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1564 Commits

Author SHA1 Message Date
Andrew Tridgell 89b4a9f4ed Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell fd74414884 Quaternion: go back to the full update_MARG() 
the separate drift controller is too erratic on yaw hold to be usable
at the moment
 2012-03-10 10:34:34 +11:00
Andrew Tridgell 1002bbcbfe SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell ad21913605 Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell a889135e78 Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell e0cc9c93a1 Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell b67b0afd10 DCM: separate out the omega_yaw_P from omega_P 
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
 2012-03-10 10:34:33 +11:00
Andrew Tridgell f4b1dae7cf IMU: added get_gyro_drift_rate() interface 
this just calls down to the InertialSensor layer
 2012-03-10 10:34:33 +11:00
Andrew Tridgell f46fba54dc AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 9e07fa3af6 DCM: removed the limit on linear acceleration 
we get linear accelerations of more than 1g when turning corners
 2012-03-10 10:34:33 +11:00
Andrew Tridgell ab1aec0f77 Quaternion: minor tuning 2012-03-10 10:34:33 +11:00
Andrew Tridgell e470bf2354 DCM: minor tuning based on testing my quad 2012-03-10 10:34:33 +11:00
Andrew Tridgell 97faa47ba6 SITL: make the yaw match the APM conventions 2012-03-10 10:34:33 +11:00
Andrew Tridgell d1713bd2fb SITL: fixed the pwm output on startup 2012-03-10 10:34:33 +11:00
Andrew Tridgell 8b37790bd1 Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell f5e5ccff6a DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell e2b2c9181e Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell 2b6fae6e16 ADC: removed the ADC level accel smoothing 
the quaternion code does a better job of handling this noise than this
filter does
 2012-03-10 10:34:32 +11:00
Andrew Tridgell 8ad6b5f4d1 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell ff4f7ccc65 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell d1976449fd IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell e9f35bfa7f GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell 17daa2f31c Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell 404a4e4896 ADC: use floats for ADC averaging 
this costs almost nothing and improved accel/gyro calibration
 2012-03-10 10:34:32 +11:00
Andrew Tridgell 4c6afa36cb DCM: removed update_DCM_fast 
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 2c279639a3 AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell b39323bf1b AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell a8fd31a5e1 AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell d3dc5bd751 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell b273df0725 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell e1ff9a641b SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell d11aab610d Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell a954f68f27 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell d24b055b66 Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell 1f5095e722 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell 89a10c584d Quaternion: added more numerical safety in the quaternion code 
prevent infinities from creeping in and prevent large drift changes
 2012-03-10 10:34:30 +11:00
Andrew Tridgell f2e6714598 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell f71311fdc0 Quaternion: fix the gyro bias in centripetal and remove smoothing 
the centripetal code needs to take account of the current gyro
bias.

It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 76736792f8 SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell e445a455d0 Quaternion: use GPS to correct for linear acceleration 
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 1ea1b500a6 Quaternion: don't update if we have a very long deltat 
this can be caused by stopping the system in a debugger
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 8b73166605 Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell 2969e16f7d RC: disable interrupts when reading the RC registers 
this prevents getting bogus values which could cause a flight mode
change
 2012-03-10 10:34:30 +11:00
Andrew Tridgell efe2686b33 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
Andrew Tridgell 02ae5358d5 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2f5a4cdc4a Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell 934a05bbc6 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell a60cf111c5 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell 7d9c4094a2 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell e33bb217bc AP_IMU: improved the gyro calibration code 
this should give a much more accurate result
 2012-03-10 10:34:29 +11:00
Andrew Tridgell de1cfc8e34 Quaternion: drop the gyro drift rates down 
this should allow us to cope with noise more readily
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 2d6680f144 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 73594199c8 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell a85ba80246 AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell 626f8598ed AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell a052aa8435 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell 61d649e7ac AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 4a277f9871 fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell 353f9e613f SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell fb23c617fa Quaternion: added an AP_Quaternion library 
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
 2012-03-10 10:34:28 +11:00
Andrew Tridgell a05eeab55e SITL: reduce the simulated compass offsets 
this was causing us problems in getting DCM right
 2012-03-10 10:34:28 +11:00
Andrew Tridgell d03b11092b SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell 71d3847bfc SITL: added a drift_level multiplier 
this makes it easier to experiment with different gyro drift levels
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 61ebcfe9fe DCM: fixed the averaging of accel values for update_DCM_fast() 
this should improve drift correction for ArduCopter
 2012-03-10 10:34:28 +11:00
Andrew Tridgell de32c3bc31 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell a0e2e69431 SITL: fixed delay() to account for signal interrupions 
when a timer went off we stopped the delay() code
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 37ab76c9e6 DCM_Test: fixed example code to work with SITL 
this also fixes the compass setup
 2012-03-10 10:34:27 +11:00
Andrew Tridgell d2a969ee95 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell 79b8ddc236 DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell 55413bfcc1 DCM: don't use the z accel sensor for drift correction 
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
 2012-03-10 10:34:27 +11:00
Andrew Tridgell a78b00513b DCM: added a small amount of gyro and accel smoothing 
possibly not needed, but convenient to be able to test with different
values
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 82032b17a9 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell ae6a94a933 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell d106e3a970 MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell 4e354a9731 DCM: got rid of _error_roll_pitch from object state 
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
 2012-03-10 10:34:27 +11:00
Jason Short 13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short 34cf1e8fb3 Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now. 2012-03-06 20:55:35 -08:00
rmackay9 6c1299fe7e AP_RC - removed unused library 2012-03-04 18:21:52 +09:00
Andrew Tridgell dd9065123c SITL: use the new noise model 
use the new noise model at a low level for master until we sort out
DCM noise handling
 2012-03-02 18:31:07 +11:00
Andrew Tridgell 63ea5dfb49 APM_RC: allow the fast RC speed to be passed as a parameter 
this will allow users to test different speeds
 2012-03-02 17:57:08 +11:00
Andrew Tridgell f1a389fe19 AP_Param: ensure we can't have duplicate keys in Parameters.h 
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
 2012-03-02 15:48:28 +11:00
Andrew Tridgell 1476f044e6 I2C: added lockup_count() interface 
used for reporting I2C problems
 2012-03-02 15:48:27 +11:00
Andrew Tridgell c9031f1d36 SITL: implement cli()/sei() properly for desktop build 
this disables simulated hardware interrupts during critical sections
 2012-03-02 15:48:27 +11:00
Jason Short 59e1d43f60 Updated fastPWM to 490Hz 2012-02-29 22:17:38 -08:00
Pat Hickey 8fa559930f AP_Param: nested group recursion into next_group disableable by macro 
* c.f. 0251932c81fe7eb, e5515bb6ef82
 2012-02-29 19:48:43 -08:00
Pat Hickey 8b3d013294 AP_Param: One more nexted group recursion disableable by macro 
* c.f. e5515bb6ef82
 2012-02-29 18:48:54 -08:00
rmackay9 9832ac879e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9 0311b70004 AP_Baro - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:46:29 +09:00
rmackay9 64f9f1d92e AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
rmackay9 7c1d1b45a7 AP_DCM - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:26 +09:00
rmackay9 3cbd172ea9 RC_Channel - fixed small compiler warning 2012-02-29 22:44:29 +09:00
rmackay9 ced49f7d01 AP_ADC - removed small compiler warning 2012-02-29 22:43:46 +09:00
Pat Hickey 42078f2794 AP_Param: Make nested group recursion disableable by macro 
* Eliminates recursive calls inside AP_Param.
  This is important to Pat @ Galois, but not the project in general.
  Recursion depth on these functions is bounded structurally using
  existing nested group constructors (can't create loops in finite space)
  and checked at init time
 2012-02-28 16:28:27 -08:00
rmackay9 400a4b0bdb AP_RangeFinder - changed example sketch to work with new Filter library 2012-02-28 21:02:10 +09:00
rmackay9 5b89c65d9c Filter - updated example sketch to use modified library 2012-02-28 21:01:35 +09:00
rmackay9 d17a015df1 Filter - added AverageFilter, removed SumFilter 
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
 2012-02-28 21:01:11 +09:00
Andrew Tridgell 078268528e AP_Param: show numerical value in eeprom dump utility 2012-02-28 09:43:49 +11:00
Andrew Tridgell 701da6c30f AP_Param: fixed v.load() on a sub-element of a AP_Vector3f 
this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
 2012-02-28 09:43:49 +11:00
Andrew Tridgell 34f1ebcfb4 SITL: simulate noise on each ADC channel separately 
scale the noise based on the period of the motors
 2012-02-28 09:43:49 +11:00
Andrew Tridgell 4cdc0a8c11 SITL: raise the ADC noise level to 8 bits when flying 
this is about the level of noise of a aircraft that has a lot of
vibration
 2012-02-28 09:43:49 +11:00
Andrew Tridgell b32701e008 IMU: removed unused accel_filtered code 2012-02-28 09:43:49 +11:00
Andrew Tridgell ac44b73951 AP_Param: fixed setting of CAM_P_G in ArduCopter 
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
 2012-02-27 10:54:33 +11:00
Andrew Tridgell 7fe4a41c31 AP_Param: make the templating code a bit clearer 
add comments on the arguments, and name them in a clearer way
 2012-02-27 10:54:33 +11:00
Andrew Tridgell 5bf138fb38 DCM: fixed the sense of the compass GPS test in initial yaw 
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
 2012-02-26 22:24:45 +11:00
rmackay9 747e045193 ModeFilter - corrected shadowed variable compiler warning for drop_high_sample 2012-02-26 17:57:28 +09:00
rmackay9 e01477a7a8 Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows 2012-02-26 17:34:36 +09:00
rmackay9 b345529241 Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!) 
increased maximum sample buffer size from 6 to 10
 2012-02-26 17:17:46 +09:00
rmackay9 3f0d27ec87 ModeFilter - remove older ModeFilter library (new library is now in Filter directory) 2012-02-26 15:36:23 +09:00
rmackay9 00a1b5cd53 AP_RangeFinder - cut over to use new ModeFilter from Filter library 2012-02-26 15:34:50 +09:00
rmackay9 ae8fd43335 Filter - first version of filter library include ModeFilter 2012-02-26 15:34:05 +09:00
rmackay9 f6f05755d9 AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0 2012-02-26 15:31:56 +09:00
Andrew Tridgell bd2776aedd Compass: use constructor to set initial values for _learn and _use_for_yaw 
this ensures they are set if you have MAG_ENABLE==0
 2012-02-25 17:36:31 +11:00
Andrew Tridgell 56bb74ef36 DCM: disable compass null offsets when setting initial yaw 
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
 2012-02-25 16:02:24 +11:00
Andrew Tridgell f50f4357ca Compass: catch the case of a user enabling a compass mid-flight 
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 3abe035557 DCM: use the new use_for_yaw() compass method 2012-02-25 14:51:09 +11:00
Andrew Tridgell c3319afadd Compass: added COMPASS_LEARN and COMPASS_USE parameters 
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 051bd78b37 AP_Param: added some comments on AP_Vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell 3cf0eebac8 DCM: don't reset _have_initial_yaw for GPS heading unless very slow 
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 007a6b8958 AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 1d95137b71 SITL: added -C option to desktop mode 
this allows running APM to stdout, which is useful for test sketches
 2012-02-25 11:37:20 +11:00
Andrew Tridgell f221bd13ab libs: removed unused library GPS_IMU 2012-02-25 11:37:20 +11:00
Andrew Tridgell 1a21c78062 libs: removed unusued library GCS_SIMPLE 2012-02-25 11:37:20 +11:00
Andrew Tridgell c63ca9c697 DCM: tidy up use of error_course and in_motion 
in_motion is not a good name now it is also used for the compass

The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
 2012-02-25 11:37:20 +11:00
Andrew Tridgell d5b619218c DCM: use rotation_matrix_from_euler() to calculate initial yaw 
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 48cad8bc25 DCM: use rotation_matrix_from_euler() in matrix reset 
this makes the code a bit easier to read
 2012-02-24 11:54:11 +11:00
Andrew Tridgell 5009679617 DCM: use calculate_euler_angles() to get eulers from DCM 
this makes the code a bit easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell df6013616e AP_Math: added rotmat <-> euler functions 
these will make the dcm matrix manipulation easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 50f85835bd Compass: ensure we don't produce NAN values for compass heading 
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 8190204287 AP_Math: added safe_sqrt() function 
this function will never return NAN. It will return zero for negative
numbers.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 0acea11152 DCM: tidy up the nan checking in DCM 
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell b4c8d6491a DCM: added matrix recovery on reset 
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 1a32ececb4 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 7dd909a16b AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Jason Short 2a4b7facaa added set integrator 2012-02-23 09:38:08 -08:00
Andrew Tridgell 8707965c15 DCM: changed the sense of floating point range comparison 
This allows us to detect NaN, otherwise NaN values were considered 
'in range'
 2012-02-23 11:41:26 +11:00
Andrew Tridgell 9caa4aeb44 DCM: range check the matrix before calculating pitch 
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
 2012-02-23 08:16:08 +11:00
Andrew Tridgell 13693e1a04 DCM: reset more values on renorm blowup 
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
 2012-02-23 08:16:08 +11:00
Andrew Tridgell 5cfe1ad5dc DCM: remove the taylor expansion optimisation for renormalisation 
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.

This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
 2012-02-23 08:16:08 +11:00
Andrew Tridgell f30c721886 AP_Param: added ParamToken type for variable list traversal 2012-02-19 17:05:28 +11:00
Jason Short 669e8e34ea added a limit to range output 2012-02-18 21:08:17 -08:00
Randy Mackay 0b369cf78b Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0. 
also removed reference to DCM (no longer required) and removed some old code.
 2012-02-18 18:09:40 +09:00
Andrew Tridgell 2472f0a2f3 SITL: increase the amount of noise in the simulated ADC 
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
 2012-02-18 19:27:15 +11:00
Andrew Tridgell 9602b1f91b DCM: only add in centripetal accel if we have GPS lock 
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
 2012-02-18 19:27:15 +11:00
Andrew Tridgell 371a91cfcf IMU: move _sensor_cal to general IMU class 
this makes it available both in shim and INS subclasses
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 2b8f0c3a48 AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h 
this avoids us needing AP_Math.h in every utility sketch and example
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 70a135c47c AP_Param: fixed copy-assignment operators for AP_Param vectors 2012-02-18 10:51:57 +11:00
Andrew Tridgell e656928c01 AP_Param: added a set_and_save_ifchanged() method 
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 6f080742b8 AP_Param: added an initialised() method 
this will be used by the compass code
 2012-02-18 10:51:57 +11:00
justinbeech 5255512bf9 Found free extra 256 bytes of RAM eliminate _clz use from libgcc 
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.

The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
 2012-02-17 09:46:05 +00:00
Jason Short 560985b509 made I term return in same pattern as D term 2012-02-16 22:09:22 -08:00
Andrew Tridgell 3fbb5a2d6c ADC: on channel overflow we should not zero last_ch6_micros 
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
 2012-02-16 17:48:36 +11:00
Jason Short 8e88d9e19e change constant to float 44330.0 2012-02-15 09:10:14 -08:00
Michael Oborne b020a87c13 eedump ap param in perl 2012-02-15 21:31:58 +08:00
Andrew Tridgell bc89b53bdc SITL: adjust the SITL compass code to have saner z values 2012-02-15 22:34:16 +11:00
Andrew Tridgell 63d768143d Compass: enable compass offsets for HIL compass 
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
 2012-02-15 22:33:50 +11:00
Andrew Tridgell 7d21692301 fixed dump size 2012-02-15 10:44:09 +11:00
Andrew Tridgell d2cc6740f0 show group_element too 2012-02-15 10:42:21 +11:00
Andrew Tridgell aaba4db144 AP_Param: added eeprom_aaparam.c dump utility 2012-02-15 10:41:06 +11:00
Andrew Tridgell 812b7ae5ae SITL: catch floating point errors 
if we get a FPE then log a message and exit
 2012-02-15 08:50:45 +11:00
Andrew Tridgell c39914e734 DCM: added a SITL_debug() for DCM normalisation errors 
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
 2012-02-15 08:50:45 +11:00
Andrew Tridgell 7355f5613c added SITL_debug() macro 
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
 2012-02-15 08:50:45 +11:00
Andrew Tridgell 7ba65aecf3 RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space 2012-02-15 08:50:45 +11:00
Andrew Tridgell 273a974814 SITL: add some magnetometer offsets 
this ensures the compass null_offset algorithm has some work to do in
autotest
 2012-02-14 11:26:42 +11:00
Andrew Tridgell 9103f7688c fixed SITL GPS heading to be 0..360 2012-02-14 11:26:42 +11:00
Andrew Tridgell a1c041b597 use stdint types in the compass code 2012-02-14 08:35:03 +11:00
Andrew Tridgell 6c20ff9492 AP_Param: allow dumping of AP_Vector3f 
this means the 'show' command in the CLI shows the compass offsets now
 2012-02-14 08:34:50 +11:00
Andrew Tridgell 4ec3857476 GPS: change back to 4Hz for MTK GPS 
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
 2012-02-13 22:50:20 +11:00
Andrew Tridgell e70e1814ac AP_Baro: fixed some signed/unsigned warnings 
and a potential bug on timer wrap
 2012-02-13 21:39:18 +11:00
Andrew Tridgell 550b0be231 move AP_Var code and example into libraries/AP_Var 
you can use AP_Var by defining USE_AP_VAR
 2012-02-13 16:22:53 +11:00
Andrew Tridgell e7e7450f90 fixed imax load/save in PID 2012-02-13 16:22:53 +11:00
Andrew Tridgell c497ad9b7e fixed dead zone load/save 2012-02-13 16:22:53 +11:00
Andrew Tridgell 845d056c18 fixed PID initialisation 2012-02-13 16:22:53 +11:00
Andrew Tridgell c6b6898266 RC_Channel_aux: catch invalid function settings 
a bad function setting would overwrite the heap
 2012-02-13 16:22:53 +11:00
Andrew Tridgell d41c56214c fixed types in GPS detect code 
using int everywhere is wasteful and non-portable
 2012-02-13 16:22:53 +11:00
Andrew Tridgell 16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell ee2cb32a44 change back to 256 max variables in _var_info[] 
this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 6cf7015859 added indexes to group info structures 2012-02-13 16:22:52 +11:00
Andrew Tridgell 7621b96a52 AP_Param: added group idx, and change packing of header elements 
adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM

The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 711cee9dfa fixed support for AP_PARAM_SPARE 
spare group elements are needed if we remove a group parameter
 2012-02-13 16:22:52 +11:00
Andrew Tridgell db8a58f994 fixed build on arduino 1.0 2012-02-13 16:22:52 +11:00
Andrew Tridgell 170fdef857 convert APM_PI library to AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 74e0d2ef2a convert AC_PID library to AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell 4a9cb731d4 fixed missing return in D value 2012-02-13 16:22:52 +11:00
Andrew Tridgell c4b7a3116a restore _fCut that was lost in AP_Param development 2012-02-13 16:22:51 +11:00
Andrew Tridgell df77c462a4 fixed initialisation of RC_Channel class 2012-02-13 16:22:51 +11:00
Andrew Tridgell 244d2055ff AP_Param: fixed desktop build 2012-02-13 16:22:51 +11:00
Andrew Tridgell c195be594a desktop: more progmem string functions 2012-02-13 16:22:51 +11:00
Andrew Tridgell 34bc88eab5 AP_Param: added generic cast_to_float 2012-02-13 16:22:51 +11:00
Andrew Tridgell a1057fe738 AP_Param: disable debug ready for production 2012-02-13 16:22:51 +11:00
Andrew Tridgell 7ffb9b462d AP_Param: make ptype in first() and next() optional 2012-02-13 16:22:51 +11:00
Andrew Tridgell 5c3e059eea adapt Mavlink_compat.h to AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell dff75dba96 convert libraries to new typesafe macros 2012-02-13 16:22:51 +11:00
Andrew Tridgell b6ee5ca982 added nested group support and validation 2012-02-13 16:22:51 +11:00
Andrew Tridgell 30c76664ce added size of Vector6f 2012-02-13 16:22:51 +11:00
Andrew Tridgell fc0f1c52ca modify RC_Channel for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 013d66527d modify the PID library for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 78564f6a92 modify the IMU code for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 32d997b95f modify the compass code for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 2154288e2b hacks to get AP_Param to compile 2012-02-13 16:22:50 +11:00
Andrew Tridgell 937f8a4741 new AP_Param subsystem 2012-02-13 16:22:50 +11:00
justinbeech 4b0c71d6ac Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements. 2012-02-13 00:00:06 +00:00
analoguedevices a07f37f1b4 Removed outdated comment: 
"	// deadzone moved to
		//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
 2012-02-11 16:51:02 +00:00
Michael Oborne 651bd6953b fix uint > int issue - for hil 2012-02-11 11:35:59 +08:00
Pat Hickey fb76aa9ca9 APM_RC_APM2: Add support for CH_10 and CH_11 
* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11

* Only the code in enable_out, disable_out, and OutputCh needed to change.

* CH_10 and CH_11 always have an output period of 20ms (50Hz).
 2012-02-06 22:11:01 -08:00
Randy Mackay 2f25c1f9f1 AC_PID Library - added example sketch 2012-02-05 17:35:15 +09:00
Randy Mackay a694e16540 APM_PerfMon - removed because it's too big to use with our limited memory now anyway! I have a backup in case we need to resurrect it in the future. 2012-02-05 11:11:59 +09:00
Jason Short 5185901f79 Added D term to APM_PI - need to refactor this as a parent class and two child classes to save code space, remove dupes 2012-01-28 21:21:43 -08:00
Randy Mackay b543bbf514 Arduino 1.0 - GPS_IMU - small fix to make it compile. Does anyone use this lib?! 2012-01-28 17:56:56 +09:00
Randy Mackay 8bcc567406 AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again 2012-01-28 17:54:20 +09:00
Randy Mackay 2e1e34fb9c Arduino 1.0 - small fix to make AP_Baro_MS5611_test.pde compile under Arduino 1.0 2012-01-28 13:21:35 +09:00
Randy Mackay 52f6e56f72 AP_ADC library - tiny fix to make example sketch work after some changes to AP_PeriodicProcess library 2012-01-28 13:12:19 +09:00
Randy Mackay 98f3386ea0 Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h". 
Modified FastSerial's write function to return size_t (number of bytes written).
 2012-01-28 12:25:47 +09:00
Randy Mackay 443a9c0ea7 OpticalFlow - fixed minor compiler warnings and moved chip select to A3 for APM2 2012-01-26 23:35:49 +09:00
Randy Mackay f27b41179b Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Randy Mackay 13caa24515 Optical Flow - added overflow check 2012-01-25 21:45:52 +09:00
Pat Hickey ef60642bb2 APM_RC examples: add calls to enable_out after init 2012-01-24 09:09:08 -08:00
Andrew Tridgell 9bb92ff4ac fixed example in PID library 2012-01-23 08:47:46 +11:00
Pat Hickey a13e371d1e APM_RC: PWM outputs are disabled by default on init 2012-01-22 12:03:11 -08:00
Pat Hickey 47204921e9 APM_RC enable_out and disable_out added to APM1 and APM2 
* Outputs still enabled by default
 2012-01-22 12:03:11 -08:00
Jason Short 0e58efca89 Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration. 2012-01-20 22:52:29 -08:00
Michael Oborne e71266c258 change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
Andrew Tridgell 20aef3a8b8 added a simple DCM library example 2012-01-18 21:25:19 +11:00
Andrew Tridgell 4b8e2e701c fixed Oilpan test for new library structure 2012-01-18 20:31:58 +11:00
Doug Weibel e109992c12 Add a CLI setup action to reset the magnetometer offsets 
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI.  Useful if you somehow get bad offsets or if you change magnetometer.  If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values.  I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
 2012-01-15 16:15:08 -07:00
Mike Smith d79f62ce66 Teach the Makefile about the new Arduino sourcefile suffix 2012-01-15 11:51:38 -08:00
Jason Short e68f9191c9 updated channel notes 2012-01-15 10:24:15 -08:00
Andrew Tridgell 817e7442bd baro: fixed an integer overflow issue at high altitudes 
the averaging array was using 16 bit numbers, but we are storing
numbers with 19 significant bits. That caused overflow at high
altitude, and some very interesting altitude graphs!

Thanks to Michael Oborne for spotting this in a log
 2012-01-14 19:51:35 +11:00
Randy Mackay 4e9c668315 OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600 2012-01-14 12:34:29 +09:00
Andrew Tridgell f4490b62c7 DCM: prevent a segmentation fault when compass is not enabled 
when compass is disabled _compass is NULL
 2012-01-13 15:48:07 +11:00
Doug Weibel 622217357c Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
Andrew Tridgell a6e87915eb desktop: floating point precision changes from Justin Beech 2012-01-11 21:31:59 +11:00
Jason Short f43c29e840 fixed type error 2012-01-10 23:43:44 -08:00
Jason Short ecaf5ac461 sensorSign swicth 2012-01-10 23:43:44 -08:00
Jason Short d7d04f67e4 AP Rangefinder had some bad characters in it. Converted and cleaned the text files. 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Doug Weibel 22d2db53d8 Repair dataflash test 2012-01-08 21:29:19 -07:00
Jason Short f6e268395f allows main code to manually set the integrator value 2012-01-04 09:28:36 -08:00
Andrew Tridgell 54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell 7aa294eca2 AP_Compass: when I2c fails, don't retry for 1s 2012-01-04 16:35:47 +11:00
Andrew Tridgell a7a00a35ab AP_Baro: when I2c fails, don't retry for 1s 2012-01-04 16:35:16 +11:00
Andrew Tridgell 65fbeea6d1 DataFlash: cope with older dataflash chips 
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
 2012-01-04 16:16:35 +11:00
Michael Oborne 6a279138e9 add gps character count. 
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
 2011-12-31 13:05:33 +08:00
Michael Oborne e66e21cf20 remove gps callback in wait loop 2011-12-31 09:35:40 +08:00
Randy Mackay 19ed12444b GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago. 2011-12-30 22:25:00 +09:00
Jason Short 3878ac01ef removed newlines to clean up code 2011-12-29 23:02:01 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 671d0b82ad Baro: fixed MS5611 example sketch 2011-12-28 21:49:29 +11:00
Andrew Tridgell 5f0e070f4e compass: show timing in compass test 2011-12-28 21:44:18 +11:00
Andrew Tridgell c448e85ed1 Baro: show timing in baro test 2011-12-28 21:43:52 +11:00