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1560 Commits

Author SHA1 Message Date
Andrew Tridgell
2f9af05cfa Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell
bf16b2926c Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell
3b2609c441 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
bcb7196680 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
9296ac494d 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
882fa1818b 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
801a442ffb Quaternion: minor tuning 2012-03-10 10:34:33 +11:00
Andrew Tridgell
3344869285 DCM: minor tuning based on testing my quad 2012-03-10 10:34:33 +11:00
Andrew Tridgell
dffb435aac SITL: make the yaw match the APM conventions 2012-03-10 10:34:33 +11:00
Andrew Tridgell
2673614f6d SITL: fixed the pwm output on startup 2012-03-10 10:34:33 +11:00
Andrew Tridgell
982712d58f Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
f405477875 DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
9dc08b30cd Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell
f9394f8068 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
8b40c44522 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell
3e960f8ef9 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell
919874f2a0 IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell
4dff78b9c0 GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell
6eff9107ea Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell
a0a360f955 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
045b49c4c4 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
321200ebbc AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a92fb67b70 AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell
4d65cda0ea 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
8abbbe5713 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
ccada2e9c2 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
3666476bcb SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell
3b7d78cf02 Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell
f363f81869 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ec4c0777c Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f5e6dc0757 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell
066a513758 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
c7d5f06b21 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f70dfe440d 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
47ddd4dfdd SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
7256652de5 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
c7ef72cf28 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
6d356b6c6e Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell
ebc55bb494 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
57f67ca6e3 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
7fbfcc2721 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell
e699e9ace0 Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell
2a8b167d95 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell
c73c55aa90 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell
d8234882d4 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell
cc887949c9 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
ffa6786697 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
bee4bd9474 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
25e5ddeaa4 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell
c369d9f60a AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
6138f31cec AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a9dea35310 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell
c80ec9a55c AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
c8a459ab0d fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell
a791224d07 SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell
74eef7018a 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
fd2a24f8ed 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
bddc6ba241 SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell
25cad09746 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
b11b571778 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
145fc91701 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell
ae51173656 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
fe173227de 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
8424609924 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell
6ba6e11e7b DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell
3b1782f369 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
4031320f7c 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
94d0236b97 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell
772c30ba86 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
9df332f0ae MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell
cc8278c1ac 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
486c56ce41 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
e57b91c2e2 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
6c3cf9ad5b AP_RC - removed unused library 2012-03-04 18:21:52 +09:00
Andrew Tridgell
73dafe537e 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
5f749325f0 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
f4329d2680 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
1e8d98cdda I2C: added lockup_count() interface 
used for reporting I2C problems
 2012-03-02 15:48:27 +11:00
Andrew Tridgell
37275d229d 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
41b435a487 Updated fastPWM to 490Hz 2012-02-29 22:17:38 -08:00
Pat Hickey
337af0c7a2 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
2648694489 AP_Param: One more nexted group recursion disableable by macro 
* c.f. e5515bb6ef82
 2012-02-29 18:48:54 -08:00
rmackay9
fa34ac076e AP_Compass - fixed compile warning 2012-02-29 22:57:35 +09:00
rmackay9
d81c951849 AP_Baro - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:46:29 +09:00
rmackay9
c819a0f68a AP_Compass - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:49 +09:00
rmackay9
5026b5c192 AP_DCM - fixed small compiler warning to do with order of parameters in constructor 2012-02-29 22:45:26 +09:00
rmackay9
82f81295a7 RC_Channel - fixed small compiler warning 2012-02-29 22:44:29 +09:00
rmackay9
c444cdb3f4 AP_ADC - removed small compiler warning 2012-02-29 22:43:46 +09:00
Pat Hickey
eac8b66385 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
2b6a10d18b AP_RangeFinder - changed example sketch to work with new Filter library 2012-02-28 21:02:10 +09:00
rmackay9
033347f8ee Filter - updated example sketch to use modified library 2012-02-28 21:01:35 +09:00
rmackay9
645fda2fb2 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
cb52b6c6d9 AP_Param: show numerical value in eeprom dump utility 2012-02-28 09:43:49 +11:00
Andrew Tridgell
a432232db9 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
39797c6f33 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
efe5c0142c 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
cd4fcb694e IMU: removed unused accel_filtered code 2012-02-28 09:43:49 +11:00
Andrew Tridgell
87a6d97f7b 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
fa443bd928 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
eb35e0e8ac 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
297d2ae457 ModeFilter - corrected shadowed variable compiler warning for drop_high_sample 2012-02-26 17:57:28 +09:00
rmackay9
b9b88ba237 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
f53ff8de97 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
74f7d7a1c0 ModeFilter - remove older ModeFilter library (new library is now in Filter directory) 2012-02-26 15:36:23 +09:00
rmackay9
f264e29814 AP_RangeFinder - cut over to use new ModeFilter from Filter library 2012-02-26 15:34:50 +09:00
rmackay9
c14d7768f7 Filter - first version of filter library include ModeFilter 2012-02-26 15:34:05 +09:00
rmackay9
952e5d7bbc AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0 2012-02-26 15:31:56 +09:00
Andrew Tridgell
d0a6359b37 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
900388a85a 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
f59297d7a7 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
eb71b26d3f DCM: use the new use_for_yaw() compass method 2012-02-25 14:51:09 +11:00
Andrew Tridgell
664622523d 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
f10097a6d5 AP_Param: added some comments on AP_Vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell
5e2fbdb6cf 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
2e9105c68a 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
d6bfceef7c 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
54aa8297af libs: removed unused library GPS_IMU 2012-02-25 11:37:20 +11:00
Andrew Tridgell
185ab5aea9 libs: removed unusued library GCS_SIMPLE 2012-02-25 11:37:20 +11:00
Andrew Tridgell
55e33c3359 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
ab8cc3d478 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
ddeda1c367 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
06f37aad75 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
16ed8bc8f6 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
c354879f1f 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
17d16bc8c6 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
bad653f230 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
c8e6d03c67 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
502fbf6e17 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
17170da96e AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Jason Short
b094f6ce52 added set integrator 2012-02-23 09:38:08 -08:00
Andrew Tridgell
ef90f336d3 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
57ffd00b69 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
2bb58db3f7 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
156d98cb9f 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
53b87229ff AP_Param: added ParamToken type for variable list traversal 2012-02-19 17:05:28 +11:00
Jason Short
1e37a0ec17 added a limit to range output 2012-02-18 21:08:17 -08:00
Randy Mackay
33aa6fe13b 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
9793d04ed1 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
d52cb7e574 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
baac883eb1 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
882cd4ea83 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
4b15b63d21 AP_Param: fixed copy-assignment operators for AP_Param vectors 2012-02-18 10:51:57 +11:00
Andrew Tridgell
7f3858cb7f 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
80a6773b8b AP_Param: added an initialised() method 
this will be used by the compass code
 2012-02-18 10:51:57 +11:00
justinbeech
62b104cbfa 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
24ce02c6a4 made I term return in same pattern as D term 2012-02-16 22:09:22 -08:00
Andrew Tridgell
79d622939a 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
026e4a6567 change constant to float 44330.0 2012-02-15 09:10:14 -08:00
Michael Oborne
2f81776b0d eedump ap param in perl 2012-02-15 21:31:58 +08:00
Andrew Tridgell
a48a118128 SITL: adjust the SITL compass code to have saner z values 2012-02-15 22:34:16 +11:00
Andrew Tridgell
62326c0f72 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
048aed5427 fixed dump size 2012-02-15 10:44:09 +11:00
Andrew Tridgell
089db43183 show group_element too 2012-02-15 10:42:21 +11:00
Andrew Tridgell
ea6a46fc9b AP_Param: added eeprom_aaparam.c dump utility 2012-02-15 10:41:06 +11:00
Andrew Tridgell
4398171374 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
245d265c6a 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
601a991a46 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
085cc00c33 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
43c56be70c 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
f95d7cadc5 fixed SITL GPS heading to be 0..360 2012-02-14 11:26:42 +11:00
Andrew Tridgell
6a42598ade use stdint types in the compass code 2012-02-14 08:35:03 +11:00
Andrew Tridgell
be5ffdedbb 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
d90dc4d893 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
804332c340 AP_Baro: fixed some signed/unsigned warnings 
and a potential bug on timer wrap
 2012-02-13 21:39:18 +11:00
Andrew Tridgell
74bbc72b11 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
23ed5c2cee fixed imax load/save in PID 2012-02-13 16:22:53 +11:00
Andrew Tridgell
37cabb4cfa fixed dead zone load/save 2012-02-13 16:22:53 +11:00
Andrew Tridgell
150a67c262 fixed PID initialisation 2012-02-13 16:22:53 +11:00
Andrew Tridgell
47807ec68d 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
1f05e7dafb fixed types in GPS detect code 
using int everywhere is wasteful and non-portable
 2012-02-13 16:22:53 +11:00
Andrew Tridgell
d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
9175ebe33a 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
9c5a5473ab added indexes to group info structures 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f2a6a31645 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
678a1df3be 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
accaf9bb30 fixed build on arduino 1.0 2012-02-13 16:22:52 +11:00
Andrew Tridgell
db96303fa0 convert APM_PI library to AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
452749149f convert AC_PID library to AP_Param 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f9eed9bd9e fixed missing return in D value 2012-02-13 16:22:52 +11:00
Andrew Tridgell
f760b3c717 restore _fCut that was lost in AP_Param development 2012-02-13 16:22:51 +11:00
Andrew Tridgell
84aef17bb0 fixed initialisation of RC_Channel class 2012-02-13 16:22:51 +11:00
Andrew Tridgell
5418302b38 AP_Param: fixed desktop build 2012-02-13 16:22:51 +11:00
Andrew Tridgell
d658bc6f9d desktop: more progmem string functions 2012-02-13 16:22:51 +11:00
Andrew Tridgell
95e107ab75 AP_Param: added generic cast_to_float 2012-02-13 16:22:51 +11:00
Andrew Tridgell
9509c69f42 AP_Param: disable debug ready for production 2012-02-13 16:22:51 +11:00
Andrew Tridgell
5d03f13aa5 AP_Param: make ptype in first() and next() optional 2012-02-13 16:22:51 +11:00
Andrew Tridgell
e01af5885f adapt Mavlink_compat.h to AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell
bf4a77da81 convert libraries to new typesafe macros 2012-02-13 16:22:51 +11:00
Andrew Tridgell
e8c4ecf9fa added nested group support and validation 2012-02-13 16:22:51 +11:00
Andrew Tridgell
94a86204ee added size of Vector6f 2012-02-13 16:22:51 +11:00
Andrew Tridgell
12dac42174 modify RC_Channel for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell
e5a0074312 modify the PID library for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell
e5f3864f81 modify the IMU code for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell
8c58d95187 modify the compass code for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell
497a400841 hacks to get AP_Param to compile 2012-02-13 16:22:50 +11:00
Andrew Tridgell
5b842a447f new AP_Param subsystem 2012-02-13 16:22:50 +11:00
justinbeech
69f1613f2c 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
0ea6ecf8d1 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
8ec192cf45 fix uint > int issue - for hil 2012-02-11 11:35:59 +08:00
Pat Hickey
83326a9d62 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
6877b8b3d6 AC_PID Library - added example sketch 2012-02-05 17:35:15 +09:00
Randy Mackay
90b39609c6 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
af79eb273f 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
9c26e2369e 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
8533aaf5d9 AP_PID, AP_RC_Channel, FastSerial - small changes to make example sketches compile again 2012-01-28 17:54:20 +09:00
Randy Mackay
b7ce7bfe18 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
cf25bbfa74 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
ed19c25a97 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
a8b3d2f063 OpticalFlow - fixed minor compiler warnings and moved chip select to A3 for APM2 2012-01-26 23:35:49 +09:00
Randy Mackay
8dee001657 Sonar - changed default pin to A0 2012-01-26 22:50:48 +09:00
Randy Mackay
99506accf4 Optical Flow - added overflow check 2012-01-25 21:45:52 +09:00
Pat Hickey
9195006541 APM_RC examples: add calls to enable_out after init 2012-01-24 09:09:08 -08:00
Andrew Tridgell
9c1e257826 fixed example in PID library 2012-01-23 08:47:46 +11:00
Pat Hickey
602d56304a APM_RC: PWM outputs are disabled by default on init 2012-01-22 12:03:11 -08:00
Pat Hickey
276913a950 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
94e7ba8df2 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
6b949511ca change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
Andrew Tridgell
0dc0d9ddf0 added a simple DCM library example 2012-01-18 21:25:19 +11:00
Andrew Tridgell
1f43cf6579 fixed Oilpan test for new library structure 2012-01-18 20:31:58 +11:00
Doug Weibel
e22a83eec0 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
9c5a776456 Teach the Makefile about the new Arduino sourcefile suffix 2012-01-15 11:51:38 -08:00
Jason Short
69ffc7e115 updated channel notes 2012-01-15 10:24:15 -08:00
Andrew Tridgell
897d9a1c0b 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
bcd63a9807 OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600 2012-01-14 12:34:29 +09:00
Andrew Tridgell
15d446bde2 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
9846822748 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
49cf409c23 desktop: floating point precision changes from Justin Beech 2012-01-11 21:31:59 +11:00
Jason Short
e2830ca147 fixed type error 2012-01-10 23:43:44 -08:00
Jason Short
354d9588bf sensorSign swicth 2012-01-10 23:43:44 -08:00
Jason Short
b6fc8e519c AP Rangefinder had some bad characters in it. Converted and cleaned the text files. 2012-01-10 23:42:26 -08:00
Jason Short
351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey
a19afd926a 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
756793611f Repair dataflash test 2012-01-08 21:29:19 -07:00
Jason Short
d0af95f0e3 allows main code to manually set the integrator value 2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
60185509f4 AP_Compass: when I2c fails, don't retry for 1s 2012-01-04 16:35:47 +11:00
Andrew Tridgell
9fb3b13af3 AP_Baro: when I2c fails, don't retry for 1s 2012-01-04 16:35:16 +11:00
Andrew Tridgell
880c7e6411 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
306e2e3f7d 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
3d85f99546 remove gps callback in wait loop 2011-12-31 09:35:40 +08:00
Randy Mackay
a2edba69b1 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
7adc80c513 removed newlines to clean up code 2011-12-29 23:02:01 -08:00
Randy Mackay
bbe6dea980 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
074fd31506 Baro: fixed MS5611 example sketch 2011-12-28 21:49:29 +11:00
Andrew Tridgell
820153d7ae compass: show timing in compass test 2011-12-28 21:44:18 +11:00
Andrew Tridgell
f871235480 Baro: show timing in baro test 2011-12-28 21:43:52 +11:00
Andrew Tridgell
8f74631882 DCM: don't use compass unless its healthy 2011-12-28 20:41:54 +11:00
Andrew Tridgell
7c098491b9 I2C: fixed some warnings 2011-12-28 20:41:53 +11:00
Andrew Tridgell
5f38663d44 desktop: exclude I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
e1c9c063a5 MPU6k: don't init the Wire library 
we don't use Wire any more
 2011-12-28 20:41:53 +11:00