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1560 Commits

Author SHA1 Message Date
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
Andrew Tridgell
7ba744a11a I2C: convert barometer library to new I2C library 
this also adds a healthy attribute and error checking
 2011-12-28 20:41:53 +11:00
Andrew Tridgell
acf4e9b61d I2C: convert compass code to new I2C library 
this also adds a healthy attribute, and error checking on all I2C
calls
 2011-12-28 20:41:53 +11:00
Andrew Tridgell
8ee336e715 I2C: imported the I2C library from Wayne Truchsess 
this gives us a more robust interface, including timeouts
 2011-12-28 20:28:31 +11:00
Andrew Tridgell
e7dab19260 TimerProcess: prevent a race in setting up the timer callbacks 2011-12-28 16:00:49 +11:00
Andrew Tridgell
5e4f66e525 DataFlash: moved high level logging logic to library 
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.

This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
bd9488f1e4 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell
6ca613337b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
18d26dc74e MPU6000: minor fixes 
the hardware functions should be private, and cs_pin should be uint8_t
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
4d71482d1c TimerProcess: check for duplicate registrations 
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
dbaa6fb6d2 TimerProcess: make some variables uint8_t 
save a couple of bytes
 2011-12-28 16:00:48 +11:00
Mike Smith
3582ad4e20 Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell
637d4675e1 added in DataFlash.cpp 
forgot this ....
 2011-12-26 19:34:06 +11:00
Andrew Tridgell
9bb0bd0341 desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell
a39a470d75 desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell
977326e991 dataflash: reworked classes to move most code to parent class 
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.

This should prevent discrepancies creeping in between APM1 and APM2
support again
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
13b2ddcbe1 dataflash: fixed APM2 flash logging 
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
04daeab7c0 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
10ca54ef8f MPU6000: use data ready interrupt to prevent stale data 
We listen for a data ready interrupt and only read new data in read()
if there is new data
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
760aa62c75 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay
4620186328 Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay
c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
b72f9c2e9f added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell
f11a5edbc7 removed dead test program 
this one doesn't build, and has been replaced by IMU_MPU6000_test
 2011-12-24 18:11:04 +11:00
Andrew Tridgell
8780a60234 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7720254dd AP_Baro: update MS5611 driver for new ap_proceduce prototype 
this saves calling millis() quite so often
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
f97b405b56 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
79d6c21dde PeriodicProcess: added set_failsafe() call 
this adds an optional failsafe function that will be called in the
timer loop
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
11b8d56434 added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
bc9e943969 rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
97f8d21c1b added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell
59d2d2d783 fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7568db237 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell
6efa2e53cb AP_Math: re-work polygon algorithm for perfect precision 
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
 2011-12-19 18:52:56 +11:00
Randy Mackay
e070109e21 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell
a3a0e5646f polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Michael Oborne
92886cfa10 make file relax 2011-12-17 20:42:51 +08:00
Michael Oborne
f4b7aea1ee add relax 2011-12-17 16:53:14 +08:00
Andrew Tridgell
bb0f179495 AP_Baro: fixed temperature on MS5611 
this caused a 2x scaling of altitude
 2011-12-17 14:58:58 +11:00
Andrew Tridgell
6341db7031 Revert "ADC: only read channels that are actually being used" 
This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
d442bad413 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
99eafbbe38 Revert "ADC: fixed HIL build" 
This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.

ADC will now be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
10e546eebd AnalogSource: return a float from read() method 
this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
f6f808357c removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
d4b66139dc ADC: fixed HIL build 2011-12-16 20:58:04 +11:00
Andrew Tridgell
dc01d55740 added missing mavlink headers 2011-12-16 20:53:26 +11:00
Andrew Tridgell
42522baf9f geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
a4c03cceff mavlink: include latest geofence message changes 2011-12-16 20:11:51 +11:00
Andrew Tridgell
9b6bab8904 AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
dc20d89375 MAVLink: update to latest mavlink XML 
this includes the geo-fencing messages
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
9591317dbc ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Andrew Tridgell
c41e7c505b timer: enable interrupts during timer processing 
this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.

We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
 2011-12-16 20:09:38 +11:00
Andrew Tridgell
09947dace1 ADC: only read channels that are actually being used 
on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
 2011-12-16 20:09:35 +11:00
Andrew Tridgell
f125f6619a fixed formatting of ADC driver 
it was a nasty mix of DOS and UNIX
 2011-12-16 20:09:29 +11:00
Andrew Tridgell
b484411c41 timers: change to 1kHz timer by default 
we were using a 227Hz timer, which is far too slow
 2011-12-16 20:09:25 +11:00
Andrew Tridgell
e187ff149f desktop: fixed type of dword eeprom read 2011-12-16 20:09:18 +11:00
Andrew Tridgell
62e92f406e AP_Math: make out vector and matrix elements used types with fixed sizes 
this prevents differences between CPU types
 2011-12-16 20:09:11 +11:00
Pat Hickey
d6a8440ef2 APM_RC_APM2: Remove OutputCh from ::Init() 
* These calls were off by one anyway, by using the channel numbers
  as ints ant not CH_n macros, and that caused an ESC cal problem.
 2011-12-15 13:47:43 -08:00
Andrew Tridgell
85e295332f AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell
117a98f9a2 AP_Math: added a Polygon_outside() function 
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
 2011-12-15 14:34:58 +11:00
Andrew Tridgell
0147c7b6c6 DCM: added matrix_reset() method 2011-12-13 21:32:50 +11:00
Andrew Tridgell
a819c1a3dc IMU: abstract the setting of the LEDs in IMU initialisation 
we need this to cope with different LED pin assignments on APM1/APM2
 2011-12-13 18:19:12 +11:00
Andrew Tridgell
90c6bad814 autotest: make magnetic field point down 2011-12-12 22:14:01 +11:00
Andrew Tridgell
081f35f51c desktop: fixed build with new AP_Baro code 2011-12-12 15:14:55 +11:00
Andrew Tridgell
8d882c3640 desktop: fixed desktop barometer code 2011-12-12 15:14:55 +11:00
Andrew Tridgell
3648c81dd9 barometer: fixed HIL barometer build 2011-12-12 15:14:55 +11:00
Andrew Tridgell
5d503fd65e ADC: change adc.Ch() to return a float 
this gives us a bit more precision in airspeed measurement, and costs
us virtually nothing as we are converting to float immediately after
getting the value
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
14866927e1 dcm: fixed an uninitialised variable 
if no compass and not in motion the DCM we would multiply by an
uninitialised number
 2011-12-11 15:21:10 -08:00
Pat Hickey
f4aaa56b16 AP_Baro_MS5611: Asynchronous operation, plus c++ style changes. 
Yeah, I know this was a big change to make all at once.
 2011-12-11 15:21:10 -08:00
Pat Hickey
d026e48032 AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations 
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
 2011-12-11 15:21:10 -08:00
Pat Hickey
a626e21e98 AP_Baro_BMP085: move apm2_hardware flag from init to constructor. 2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey
49ca774734 AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks. 2011-12-11 15:21:10 -08:00
Pat Hickey
1bfab64543 AP_Baro_BMP085: Delete commented out code 
* If its important to get old code back, thats why version control exists
 2011-12-11 15:21:09 -08:00
Pat Hickey
f3270b7f13 AP_Baro_BMP085: implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey
f52453beed AP_Baro_MS5611: init must also perform SPI.begin 2011-12-11 15:21:09 -08:00
Pat Hickey
64eb1889ab AP_Baro_MS5611: CS pin is arduino pin 40 2011-12-11 15:21:09 -08:00
Pat Hickey
1832ed0355 AP_Baro_MS5611: Implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey
f0ab0318b3 AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private. 2011-12-11 15:21:09 -08:00
Pat Hickey
a41b6da263 AP_Baro_MS5611: conform to AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey
d113992c10 AP_Baro: Create virtual interface 2011-12-11 15:21:09 -08:00
Pat Hickey
fdffd69257 AP_Baro_MS5611: renamed class implementation from APM_MS5611 2011-12-11 15:21:09 -08:00
Pat Hickey
c407b0d85e AP_Baro_MS5611.h: reorganized 
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
 2011-12-11 15:21:09 -08:00
Pat Hickey
34cebd8a3e AP_Baro_MS5611: Overwrote with Jose Julio's latest files. 2011-12-11 15:21:09 -08:00
Pat Hickey
cc6837cbab AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers. 2011-12-11 15:21:09 -08:00
Pat Hickey
f445ec1242 AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085. 2011-12-11 15:21:09 -08:00
Pat Hickey
7032c32b42 BMP085 fix line endings 2011-12-11 15:21:09 -08:00
Pat Hickey
7ef146044e AP_Baro: move all APM_BMP085 files inside AP_Baro 2011-12-11 15:21:09 -08:00
Pat Hickey
9250053bfe Added AP_Baro and AP_Baro_MS5611 classes. 
Incomplete and does not work.
 2011-12-11 15:21:08 -08:00
Randy Mackay
67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Pat Hickey
56b0be3124 APM_RC: APM1 fast output speed increased to 400hz. 2011-12-10 13:06:06 -08:00
Pat Hickey
7afb091f26 APM_RC: APM2 fast output speed increased to 400hz. 2011-12-10 13:04:11 -08:00
Pat Hickey
f3a4fbc7af AP_IMU_INS: Eliminate init_accel from cold start. 
* Bug reported by Jason, 10 Dec 11
 2011-12-10 13:00:54 -08:00
Randy Mackay
fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Randy Mackay
df1e54ec79 RangeFinder - fixed example sketch so it works again 2011-12-10 16:32:34 +09:00
Randy Mackay
1f53c25577 RangeFinder - small bug fix to initialise prescale variable. 
Fixed up example sketch so it compiles and works again!
 2011-12-10 16:25:41 +09:00
James Goppert
6dc236b8f2 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-07 20:59:15 -05:00
Jason Kemmerling
21c3282c9c Fixed along track bug. 2011-12-07 20:55:06 -05:00
James Goppert
2feacea1f1 Added APM2 support. 2011-12-07 19:19:30 -05:00
James Goppert
a25353da79 Added AP_Board to APO 2011-12-07 16:31:56 -05:00
Jason Short
9d1f56c6da Split P and I term 2011-12-06 21:10:30 -08:00
Jason Short
9ed6463b39 Split the P and I terms in PI 2011-12-06 21:08:47 -08:00
Wenyao Xie
c4203631dc APO velocity/ altitude working. 2011-12-06 19:38:23 -05:00
Wenyao Xie
2432ae130d Fixed baro. 2011-12-06 18:56:16 -05:00
Wenyao Xie
7593aae452 Fixed Barometer Altitude 2011-12-06 13:28:39 -05:00
Wenyao Xie
410c18ac05 Fixed Barometer Reading 2011-12-06 13:26:07 -05:00
Wenyao Xie
50032ef703 Working on baromemter altitude 2011-12-05 20:57:19 -05:00
Jason Kemmerling
1d9efea9af Sailboat wind measurement working. 2011-12-05 15:53:29 -05:00
Andrew Tridgell
5c99035823 fixed the desktop build 
This fixes a vtable link bug
 2011-12-05 18:06:58 +11:00
James Goppert
7fae764c55 Along track fix for negative. 2011-12-04 01:36:53 -05:00
James Goppert
98a21a70c0 Improved along track calculation for APO. 2011-12-04 01:25:14 -05:00
James Goppert
f8fab5f7d6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 00:45:34 -05:00
Wenyao Xie
fd77fe5a9d Rover live test WORKS! "Murphy's Law is a turtle" 2011-12-03 22:42:08 -05:00
Jason Short
fa7f39ba20 Access to _clamp val. May want to make a private member and write accessor. 2011-12-03 17:57:12 -08:00
Jason Short
e37dffadf3 Added faster conversion from and to degrees*100 / rads 2011-12-03 17:56:41 -08:00
Andrew Tridgell
b4965d34a9 GPS: added FAKE_GPS_LOCK_TIME 
this allows you to fake up a GPS lock after a specific number of
seconds
 2011-12-04 09:06:57 +11:00
Wenyao Xie
dac3ba48e0 Fixed apo live mode bugs for 2.0 update. 2011-12-03 15:38:37 -05:00
Wenyao Xie
a802796c67 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-03 14:00:23 -05:00
James Goppert
8300c5e738 Changed BlockPIDDfb behaviour. 2011-12-03 12:13:11 -05:00
Andrew Tridgell
f96a48e42b autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell
66d65121cc autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell
43e3948816 desktop: show the full path to the desktop executable 2011-12-02 21:46:55 +11:00
Andrew Tridgell
7167fec784 desktop: added SO_REUSEADDR after accept() 2011-12-02 17:37:55 +11:00
Andrew Tridgell
706c6c38fa desktop: fixed calculation of angular velocities 
thanks to James Goppert for the frame conversion maths
 2011-12-02 17:37:54 +11:00
James Goppert
b9f370e33d Commented out debugging in guide. 2011-11-29 18:08:50 -05:00
James Goppert
38c19c50be Merge branch 'master' of github.com:arktools/ardupilotone 
Conflicts:
	libraries/APO/AP_Guide.cpp
 2011-11-29 18:06:38 -05:00
James Goppert
b6dcd70cf9 Working on yaw command. 2011-11-29 17:38:18 -05:00
Wenyao Xie
a0824b4cbe Fixed guidance bugs in APO. 2011-11-29 17:37:42 -05:00
James Goppert
92efa90d0f APO fixes. 2011-11-29 13:59:44 -05:00
James Goppert
e8d74ae3fe Fixed apo radio error. 2011-11-28 12:29:05 -05:00
James Goppert
83aceb5e8f Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-28 00:56:29 -05:00
James Goppert
715e7c84a4 Updated apo for merge with apm 2.0 changes. 
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
 2011-11-28 00:53:30 -05:00
Andrew Tridgell
bdb1599e96 desktop: improved the accuracy of the sensor emulation 2011-11-28 16:22:33 +11:00
Andrew Tridgell
e491168273 ADC: remove a very small (0.2 degrees/s) bias in the ADC code 
small bias from integer rounding
 2011-11-28 16:22:33 +11:00
James Goppert
fcb4d9cb15 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-27 23:56:17 -05:00
James Goppert
999a5892f0 Fixed mode switching. 2011-11-27 23:55:28 -05:00
Andrew Tridgell
df957db8d9 desktop: setup TCP sockets as non-blocking 
the sendto() blocks unexpectedly on MacOS
 2011-11-28 13:53:57 +11:00
Andrew Tridgell
4036604fb7 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Doug Weibel
997ddde7f5 Added back the feature to prompt users when an invalid CLI command is entered. 
Thanks to Yury Smirnov for this patch!
 2011-11-26 21:10:53 -07:00
Andrew Tridgell
0da5125b7f upload: force hex file format for upload 
this should fix a problem with hex file format detection on MacOS
 2011-11-27 09:36:10 +11:00
Andrew Tridgell
0720bf7bf1 desktop: build fix for fjall 2011-11-26 18:24:29 +11:00
Andrew Tridgell
f2a0a49d55 desktop: fixed desktop build for strlcat_P() changes 2011-11-26 17:18:09 +11:00
Andrew Tridgell
7fa59a6849 AP_Common: added typesafe wrapper for memcpy_P() 2011-11-26 17:17:50 +11:00
Andrew Tridgell
92e0e929a4 AP_Common: replace strlcat_P() with a C implementation 
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
 2011-11-26 17:02:56 +11:00
Andrew Tridgell
c9b0b384f7 desktop: added framerate and initial height code 
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
24a7a18481 desktop: fixed swap_float() 
get indexes right
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
62f98b091f desktop: import updated DataFlash code 
this fixes a logging bug
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
de0c38339d desktop: fixed ADC value for airspeed 2011-11-25 20:00:19 -08:00
Andrew Tridgell
02f25ac36d libraries: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
2b7e0c8494 DataFlash_Purple: added new logging methods needed for ArduPlane 
builds, but not tested yet
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
cba93dbd43 DataFlash_APM1: re-add defines lost from merge 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0ee654d6bf desktop: fixed desktop build 
vtable error
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
de2898e5db desktop: normalise roll and pitch rates 2011-11-25 20:00:18 -08:00
Andrew Tridgell
91b03a48c1 desktop: added SKETCH as a define 
useful for automatically handling copter vs plane
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Pat Hickey
b8c44d2fc0 APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple 
* I have not tested any of these on real hardware.
 2011-11-25 20:00:18 -08:00
Pat Hickey
ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell
6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
18986d1d9f barometer: fixed for purple build 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0601f7e8ce barometer: support 'make purple' for barometer example code 2011-11-25 20:00:18 -08:00
Andrew Tridgell
41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
d2a0bd35f4 hil-sensors: added stub libraries for InertialSensor and PeriodicProcess 
* Also added dummy ivar to APM_BMP085_hil
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
94423bc335 AP_IMU: fixed shim driver prototype 2011-11-25 20:00:18 -08:00
Andrew Tridgell
e0488e134f desktop: fixed build with updated dataflash interface 2011-11-25 20:00:17 -08:00
Andrew Tridgell
8245835ea3 desktop: make AP_InertialSensor pure virtual 
fixed a link error in Desktop build

thanks to Pat for the C++ foo
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
bb7af8c15a dataflash: fixed datatypes to be compatible with desktop build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
a9c0cbac77 desktop: make DataFlash for Desktop build replace APM1 build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
6e9e857157 make configure default to 2560 
1280 is less common for devs these days
 2011-11-25 20:00:17 -08:00
Pat Hickey
82e7551c90 purple: rework DataFlash to separate purple and APM1 hardware support 
the purple support is still a work in progress, but the APM1 support
should be fine
 2011-11-25 20:00:16 -08:00
Pat Hickey
a159669cee build: added jtag-program make target 
useful for when you have hosed your USB
 2011-11-25 20:00:16 -08:00
Pat Hickey
e53bcba4d9 purple: rework AP_IMU library to use AP_IntertialSensor library 
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
 2011-11-25 20:00:16 -08:00
Pat Hickey
82b48784ef purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00
Pat Hickey
c9f7618ccc purple: rework the RC_Channel library for the APM_RC changes 2011-11-25 20:00:16 -08:00
Pat Hickey
f36ded2854 RangeFinder: rework to use AnalogSource library 
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
 2011-11-25 20:00:16 -08:00
Pat Hickey
0c0a1b1dcc purple: Added AnalogSource library 
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
 2011-11-25 20:00:16 -08:00
Pat Hickey
017f121566 AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register 
this makes it possible to build the ADC library when another driver
may also want that interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey
d288b8870d purple: added PeriodicProcess library 
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
 2011-11-25 20:00:16 -08:00
Pat Hickey
1daadb5068 purple: added ISR_Registry() library 
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey
36346fd86b purple: rework APM_RC library for purple hardware 
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
 2011-11-25 20:00:16 -08:00
Pat Hickey
2d8ce38aeb barometer: add purple_hardware option to Init() 
this allows selection of right hardware at Init() time
 2011-11-25 20:00:15 -08:00
Jason Short
6f3b56b38f increased filter 2011-11-25 11:34:05 -08:00
James Goppert
4fa9b7ef85 Working on comments. 2011-11-24 15:54:08 -05:00
James Goppert
29b7eb12a7 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-24 14:28:25 -05:00
James Goppert
7ef8578029 Separated controller block class. 
Also improved documentation of AP_ControllerBlock.
 2011-11-24 13:28:14 -05:00
James Goppert
bfda005b5a Removed old variable from hal. 2011-11-24 02:08:27 -05:00
Wenyao Xie
40b3c303f7 Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error. 2011-11-22 16:42:51 -05:00
Andrew Tridgell
73e0ab0c63 desktop: more fixes for DataFlash filesystem changes 2011-11-20 19:06:24 +11:00
James Goppert
d61e59d779 Fixed most of quad guidance issues. 2011-11-19 23:34:14 -05:00
James Goppert
60b41311f0 Working on memory problem. 2011-11-19 22:20:06 -05:00
James Goppert
937a268513 Bug located in quad position loop, improved hil. 2011-11-19 21:39:14 -05:00
James Goppert
2337153966 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-18 14:36:47 -05:00
Andrew Tridgell
6d048646c3 desktop: added support for new DataFlash functions 2011-11-18 17:50:12 +11:00
Doug Weibel
f752c4b799 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
Jason Short
afef359aec Upped pressure filter a bit 2011-11-17 11:12:18 -08:00
Wenyao Xie
8017b0415e Working on new hil message for mavlink. 2011-11-15 17:15:54 -05:00
Andrew Tridgell
355519ad1e desktop: when in the CLI, use blocking writes 
this prevents us missing information from the logs
 2011-11-11 09:53:46 +11:00
Andrew Tridgell
9677600433 desktop: don't start alarm till setup() has finished 2011-11-10 21:57:47 +11:00
Jason Short
0e1727e492 MAV_CMD_DO_SET_ROI 2011-11-09 12:07:57 -08:00
Andrew Tridgell
9af935f2f2 desktop: don't alarm in CLI 
loop() is not called in menu system
 2011-11-10 00:14:04 +11:00
Andrew Tridgell
0820ff52a8 desktop: exit if loop() doesn't run for 5 seconds 
this should stop runaway processes
 2011-11-09 19:40:34 +11:00
Andrew Tridgell
a0fd4f710f desktop: force awk on macos 
this may help on jasons box
 2011-11-09 17:21:53 +11:00