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1730 Commits

Author SHA1 Message Date
rmackay9
bad6591e6d AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure 2012-06-03 17:31:17 +09:00
rmackay9
8f8e91a620 ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9
080c5184d5 ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures. 
All real work on this issue done by Michael Oborne.
 2012-06-02 17:46:00 +09:00
rmackay9
8f3169a200 AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work. 
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
 2012-06-02 16:13:23 +09:00
rmackay9
3246f2bad3 RC_Channel library: change all "int" types to "int16_t". 
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
 2012-06-02 14:20:58 +09:00
rmackay9
37e4637c13 RC_Channel.pde: fixed compile errors so that it actually works! 2012-06-02 14:00:44 +09:00
rmackay9
df3fb5c041 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Jason Short
477aa6e47a RC_Channel fix for throttle output. 
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
 2012-05-31 14:59:03 -07:00
Jason Short
7ee38df5a2 Issue 416: RC_Channel – Fix to make dead_zones still output 0 2012-05-31 12:05:47 -07:00
Jason Short
2cc9fde3c9 removed never used filter, and fixed a constrain that could make range calcs go bad 2012-05-31 11:45:07 -07:00
Jason Short
00cabc6343 Channel rage fix - low output was always 0 vs _low 2012-05-31 11:31:48 -07:00
Robert Lefebvre
bafb478924 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Robert Lefebvre
ffc04b7305 Fix TradHeli Collective Yaw Effect bug. 2012-05-25 15:25:21 -04:00
Andrew Tridgell
734dcebb2a SITL: fixed ChipErase() 
the loop never completed
 2012-05-23 21:15:45 +10:00
Andrew Tridgell
5e0d937e50 SITL: fixed build with new ChipErase() call 2012-05-23 17:33:33 +10:00
Andrew Tridgell
c2fb8a7a98 DataFlash: use ChipErase() instead of PageErase() on all pages 
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).

We need to test and ensure the behaviour is equivalent apart from the
speed
 2012-05-22 19:29:02 -07:00
Andrew Tridgell
8f27297896 DCM: fixed a bug when using GPS for yaw correction 
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
 2012-05-21 12:15:06 +10:00
Andrew Tridgell
37f652e19b AP_Common: fixed some duplicate product ID warnings 2012-05-17 23:37:32 +10:00
rmackay9
eaeaa3811a ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
Craig Elder
fe742f1c23 IMU: expose IMU_PRODUCT_ID as EEPROM Variable 
this will allow us to log the Product ID in tlogs
 2012-05-09 18:30:36 -07:00
Craig Elder
c323a71933 AP_InertialSensor: Return product ID from sensor initialization 
this exposes the product ID to the IMU Layer
 2012-05-09 18:30:36 -07:00
Craig Elder
a22b15adf1 PRODUCT: Define product IDs for all supported products 2012-05-09 18:30:36 -07:00
Craig Elder
b824a87b90 MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D 
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
 2012-05-09 18:30:35 -07:00
Chris Anderson
46614e9acd fixed typo ("minimum" should have been "maximum") 2012-05-06 15:50:19 -07:00
Andrew Tridgell
76a3fd9a4e MPU6k: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell
ae1702c20b Baro: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell
3115d48ba1 ADC: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell
57ac39649a TimerProcess: added suspend_timer()/resume_timer() 
this will be used to avoid races in driver initialisation
 2012-05-01 12:06:54 +10:00
rmackay9
3b2d203f0f AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4) 
This reduces the compass's default authority over the yaw direction by half
 2012-04-30 17:29:45 +09:00
Andrew Tridgell
8f2cecae4d MAVLink: re-generated with new pygen 
this moves the enums to make them less order sensitive
 2012-04-30 12:27:30 +10:00
Adam M Rivera
292f9699fa Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Andrew Tridgell
3177f57d48 build: cope with Arduino 1.0 in command line build 
this should autodetect 1.0 versus older builds
 2012-04-27 15:38:42 +10:00
Adam M Rivera
21886104a6 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
Adam M Rivera
b1f19dbb01 AP_AHRS_DCM.cpp: Added comments that follow the new parse structure 2012-04-25 12:00:42 -05:00
Andrew Tridgell
532ac607b2 sitl: support MAVLink 1.0 builds 2012-04-24 22:24:58 +10:00
Andrew Tridgell
fef4134702 MAVLink: removed the cpp part of the library 
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
 2012-04-24 22:24:58 +10:00
Andrew Tridgell
9bf8d60dae MAVLink: one more define for MAVLink 1.0 compat 2012-04-24 19:54:20 +10:00
Andrew Tridgell
fd9d2f856e MAVLink: re-add the XML message definitions 
these are a very useful reference for the current headers in the code
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
a54cd57568 MAVLink: imported new mavlink header updates 
this fixes the camera control code which was broken by a previous
import
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
bff8fc8947 APM_RC: added OutputCh_current() method 
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
 2012-04-24 10:57:43 +10:00
Andrew Tridgell
6d837891b0 DCM: buffer omega_I changes over 10 seconds 
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.

The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
 2012-04-23 12:13:25 +10:00
Andrew Tridgell
398a608b83 DCM: drop the 'drop z' method 
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:

  http://diydrones.com/xn/detail/705844:Comment:834373

Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
 2012-04-23 12:13:24 +10:00
rmackay9
c62ce95768 AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
rmackay9
346ca5c865 DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus. 
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
 2012-04-21 20:14:45 +09:00
rmackay9
577f18a09c AP_OpticalFlow - updated test sketch to allow testing of APM2 version 2012-04-21 20:11:18 +09:00
rmackay9
e9fd7c955d AP_OpticalFlow - added support for optical flow for APM2 2012-04-21 20:10:35 +09:00
rmackay9
026cd4e64f AP_OpticalFlow - moved most pin definitions into .cpp file 2012-04-21 20:09:15 +09:00
James Goppert
750c30afc1 MAVLink update to 1.0.7 2012-04-20 12:31:50 -04:00
Andrew Tridgell
4652b30adf GPS: u-center config file for 3DR Ublox 2012-04-20 22:05:30 +10:00
Andrew Tridgell
0b194259be GPS: fixed auto GPS test 2012-04-20 22:05:30 +10:00
Andrew Tridgell
3141cfe059 GPS: detect new style 3DR UBlox 2012-04-20 22:05:30 +10:00
Andrew Tridgell
64d5f4c26a GPS: fixed the UBlox test code 2012-04-20 20:57:08 +10:00
James Goppert
b5ca40e8c5 Updated MAVLink to 1.0.6 release. 2012-04-19 15:46:29 -04:00
Adam M Rivera
2c8cd0b07b AP_AHRS_HIL.h: Fixed HIL build by adding missing public property. 2012-04-16 10:26:14 -05:00
Andrew Tridgell
a9de75156b AHRS: added AHRS_YAW_P parameter 
this allows users to change the yaw gain in DCM
 2012-04-16 20:55:13 +10:00
analoguedevices
ce5d71c08c added missing #include 2012-04-09 14:32:54 +00:00
rmackay9
4dac4c4c11 AP_AHRS - changed parameter order to remove compiler warning 2012-04-09 17:37:11 +09:00
rmackay9
cc191b86c0 AP_Compass - changed parameter initialisation order to remove compiler warning 2012-04-09 17:37:02 +09:00
Andrew Tridgell
7921d33c40 MAVLink: imported new mavlink headers 
this adds local and remote radio noise levels
 2012-04-08 12:22:17 +10:00
rmackay9
1b4ac37e66 AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames. 2012-04-07 12:16:12 +09:00
rmackay9
e63e858b64 AP_MotorsOcta - V Frame - test order fix spotted by David Wiens 2012-04-07 08:11:28 +09:00
rmackay9
d0cbd577cd AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method. 2012-04-05 00:28:04 +09:00
rmackay9
c27b83c8a8 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
rmackay9
e9f0103063 AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino. 2012-04-05 00:06:33 +09:00
rmackay9
40e5a15452 AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function. 
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
 2012-04-04 23:59:51 +09:00
rmackay9
71ad185238 ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00
Andrew Tridgell
5ce5f3d176 MAVLink: import change to txbuf as a percentage 2012-04-02 11:18:53 +10:00
Andrew Tridgell
8a215c8b55 MAVLink: imported new headers, with RADIO packet 2012-04-01 21:44:44 +10:00
Andrew Tridgell
08b66e18b7 FastSerial: added set_blocking_writes() interface 
this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
 2012-03-30 17:46:20 +11:00
Andrew Tridgell
c2ff66c9cd examples: fixed build of some examples with new AP_Declination code 2012-03-30 14:25:27 +11:00
Andrew Tridgell
825340d53d Compass: added COMPASS_AUTODEC option 
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library

when it is 0 we will use the value configured by the user
 2012-03-30 14:25:27 +11:00
Andrew Tridgell
e4e052ff91 AP_Declination: save some more memory by putting the declination keys in progmem 
there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
 2012-03-30 14:25:27 +11:00
Andrew Tridgell
edb627a5c1 AP_Declination: added timing information to declination test 2012-03-30 14:25:27 +11:00
Andrew Tridgell
01c4cde14f AP_Declination: fixed build under SITL 2012-03-30 14:25:27 +11:00
Adam M Rivera
9c414e9573 AP_Declination_test: Updated test with better print messages. 2012-03-30 14:25:26 +11:00
Adam M Rivera
cff189e911 AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation. 2012-03-30 14:25:26 +11:00
Adam M Rivera
380b9ece44 AP_Declination: Updated comments to reflect new LUT size. 2012-03-30 14:25:06 +11:00
Adam M Rivera
c04e074c89 AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes. 2012-03-30 14:21:58 +11:00
Adam M Rivera
662f11f801 AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT. 2012-03-30 14:21:58 +11:00
Adam M Rivera
0178906389 AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP. 2012-03-30 14:21:58 +11:00
Adam M Rivera
08259bb2de AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail. 2012-03-30 14:21:58 +11:00
Adam M Rivera
64c236800c AP_Declination: Moved check for y index of zero to after the y index is properly transformed. 2012-03-30 14:21:58 +11:00
Adam M Rivera
e99d26cfa3 AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting. 2012-03-30 14:21:58 +11:00
Adam M Rivera
d9c9e0e608 AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change. 2012-03-30 14:21:58 +11:00
Adam M Rivera
8b1c383f97 AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly. 2012-03-30 14:21:57 +11:00
Adam M Rivera
c0813f8d62 AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular. 2012-03-30 14:21:57 +11:00
Adam M Rivera
289d7a2784 AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps. 2012-03-30 14:21:57 +11:00
Adam M Rivera
63ce400f77 AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array. 2012-03-30 14:21:57 +11:00
Adam M Rivera
782c1aaaa3 AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before. 2012-03-30 14:21:57 +11:00
Adam M Rivera
9888a4730f AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype. 2012-03-30 14:21:57 +11:00
Adam M Rivera
d883bdf75e AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range. 2012-03-30 14:21:57 +11:00
Adam M Rivera
719636d00c AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t. 2012-03-30 14:21:57 +11:00
Andrew Tridgell
071f89df2e AHRS: fixed error_yaw reporting with 2 MAVLink connections 
when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.

This ensures we give the last value after the counter is reset
 2012-03-29 12:39:53 +11:00
Andrew Tridgell
20941c15c3 Compass: fixed a comment 2012-03-29 12:39:53 +11:00
Andrew Tridgell
79deeef0a0 Compass: added some more comments 
explain the algorithm a bit more
 2012-03-29 12:39:53 +11:00
rmackay9
fd5e1c2f7b Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use 2012-03-28 22:02:52 +09:00
rmackay9
99cdc69110 AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up 2012-03-28 22:00:57 +09:00
Andrew Tridgell
972bdcfa39 SITL: add magnetic field noise to the simulated compass 2012-03-28 20:55:27 +11:00
Andrew Tridgell
dc127fe749 SITL: ensure we don't run the sitl timer twice 
this caused problems with random()
 2012-03-28 20:55:27 +11:00
Andrew Tridgell
2a011578f9 Compass: implement noise resistant varient of offset learning 
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
 2012-03-28 20:55:27 +11:00
Andrew Tridgell
16f094a1c5 ADC: minor fix to the ADC Ch6() code 
we don't need to add count any more, as floating point maths doesn't
need to round up
 2012-03-27 15:37:24 +11:00
Andrew Tridgell
a3d3dd86cf Compass: implement Bills new offset nulling algorithm 
this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
 2012-03-27 15:37:24 +11:00
rmackay9
cf1a6f8ab8 APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway 2012-03-25 21:13:31 +09:00
rmackay9
2324be7e68 Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one) 2012-03-25 16:15:25 +09:00
rmackay9
bdda74fd28 Filter - remove obsolete warning from comments re alloc/malloc dangers 2012-03-25 16:14:07 +09:00
rmackay9
dc58c8a905 AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t) 2012-03-24 23:21:11 +09:00
rmackay9
766abb8e6c AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway) 2012-03-24 14:47:21 +09:00
Andrew Tridgell
477b31fb0d Math: added mul_transpose() operation 
this is equivalent to multiplying by m.transposed(), but is more
efficient
 2012-03-23 16:48:52 +11:00
Andrew Tridgell
1b3a7d47bd AHRS: fixed build of AHRS example 2012-03-22 23:00:45 +11:00
Andrew Tridgell
fb9790e1f4 Math: moved matrix multiple operations to .cpp file 
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
 2012-03-21 10:43:48 +11:00
Andrew Tridgell
ece2aac4b9 Math: fixed the build of the eulers test in SITL 2012-03-21 10:41:55 +11:00
Andrew Tridgell
e93b31c76b SITL: improve the simulated compass 
this implements a much more accurate model of a compass using matrix
rotations, instead of trying to calculate components directly
 2012-03-21 10:41:55 +11:00
rmackay9
f8ad719825 AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods 2012-03-20 11:51:15 +09:00
Andrew Tridgell
aeb010b6e9 AHRS: added AHRS specific MAVLink headers 2012-03-19 17:35:20 +11:00
Andrew Tridgell
07b6f55122 AHRS: added missing AP_AHRS.h 2012-03-19 17:35:20 +11:00
Andrew Tridgell
f1898c3335 DCM: use the new rotate() method from AP_Math 
this allows us to use a tested and optimised rotation method
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
9a40b4b1de Math: added a test for the rotate() method 2012-03-19 17:29:02 +11:00
Andrew Tridgell
7d155c77b1 Math: added rotate() method to Matrix3f 
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
a41281ab7f Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +11:00
Andrew Tridgell
fbe8592d3c Quaternion: change signs in AP_AHRS_Quaternion 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
df79703ed1 Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
c87b945fd2 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell
39067299a5 Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell
b6040878b4 Math: added a function to combine standard rotations 
this will allow us to have an overall board rotation plus a per-sensor
rotation
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
784f08728b AP_Mount: adapt library for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell
3b43d3f9b9 AHRS: fixup the AHRS test suite for the new framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell
fe63e79416 AHRS: adapt the quaternion library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell
2d12bdb412 AHRS: adapt the DCM_HIL library to AHRS 2012-03-19 17:29:02 +11:00
Andrew Tridgell
bf96d05605 AHRS: adapt the DCM library to the AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell
e976c70e19 AHRS: rename DCM and Quaternion implementions ready for AHRS class 
this is the first step to creating a general AHRS class for ArduPilot
 2012-03-19 17:29:01 +11:00
Andrew Tridgell
1170893aaa MAVLink: rename DCM message to AHRS 2012-03-19 17:29:01 +11:00
rmackay9
f3eb15167c AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy) 
- also removed unused _offset_press variable
 2012-03-18 15:18:05 +09:00
rmackay9
ed0d1da4f5 AP_Baro - added average filter for temperature to replace broken filter 
- added average filter (for last two values) for raw pressure
        - changed some "long" to int32_t and "unsigned long" to uint32_t
 2012-03-18 01:06:02 +09:00
Michael Oborne
42960efe80 sitl cygwin mods 2012-03-15 08:16:50 +08:00
Andrew Tridgell
adcc20e4d3 Quaternion: credit Justin with the initial idea of using Madgwick 
thanks Justin!
 2012-03-13 13:27:45 +11:00
Andrew Tridgell
9a6adb9990 DCM: adjust yaw kp constant down to 0.4 
this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
 2012-03-12 17:49:26 +11:00
Andrew Tridgell
aa408655f8 Compass: fixed the order of rotations in the compass driver 
this should fix the massive heading issues that people have been
reporting. Please test!
 2012-03-12 17:33:15 +11:00
Andrew Tridgell
0e6037322a AP_Declination: fixed build of test sketch 2012-03-12 17:33:15 +11:00
Amilcar Lucas
a203282779 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell
42a29169f0 SITL: added pgm_read_byte_far() 2012-03-11 20:59:47 +11:00
Andrew Tridgell
b4d69ef473 AP_Declination: fixed usage of headers 2012-03-11 20:59:47 +11:00
Adam M Rivera
ad3a20b6a3 AP_Declination: Updated comment. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
c390db5d92 AP_Declination: Added method set_initial_location 
This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
94d1c48544 AP_Declination: Increased range of supported latitude coordinates. 
Fixed incorrect type usage to save stack space.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
1709403b87 Added AP_Declination test sketch. I will be improving the test sketch soon. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
3f28184cb0 Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell
d4aa0a4879 Compass: removed an incorrect comment 2012-03-11 20:07:38 +11:00
Andrew Tridgell
a20f57c59e Compass: don't save the orientation to EEPROM 
there is no point in saving this, the value is only configurable at
compile time for now, and is always set
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
cc1961b1e8 Math: any euler angle with pitch > 90 is invalid 
both DCM and quaternion always return pitch in the range -90 to 90
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
36e92bf4ba Quaternion: update for new Quaternion interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell
eea63ecd6e DCM: update for new Matrix3f interface 2012-03-11 15:37:07 +11:00
Andrew Tridgell
01535a7a21 AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell
6d08e38d5d AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
92ada85f49 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
18fcb14335 Quaternion: use the new quaternion API 2012-03-11 15:37:07 +11:00
Andrew Tridgell
a9b8c4dd82 AP_Math: re-work quaternion functions to be more C++ like 
thanks to Adam for the suggestion!
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
ea0fb311af I2C: fixed cr/lf mess 2012-03-11 15:37:07 +11:00
Andrew Tridgell
5203df2cf8 OpticalFlow: adapt optical flow library to new rotation system 2012-03-11 15:37:07 +11:00
Andrew Tridgell
7aa6ba2c86 OpticalFlow: fixed line endings 
this library was a mixture of dos and unix line endings, which makes
for very messy editing
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
3c145ab61c Compass: update the compass driver to use the new vector.rotate() method 2012-03-11 15:37:07 +11:00
Andrew Tridgell
24a9fe8827 Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell
85c3c1d2ea Math: added vector3.rotate() and matrix3.rotation() methods 
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
a30b03cd0a SITL: lower the noise and drift levels for general autotest usage 2012-03-10 10:34:34 +11:00
Andrew Tridgell
07e8360970 InertialSensor: fixed HIL build 2012-03-10 10:34:34 +11:00
Andrew Tridgell
6d06d9d070 MAVLink: bring the v1.0 MAVLink in sync with 0.9 2012-03-10 10:34:34 +11:00
Andrew Tridgell
fed5426274 DCM: after some experimentation, raise the ki values a bit 
this tracks the max gyro drift more accurately
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
89b4a9f4ed Quaternion: use gyro drift value from sensor driver 2012-03-10 10:34:34 +11:00
Andrew Tridgell
fd74414884 Quaternion: go back to the full update_MARG() 
the separate drift controller is too erratic on yaw hold to be usable
at the moment
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
1002bbcbfe SITL: cleanup the gyro drift calculations 
use units that are more easily understood
 2012-03-10 10:34:34 +11:00
Andrew Tridgell
ad21913605 Quaternion: make the quaternion test more generic 
works with DCM too
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
a889135e78 Quaternion: update to get_gyro_drift() interface 2012-03-10 10:34:33 +11:00
Andrew Tridgell
e0cc9c93a1 Quaternion: removed some unused variables 2012-03-10 10:34:33 +11:00
Andrew Tridgell
b67b0afd10 DCM: separate out the omega_yaw_P from omega_P 
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
f4b1dae7cf IMU: added get_gyro_drift_rate() interface 
this just calls down to the InertialSensor layer
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
f46fba54dc AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
9e07fa3af6 DCM: removed the limit on linear acceleration 
we get linear accelerations of more than 1g when turning corners
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
ab1aec0f77 Quaternion: minor tuning 2012-03-10 10:34:33 +11:00
Andrew Tridgell
e470bf2354 DCM: minor tuning based on testing my quad 2012-03-10 10:34:33 +11:00
Andrew Tridgell
97faa47ba6 SITL: make the yaw match the APM conventions 2012-03-10 10:34:33 +11:00
Andrew Tridgell
d1713bd2fb SITL: fixed the pwm output on startup 2012-03-10 10:34:33 +11:00
Andrew Tridgell
8b37790bd1 Quaternion: code cleanups and added comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
f5e5ccff6a DCM: code cleanup and added more comments 2012-03-10 10:34:32 +11:00
Andrew Tridgell
e2b2c9181e Quaternion: bumb up gyro drift limit to match DCM 2012-03-10 10:34:32 +11:00
Andrew Tridgell
2b6fae6e16 ADC: removed the ADC level accel smoothing 
the quaternion code does a better job of handling this noise than this
filter does
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
8ad6b5f4d1 Quaternion: separate out drift correction from main updates 2012-03-10 10:34:32 +11:00
Andrew Tridgell
ff4f7ccc65 InertionSensor: update for new Ch6() interface 2012-03-10 10:34:32 +11:00
Andrew Tridgell
d1976449fd IMU: fixed a warning 2012-03-10 10:34:32 +11:00
Andrew Tridgell
e9f35bfa7f GPS: expose last_fix_time 2012-03-10 10:34:32 +11:00
Andrew Tridgell
17daa2f31c Compass: change last_update to be in microseconds 2012-03-10 10:34:32 +11:00
Andrew Tridgell
404a4e4896 ADC: use floats for ADC averaging 
this costs almost nothing and improved accel/gyro calibration
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
4c6afa36cb DCM: removed update_DCM_fast 
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
2c279639a3 AP_IMU: fixed led flashing in gyro cal 
thanks Pat!
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
b39323bf1b AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a8fd31a5e1 AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d3dc5bd751 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
b273df0725 SITL: avoid parent pid code on cygwin 
this causes problems on windows
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
e1ff9a641b SITL: prevent nested timer interrupts 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d11aab610d Quat: test patch for michael 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a954f68f27 Quaternion: added NaN paranoid checking 
this is for Michael to run
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
d24b055b66 Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1f5095e722 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell
89a10c584d Quaternion: added more numerical safety in the quaternion code 
prevent infinities from creeping in and prevent large drift changes
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f2e6714598 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f71311fdc0 Quaternion: fix the gyro bias in centripetal and remove smoothing 
the centripetal code needs to take account of the current gyro
bias.

It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
76736792f8 SITL: disable interrupts during register updates 
this may prevent bogus mode channel reads
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
e445a455d0 Quaternion: use GPS to correct for linear acceleration 
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ea1b500a6 Quaternion: don't update if we have a very long deltat 
this can be caused by stopping the system in a debugger
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
8b73166605 Compass: fixed last_update time for HIL compass 2012-03-10 10:34:30 +11:00
Andrew Tridgell
2969e16f7d RC: disable interrupts when reading the RC registers 
this prevents getting bogus values which could cause a flight mode
change
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
efe2686b33 GPS: added an acceleration estimate to the GPS driver 
This uses the GPS ground speed to estimate acceleration
 2012-03-10 10:34:30 +11:00
Andrew Tridgell
02ae5358d5 GPS: fixed some stdint types 2012-03-10 10:34:29 +11:00
Andrew Tridgell
2f5a4cdc4a Quaternion: added in reporting of gyro drift and rp/yaw errors 2012-03-10 10:34:29 +11:00
Andrew Tridgell
934a05bbc6 fixed comment 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a60cf111c5 DCM: fixed an uninitialised variable warning 2012-03-10 10:34:29 +11:00
Andrew Tridgell
7d9c4094a2 Quaternion: tweak the quaternion gains a bit 2012-03-10 10:34:29 +11:00
Andrew Tridgell
e33bb217bc AP_IMU: improved the gyro calibration code 
this should give a much more accurate result
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
de1cfc8e34 Quaternion: drop the gyro drift rates down 
this should allow us to cope with noise more readily
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
2d6680f144 DCM: fixed bug in accel averaging 
sorry Randy!
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
73594199c8 AP_Quaternion: fixed build on Arduino 1.0 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a85ba80246 AP_Quaternion: added DCM compatibility interfaces 
useful for getting the code going quickly
 2012-03-10 10:34:29 +11:00
Andrew Tridgell
626f8598ed AP_IMU: added new_data_available() interface 2012-03-10 10:34:29 +11:00
Andrew Tridgell
a052aa8435 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Andrew Tridgell
61d649e7ac AP_ADC: added new_data_available() interface 
returns true if more samples are available
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
4a277f9871 fixed deltat in quaternion 2012-03-10 10:34:28 +11:00
Andrew Tridgell
353f9e613f SITL: make SITL not depend on DCM 2012-03-10 10:34:28 +11:00
Andrew Tridgell
fb23c617fa Quaternion: added an AP_Quaternion library 
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
a05eeab55e SITL: reduce the simulated compass offsets 
this was causing us problems in getting DCM right
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
d03b11092b SITL: separate out drift speed and drift level 2012-03-10 10:34:28 +11:00
Andrew Tridgell
71d3847bfc SITL: added a drift_level multiplier 
this makes it easier to experiment with different gyro drift levels
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
61ebcfe9fe DCM: fixed the averaging of accel values for update_DCM_fast() 
this should improve drift correction for ArduCopter
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
de32c3bc31 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0e2e69431 SITL: fixed delay() to account for signal interrupions 
when a timer went off we stopped the delay() code
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
37ab76c9e6 DCM_Test: fixed example code to work with SITL 
this also fixes the compass setup
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
d2a969ee95 SITL: push noise level to 2.0 for DCM testing 2012-03-10 10:34:27 +11:00
Andrew Tridgell
79b8ddc236 DCM: added a small amount of accel smoothing to update_DCM_fast() 2012-03-10 10:34:27 +11:00
Andrew Tridgell
55413bfcc1 DCM: don't use the z accel sensor for drift correction 
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
a78b00513b DCM: added a small amount of gyro and accel smoothing 
possibly not needed, but convenient to be able to test with different
values
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
82032b17a9 DCM: added reporting interfaces for DCM state 2012-03-10 10:34:27 +11:00
Andrew Tridgell
ae6a94a933 SITL: added sitl_simstate_send() 
used to report simulator state in logs
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
d106e3a970 MAVLink: import new message types DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell
4e354a9731 DCM: got rid of _error_roll_pitch from object state 
this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
 2012-03-10 10:34:27 +11:00
Jason Short
13e9608fb8 Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class. 2012-03-08 23:13:04 -08:00
Jason Short
34cf1e8fb3 Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now. 2012-03-06 20:55:35 -08:00
rmackay9
6c1299fe7e AP_RC - removed unused library 2012-03-04 18:21:52 +09:00
Andrew Tridgell
dd9065123c SITL: use the new noise model 
use the new noise model at a low level for master until we sort out
DCM noise handling
 2012-03-02 18:31:07 +11:00
Andrew Tridgell
63ea5dfb49 APM_RC: allow the fast RC speed to be passed as a parameter 
this will allow users to test different speeds
 2012-03-02 17:57:08 +11:00
Andrew Tridgell
f1a389fe19 AP_Param: ensure we can't have duplicate keys in Parameters.h 
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
 2012-03-02 15:48:28 +11:00
Andrew Tridgell
1476f044e6 I2C: added lockup_count() interface 
used for reporting I2C problems
 2012-03-02 15:48:27 +11:00
Andrew Tridgell
c9031f1d36 SITL: implement cli()/sei() properly for desktop build 
this disables simulated hardware interrupts during critical sections
 2012-03-02 15:48:27 +11:00
Jason Short
59e1d43f60 Updated fastPWM to 490Hz 2012-02-29 22:17:38 -08:00