087199d Add a simple tool for dumping AP_Var data from an EEPROM dump. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2676 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-25 07:56:38 +00:00
james.goppert 6959c2d6f9 Added debug/ upload targets to Arduino.mk 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2656 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-23 21:36:20 +00:00
james.goppert f2457c94d9 Added config.mk file inclusion for global configurations settings on make based builds. See ArduPilotOne for scripts/configure to see an example. config.mk should be located in the temporary directory where the rest of the build results are placed. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2655 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-23 19:01:06 +00:00
DrZiplok 8ab94794cd Enable map file generation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2636 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-22 05:54:55 +00:00
deweibel@gmail.com 71d4015bc8 revert gps lib to 2602 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2608 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:38:31 +00:00
deweibel@gmail.com b99362dc18 remove static declaration from idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2607 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:26:57 +00:00
deweibel@gmail.com 8a35079907 clean up idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2606 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:20:39 +00:00
deweibel@gmail.com 0a0c6f9c26 Fix initialization of idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2602 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-20 21:11:45 +00:00
jasonshort d090f92b66 Vector3<T>() { x = y = x = 0; } 
changed to :
	Vector3<T>() { x = y = z = 0; }

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2600 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-20 16:31:31 +00:00
jasonshort b70d2d4c29 update to Baro lib to remove temp filtering. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2569 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-18 05:08:48 +00:00
jasonshort 3c27be40fc silly formatting 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2566 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:43:43 +00:00
jasonshort 16d1e5d0b8 removed some initial settings 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2565 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:35:11 +00:00
jasonshort 350b2c5ea2 added optimization note 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2564 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:34:23 +00:00
jasonshort dafe217178 made timeout public, settable 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2563 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:33:08 +00:00
jasonshort cb7da41e55 removed duplicate filter from ADC based input 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2562 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:30:37 +00:00
tridge60@gmail.com 60ae24dca6 disable the re-ordered initialisation warnings 
these are not useful for us, and will always happen with our parameter
code

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2561 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-15 12:25:10 +00:00
tridge60@gmail.com 24491fce74 fixed warnings in PID.h 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2560 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-15 12:25:00 +00:00
tridge60@gmail.com 88b00edaf3 fixed warnings in AP_DCM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2559 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-15 12:24:51 +00:00
tridge60@gmail.com 439b65324d fixed a warning in AP_Var.h 
index is in system headers as a string function

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2558 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-15 12:24:40 +00:00
jasonshort 153c166ef3 Based on Doug's recommendation - increased Accel weighting to .66 – 1.33 Gs 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2557 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-14 23:37:43 +00:00
jasonshort e63fe14ce7 the temp change in the state machine didn't really help the altitude issue after all. Need more testing as the temp sway is the major factor in the lack of air pressure accuracy. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2556 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-14 15:46:38 +00:00
jasonshort ab6bafbd5c reworked filter on temperature. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2554 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-14 05:08:11 +00:00
jasonshort 65e161cbfb removed filter on temp, was causing init problems. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2553 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-14 04:51:07 +00:00
jasonshort d2330b4239 Adjusted the state machine to read the temperature less often (from twice a second to every 4 seconds). Added a small smoothing filter. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2552 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-12 23:57:36 +00:00
jasonshort 65345160d1 Implemented moving average filter to deal with noise issues on quads, default is a 6 member filter. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2551 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-12 23:50:15 +00:00
jasonshort b07c32acd0 Added dynamic setting of kp_rollpitch, ki_rollpitch, kp_yaw. 
Added three constants for kp_rollpitch, (high, med -default, low)
Functionally equivalent to prior version.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2550 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-12 23:49:01 +00:00
DrZiplok 4d6637389a Add a method to BetterStream and FastSerial that can be used to report 
the amount of data that can be written without blocking.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@2549 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-12 22:26:39 +00:00
deweibel@gmail.com 8b18bd3481 Add clearOverride message to allow failsafe recovery from joystick control 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2540 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-11 23:59:35 +00:00
rmackay9@yahoo.com 13203fd211 RC_Channel.h - small change to store _reverse setting to eeprom 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2528 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-10 03:33:31 +00:00
rmackay9@yahoo.com b640e7b68c AP_Compass - added support for HMC5883L 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2461 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-01 13:21:20 +00:00
rmackay9@yahoo.com 9b1be05369 AP_Compass - added support for HMC5883L 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2460 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-01 13:16:18 +00:00
rmackay9@yahoo.com 65cb8d6bdb AP_OpticalFlow - moved chip select pin so it doesn't interfere with AP_ADC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2452 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-31 13:46:56 +00:00
deweibel@gmail.com 530eeb4184 Fix bug for GCS joystick control 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2440 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-30 03:44:07 +00:00
deweibel@gmail.com 5d5b51cbe6 Change setHIL to return a bool based on if GCS joystick control is active 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2423 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-27 23:15:29 +00:00
jasonshort dd510e68ae http://code.google.com/p/arducopter/issues/detail?id=161 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2395 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 05:17:12 +00:00
rmackay9@yahoo.com 4017bb39d1 AP_OpticalFlow - fixed some bugs in get_position 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2380 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-22 14:44:51 +00:00
james.goppert 886032141a Synced with mavlink dev branch, RC_CHANNELS_OVERRIDE packet added. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2344 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-18 03:24:31 +00:00
jasonshort 7bfeab7a6d I am Adding A "PI" loop to the mix. This is a need for AC2. We can optimize the internals later, but I basically duped the get_PID and removed the D term internals. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2338 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-16 16:05:49 +00:00
rmackay9@yahoo.com 4ce3cb9be8 AP_OpticalFlow - added set_orientation 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2245 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-11 12:49:19 +00:00
deweibel@gmail.com e6aa5fc927 Add hDOP for ublox gps driver 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2241 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-11 02:54:43 +00:00
deweibel@gmail.com a19b5a5c10 Add an alternate compass.calculate() function substituting 1 sqrt func for 4 trig funcs. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2221 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-08 18:15:29 +00:00
james.goppert 3fe8829396 Fixed script typo. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2188 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 20:51:19 +00:00
james.goppert 08e644d969 Updated mavlink to latest roi branch. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2187 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-07 20:49:13 +00:00
jasonshort 19e5cad091 changed a bool to uint8_t 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2120 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-06 17:51:26 +00:00
jasonshort 88a8c1113c Added new output type AMGLE_RAW - this will ouput non-scaled PWM, better for copters than fixed wings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2093 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-05 17:46:11 +00:00
jasonshort 063d6a1e9a git-svn-id: https://arducopter.googlecode.com/svn/trunk@2092 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-05 05:22:12 +00:00
james.goppert e6c4595d3c Massive warning fixes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2089 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-04 19:12:27 +00:00
DrZiplok 9d089920ae Suppress warnings from the Arduino core, since we can't do anything about them. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2076 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-03 05:04:27 +00:00
jasonshort b56992c5dd Libraries to support non AP_VAR usage. This is for Ardupilot legacy hardware. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2075 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-03 04:33:32 +00:00
jasonshort 6d4b77340b fixed an overflow issue in AP_RC 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2074 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-03 04:32:37 +00:00
DrZiplok 85d006c290 Re-order class members to avoid initializer-order warnings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2073 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 05:56:21 +00:00
DrZiplok d257e12dc0 Re-order initialisers to suppress warnings 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2072 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 05:55:59 +00:00
DrZiplok b8cc8755f6 Rename some ctor arguments to suppress shadow-related warnings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2071 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 05:55:34 +00:00
tridge60@gmail.com bad640fd27 added a few more warning flags for when building with the Makefile 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2070 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-02 05:50:13 +00:00
james.goppert cec995adf7 Added const AP_Var access. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1958 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 19:29:33 +00:00
james.goppert 6d13081fcf Removed APO lib. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1957 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 17:38:12 +00:00
james.goppert 80f941e8e0 Moved APO quad/ rover projects. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1956 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 17:14:54 +00:00
jasonshort 9b3510bd15 typo 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1955 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 04:55:51 +00:00
jasonshort be601efae3 removed yaw towards WP option. Should now be handled with a mission script. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1954 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 04:55:07 +00:00
jasonshort ceb1c1e81d git-svn-id: https://arducopter.googlecode.com/svn/trunk@1953 f9c3cf11-9bcb-44bc-f272-b75c42450872 2011-05-01 04:54:15 +00:00
james.goppert ba4756bcaf Heartbeat failsafe added for APO. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1940 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 03:38:41 +00:00
james.goppert 2e8904c120 APO comment fixes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1939 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 03:20:19 +00:00
james.goppert 6d53028345 Example cleanup for APO. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1938 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 03:05:15 +00:00
james.goppert cb787573ef Added Car/Quad APO examples. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1937 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 02:43:46 +00:00
rmackay9@yahoo.com 3b87530b74 DataFlash - backed out recent changes to make it use SPI while I figure out the cause of some people's compile errors 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1936 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 02:27:18 +00:00
james.goppert a840314b97 APO merge. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1935 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 02:05:17 +00:00
rmackay9@yahoo.com 8d1f9c9fd9 AP_OpticalFlow - first draft of optical flow library for use with experimental ADNS3080 sensor 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1933 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-30 08:29:28 +00:00
rmackay9@yahoo.com 3ef57bf3bf DataFlash - modified to use Arduino SPI interface instead of directly using registers. Also moved "dataflash_CS_inactive" calls to end of functions instead of beginning so that it doesn't monopolize the SPI bus. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1931 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-30 03:25:31 +00:00
mich146@hotmail.com f76f81cfd9 update dataflash for 528 and 512 byte pages 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1906 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-18 11:19:31 +00:00
rmackay9@yahoo.com edcc48c475 Removing BinComm because we're using MavLink now 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1905 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-18 02:51:19 +00:00
jasonshort 0f5505e529 just formatting 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1887 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 04:55:32 +00:00
jasonshort ec42665831 my quicky GCS debug library 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1886 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 04:52:01 +00:00
jasonshort e1d945812d defaulted to 38400 baud 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1885 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 04:50:38 +00:00
jasonshort ead4ce4344 Added more wp options 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1884 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-16 04:49:46 +00:00
james.goppert@gmail.com 2068c83cba Fixed bug in compass tests, had it initialize fastserial. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1862 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 19:57:54 +00:00
james.goppert@gmail.com 90676903ba Eclipse makefile support for examples. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1861 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 19:39:27 +00:00
james.goppert@gmail.com 58118ef9f0 Eclipse makefile support for examples. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1860 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 19:38:12 +00:00
james.goppert 5e726335fa Fixed rc channel. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1850 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-06 01:19:03 +00:00
tridge60@gmail.com 81c5770b77 GPS: fixed the idle timer 
we need to reset the idle timer only on good data, or a call to
init(). Otherwise we never use it.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1849 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-04 22:00:06 +00:00
james.goppert@gmail.com eb6962568b Removed AP_Controller. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1848 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-04 21:40:43 +00:00
james.goppert f67c4d7c99 Fixed controller prototype for update. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1847 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-04 03:26:58 +00:00
james.goppert 2868181322 Updated Car controller demo. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1846 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-04 02:23:32 +00:00
james.goppert b646cdd61a AP_Controller update. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1845 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-04 02:22:55 +00:00
mich146@hotmail.com f4403be163 ADC Library - reimplement overflow 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1832 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-31 14:19:59 +00:00
mich146@hotmail.com ea4700ad6e Fix adc issue causing serial problems/other issues. (DOUG please check) 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1829 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-29 11:16:21 +00:00
mich146@hotmail.com bff541a8a6 FastSerial Fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1826 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-29 00:08:27 +00:00
jasonshort 68e48de0f6 Temp revert to previous version, while I hunt down a bug. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1822 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-27 23:34:50 +00:00
jasonshort 3c54965c30 reformatted 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1817 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-26 21:05:02 +00:00
james.goppert db3b7ba12a Added back some APO libraries. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1813 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-25 17:08:35 +00:00
DrZiplok cdc5241363 Print the key associated with a variable when the variable is printed using AP_Var_menu_show. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1812 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-25 02:51:03 +00:00
DrZiplok 0431b6dc69 Add an interface for locating a variable by key. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1811 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-25 02:46:45 +00:00
deweibel@gmail.com c7deedd785 Change waypoint/command storage to include options byte. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1809 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-23 03:29:46 +00:00
tridge60@gmail.com 776b9b6f7a added -Wformat in Arduino.mk 
when building with 'make' we get warnings related to printf() format
strings

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1798 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-21 07:26:03 +00:00
tridge60@gmail.com 211de598c3 implemented typesafe PSTR() 
This makes PSTR() type safe by using a 1 byte wrapper
structure. Attempts to use the wrong varient of a print function will
generate a compilation error.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1797 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-21 07:25:48 +00:00
jasonshort fd10614822 a basic mission uploader 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1796 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-21 00:51:43 +00:00
mich146@hotmail.com e7c0fea807 MavLink Update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1795 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-20 23:28:42 +00:00
jasonshort 4e29176262 a basic mission uploader 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1794 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-20 21:56:48 +00:00
tridge60@gmail.com f5b1c84e2d mavlink: sync with upstream 
this syncs with 7e1c274437f09a8a03a5bef990e14b93c8fc8b07 from 
March 17 2011

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1782 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-18 01:34:13 +00:00
tridge60@gmail.com cc548e4c19 added dummy save() method to AP_IMU_Shim 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1781 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-18 01:34:00 +00:00
mich146@hotmail.com 4c2e458be6 Mavlink update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1777 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-16 10:09:22 +00:00
jasonshort 28011d8800 removed options - not going to go that route without proper GCS support. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1760 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-09 06:38:46 +00:00
mich146@hotmail.com d5ab8f3a79 Mavlink update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1757 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-08 11:07:58 +00:00
deweibel@gmail.com 967130ed7e Add method definition for set_centripetal() 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1756 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-08 01:47:43 +00:00
jasonshort b8e904bd54 Added Options Bitmask to Location Struct 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1741 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-05 04:39:23 +00:00
deweibel@gmail.com 5f853768f4 Add member/method to allow HIL to override radio values 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1732 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-28 02:37:51 +00:00
deweibel@gmail.com 0642e1144d Fix imu_health metric 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1728 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-25 20:09:00 +00:00
deweibel@gmail.com 85672b5ab2 Change gyro/accel calibration to guard against improper orientations or motion during cal 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1727 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-25 17:49:31 +00:00
jasonshort c29ff2a99d removed unused save_trim() function 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1716 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-23 05:17:24 +00:00
mich146@hotmail.com 2989bf2cde Fix hil issue 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1712 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-21 23:16:57 +00:00
DrZiplok@gmail.com 1115986749 Fix ::set_and_save to return the result of the ::save call. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1707 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-21 05:12:58 +00:00
DrZiplok@gmail.com 57bead1964 Fix the return value from ::save() on AP_Var_groups so that the caller can verify that a save was successful. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1706 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-21 05:11:02 +00:00
DrZiplok@gmail.com 94537aa143 Increase the maximum save size to 64B, so that a Vector3f can be saved. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1704 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-21 04:42:28 +00:00
jasonshort bd9f0f4647 added more time to IMU startup. added more accessors and removed private flag. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1702 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-20 23:10:18 +00:00
jasonshort 0ff00e3a53 added names to output in show 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1698 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-20 03:46:18 +00:00
DrZiplok@gmail.com d036cb9360 Fix AP_Var::load - it has to ask the serialiser, not the unserialiser, for the variable's size. 
Fix AP_Float16 - scaling was being done in the wrong direction, and the unserialiser wasn't reporting errors.

Add test cases for the above.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1696 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-20 00:38:09 +00:00
james.goppert 7dc91e5dcb Consolidating APO. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1691 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 21:36:29 +00:00
jasonshort 053e747428 quick.fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1688 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 21:01:32 +00:00
jasonshort 95462e0bdd quick.fix 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1687 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 21:01:07 +00:00
jasonshort caf6a3dc0f Added setHIL to GPS.cpp 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1686 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 18:33:42 +00:00
james.goppert 4c79a2c9a5 Mavlink update. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1685 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 17:54:14 +00:00
mich146@hotmail.com b268578975 fix compass shim 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1684 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 10:04:00 +00:00
mich146@hotmail.com caf9fe5777 fix imu shim 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1683 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 09:52:59 +00:00
jasonshort 3c330fc211 Added MAV_CMD_NAV_R_WAYPOINT, MAV_CONDITION_ANGLE 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1679 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 03:59:06 +00:00
jasonshort 2c4fc16ce8 Added MAV_CMD_NAV_R_WAYPOINT, MAV_CONDITION_ANGLE 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1678 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 03:58:48 +00:00
jasonshort 385e3af27e Added accessors declination. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1677 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 03:57:53 +00:00
jasonshort e6e161d56d Added accessors back for Accels. I need them there until we need to find another solution. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1676 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 03:57:19 +00:00
deweibel@gmail.com c1c2021719 Correct factoring issue for AP_GPS_IMU XPlane HIL interface. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1673 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-17 21:36:56 +00:00
deweibel@gmail.com 72d9f52d3b Small bug fix for HIL gps when using auto-detect 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1663 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-16 18:19:07 +00:00
DrZiplok@gmail.com ad13b691de DCM needs a reference to a pointer so that we can change the GPS under it during init. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1662 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-16 07:54:48 +00:00
DrZiplok@gmail.com f8f0027c7f Add a little code to track the amount of memory used by AP_Var subclasses. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1661 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-16 07:01:17 +00:00
james.goppert 6e0d023c95 Add saturation and sink blocks. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1660 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-15 03:10:01 +00:00
james.goppert dd51139b36 AP_Controller working. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1659 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-15 00:57:23 +00:00
james.goppert 57892082b2 Debugging controller. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1658 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 21:02:35 +00:00
DrZiplok@gmail.com 92bfbb1ca4 Use a more explicit loop termination condition. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1657 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 17:49:02 +00:00
DrZiplok@gmail.com a8d6b839a5 Don't return a name for a variable if it has no name, even if it's in a group that does have a name. 
When displaying variables, don't display variables with no name, or that are groups.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1656 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 17:44:33 +00:00
DrZiplok@gmail.com b750e2b006 Variable names must be PROGMEM strings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1655 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 17:43:33 +00:00
DrZiplok 099ca305c9 Add a constant that can be used to identify groups. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1653 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 07:11:42 +00:00
DrZiplok@gmail.com 223af24398 Use AP_Var to store PID scaling values. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1652 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:45:31 +00:00
DrZiplok@gmail.com 8e7301b4d3 Use AP_Var to store channel calibration. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1651 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:43:44 +00:00
DrZiplok@gmail.com ddfab124cd Use AP_Var to store accel/gyro calibration. 
Refactor AP_IMU_Oilpan and remove all the old EEPROM code.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1650 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:42:37 +00:00
DrZiplok@gmail.com b9152dc544 Line ending property changes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1649 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:27:07 +00:00
DrZiplok@gmail.com dee05d1838 ::transposed does not change the matrix; make it const. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:26:05 +00:00
DrZiplok@gmail.com 1f04ecbfdb Major update including AP_Var support. 
Most of the compass functionality is now abstracted in a base class, with the various sub-classes implementing just their unique functionality.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1647 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:25:20 +00:00
DrZiplok@gmail.com 90bae93a50 Eclipse project config changes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1646 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 03:16:03 +00:00
DrZiplok@gmail.com 3dbffbfcb4 Add a template AP_VarS that handles arbitrary structure/class types. 
Note that the object must still be <= 32 bytes in size to be saved/loaded.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1644 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 01:47:24 +00:00
jasonshort 1f56ef5f21 updated formatting, baud 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1643 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 00:43:35 +00:00
jasonshort 6512531bf9 updated formatting, baud 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1642 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 00:43:11 +00:00
deweibel@gmail.com 17804fbc29 Speed IMU initialization 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1641 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 23:25:04 +00:00
deweibel@gmail.com 2dc7621e4e Change ADC overflow correction 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1640 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 23:24:37 +00:00
james.goppert 1e63c2f368 AP_RcChannel demos updated for AP_Var. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1632 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-13 01:24:32 +00:00
mich146@hotmail.com 89eaff17bc Mavlink update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1630 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-11 11:04:52 +00:00
mich146@hotmail.com 7d80ff5dc8 Fix Mavlink include 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1628 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-11 00:04:39 +00:00
DrZiplok 3e65cdf689 Fix for log() being a bad idea. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1617 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-09 23:15:11 +00:00
mich146@hotmail.com d81237d43f MavLink Update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1616 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 23:16:58 +00:00
deweibel fac0e0a1d9 Add code for auto magnetometer offset nulling. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1615 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 20:17:16 +00:00
DrZiplok 107e06d849 Implement a cast_to_float method for convenience; at a cost of a couple of bytes in the vtable this will save many callers having to play type introspection games. 
It might be possible to implement a set of virtual cast operator overrides, but only float lets us return NAN to indicate that a cast can't be made, so for now we'll stick with just this one.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1614 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 10:17:45 +00:00
DrZiplok 56eea84a89 Correct knots -> m/sec conversion. Thanks to Paul M. for spotting this. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1613 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 07:06:47 +00:00
james.goppert ef95309e9a APO Compiling with new AP_Var! 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1612 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 01:58:51 +00:00
james.goppert d4007c3fca Working on updating AP_Controller/RC_Channel for new AP_Var 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1611 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-07 23:33:12 +00:00
deweibel d5e48364a1 Change MediaTek timestamps to millisecond Time of Day 
Add epoch method to return timestamp epoch.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1589 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-01 23:50:36 +00:00
DrZiplok@gmail.com ff5ce694a2 Add a template AP_VarA that defines a variable that is an array of some basic type. This is like AP_VarT for arrays, with minor changes in behaviour consistent with the difference between regular variables and arrays. 
Note that AP_VarA arrays are still limited by the constraints on the total size of a variable (AP_Var::k_size_max).

Add a basic unit test for arrays; more are needed.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1579 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 20:58:34 +00:00
DrZiplok@gmail.com 072103ef07 Comments, minor consting, use a better target for sizeof in AP_VarT 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1578 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 20:14:42 +00:00
DrZiplok@gmail.com f6dec2503e Minor whitespace fixes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1577 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 20:13:07 +00:00
deweibel@gmail.com 343c6565db Add FinishWrite method to the DataFlash class to support using an index system. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1575 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-30 01:53:04 +00:00
deweibel@gmail.com fba3e62135 Add reversing for PWM outputs in angle_to_pwm case. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1566 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-27 18:16:22 +00:00
james.goppert b8e53931b9 Started updating AP_Controller and AP_RcChannel for AP_Var 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1559 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-26 07:05:22 +00:00
mich146@hotmail.com 0ed855541f Mavlink update 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1555 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-25 00:31:38 +00:00
DrZiplok 0913a26513 Try to pre-empt subsequent inclusions of wiring.h by grabbing it here and giving ourselves a chance to undo some of the less well-advised macros it defines. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1554 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-24 02:44:31 +00:00
jasonshort 95d6e2cac0 fixed a scaling bug in imax 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1553 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-24 02:07:25 +00:00
DrZiplok@gmail.com d38874cd05 Move the unit test framework out of the unit tests. Add unit tests for the k_typeid_* constants. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1543 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:59:26 +00:00
DrZiplok@gmail.com 27c36583d0 Add a function to AP_Var for finding a variable by name. It is not efficient, but convenient for e.g. interactive use. 
Add pseudo-constant copies of the AP_Meta_calss::Type_id for the standard AP_VarT subclasses.  This makes checking the type of a possible AP_Var much cheaper than calling ::meta_cast, as there is no object con/destruction involved.

Add some helper functions for manipulating AP_Vars from Menu interfaces.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1541 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:58:07 +00:00
DrZiplok@gmail.com 7f5b882e1a Don't include AP_Vector (in preparation for retirement) and AP_Loop (because it's not being used by APM*). Interested clients can still include AP_Loop if they need it. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1540 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:48:07 +00:00
DrZiplok@gmail.com ce651511d7 Rename AP_Meta_class::AP_Type_id to AP_Meta_class::Type_id in keeping with the coding standard. 
Add a non-static version of AP_Meta_class::meta_cast that can be used against any subclass object directly.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1539 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 23:46:58 +00:00
DrZiplok fd83ba7753 Fix a serious typo, add more documentation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1538 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 20:33:20 +00:00
DrZiplok e2f15b3b97 Move the Test unit test framework out into its own header, so that it can be used by other libraries. 
Add some documentation explaining how it is used.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1537 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 20:26:11 +00:00
DrZiplok@gmail.com b8598c7ef6 Simplify AP_Var_group::_serialize_unserialize slightly by removing some variables. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1535 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 10:04:24 +00:00
DrZiplok@gmail.com 8de4cc56da Improve performance when saving a number of variables that don't have space allocated in the EEPROM. This avoids scanning the entire EEPROM every time a variable that has not yet had space allocated is written. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1534 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 09:56:58 +00:00
DrZiplok@gmail.com 82fdeb11bb Fix ::save_all/::load_all so that they check the correct criteria for opt-out. Now load/save_all work. 
Fix prototype for AP_Var_group::serialize so that it's called correctly when saving a group.  Now group load/save works.

Add load/save_all and group load/save unit tests.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1533 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 09:27:58 +00:00
DrZiplok@gmail.com 3adec05593 Fixes for EEPROM space allocation and mapping. 
- We can't count on the first EEPROM scan knowing about everything; new variables may be constructed later so be willing to go back and re-scan the EEPROM if we encounter a new variable that hasn't been loaded yet.
- Sort out where _key actually points (the variable's data) in the EEPROM and get everyone to use the same interpretation.
- Fix return values from ::save and ::load.
- Make it possible to re-save after ::erase_all by de-locating all variables before the EEPROM is blown away.
- Fix args to eeprom_read_block/eeprom_write_block so that we don't spam random memory.

Add unit tests for basic save/load operations.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1532 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 08:11:53 +00:00
DrZiplok@gmail.com 1a2ce433e1 I never liked the plan that variable groups could only be statically scoped; it was much too fragile. These changes address that issue by splitting the global variable list into two lists, one for standalone variables (including groups), and one for variables that are members of a group. 
Now a variable belonging to a group can safely be constructed before the group it belongs to, and the group can be destroyed before its member variables.  This greatly simplifies the AP_Var constructor(s).

Remove the lookup-by-index and lookup-by-key interfaces to AP_Var and replace them with first/next interfaces for all variables, and for variables belonging to a specific group.  Document their usage.  Add an accessor for the key associated with a variable so that search-by-key can be performed by a consumer.  Throw away the lookup cache implementation, as it's not required anymore.

Re-layout the EEPROM variable header and tweak the EEPROM space allocator so that it's more resistant to interruptions during variable save.

Fix the global constants so that they work.

Add an interface for erasing all variables in EEPROM (only writes one byte).

Fix unit tests so that they work with the changed interfaces.  Also tweak the unit test framework so that it doesn't inline all its code.  This is a WIP - many more tests need to be written still.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1531 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 06:52:59 +00:00
DrZiplok@gmail.com 8317c090da Add a templated version of AP_Meta_class::meta_type_id so that you can get a type ID for any named type without having to have an instance of the type lying around. Update the comments about caching type IDs to reflect its availability. 
Fix the comments around AP_Meta_class::meta_cast; they were leftovers from an earlier implementation and entirely not helpful.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1530 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-23 06:44:07 +00:00
DrZiplok@gmail.com 6cf396074b Implement the missing AP_Var_group::*serialize functions. 
Rather than implementing empty default constructors, make sure that AP_Var and friends have useful default constructors instead.  This works around AP_Meta_class::meta_cast requiring a default constructor without having empty ctors scattered around.

Add accessors to AP_Var so that the global variable list can be traversed and the group/variable relationship comprehended by outsiders.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1523 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-22 18:42:44 +00:00
DrZiplok@gmail.com d53844c52d Implement a pure data serialisation load/save model for AP_Var. 
The format is a simple TLV format; a tag identifying the variable, a length for the variable, and then the actual data.  This format could ultimately be extended to include waypoint/commands as well.

This allows us to load and save groups of variables to EEPROM without having to have a static EEPROM map.

Still needs unit tests and (probably) bugfixing.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1522 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-22 08:37:52 +00:00
james.goppert 8ec3a8de4a Updated AP_RcChannel for AP_Var. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1509 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-18 04:56:45 +00:00
mich146@hotmail.com dbb40ad9a4 Reinstate Float loading and saving 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1507 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-17 22:57:48 +00:00
deweibel@gmail.com 82e6e29d2f Add initial values for scaling and dead zone to RC_Channel constructor 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1506 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-17 04:05:48 +00:00
deweibel@gmail.com c9788d7b0b Add back AP_GPS_IMU to provide Xplane functionality 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1504 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-17 01:50:34 +00:00
jasonshort 709b56f477 Added getter functions to accels 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1503 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-16 20:42:11 +00:00
DrZiplok@gmail.com ea3570ded0 Formatting and naming changes for conformance with the ArduPilot Coding Conventions. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1502 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-16 09:14:21 +00:00
DrZiplok 91efbeac56 Deal more gracefully with the case where the incoming PPM stream has more than 8 channels encoded. 
This makes it possible to move one resistor on the APM board and feed it PPM directly from a receiver emitting a PPM stream.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1498 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-15 19:32:04 +00:00
DrZiplok e552b7c7e1 Update to current MAVLink dev branch protocol version. This has NOT been tested yet. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-12 08:57:54 +00:00
DrZiplok 3f663597b5 Based on explaining AP_VarNoAddress to Doug, improve the description of the value. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1491 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-12 02:43:25 +00:00
DrZiplok@gmail.com 3cdeffa372 Bring AP_GPS_Auto closer to ready for prime-time: 
- disable NMEA autodetection; false positives are still a risk
 - trim down the console output to a minimum; we still need something to help users diagnose potential problems, but the old output was much too verbose
 - rather than block forever, only do one autodetect pass for each ::read call.  That's still too long (five seconds or so) but better than blocking forever.
 - don't block forever if no GPS is attached.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1480 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 08:20:41 +00:00
DrZiplok@gmail.com b88cfe92f4 Extend the logic that preserves buffer sizing on re-begin by also avoiding freeing and re-allocating buffers when they don't change in size. 
This can make re-opening a port faster (as the free/malloc pair can be avoided) and possibly more robust (in the case where e.g. the heap has been corrupted).

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1479 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 08:17:31 +00:00
DrZiplok@gmail.com 7cb9579edf Update the NMEA example code in conjunction with the new parser. 
Added an init string for SiRF receivers that will bring them back out of the binary mode configuration that AP_GPS_Auto sets them to.  

Picked up the GPS logging format from the AP_GPS_Auto test.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1469 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:57:16 +00:00
DrZiplok@gmail.com e27af48391 Implement a completely new NMEA parser based on the TinyGPS parser by Mikal Hart. 
Major new features:

 - No RAM buffer for the NMEA message being parsed; saves 120 bytes of RAM.
 - More robust parser, a little less likely to be confused by bad messages.
 - Added configuration strings for SiRF, ublox and MediaTek GPS in NMEA mode to select just the messages of interest.

Note that the issue that TinyGPS has with co-ordinates with "different" numbers of decimal digits is addressed in this code.

Size is comparable to the old parser.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1468 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:55:45 +00:00
DrZiplok@gmail.com 3ac2193d48 Add a delay after sending the GPS mode switch strings in an attempt to give any NMEA data time to drain before we attempt to sniff again. 
Otherwise, we can end up settling on NMEA as a mode just after switching a SiRF GPS to binary mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1467 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:50:42 +00:00
DrZiplok@gmail.com 0b2e2c55f9 Add more unit tests for AP_Var. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1466 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:44:23 +00:00
DrZiplok@gmail.com e243149f61 Add more documentation for AP_MetaClass. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1465 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:43:41 +00:00
DrZiplok@gmail.com adb54428da Add a new macro PROGMEM_STRING that can be used to define a constant string in program memory. 
This is a partial workaround for not being able to use PSTR at global scope, e.g. in an argument to a constructor; it makes the intent of the otherwise somewhat bulky declaration of the string more obvious.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1464 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:42:59 +00:00
DrZiplok afc68ba45c Use operator new from AP_Common rather than our own. This also makes AP_Common available to the GPS drivers that work with AP_GPS_Auto. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1463 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:19:15 +00:00