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3865 Commits

Author SHA1 Message Date
Andrew Tridgell
af2d7232c5 APM_Control: make the default time constant 0.75 
thanks to Tom for the testing!
 2013-09-24 07:37:12 +10:00
Andrew Tridgell
770b7b5901 AP_InertialSensor: prevent a lockup in MPU6000 driver 
thanks to the VRBrain port for noticing this bug.

Failing to get the semaphore is an expected error with the MPU6000, as
we read data both from timer context and mainline code. That means
semaphore conflicts are inevitable. We shouldn't consider them an
error, and shouldn't panic when some arbitrary number of them have
happened since boot.

Instead the wait_for_sample() code checks that we receive new data at
least every 50ms. That is a much safer test.
 2013-09-23 22:48:36 +10:00
Andrew Tridgell
36ea705956 AP_OpticalFlow: fixed build with print() API change 2013-09-23 18:10:22 +10:00
Andrew Tridgell
0e9aef7e52 AP_HAL: changed base defines for print() 
this avoids a conflict with wirish from libmaple
 2013-09-23 18:10:21 +10:00
Mike McCauley
2e061fc507 AP_Param: Fix compiler warning on Flymaple 2013-09-23 18:10:21 +10:00
Mike McCauley
4c65c42411 AP_Compass: fixed ARM 32 bit compatibility 2013-09-23 18:10:21 +10:00
Andrew Tridgell
87bb3bc5dc AP_HAL: added AP_HAL_PX4 define 2013-09-22 16:02:42 +10:00
Andrew Tridgell
21010104e6 AP_HAL_Empty: added register_io_process() 2013-09-22 16:02:05 +10:00
Andrew Tridgell
928e06f52c AP_HAL: use fabs() in print 
fixes build on Arduino
 2013-09-22 13:18:40 +10:00
Andrew Tridgell
45d9140946 AP_HAL_SMACCM: updates for new API 2013-09-22 12:22:15 +10:00
Andrew Tridgell
40af9ab674 AP_HAL_PX4: updates for new API 2013-09-22 12:22:05 +10:00
Andrew Tridgell
d0bb998352 AP_HAL_Empty: updates for new API 2013-09-22 12:21:54 +10:00
Andrew Tridgell
dbb70fc57c AP_HAL_AVR_SITL: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:21:22 +10:00
Andrew Tridgell
33fe27a104 AP_HAL_AVR: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:21:11 +10:00
Andrew Tridgell
d46f5f6943 AP_HAL: implement betterstream functions in AP_HAL 
this gives more consistancy between ports
 2013-09-22 12:20:59 +10:00
Michael Oborne
54fc004956 SITL: fix sitl timer issues under cygwin 2013-09-21 22:06:38 +10:00
Andrew Tridgell
fc119d9b80 AP_Baro: cleaned up temperature and pressure units 
thanks to Mike McCauley for pointing this out
 2013-09-21 21:30:41 +10:00
Andrew Tridgell
7de47931a8 DataFlash: use %f not %.6f 2013-09-21 15:48:39 +10:00
Andrew Tridgell
16a7faa223 AP_Param: use %f not %.6f for param show 2013-09-21 15:45:19 +10:00
Andrew Tridgell
0d662c52b3 AP_HAL: fixed length return from snprintf 2013-09-21 15:45:05 +10:00
Andrew Tridgell
0063f1fad8 AP_HAL: added Util.cpp 
common printf functions
 2013-09-21 14:25:42 +10:00
Andrew Tridgell
05b426c1fc HAL_PX4: use common printf implementation on UARTs 2013-09-21 14:23:52 +10:00
Andrew Tridgell
f5c0f765fc AP_HAL_SMACCM: use common printf implementation 2013-09-21 14:23:13 +10:00
Andrew Tridgell
b9d6f8e8b1 AP_HAL_AVR: removed unused script 2013-09-21 13:30:02 +10:00
Andrew Tridgell
85b3f0d18d AP_HAL: expanded printf test suite 2013-09-21 13:29:52 +10:00
Andrew Tridgell
e12a4178f3 AP_HAL_SMACCM: convert to new AP_HAL printf 2013-09-21 13:29:40 +10:00
Andrew Tridgell
80e2a5cc32 AP_HAL_PX4: convert to new AP_HAL printf 2013-09-21 13:29:32 +10:00
Andrew Tridgell
4c1925b578 AP_HAL_Empty: convert to new AP_HAL printf 2013-09-21 13:29:22 +10:00
Andrew Tridgell
bb44fa4385 AP_HAL_AVR_SITL: convert to new AP_HAL printf 2013-09-21 13:29:12 +10:00
Andrew Tridgell
60122f9877 AP_HAL: moved printf implementation from AP_HAL_AVR to AP_HAL 
this gives a common printf implementation on all boards, which
simplifies testing, and also simplifies porting to new boards
 2013-09-21 13:28:46 +10:00
Andrew Tridgell
4ad4b60fbc HAL: added Printf test sketch 
for testing new non-asm printf code
 2013-09-21 11:16:08 +10:00
Andrew Tridgell
16a0dfc38c HAL_AVR: changed to C implementation of float formatting 
Many thanks to Soren Kuula for this work!
 2013-09-21 11:16:08 +10:00
Randy Mackay
4b18c670e3 DataFlash: explicitly print floats to 6 dec places 
C++ default is to print 6 decimal places but nuttx displays none by
default
 2013-09-20 22:13:02 +09:00
Randy Mackay
3f84e0adf6 AP_Param: explicitly print floats to 6 dec places 
C++ default is to print 6 decimal places but nuttx displays none by
default
 2013-09-20 22:12:33 +09:00
Andrew Tridgell
4d2bfe1078 AP_InertialSensor: fixed another example build 2013-09-19 21:09:34 +10:00
Andrew Tridgell
e1aa6e3ff1 libraries: fixed examples for no flash_leds() callback 2013-09-19 18:38:28 +10:00
Andrew Tridgell
f8e9d48a76 AP_InertialSensor: removed the flash_leds() callback 
AP_Notify now handles this
 2013-09-19 18:32:19 +10:00
Andrew Tridgell
66ee484b3c AP_Notify: convert to unix style file 2013-09-19 16:27:31 +10:00
Andrew Tridgell
445edb8793 GCS_MAVLink: remove CR/LF 2013-09-19 16:27:14 +10:00
Andrew Tridgell
18896d9c9b AP_Math: fixed DOS CR/LF errors 2013-09-19 16:26:32 +10:00
Andrew Tridgell
cf633e4d79 AP_HAL: convert to unix file format 2013-09-19 16:26:14 +10:00
Andrew Tridgell
a5b29f44d5 AP_HAL: added hal.gpio->usb_connected() function 
this replaces the USB_MUX_PIN on APM2, and works on PX4 and FMUv2
 2013-09-19 16:23:40 +10:00
Randy Mackay
d3fcfe669d Copter Motors: increase MOT_SPIN_ARMED to int16 2013-09-18 13:28:01 +09:00
Andrew Tridgell
0d6b847966 AP_Notify: grab initial flags state in init() 
this prevents annoying tones on startup of APM:Plane
 2013-09-18 10:55:42 +10:00
Andrew Tridgell
284492cfec AP_GPS: fixed an initialisation problem with GPS drivers 
before the first full packet arrives we could report uninitialised
values for groundspeed and heading
 2013-09-16 21:20:36 +10:00
Andrew Tridgell
4864496ae6 SITL: reduce default GPS delay to 0.4 
closer to real uBlox delay
 2013-09-16 11:41:51 +10:00
Andrew Tridgell
84ed2141a0 AP_Math: fixed float rounding in location_offset() 
this prevents rounding of positions in the rover code
 2013-09-16 11:38:55 +10:00
Andrew Tridgell
3e24ff1b07 AP_SteerController: change the scaling of the D term 
this should cope better with low speed
 2013-09-16 09:42:45 +10:00
Andrew Tridgell
e85d275fe5 SITL: added SIM_SERVO_RATE parameter 
this allows a slew rate for servos to be specified in degrees/second
 2013-09-16 09:16:52 +10:00
Andrew Tridgell
98b4ed1522 AP_SteerController: lower the default STEER2SRV_D 2013-09-16 08:26:29 +10:00
Randy Mackay
d16587340d AP_Notify: add PX4's tone_alarm 
Sounds added for arming, disarming and low battery events
 2013-09-15 17:24:00 +09:00
Andrew Tridgell
9be02fb493 AC_Fence: changed to AP_Vehicle.h 2013-09-13 11:46:32 +10:00
Andrew Tridgell
fbe4be94cf APM_Control: changed to AP_Vehicle.h 2013-09-13 11:46:22 +10:00
Andrew Tridgell
15a4582ed7 AP_AHRS: changed to AP_Vehicle.h 2013-09-13 11:46:10 +10:00
Andrew Tridgell
2e742582e4 AP_Airspeed: changed to AP_Vehicle.h 
also allow updates to ARSPD_RATIO from user while autocal is running
 2013-09-13 11:45:57 +10:00
Andrew Tridgell
23fc6f8aed AP_HAL_AVR: changed to AP_Vehicle.h 2013-09-13 11:45:24 +10:00
Andrew Tridgell
c64950e4f5 AP_InertialNav: changed to AP_Vehicle.h 2013-09-13 11:45:10 +10:00
Andrew Tridgell
a67413d495 AP_Mount: changed to AP_Vehicle.h 2013-09-13 11:44:54 +10:00
Andrew Tridgell
645eb711cb DataFlash: changed to AP_Vehicle.h 2013-09-13 11:44:42 +10:00
Andrew Tridgell
16d2ad9796 AP_TECS: changed to AP_Vehicle.h 2013-09-13 11:44:31 +10:00
Andrew Tridgell
30ebcd36ac AP_SpdHgtControl: removed AircraftParameters 2013-09-13 11:44:19 +10:00
Andrew Tridgell
79a4bc6ea4 AP_Vehicle: added new header for parameters in multiple libraries 
this adds a header where we can put vehicle specific parameters that
will be used in multiple libraries
 2013-09-13 11:43:59 +10:00
Andrew Tridgell
5bef6dd539 AP_Motors: fixed example build 2013-09-13 10:53:53 +10:00
Andrew Tridgell
cc4fad23d9 AP_Airspeed: updates for Pixhawk 2013-09-13 10:48:57 +10:00
Andrew Tridgell
2990359043 PX4: Implement accurate ratiometric voltage reading on Pixhawk 
this uses the monitoring of the 5V rail to compensate for changes in
the 5V reference versus the 3.3V ADC reference. It reduces the noise
on ratiometric sensors by a factor of about 6x.
 2013-09-13 10:48:57 +10:00
Randy Mackay
0a047ae1c1 Copter Motors: increased spin-when-armed to 70 
Changed choices to be displayed in ground stations
 2013-09-12 22:36:04 +09:00
Randy Mackay
62cb5c172b Copter Motors: add slow start feature 
Combined armed, frame orientation and slow_start into flags bitmask
Removed ability to set max throttle because it was never used
Re-ordered class variables
 2013-09-12 22:27:44 +09:00
Randy Mackay
ac98644405 Sprayer: minor change to flags type 2013-09-12 22:24:14 +09:00
Andrew Tridgell
bc3249fada SITL: fixed Vcc voltage 2013-09-12 16:34:38 +10:00
Andrew Tridgell
3a3cecf5ff PX4: support getting servorail voltage from ORB 2013-09-12 16:28:06 +10:00
Andrew Tridgell
457ca0b57d AP_ADC_AnalogSource: fixed APM1 build 2013-09-12 13:28:11 +10:00
Andrew Tridgell
fb56feb6b2 HAL_PX4: support all analog input pins, with scaling 
this allows voltage/current/Vcc sensing on FMUv2
 2013-09-12 13:26:00 +10:00
Andrew Tridgell
a80d3344f5 AP_HAL_AVR: support voltage_latest() 2013-09-12 13:25:17 +10:00
Andrew Tridgell
a587b1140a AP_HAL: added voltage_latest() interface 
this will be used for reading the 5V rail
 2013-09-12 13:23:04 +10:00
Andrew Tridgell
b7e54bd463 AP_Airspeed: reduce speed of autocal 
it was responding to noise too rapidly

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-09-12 07:48:57 +10:00
Andrew Tridgell
2171f2a80b AP_SteerController: move scaler onto integrator input 
this should make integrator scale with speed

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-09-12 07:48:57 +10:00
Randy Mackay
5e7a6b3b98 Sprayer: add pump min rate and test 
If pump is enabled while copter is disarmed it will spray as if
travelling at 1m/s
 2013-09-11 17:04:58 +09:00
Randy Mackay
b3c636dfa3 AP_Notify: add radio and battery failsafe 
radio and battery failsafe are slow flashing yellow
pre-arm check failure changed to double flashing yellow
 2013-09-11 14:36:05 +09:00
Andrew Tridgell
341dca4dfe AP_L1_Control: added set_default_period() 
used by the rover code
 2013-09-09 19:55:53 +10:00
Andrew Tridgell
7b3a674d66 AP_InertialSensor: added set_default_filter() method 2013-09-09 19:18:52 +10:00
Andrew Tridgell
229841052a AP_Compass_PX4: removed MAGIOCSSAMPLERATE call 2013-09-09 18:04:41 +10:00
Andrew Tridgell
c044385fff AP_AHRS: added groundspeed() method 
this gives ground speed in m/s from GPS
 2013-09-09 18:04:41 +10:00
Andrew Tridgell
0918393fed APM_Control: fixed some documentation typos 2013-09-09 18:04:40 +10:00
Andrew Tridgell
7413c15959 APM_Control: added a ground vehicle steering controller 
this will be used both for the rover code, and for ground steering of
a plane on takeoff
 2013-09-09 18:04:40 +10:00
Andrew Tridgell
f5d20b4085 SITL: reduce the minimum accel and gyro noise 
on APM2 and PX4 we do a lot of smoothing of accels and gyros, so a 2
bit error isn't a good representation of the min noise
 2013-09-09 18:04:40 +10:00
Andrew Tridgell
396c4f30d2 AP_InertialSensor_PX4: don't set QUEUEDEPTH 
the default of 2 samples is fine
 2013-09-09 18:04:40 +10:00
Andrew Tridgell
db14a85fc5 AP_Compass: added more debugging to AP_Compass_PX4 driver 
this helps debug compass initialisation issues
 2013-09-09 18:04:40 +10:00
Andrew Tridgell
8b80beadc4 PX4: make FMUv2 identify itself differently 
so we can tell which is which in logs
 2013-09-09 18:04:40 +10:00
Andrew Tridgell
7328369b91 GCS_MAVLink: added FENCE_ACTION_GUIDED_THR_PASS 2013-09-08 07:29:30 +10:00
Andrew Tridgell
ff0f6bcd42 AP_InertialSensor: fixed example build 2013-09-07 21:03:59 +10:00
Andrew Tridgell
b8b72819c1 AP_Compass: ignore COMPASS_ORIENT for internal compass 
this means if COMPASS_ORIENT is not 0 and the external compass fails
to start on boot we don't end up with a bad compass orientation
 2013-09-07 16:49:51 +10:00
Andrew Tridgell
5484b97419 AP_GPS: reset _fix_count to 0 on nav settings update 
this makes it run every 20s exactly
 2013-09-04 13:18:00 +10:00
Andrew Tridgell
879d44f930 AP_GPS: use the mask bits to only set dynamic model 
this ensures we don't try to change any other CFG_NAV5 settings
 2013-09-04 13:17:20 +10:00
Andrew Tridgell
fa107bdb58 PX4: moved UART handling to its own thread 
this prevents slow writes to the SD card from interfering with MAVLink
or GPS serial communication
 2013-09-04 13:15:27 +10:00
Andrew Tridgell
7082e0f8aa AP_HAL: added hold_in_bootloader parameter to scheduler->reboot() 2013-09-04 11:58:13 +10:00
Andrew Tridgell
1328316bfc AP_Airspeed: fixed saving of airspeed ratios 2013-08-31 10:26:27 +10:00
Paul Riseborough
1c7bdc40ec AP_Airspeed : Expanded range of ARSPD_RATIO adjustment 2013-08-31 08:03:11 +10:00
Andrew Tridgell
e8fc8cea01 AP_Scheduler: updated docs 2013-08-30 15:33:30 +10:00
Andrew Tridgell
8d08f6d669 AP_Relay: document new relay pin numbers 2013-08-30 15:21:23 +10:00
Andrew Tridgell
5e33bbd197 PX4: fixed sense of relay pins 2013-08-30 15:05:29 +10:00
Andrew Tridgell
c56017d8f1 AP_AHRS: added in new orientations 2013-08-30 14:19:17 +10:00
Andrew Tridgell
9320e82ac2 AP_Compass: added in new orientations 2013-08-30 14:19:03 +10:00
Andrew Tridgell
fbf79c07f0 AP_Compass: added COMPASS_EXTERNAL option 
this allows configuring of a compass as being externally attached
 2013-08-30 14:02:09 +10:00
Andrew Tridgell
97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell
b29369bc03 AP_Notify: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
905e07edf9 AP_Mount: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
01387a1553 AP_Motors: fixed examples build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
873e54deb1 AP_Math: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
5caf2e0ea4 AP_InertialSensor: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
a2902d4a0f AP_InertialNav: fixed example build 2013-08-30 13:01:38 +10:00
Andrew Tridgell
83fbb29db1 HAL_PX4: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
0bfc18b72d HAL_AVR: fixed examples build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
e6bd3b65b9 AP_GPS: fixed examples build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
517c44bbaa AP_Baro: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
e6794239ca AC_Fence: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
6182571c21 AP_AHRS: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
69c8df3326 AP_Airspeed: fixed example build 
removed Airspeed_Calibration test, as it is not useful
 2013-08-30 13:01:36 +10:00
Andrew Tridgell
b57af23933 DataFlash: fixed example build 2013-08-30 13:01:36 +10:00
Andrew Tridgell
7535ecb282 AP_Notify: enable board LEDs for ESC calibration 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-08-30 13:01:36 +10:00
Andrew Tridgell
d67ad2c7ee AP_Notify: added missing files 2013-08-30 13:01:35 +10:00
Andrew Tridgell
67401294f4 GCS_MAVLink: added missing header 2013-08-30 13:01:35 +10:00
Andrew Tridgell
7b1e2b0e78 AP_GPS: don't need notify.h here 2013-08-30 13:01:35 +10:00
Andrew Tridgell
65a490c209 AP_InertialSensor: update for new notify API 2013-08-30 13:01:35 +10:00
Andrew Tridgell
495c4bbbbe AP_Notify: simplify interface to avoid timers and external calls 
this changes AP_Notify to use updates via notify.update() at 50Hz,
avoiding the need for the 1kHz timer. It also creates a parent class
for ToshibaLED so that the I2C and PX4 ToshibaLED drivers can be
abstracted out.

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-08-30 13:01:35 +10:00
Randy Mackay
2658cda4bc Toshiba_LED_PX4: local #defines for led brightness 2013-08-30 13:01:35 +10:00
Randy Mackay
07abfc59ac AP_HAL_PX4: compile error fix 2013-08-30 13:01:35 +10:00
Randy Mackay
82b7b2cb3e GPS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay
5651bdbe3a INS: integrate AP_Notify 2013-08-30 13:01:35 +10:00
Randy Mackay
0797489ad8 Motors: use AP_Notify static flags variable 2013-08-30 13:01:35 +10:00
Randy Mackay
0c1db12538 AP_Notify: add ToshibaLED_PX4 2013-08-30 13:01:35 +10:00
Randy Mackay
a52b1831ca AP_Notify: make flags static variable 2013-08-30 13:01:35 +10:00
Randy Mackay
496962f037 GPS: update notify 2013-08-30 13:01:35 +10:00
Randy Mackay
54007854a9 Notify: add ToshibaLED 2013-08-30 13:01:35 +10:00
Randy Mackay
f8a872f01e AP_Motors: update notify 2013-08-30 13:01:34 +10:00
Randy Mackay
ac36a09747 AP_HAL: add toggle to GPIO 2013-08-30 13:01:34 +10:00
Randy Mackay
b1278fa006 AP_Notify: early draft of library 2013-08-30 13:01:34 +10:00
Andrew Tridgell
0527bae8cb PX4: support PX4IO relay pins 
this allows the pins to be used in the relay code
 2013-08-30 13:01:34 +10:00
Andrew Tridgell
0c06dff2db AP_Airspeed: constrain internal state of calibration code 2013-08-30 13:01:34 +10:00
Andrew Tridgell
3916a07dcf AP_Airspeed: added logging of airspeed calibration internals 2013-08-30 13:01:34 +10:00
Andrew Tridgell
ce3fb290f1 AP_Airspeed: fixed initialisation of auto-calibration 2013-08-30 13:01:34 +10:00
Andrew Tridgell
dd747505c5 DataFlash: report when DataFlash write fails 2013-08-30 13:01:34 +10:00
Andrew Tridgell
395739dded AP_Baro: simplify PX4 driver 
we can now rely on queueing in NuttX driver
 2013-08-30 13:01:34 +10:00
Andrew Tridgell
1ff669eb97 AP_Compass: simplify PX4 compass driver 
we can now rely on queueing in the NuttX driver
 2013-08-30 13:01:34 +10:00
Andrew Tridgell
4c752e4a94 AP_Math: simplify rotations test code 2013-08-30 13:01:34 +10:00
Andrew Tridgell
4662858077 DataFlash: we don't need AP_AHRS.h 2013-08-30 13:01:34 +10:00
Andrew Tridgell
e2b0e07973 AP_Math: removed unused matrix rotation code 
we only need to rotate vectors
 2013-08-30 13:01:34 +10:00
Andrew Tridgell
c6e29c9519 GCS_MAVLink: update to latest upstream mavlink headers 2013-08-30 13:01:34 +10:00
Andrew Tridgell
a295a01bbc AP_Math: added missing 90 degree rotations 
this ensures we can handle all 90 degree rotations of the compass and
main board. A test in examples/rotations shows that we have them all.
 2013-08-30 13:01:33 +10:00
Andrew Tridgell
c6c59174b3 AP_Airspeed: return when airspeed init fails 2013-08-30 13:01:33 +10:00
Andrew Tridgell
5607c89df0 AP_Baro: use fabs() not abs() 
thanks to Randy for spotting this
 2013-08-30 13:01:33 +10:00