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1225 Commits

Author SHA1 Message Date
Andrew Tridgell 7ffb9b462d AP_Param: make ptype in first() and next() optional 2012-02-13 16:22:51 +11:00
Andrew Tridgell 5c3e059eea adapt Mavlink_compat.h to AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell dff75dba96 convert libraries to new typesafe macros 2012-02-13 16:22:51 +11:00
Andrew Tridgell b6ee5ca982 added nested group support and validation 2012-02-13 16:22:51 +11:00
Andrew Tridgell 30c76664ce added size of Vector6f 2012-02-13 16:22:51 +11:00
Andrew Tridgell fc0f1c52ca modify RC_Channel for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 013d66527d modify the PID library for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 78564f6a92 modify the IMU code for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 32d997b95f modify the compass code for AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 2154288e2b hacks to get AP_Param to compile 2012-02-13 16:22:50 +11:00
Andrew Tridgell 937f8a4741 new AP_Param subsystem 2012-02-13 16:22:50 +11:00
justinbeech 4b0c71d6ac Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements. 2012-02-13 00:00:06 +00:00
analoguedevices a07f37f1b4 Removed outdated comment: 
"	// deadzone moved to
		//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
 2012-02-11 16:51:02 +00:00
Michael Oborne 651bd6953b fix uint > int issue - for hil 2012-02-11 11:35:59 +08:00
Pat Hickey fb76aa9ca9 APM_RC_APM2: Add support for CH_10 and CH_11 
* CH_10 is on APM2 pin A10 (based on A1..A8 convention)
* CH_11 is on APM2 pin A11

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

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

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

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

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
Andrew Tridgell a6e87915eb desktop: floating point precision changes from Justin Beech 2012-01-11 21:31:59 +11:00
Jason Short f43c29e840 fixed type error 2012-01-10 23:43:44 -08:00
Jason Short ecaf5ac461 sensorSign swicth 2012-01-10 23:43:44 -08:00
Jason Short d7d04f67e4 AP Rangefinder had some bad characters in it. Converted and cleaned the text files. 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Doug Weibel 22d2db53d8 Repair dataflash test 2012-01-08 21:29:19 -07:00
Jason Short f6e268395f allows main code to manually set the integrator value 2012-01-04 09:28:36 -08:00
Andrew Tridgell 54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell 7aa294eca2 AP_Compass: when I2c fails, don't retry for 1s 2012-01-04 16:35:47 +11:00
Andrew Tridgell a7a00a35ab AP_Baro: when I2c fails, don't retry for 1s 2012-01-04 16:35:16 +11:00
Andrew Tridgell 65fbeea6d1 DataFlash: cope with older dataflash chips 
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
 2012-01-04 16:16:35 +11:00
Michael Oborne 6a279138e9 add gps character count. 
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
 2011-12-31 13:05:33 +08:00
Michael Oborne e66e21cf20 remove gps callback in wait loop 2011-12-31 09:35:40 +08:00
Randy Mackay 19ed12444b GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago. 2011-12-30 22:25:00 +09:00
Jason Short 3878ac01ef removed newlines to clean up code 2011-12-29 23:02:01 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 671d0b82ad Baro: fixed MS5611 example sketch 2011-12-28 21:49:29 +11:00
Andrew Tridgell 5f0e070f4e compass: show timing in compass test 2011-12-28 21:44:18 +11:00
Andrew Tridgell c448e85ed1 Baro: show timing in baro test 2011-12-28 21:43:52 +11:00
Andrew Tridgell 669a129175 DCM: don't use compass unless its healthy 2011-12-28 20:41:54 +11:00
Andrew Tridgell 603b605eb1 I2C: fixed some warnings 2011-12-28 20:41:53 +11:00
Andrew Tridgell f4e1f3d54d desktop: exclude I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell 9ef1c421bd MPU6k: don't init the Wire library 
we don't use Wire any more
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 2960abf41f 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 f93c716126 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 632e74b76d 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 f8e1d88815 TimerProcess: prevent a race in setting up the timer callbacks 2011-12-28 16:00:49 +11:00
Andrew Tridgell 089470a671 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 42eb62cc46 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell 1cb8728a6b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell f2bbfb1296 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 d35113f8a6 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 0a08a0b515 TimerProcess: make some variables uint8_t 
save a couple of bytes
 2011-12-28 16:00:48 +11:00
Mike Smith ac3f7512cc Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell 9f5718bcfa added in DataFlash.cpp 
forgot this ....
 2011-12-26 19:34:06 +11:00
Andrew Tridgell 887ff43e1f desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell 22c8db774f desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell dd26ef3089 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 8bf05982ae 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 df0d151891 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 3ef707a2c3 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 71e08f8484 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay af121c492d Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay c3ea1ca5dc 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 7c0f39aec5 added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell 09c97bb367 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 f587a01165 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell 5b75458502 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 cef1c4c558 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell 8cc2b7669b 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 845683a56c added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell eac625ba8f rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell eec5f000b5 added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell 614aeb274c fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell b52cd45670 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell 7c9c26e2b7 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 a51e868766 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell 7442ba31d8 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