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2854 Commits

Author SHA1 Message Date
Pat Hickey
bfd03ab40c AP_Baro: robust spi device 2012-12-20 14:51:35 +11:00
Pat Hickey
60f7788be4 AP_Baro: robust calibration 2012-12-20 14:51:35 +11:00
Pat Hickey
eaa0a990a4 AP_Baro: MS5611 robust semaphores 2012-12-20 14:51:35 +11:00
Pat Hickey
52925b655f AP_Baro: MS5611 uses delay in busy wait 2012-12-20 14:51:35 +11:00
Pat Hickey
6943d32d76 SITL: fixed to build under AP_HAL 
* won't work or naything like that
 2012-12-20 14:51:35 +11:00
Pat Hickey
4d0b1e6571 AP_Relay: add init method 2012-12-20 14:51:35 +11:00
Pat Hickey
70a3ee738a gcs console: uartb fixup 2012-12-20 14:51:35 +11:00
Pat Hickey
7017a35fc3 AP_Airspeed: fix for AnalogIn read_average 2012-12-20 14:51:35 +11:00
Pat Hickey
8f99a12374 AP_ADC_AnalogSource: fix for new AnalogIn interface 2012-12-20 14:51:35 +11:00
Pat Hickey
a6d80af9ed AP_ADC_AnalogSource: obey changes to AnalogSource interface 2012-12-20 14:51:35 +11:00
Pat Hickey
2be552ea22 AP_GPS: less chatty autodetect 2012-12-20 14:51:35 +11:00
Pat Hickey
d72c5cf828 AP_GPS: uartB fixup 2012-12-20 14:51:35 +11:00
Andrew Tridgell
5840ded767 AHRS: removed constrain() defines 2012-12-20 14:51:34 +11:00
Andrew Tridgell
09e7b0b592 AHRS: removed unused variable 2012-12-20 14:51:34 +11:00
Pat Hickey
70f34656bc AP_AHRS: uart1 -> uartB fixup 2012-12-20 14:51:34 +11:00
Andrew Tridgell
eb81a3934e HAL_AVR: removed extra min() define 2012-12-20 14:51:34 +11:00
Pat Hickey
f9c8f93b37 AP_HAL_AVR: Dataflash APM2 does a better job detecting no df card 2012-12-20 14:51:34 +11:00
Andrew Tridgell
aff1e56e82 AP_HAL: fixed AnalogIn example sketch 2012-12-20 14:51:34 +11:00
Pat Hickey
13f7bd1723 AP_HAL_AVR: AnalogIn supports read_average & read_latest 2012-12-20 14:51:34 +11:00
Pat Hickey
f9e9b8a7ef AP_HAL_AVR: move scheduler's timer-hw dependent methods to a separate cpp 2012-12-20 14:51:34 +11:00
Andrew Tridgell
d9f69923f2 HAL_AVR: fixed int types -> uint8_t 2012-12-20 14:51:34 +11:00
Andrew Tridgell
b1856bc17e HAL_AVR: fixed warnings on all PSTR() usage 2012-12-20 14:51:34 +11:00
Andrew Tridgell
857c0b69e5 AP_HAL_AVR: fixed interrupt attach for MPU6000 2012-12-20 14:51:34 +11:00
Andrew Tridgell
31bb300f81 AP_HAL_AVR: fixed bounds check for rc input 2012-12-20 14:51:34 +11:00
Pat Hickey
a79adcb7f4 AP_HAL_AVR: comment wibbles 2012-12-20 14:51:34 +11:00
Pat Hickey
8d97596ea0 AP_HAL_AVR: RCInput has overrides 2012-12-20 14:51:34 +11:00
Pat Hickey
cb38651df5 AP_HAL: RCInput has overrides 2012-12-20 14:51:34 +11:00
Pat Hickey
dfdc14f583 AP_HAL_AVR: Console uses only sized int types 2012-12-20 14:51:34 +11:00
Pat Hickey
8879cbbc69 AP_HAL: Console uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey
2ee214ee36 AP_HAL_AVR: AnalogIn uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey
de4adefe4e AP_HAL: AnalogIn uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey
9455d4c297 AP_HAL_AVR: UARTDriver impl uses only sized int types 2012-12-20 14:51:33 +11:00
Pat Hickey
243590bb73 AP_HAL: UARTDriver & Stream uses only sized int types 
Signed-off-by: Pat Hickey <pat@galois.com>
 2012-12-20 14:51:33 +11:00
Pat Hickey
ba07ae283f AP_HAL_AVR: sized ints in GPIO 2012-12-20 14:51:33 +11:00
Pat Hickey
709869f8ce AP_HAL: use sized ints in GPIO 2012-12-20 14:51:33 +11:00
Pat Hickey
765e2da8a7 AP_HAL_AVR: analog input fixed when ANALOG_INPUT_NONE 
* need to provide new sample so we dont spin forever
 2012-12-20 14:51:33 +11:00
Pat Hickey
2826a605ba AP_HAL_AVR: Dataflash debugging 2012-12-20 14:51:33 +11:00
Pat Hickey
ff09314ab8 AP_HAL_AVR: SPI debugging 2012-12-20 14:51:33 +11:00
Pat Hickey
d504db195e AP_HAL_AVR: add sei in defer timer process 2012-12-20 14:51:33 +11:00
Andrew Tridgell
0f3e30a0c3 HAL_AVR: fixed race condition in delay() 2012-12-20 14:51:33 +11:00
Pat Hickey
ca4bc8d760 AP_HAL: AnalogIn read changed to read_latest and read_average 2012-12-20 14:51:33 +11:00
Pat Hickey
6218d7779f AP_HAL: expose DF_LOGGING_FORMAT to user 2012-12-20 14:51:33 +11:00
Pat Hickey
3bca50f422 AP_HAL: BetterStream removes printf attribute from _printf_P 2012-12-20 14:51:33 +11:00
Pat Hickey
88f09d100a AP_HAL_AVR: fix implementation of delay in scheduler 2012-12-20 14:51:32 +11:00
Pat Hickey
0b7a55b9f6 AP_HAL_AVR: AnalogIn hack to make vcc read work 
* needs improvment
 2012-12-20 14:51:32 +11:00
Pat Hickey
6e45ce12b2 AP_HAL_AVR: implement reboot in scheduler 
* still need to fix system io register inits to do it like bootloader would
 2012-12-20 14:51:32 +11:00
Pat Hickey
592d32ba47 AP_HAL: add reboot to scheduler 2012-12-20 14:51:32 +11:00
Pat Hickey
04d7b5ffe4 AP_HAL_AVR: implement changes to AnalogIn 2012-12-20 14:51:32 +11:00
Pat Hickey
7049934a69 AP_HAL: AnalogIn channel gets scale, source gets set_pin 2012-12-20 14:51:32 +11:00
Pat Hickey
50b765616b AP_HAL_AVR: change uart0,1,2,3 to uartA,B,C 2012-12-20 14:51:32 +11:00
Pat Hickey
dbb6a2a0e5 AP_HAL: change uart0,1,2,3 to uartA,B,C 2012-12-20 14:51:32 +11:00
Pat Hickey
d4e350f574 remove APM_RC, deprecated by AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey
3b4e2296e9 remove nobuild.txt from deprecated AP_Var directory 2012-12-20 14:51:32 +11:00
Pat Hickey
d53572e163 remove DigitalWriteFast library, deprecated under AP_HAL (&goodriddance) 2012-12-20 14:51:32 +11:00
Pat Hickey
2b904703d8 remove AP_PeriodicProcess library, deprecated under AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey
5b9738bba1 remove Arduino_Mega_ISR_Registry library, deprecated under AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey
1d21cea032 remove AP_AnalogSource library, deprecated under AP_HAL 2012-12-20 14:51:32 +11:00
Pat Hickey
3987e81e2a remove APO library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
97e190a641 remove SPI3 library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
bc4b196f6f remove I2C library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
db31608aa2 remove AP_Semaphore library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
ec8b56db7d remove FastSerial library, deprecated under AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
39d14c8a93 PID: ported to AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
40f254af51 memcheck: ported to AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
f4f3062df1 AP_Relay: rewritten for AP_HAL 2012-12-20 14:51:31 +11:00
Pat Hickey
71a360b3e3 APM_PI: ported to AP_HAL 
* formatted to 80w, way of the future, way of the future
 2012-12-20 14:51:31 +11:00
Pat Hickey
2244ac295c AP_HAL_AVR: improve RCInput documentation 
copied directlyf rom AP_HAL header
 2012-12-20 14:51:31 +11:00
Pat Hickey
b89c45735b AP_HAL_AVR: provide 'int main (void)' impl as a macro 
* avoid extra typing
* makes it HAL implementation specific
 2012-12-20 14:51:31 +11:00
Pat Hickey
a639f7c34f AP_HAL_AVR: rename FastSerial example to UARTDriver 2012-12-20 14:51:31 +11:00
Pat Hickey
52f6d67238 AP_HAL_AVR: add ArduPlaneLibs test sketch 2012-12-20 14:51:31 +11:00
Pat Hickey
d47f77f8dd AP_HAL_AVR Scheduler: support nested atomic sections 2012-12-20 14:51:31 +11:00
Pat Hickey
f543cede01 AP_HAL & AP_HAL_AVR: new SPI driver model 2012-12-20 14:51:31 +11:00
Pat Hickey
2a12392b9e AP_HAL: export semaphore header 2012-12-20 14:51:30 +11:00
Pat Hickey
03eb5a1beb AP_HAL_AVR: gpio and scheduler renamed arduino to avr 2012-12-20 14:51:30 +11:00
Pat Hickey
2e32ec3013 AP_HAL_AVR GPIO: rename Arduino to be AVR 2012-12-20 14:51:30 +11:00
Pat Hickey
17b951c45b AP_HAL_AVR Scheduler: rename Arduino to be AVR 2012-12-20 14:51:30 +11:00
Pat Hickey
b2c44d8a81 AP_HAL: move AP_Semaphore to be part of the HAL 2012-12-20 14:51:30 +11:00
Pat Hickey
5f48193ea0 AP_HAL_AVR analog in example: use new constant for board vcc, and vcc not vdd 2012-12-20 14:51:30 +11:00
Pat Hickey
0c3e59a307 AP_HAL_AVR: AnalogIn channels respect pins, obey NONE input, all common 
* there's no need for separate APM1/APM2 classes, so that was eliminated
* single class only has special member for vcc. all others created by
  channel interface.
 2012-12-20 14:51:30 +11:00
Pat Hickey
f4b5ef9fad AP_HAL AnalogIn: gets constants for BOARD_VCC and NONE 2012-12-20 14:51:30 +11:00
Pat Hickey
b7c4cc20ac GPIO: optimized read, write, and mode for DigitalSource objects 2012-12-20 14:51:30 +11:00
Pat Hickey
054f35e33d AP_Camera: ported to AP_HAL 2012-12-20 14:51:30 +11:00
Pat Hickey
f935f1ae31 AP_InertialNav: did my best at a meaningful test sketch 
* the existing test sketch was just the InertialSensor test
 2012-12-20 14:51:30 +11:00
Pat Hickey
af4806666f AP_InertialNav: ported to AP_HAL 2012-12-20 14:51:30 +11:00
Pat Hickey
c393374d4c AP_OpticalFlow: ported to AP_HAL 
* 78 wide
* remove SPI.h, SPI3.h, and FastSerial.h dependencies (though not objects)
* gotta totally refactor HAL SPI driver to fix the rest
 2012-12-20 14:51:30 +11:00
Pat Hickey
a38ce8962e AP_Rangefinder: ported to AP_HAL. Only officially supports MaxsonarXL. 2012-12-20 14:51:30 +11:00
Pat Hickey
47f555feac AP_HAL_AVR: I2CDriver increments lockup count on any error 
tridge made these changes to the "I2c" lib in a3589f2956
 2012-12-20 14:51:30 +11:00
Pat Hickey
93f6267334 AP_HAL_AVR: create ArduCopterLibs test sketch 
* used to make sure all ArduCopter deps build
 2012-12-20 14:51:30 +11:00
Pat Hickey
c1114168e4 AP_Baro tests rebase fixups 2012-12-20 14:51:29 +11:00
Pat Hickey
e787b5ccd9 AP_Buffer: ported to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey
c9541d3b00 AP_HAL: added begin_atomic and end_atomic to scheduler 2012-12-20 14:51:29 +11:00
Pat Hickey
197a685923 AP_Semaphore: ported to AP_HAL 
* improved readability of test output
 2012-12-20 14:51:29 +11:00
Pat Hickey
f490f2432d Arduino.mk: norelax.inoflag will disable -Wl,--relax on a per sketch basis 
* Some weird avr-ld bug that hits on 4.6.2 Fedora. Didn't have time to
  investigate further.
 2012-12-20 14:51:29 +11:00
Pat Hickey
9bf69d4e0d AP_AHRS: port to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey
6cc231ae7d AP_Mount: ported to AP_HAL 
I do not have the hardware required to test this
 2012-12-20 14:51:29 +11:00
Pat Hickey
eefb0f4515 APM_OBC: translate to AP_HAL, make trivial test sketch to test build 2012-12-20 14:51:29 +11:00
Pat Hickey
3b1150d857 AP_Menu: ported to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey
ec53515648 AP_Param: eeprom translated to use AP_HAL. No unit tests available! 2012-12-20 14:51:29 +11:00
Pat Hickey
87c55f68c2 AP_HAL_AVR Storage: conform to new API 2012-12-20 14:51:29 +11:00
Pat Hickey
7908e41416 AP_HAL Storage: use a int type rather than pointer type for location 2012-12-20 14:51:29 +11:00
Andrew Tridgell
c4d9b5e328 AP_HAL_PX4: added stdio.h 2012-12-20 14:51:29 +11:00
Andrew Tridgell
2669c33476 AP_HAL_PX4: added main program as include 2012-12-20 14:51:29 +11:00
Andrew Tridgell
28353cd683 AP_Progmem: check for PX4FMU_BUILD explicitly 2012-12-20 14:51:29 +11:00
Andrew Tridgell
3a2e138994 AP_Common: no c++ magic for PX4 build 2012-12-20 14:51:28 +11:00
Pat Hickey
be00b2f681 AP_HAL_PX4: brief disclaimer 2012-12-20 14:51:28 +11:00
Andrew Tridgell
c5221c34a5 HAL_AVR: don't auto build PX4 stuff yet 2012-12-20 14:51:28 +11:00
Pat Hickey
64a79f3598 AP_HAL_PX4: Stub Console implemented 2012-12-20 14:51:28 +11:00
Pat Hickey
166eff180d AP_Progmem Identity: switch to straight typedef of prog_char_t to char 2012-12-20 14:51:28 +11:00
Pat Hickey
9f69254c00 AP_Progmem: identity to use regular strings as PSTRs 2012-12-20 14:51:28 +11:00
Andrew Tridgell
e9d41312ca HAL_AVR: automatically find tests to build 2012-12-20 14:51:28 +11:00
Pat Hickey
2d363e0683 AP_HAL_PX4: trivial console header 2012-12-20 14:51:28 +11:00
Pat Hickey
a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey
a399851ca2 AP_HAL: Depend on AP_Progmem rather than AP_Common to provide pstr 2012-12-20 14:51:28 +11:00
Pat Hickey
5c738810e2 AP_Progmem created: progmem macros per specific platform 
* derived from AP_Common
 2012-12-20 14:51:28 +11:00
Pat Hickey
a2f97ac7c7 AP_Common.cpp: Delete empty cpp file 2012-12-20 14:51:28 +11:00
Pat Hickey
f58935d1e7 AP_Common c++ lib: eliminate freeMemory and displayMemory 
* also, no more error message in pure virtual call
 2012-12-20 14:51:28 +11:00
Pat Hickey
9f9c183a4d remove AP_Vector.h as deprecated 2012-12-20 14:51:28 +11:00
Pat Hickey
925223341d remove AP_Var: deprecated 2012-12-20 14:51:28 +11:00
Pat Hickey
488fb9750b remove AP_MetaClass as deprecated 2012-12-20 14:51:27 +11:00
Pat Hickey
d50d0682e9 remove APO library: deprecated 2012-12-20 14:51:27 +11:00
Pat Hickey
668caa4a2e Fix calls to AP_HAL::Scheduler::register_timer_process 2012-12-20 14:51:27 +11:00
Pat Hickey
bae7e4b88e AP_HAL Scheduler: simplify register_timer_process, min time for delay cb 2012-12-20 14:51:27 +11:00
Pat Hickey
6a59ad143e AP_Curve: made into its own library 2012-12-20 14:51:27 +11:00
Andrew Tridgell
53105efbcd HAL_AVR: more uart0 -> console changes 2012-12-20 14:51:27 +11:00
Andrew Tridgell
d133f15f57 HAL_AVR: use hal.console instead of hal.uart0 2012-12-20 14:51:27 +11:00
Andrew Tridgell
ecd67ad79b HAL_AVR: added more build examples 2012-12-20 14:51:27 +11:00
Andrew Tridgell
87e300b119 AP_HAL: added double print functions 
this copes with the fact that the compiler doesn't really know that
float and double are the same things
 2012-12-20 14:51:27 +11:00
Andrew Tridgell
e663f5feab HAL_AVR: use ccache if available 2012-12-20 14:51:27 +11:00
Andrew Tridgell
f269172d96 HAL_AVR: fixed build of remaining HAL_AVR examples 2012-12-20 14:51:27 +11:00
Andrew Tridgell
978c7ae329 HAL_AVR: added build_all.sh script 2012-12-20 14:51:27 +11:00
Andrew Tridgell
49e1f452e1 HAL_AVR: fixed I2C example build 2012-12-20 14:51:27 +11:00
Pat Hickey
f8047f158d Arduino.mk: Changes to asm opts for compatibility with avr-gcc4.6 
* Need to make sure these are compatible with older toolchains
  before pushing to master
 2012-12-20 14:51:26 +11:00
Pat Hickey
1cd09be2fd AP_HAL_AVR: proper empty uart for APM1 vs APM2 
* APM1 uses uart2 as a spi port (dataflash)
* APM2 uses uart3 as a spi port (dataflash)
 2012-12-20 14:51:26 +11:00
Pat Hickey
de81267bd5 AP_HAL_AVR: utility/vprintf.cpp fixed for avr-gcc 4.6 2012-12-20 14:51:26 +11:00
Pat Hickey
afa1143506 RC_Channel: ported to AP_HAL 
* keeping everyone honest
* remove second unmaintained unit test:  No idea wtf is going on in there.
 2012-12-20 14:51:26 +11:00
Pat Hickey
c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey
95a13bdbd2 APM_Control: ported to AP_HAL 
Unable to test since there are no unit tests.
 2012-12-20 14:51:26 +11:00
Pat Hickey
9f9dfc7c63 AP_Limits: fix spacing to 80 columns, use standard cpp header guard conventions 
* No idea what was going on there. Confusing.
 2012-12-20 14:51:26 +11:00
Pat Hickey
3503c7627a AP_LeadFitler: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey
4acf2c8591 AP_InertialSensor: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey
11bf533c57 AP_HAL_AVR: implement GPIO::attach_interrupt just for interrupt 6 2012-12-20 14:51:26 +11:00
Pat Hickey
7480707f9e AP_HAL: Add attach_interrupt method to GPIO 2012-12-20 14:51:26 +11:00
Pat Hickey
d422ab7806 AP_HAL: Extend Scheduler to support defered timer procs 
* based on queue_proc from AP_PeriodicProcess
 2012-12-20 14:51:26 +11:00
Pat Hickey
53432a1101 AP_Compass: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey
9aada26e34 AP_Declination: translated to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey
5d40074e4e AP_Baro: port to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey
c56c4ae240 Various example sketches: hal.uart0->begin(115200) is redundant. use console. 
just assume uart0 is initialized by the HAL, because it is. DRY.
also, don't ever use uart0 explicitly in example sketches, use console
and let the hal figure it out.
 2012-12-20 14:51:25 +11:00
Pat Hickey
11cfde1e46 AP_HAL_AVR: I2CDriver initialize in HAL init 
* Makes more sense to have everything set to go by the time we're in setup.
 2012-12-20 14:51:25 +11:00
Pat Hickey
ce8dc5fd5c AP_AnalogSource: obsoleted by AP_HAL. Renamed to AP_ADC_AnalogSource. 2012-12-20 14:51:25 +11:00
Pat Hickey
dfc8e91fd3 AP_Airspeed: port to AP_HAL 2012-12-20 14:51:25 +11:00
Pat Hickey
84e0dd406e Filter: ported to AP_HAL 2012-12-20 14:51:25 +11:00
Pat Hickey
30deb76ea3 AP_ADC: ported to AP_HAL 
AP_ADC_test run on bench with APM1, looks ok.
 2012-12-20 14:51:25 +11:00
Pat Hickey
050a878935 AC_PID: Ported to AP_HAL. 2012-12-20 14:51:25 +11:00
Pat Hickey
73ccfaf2d7 AP_HAL: implement DigitalSource abstraction 
* GPIO's complement to AnalogSource
 2012-12-20 14:51:25 +11:00
Pat Hickey
deb96143d3 AP_GPS_IMU: fix type punning warnings by using memcpy 2012-12-20 14:51:25 +11:00
Pat Hickey
9ed023aeb4 AP_GPS: Builds under AP_HAL. Not tested. 2012-12-20 14:51:25 +11:00
Pat Hickey
e83504f80d AP_HAL_AVR LCDTest: fix build 2012-12-20 14:51:25 +11:00
Pat Hickey
6d9ac42618 GCS Console: add lib implementing message handling from DATA16 and DATA32 msgs 
console demonstrates simple loopback
works with our branch of mavproxy at the moment
 2012-12-20 14:51:25 +11:00
Pat Hickey
40734bc2f2 AP_HAL_AVR Console: bugfix on buffer bytes free vs used 
* had them reversed. doh
 2012-12-20 14:51:25 +11:00
Pat Hickey
fd89bacbc8 GCS_MAVLink: wibble to mavlink_helpers.h to fix build. 2012-12-20 14:51:25 +11:00
Pat Hickey
2a72c7e730 GCS_MAVLink: Regenerate mavlink1.0 implementation 
created using:
mavgen.py --lang=C --wire-protocol=1.0 --output=./include/mavlink/v1.0 ./message_definitions/ardupilotmega.xml
mavlink repo commit 79cabfe956464c8f745807a6e65062ac3fc09193
 2012-12-20 14:51:25 +11:00
Pat Hickey
a86a696311 GCS_Mavlink: add the DATA16 and DATA32 messages definitions to ardupilotmega.xml 2012-12-20 14:51:24 +11:00
Pat Hickey
ed19ff7f2f GCS_Console example: implement a trivial mavlink gcs 
* Just heartbeats and sends a single parameter down
* all other messages unimplemented
* console is dumped to statustext at the moment (that will change soon)
 2012-12-20 14:51:24 +11:00
Pat Hickey
6661f827fa GCS_MAVLink: port to work with AP_HAL class rather than FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey
f2b21ecc41 AP_Param: Port to work with AP_HAL class instead of FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey
7dbe198e5c AP_Math: port to work on coreless arduino (AP_HAL) 2012-12-20 14:51:24 +11:00
Pat Hickey
52adb462a9 AP_HAL_AVR: Finished implementation of AVRConsoleDriver 2012-12-20 14:51:24 +11:00
Pat Hickey
98f86d0288 AP_HAL_AVR: Console more complete, but still not 100% 2012-12-20 14:51:24 +11:00
Pat Hickey
6f4d208ffc AP_HAL_AVR: fixup in vprintf header 2012-12-20 14:51:24 +11:00
Pat Hickey
f889d5ac13 AP_HAL_AVR: trivial ConsoleDriver implementation 
* user backend unimplemented. will do that next.
 2012-12-20 14:51:24 +11:00
Pat Hickey
017f592eef AP_HAL: add ConsoleDriver interface 2012-12-20 14:51:24 +11:00
Pat Hickey
a3a6482fd3 AP_HAL_AVR: vprintf implementation exists outside of class hierchary. 
* Makes it easier to mix into other classes.
 2012-12-20 14:51:24 +11:00
Pat Hickey
36154559fc AP_HAL: change txspace from a BetterStream method to a Stream method. 2012-12-20 14:51:24 +11:00
Pat Hickey
72f8667d9c AP_HAL_AVR: AnalogIn implemented 2012-12-20 14:51:23 +11:00
Pat Hickey
279a755ab3 AP_HAL: AnalogIn interface fleshed out 2012-12-20 14:51:23 +11:00
Pat Hickey
01e34825f3 AP_HAL_AVR: Scheduler unit tests 2012-12-20 14:51:22 +11:00
Pat Hickey
ba7a596ec3 AP_HAL_AVR: Scheduler extensions implemented 2012-12-20 14:51:22 +11:00
Pat Hickey
6671310399 AP_HAL Scheduler: interface has AP_PeriodicProcess functionality 2012-12-20 14:51:22 +11:00
Pat Hickey
a1863ec1f5 AP_HAL_AVR ISRRegistry: use AP_HAL::Proc types instead of private typedef 2012-12-20 14:51:22 +11:00
Pat Hickey
af68c09591 AP_HAL Namespace: typedef Proc and TimedProc 2012-12-20 14:51:22 +11:00
Pat Hickey
229f58412b AP_HAL_AVR Storage: commit test 2012-12-20 14:51:22 +11:00
Pat Hickey
187571cca9 AP_HAL Scheduler fixes & AP_HAL_AVR Scheduler changed to match 2012-12-20 14:51:22 +11:00
Pat Hickey
2adfc4fbc5 AP_HAL Scheduler add method register_delay_callback (unimplemented) 2012-12-20 14:51:22 +11:00
Pat Hickey
1d89419059 AP_HAL: Scheduler should use stdint types, conform names 2012-12-20 14:51:22 +11:00
Pat Hickey
a9dff1ad25 AP_HAL_AVR: bugfix to SPIDriver.cpp 
* Had freq set to 10 mhz, not 1mhz... stupid mistake.
 2012-12-20 14:51:22 +11:00
Pat Hickey
177da8ea5b AP_HAL_AVR: Bugfix to SPIDriver_MPU6000 (works now) 2012-12-20 14:51:22 +11:00
Pat Hickey
8ffec83b73 DataFlash: fixes to lib include and make the test smaller 2012-12-20 14:51:22 +11:00
Pat Hickey
06441b4117 AP_HAL_AVR Dataflash implemented, tested for APM2 
* Need to get my APM1 board from home to test it on there...
 2012-12-20 14:51:21 +11:00
Pat Hickey
9beba972c8 AP_HAL_AVR: Dataflash instances stubbed out based on /libraries/DataFlash 2012-12-20 14:51:21 +11:00
Pat Hickey
34ec5081e2 AP_HAL: Dataflash interface populated 2012-12-20 14:51:21 +11:00
Pat Hickey
3b697fe299 AP_HAL: rename Log to Dataflash 
* I'd love to build a proper abstraction for logging, but I don't have the
  time to do so right now.
* The dataflash libs need to be pushed into the AP_HAL_AVR anyway, so I'll
  do that now and replace the interface with a better logging driver later.
 2012-12-20 14:51:21 +11:00
Pat Hickey
5d2327f52f AP_HAL: Don't need a separate Console class, BetterStream will do. 2012-12-20 14:51:21 +11:00
Pat Hickey
261ef791a7 AP_HAL Storage: trivial interface and implementation wraps avr/eeprom funcs 2012-12-20 14:51:21 +11:00
Pat Hickey
b0d8f43111 AP_HAL_AVR: Implemented SPIDriver based on Arduino, but it doesn't work yet 
* I don't have an APM2.5 board I can easily connect a logic analyzer to see
  the traffic on the bus...
 2012-12-20 14:51:21 +11:00
Pat Hickey
b2a34800e2 AP_HAL_AVR RCPassthroughTest: write to upper (>8) channels as well. 2012-12-20 14:51:21 +11:00
Pat Hickey
1f670b4ce2 AP_HAL_AVR: bugfix to RCOutput_APM1 driver CH5 and CH6 
* copypasted the code from RCOutputAPM1 and forgot to fix the io pins
  to initialize properly
 2012-12-20 14:51:21 +11:00
Pat Hickey
ad64fd2924 AP_HAL_AVR: RCOutput_APM2, bugfix to get_freq on CH_10 and CH_11 2012-12-20 14:51:21 +11:00
Pat Hickey
875e928628 AP_HAL_AVR: mostly working implementation of RCOutput_APM1.cpp 
* CH5 and CH6 output doesn't work at the moment. not sure why
 2012-12-20 14:51:21 +11:00
Pat Hickey
d8ceb427f4 AP_HAL_AVR wibble: s/OUT/CH_/g to be more clear 
* also, correct my poor german, h/t acfoltzer
 2012-12-20 14:51:21 +11:00
Pat Hickey
5445ad02f8 AP_HAL_AVR: RCOutput tested implementation for APM2 2012-12-20 14:51:21 +11:00
Pat Hickey
0f96c93362 AP_HAL_AVR: Add RCPassthroughTest test sketch 2012-12-20 14:51:21 +11:00
Pat Hickey
25bc452608 AP_HAL_AVR RCInput: fixes found in testing 
* On APM1, I was able to test with the failsafe (i.e. all channels giving
  fixed values) but not with a real receiver
 2012-12-20 14:51:21 +11:00
Pat Hickey
71ea0fc755 AP_HAL_AVR example RCInputTest created 
* input works for APM2, but valid() isnt quite working yet
 2012-12-20 14:51:20 +11:00
Pat Hickey
ec0fddd49a AP_HAL_AVR: HAL_AVR initializes rcin and rcout 2012-12-20 14:51:20 +11:00
Pat Hickey
776a1074c9 AP_HAL_AVR: check in utility/ISRRegistry 2012-12-20 14:51:20 +11:00
Pat Hickey
064faafdd3 AP_HAL_AVR: stub RCOutput implementations for APM1 and APM2 2012-12-20 14:51:20 +11:00
Pat Hickey
acfbddef0d AP_HAL: proper RCOutput interface specification 2012-12-20 14:51:20 +11:00
Pat Hickey
fc2e1455a9 AP_HAL_AVR: proper RCInput implementations for APM1 and APM2 2012-12-20 14:51:20 +11:00
Pat Hickey
fb6abbe191 AP_HAL: proper RCInput interface specification 2012-12-20 14:51:20 +11:00
Pat Hickey
2c14a77693 AP_HAL_AVR: add ISRRegistry class, member of HAL_AVR 
* derived from Arduino_Mega_ISR_Registry class
 2012-12-20 14:51:20 +11:00
Pat Hickey
db76562cd5 AP_HAL: global rename PPMInput -> RCInput, PWMOutput -> RCOutput 
* for clarity. nobody cares that PPM/PWM is the implementation, and with
  sbus etc it might not be
 2012-12-20 14:51:20 +11:00
Pat Hickey
46f31aa69c AP_HAL_AVR: Implement I2CDriver based on libraries/I2C 
* Removed a ton of code we don't need from that driver, which should make
  writing new drivers easier.
 2012-12-20 14:51:20 +11:00
Pat Hickey
e14729e7d9 AP_HAL_AVR: FastSerial port passes FastSerial example sketch tests 2012-12-20 14:51:20 +11:00
Pat Hickey
cae931a93a AP_HAL_AVR UARTDriver does basic hello world printing 
* will import more complex tests next
 2012-12-20 14:51:20 +11:00
Pat Hickey
83887cfc87 AP_HAL_APM: basic LiquidCrystal based sketch to test hal gpio & scheduler 2012-12-20 14:51:20 +11:00
Pat Hickey
e9c5f07db2 AP_HAL: Working GPIO interface & implementation 
* actually, tested the output only... gotta do input next
 2012-12-20 14:51:20 +11:00
Pat Hickey
474f57a90a AP_HAL_AVR: Blink sketch - first working code on coreless 2012-12-20 14:51:20 +11:00
Pat Hickey
ea8242ace1 AP_HAL: Add scheduler interface, move Arduino init code to implementation 2012-12-20 14:51:19 +11:00
Pat Hickey
59a94d5aac AP_HAL_AVR: implement ::init method in derived HAL_AVR class. 
* Implementation of ::init taken from Arduino core. Not tested yet
 2012-12-20 14:51:19 +11:00
Pat Hickey
18329b1a5d AP_HAL: add virtual init method to HAL class 2012-12-20 14:51:19 +11:00
Pat Hickey
3b2719dd8c AP_HAL_AVR: build APM1 example sketch with no Arduio core via nocore.inoflag 2012-12-20 14:51:19 +11:00
Pat Hickey
75279dfa43 AP_HAL_AVR: header include fixups 2012-12-20 14:51:19 +11:00
Pat Hickey
0d342a3293 AP_Common: use EXCLUDECORE macro to hack some debug messages away 2012-12-20 14:51:19 +11:00
Pat Hickey
7854c54880 Arduino.mk: when core is excluded, add -DEXCLUDECORE to flags 2012-12-20 14:51:19 +11:00
Pat Hickey
4493dbb4d2 Arduino.mk: support nocore.inoflag to do coreless builds of each sketch 2012-12-20 14:51:19 +11:00
Pat Hickey
8eb9b39a44 AP_HAL_AVR move library classes to their own AP_HAL_AVR namespace 2012-12-20 14:51:19 +11:00
Pat Hickey
afd1f36400 AP_HAL: add BetterStream, Stream, and Print interfaces 
* BetterStream Means AP_HAL depends on AP_Common, for now, in order to have
  the AVR specific pgm_char_t defined.
  I'll need to factor that out in the future but for now it can stay
 2012-12-20 14:51:19 +11:00
Pat Hickey
b34d4cdb17 Remove empty AP_Var_menufuncs.cpp 2012-12-20 14:51:19 +11:00
Pat Hickey
3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Pat Hickey
c4dbe8c627 AP_Param: move from AP_Common to its own library 2012-12-20 14:51:19 +11:00
Pat Hickey
e82d1402ef AP_Loop: moved to APO library, which is the only code that uses it 2012-12-20 14:51:19 +11:00
Pat Hickey
29a425c0dd AP_HAL: import utility Print, Stream, and BetterStream headers 2012-12-20 14:51:18 +11:00
Pat Hickey
00920b0483 AP_HAL_AVR: Stub implementations of AP_HAL_AVR concrete classes 2012-12-20 14:51:18 +11:00
Pat Hickey
dc03b1190f AP_HAL: Stub implementations of pure virtual AP_HAL classes 2012-12-20 14:51:18 +11:00
Craig@3DR
2586c7a32a Updated the MediaTek configuration 
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
 2012-12-11 15:35:52 -08:00
rmackay9
24317e721b AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
rmackay9
a38db6744f AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
rmackay9
6cf94e20e7 AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9
395eb25041 ThirdOrderCompFilter: delete because now combined with AP_InertialNav library 2012-12-10 00:48:43 +09:00
rmackay9
154e3c33f7 ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9
a84d9110bd AP_Buffer: add size 5 float fifo buffer to predeclared types 2012-12-10 00:41:59 +09:00
rmackay9
49619b15dd RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch 2012-12-09 16:42:58 +09:00
rmackay9
b4e5176e2a ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre
0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
rmackay9
35f94a6f71 AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5) 2012-12-07 12:57:12 +09:00
rmackay9
d11ee04888 AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo. 
Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
 2012-12-06 17:46:09 +09:00
rmackay9
eac26b2313 RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called. 2012-12-06 17:41:42 +09:00
rmackay9
e6686dcab8 ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes. 2012-12-06 10:24:58 +09:00
rmackay9
06d1c6b0c1 AP_Buffer: bug fix to allow buffer to completely fill up. 
Also removed redundant _tail parameter which saves 1 byte.
 2012-12-06 10:18:00 +09:00
rmackay9
8b5f66255e AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:35:55 +09:00
rmackay9
a92b7f3477 AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:20:31 +09:00
Robert Lefebvre
a5c4e65cdf ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -05:00
Andrew Tridgell
3b18c57691 AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell
d2f9a705ea MAVLink: clarify frame of reference for HIL_STATE 2012-12-03 23:31:34 +11:00
Andrew Tridgell
15abc784ec MAVLink: use a smaller maximum payload to reduce memory 
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
 2012-12-03 23:28:23 +11:00
Andrew Tridgell
5e77119377 AP_InertialSensor: fixed stub driver to work correctly with sensors HIL 2012-12-03 23:27:21 +11:00
Andrew Tridgell
b237c0583d AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 2012-11-30 07:15:19 +11:00
Andrew Tridgell
4f868e04cc AP_InertialSensor: return the example sample count in Oilpan 2012-11-30 07:15:19 +11:00
Andrew Tridgell
c7dd042909 InertialNav: update example for new interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell
51080d3e9e AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell
089ae0f9f3 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00
Andrew Tridgell
951e764442 SITL: prevent the GPS pipe filling up and delaying GPS readings 2012-11-28 14:23:53 +11:00
Andrew Tridgell
471ed9429a SITL: cleanup RC control for rover support 
added vehicle type, and setup right initial throttle
 2012-11-28 09:35:42 +11:00
Andrew Tridgell
5e7ca5b0f8 AC_PID: suppress the derivative immediately after reset 
use _last_derivative == NAN to flag that the derivative is invalid
 2012-11-27 18:45:49 +11:00
Andrew Tridgell
816fe9d35a PID: use NAN to flag a D reset 
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
 2012-11-27 18:41:31 +11:00
Andrew Tridgell
eac1ad49d6 AC_PID: save 8 bytes per AC_PID object 
we don't need the _derivative or _output variables
 2012-11-27 18:06:22 +11:00
Andrew Tridgell
1dad9e4e94 AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell
eb1d5c2c68 AHRS: improved docs for AHRS_GPS_USE 
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
 2012-11-27 15:41:52 +11:00
Andrew Tridgell
5b4321d367 cleanup: removed unused AP_PID library 2012-11-27 13:39:45 +11:00
Andrew Tridgell
f6fce1e238 PID: don't reset _last_error on reset_I() 
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers

Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
 2012-11-27 13:35:09 +11:00
Robert Lefebvre
1d12b781a0 AC_PID: Create Leaky Integrator Function. 2012-11-26 21:01:20 -05:00
Robert Lefebvre
6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Andrew Tridgell
1059ef2a54 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Michael Oborne
1a3a7d173a AP remove debug include 2012-11-26 19:02:17 +08:00
Michael Oborne
ed61ef61ed AP: fix ap hil. 2012-11-26 18:53:51 +08:00
Andrew Tridgell
471d672e54 examples: mark some examples as unable to build 
some are not worth fixing. Some can't build on 1280/2560
 2012-11-24 21:09:55 +11:00
Andrew Tridgell
9c3865b924 RC_Channel: fixed example build 2012-11-24 21:09:00 +11:00
Andrew Tridgell
5a0632340c Filter: fixed example build 2012-11-24 21:08:48 +11:00
Andrew Tridgell
e7ad044019 DigitalWriteFast: fixed example build 2012-11-24 21:08:36 +11:00
Andrew Tridgell
2f8e467ab2 RangeFinder: fixed example build 2012-11-24 21:08:25 +11:00
Andrew Tridgell
a096a3fda1 AP_PID: fixed example build 2012-11-24 21:08:14 +11:00
Andrew Tridgell
7ea18d5a61 AP_InertialSensor: fixed example build 2012-11-24 21:08:06 +11:00
Andrew Tridgell
57d3609d00 AP_GPS: fixed examples build 2012-11-24 21:07:53 +11:00
Andrew Tridgell
3552f3f9c5 AP_Baro: fixed example build 2012-11-24 21:07:41 +11:00
Andrew Tridgell
eb5ac90e12 AC_PID: fixed example build 2012-11-24 21:07:34 +11:00
rmackay9
74daf73c49 AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G 
Note: Z offsets do tend to be larger than x and y offsets
 2012-11-23 00:34:42 +09:00
Andrew Tridgell
2e63b3ae8e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell
d5e1a75616 APM_RC: fixed APM1 example sketch 2012-11-22 15:42:33 +11:00
Andrew Tridgell
d0a2feb99c APM_RC: added a test for ISR masking in APM_RC 2012-11-22 15:42:33 +11:00
rmackay9
e32e0b03b4 DigitalWriteFast: added keywords for syntax colouring in Arduino IDE 2012-11-22 12:25:57 +09:00
Andrew Tridgell
0dc8dd5394 SITL: run the timer_scheduler() when there are no SITL packets 
otherwise we can block in the ADC code
 2012-11-21 22:20:14 +11:00
Andrew Tridgell
a71c7b336d Revert "APM_RC: Modified get_last_update() to be more interrupt friendly" 
This reverts commit 50ba0ce4fa41c6d4101dff8da17c267a65750522.

It didn't build, and I want to do a release based on tested code
 2012-11-21 21:48:02 +11:00
Andrew Tridgell
11141d0af0 INS: make it possible to do accel cal on a different serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell
d44ceb3fa5 FastSerial: added a vprintf_P() function 
used by CLI on UART2
 2012-11-21 21:41:34 +11:00
Andrew Tridgell
ba4b9b9961 AP_Menu: allow menus to work on ports other than UART0 2012-11-21 21:41:34 +11:00
John Arne Birkeland
e194c6c740 APM_RC: Modified get_last_update() to be more interrupt friendly 2012-11-21 10:34:04 +01:00
Andrew Tridgell
d2170230f4 RC_Channel: added aileron_with_input aux function 2012-11-21 13:34:26 +11:00
Andrew Tridgell
07f5baea9e SITL: added in recursion check in timer_handler() 2012-11-21 09:10:10 +11:00
Andrew Tridgell
833d433caf Semaphore: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell
6836a986f3 PeriodicProcess: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell
f843705da3 INS: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell
e331634bc5 AP_Baro: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:17 +11:00
Andrew Tridgell
fc63087cb8 AnalogSource: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:09 +11:00
Andrew Tridgell
c1a02e49a0 ADC: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:30:03 +11:00
Andrew Tridgell
ccb1f1722e SITL: fixed a interrupt recursion bug 
this can be triggered by the timer scheduler re-enabling interrupts
 2012-11-20 22:29:26 +11:00
Andrew Tridgell
3c88b0d204 AP_Param: fixed Vector3f elements with 16 character names 2012-11-20 22:27:11 +11:00
Andrew Tridgell
b0713ba412 AP_Param: support up to 16 character parameter names 
MAVLink allows for 16 chars, with no null termination if all 16 are
used
 2012-11-20 21:35:22 +11:00
Andrew Tridgell
a7e537d6c0 INS: set the acceptable calibration error equal on all axes 2012-11-20 19:28:49 +11:00
Andrew Tridgell
40fc0feaf9 INS: show calibration values on failure 
this will help debug bad calibrations
 2012-11-20 19:28:15 +11:00
Andrew Tridgell
85e050f16c INS: get check for send_msg the right way around! 
I broke this in my previous commit
 2012-11-20 19:10:30 +11:00
Andrew Tridgell
fd3993287d INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell
9c811671f1 INS: make calibrate_accel() return a bool 
this will allow APM to auto set MANUAL_LEVEL to 1
 2012-11-20 18:32:27 +11:00
Andrew Tridgell
152c12c283 INS: fixed raw accel offset for APM1 
we now get reasonable offset values
 2012-11-20 18:32:27 +11:00
Andrew Tridgell
3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9
8ccac5da3d AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
Andrew Tridgell
5a214acca3 AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P 
a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
 2012-11-19 22:50:05 +11:00
Andrew Tridgell
17c115d2aa SITL: don't define __AVR_ATmega2560__ on desktop build 
this allows us to properly separate the desktop build in the code
 2012-11-19 09:03:35 +11:00
Andrew Tridgell
7181780d3a DigitalWriteFast: added README about license and author 2012-11-19 08:46:47 +11:00
Andrew Tridgell
8311062610 AP_OpticalFlow: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell
10b8030e62 AP_Limits: fixed some memory cast warnings 2012-11-19 08:42:36 +11:00
Andrew Tridgell
fe23d27904 SITL: added SREG declaration 2012-11-19 08:42:36 +11:00
Andrew Tridgell
9e9c08b6d7 DigitalWriteFast: fixed memory cast to work on SITL build 2012-11-19 08:25:53 +11:00
Andrew Tridgell
8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
rmackay9
67fadd337d DigitalWriteFast: first addition of lib to speed up read and writes of analog pins 2012-11-19 01:07:10 +09:00
rmackay9
957d366cca Filter: improved low pass filter allows setting gain using time_step and cutoff freq 2012-11-19 01:06:06 +09:00
rmackay9
01dc9fbe3e APM_RC: allow ppm sum for as few as 5 channels 2012-11-16 11:07:11 +09:00
rmackay9
47b1bc30d3 APM_RC: fix _last_update definition to resolve build error 2012-11-16 10:00:56 +09:00
John Arne Birkeland
4258490cd8 APM_RC - Interupt safe get_last_update(); 2012-11-15 22:42:28 +01:00
rmackay9
73ed6c9dbf ArduCopter, APM_RC: failsafe if PPM encoder fails to update for 2 seconds 2012-11-15 23:35:36 +09:00
Andrew Tridgell
8561f08b2f AP_AHRS: prevent a large delta_t from affecting DCM solution 
this should fix large changes in attitude directly after arming
ArduCopter
 2012-11-13 15:33:10 +11:00
Andrew Tridgell
e9e01ae28a SITL: fixed build with new sonar driver 2012-11-13 15:12:38 +11:00
rmackay9
4bfd3d5a29 AP_RangeFinder_MaxsonarI2CXL: fix compiler error re undefine I2c 2012-11-12 12:23:46 +09:00
rmackay9
f68523b39b AP_RangeFinder_MaxsonarI2CXL: resolve shadowed variable compiler warning 2012-11-12 10:41:09 +09:00
Andrew Tridgell
daa4712078 AP_Compass: force I2C speed low in a couple more situations 2012-11-12 11:26:20 +11:00
Andrew Tridgell
27ff999319 I2C:: catch some more types of I2C errors for error count 2012-11-12 11:25:07 +11:00
Andrew Tridgell
8c2dadc12f AP_Compass: print I2C error count in test sketch 2012-11-12 10:28:26 +11:00
rmackay9
321d40f73a AP_RangeFinder: added support for MaxBotix XL I2C sonar 2012-11-12 00:25:29 +09:00
rmackay9
71a0022f34 AP_IMU: delete now that all functionality is moved to AP_InertialSensor 2012-11-11 22:44:36 +09:00
Jason Short
c848fe18a5 APM1 Dataflash update 
My data flash would never erase, this fixed it.
 2012-11-09 22:15:16 -08:00
John Arne Birkeland
97d85de361 Optimized APM_RC.InputCh() to prevent global interrupt disable each time a value is read. 2012-11-08 01:03:24 +01:00
rmackay9
50a4838879 AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9
56f88821e9 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9
41489f34f9 AC_PID: fixed example sketch's compile errors 2012-11-07 23:34:10 +09:00
rmackay9
6bbf66697b AP_Mount: resolve compiler warning about unused mount_open variable 2012-11-07 23:29:25 +09:00
rmackay9
b13264c884 AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors 2012-11-07 22:24:00 +09:00
rmackay9
61dd405910 AP_InertialNav: removed IMU.h to fix compiler error from example sketch 2012-11-07 19:48:13 +09:00
rmackay9
5f34d41b59 ThirdOrderCompFilter3D: fix compiler error 2012-11-07 19:47:48 +09:00
rmackay9
1c7118a2d1 AP_Baro: added get_last_update which returns the time the barometer sensor was last read 2012-11-07 19:21:25 +09:00
rmackay9
d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9
68bdf93a4d APM_Control: move reliance from IMU to INS 2012-11-07 19:20:54 +09:00
rmackay9
7f190b8494 AP_InertialNav: first implementation of inertial nav library 2012-11-07 19:20:49 +09:00
rmackay9
dc7146c9ce ThirdOrderCompFilter3D: first implementation of complementary filter for use with inertial navigation 2012-11-07 19:20:43 +09:00
rmackay9
48f1955f8e AP_Buffer: initial implementation of FIFO buffer for use with inertial nav 2012-11-07 19:20:37 +09:00
rmackay9
83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9
49de46a548 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
Andrew Tridgell
403721f8ca AP_AnalogSource: allow for the 'NONE' pin in Arduino ADC 
This allows us to have a configuration parameter for a pin which
defaults to -1, meaning not to read a pin at all. It will always
return 0
 2012-11-06 21:45:40 +11:00
Andrew Tridgell
736cb4c34b AP_Var: move the MetaClass lib into AP_Var 
AP_Var is the only one that uses it, and it generates warnings in our
build if we leave it in AP_Common
 2012-11-06 21:42:54 +11:00
Andrew Tridgell
cd0672ce94 SITL: set a reasonable number of satellites in simulated uBlox 2012-11-06 14:26:49 +11:00
Andrew Tridgell
fe47990dab AP_AHRS: removed the 6 sats min 
this would put us into dead-reckoning mode
 2012-11-06 14:26:49 +11:00
Andrew Tridgell
f58abb7550 RC_Channel: added pwm_to_angle_dz() function 
will be used by k_aileron in APM
 2012-11-05 23:37:25 +11:00
Andrew Tridgell
ef919c4e36 AP_Param: fixed a bug with setting nested parameters 
This bug meant that setting a parameter in a parent class for a doubly
nested parameter group, where the parameter index in the parent class
is 4 or greater would actually set the first element in that parent
class.

At the moment only one parameter fits these narrow constraints - the
RCn_DZ element of the RC_Channel_aux class. So if someone set RC5_DZ
to 17 in ArduPlane it would actually set RC5_MIN to 17.
 2012-11-05 22:08:43 +11:00
Andrew Tridgell
d57566ad0e RC_Channel: removed set_filter() and scale_output 
these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
 2012-11-05 20:49:42 +11:00
Andrew Tridgell
6a24bdec05 AP_AHRS: require at least 6 satellites to use the GPS for velocity 
logs of a recent flight show the velocity estimate can be very poor if
the GPS can see 5 satellites or less
 2012-11-05 20:07:37 +11:00
Andrew Tridgell
984b1086cb AP_GPS_UBLOX: ask for nav settings every 20 seconds 
this ensures we don't run with the wrong nav settings on a uBlox if
we get a bad checksum on the initial nav settings message
 2012-11-05 14:58:40 +11:00
Andrew Tridgell
72e97c6dfc AP_GPS: start detection timer on first bytes 
this prevents a uBlox plugged in late from being detected as a NMEA
GPS
 2012-11-05 14:58:40 +11:00
Andrew Tridgell
6f9fa7d3b3 AP_GPS: removed shadowed class variable _nav_setting 
this caused a uBlox to incorrectly configure as "portable" instead of
airborne if the detection took more than 2 seconds. That led to
terrible performance.
 2012-11-05 14:58:40 +11:00
Andrew Tridgell
ea40432235 AP_AHRS: use GPS vertical velocity when available 2012-11-05 14:58:40 +11:00
Andrew Tridgell
e74e730992 AP_GPS: added velocity_down() call 
on GPSes with raw velocity support this will be used for DCM
correction
 2012-11-05 14:58:40 +11:00
rmackay9
3fd07805a7 AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9
d6324b3964 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
rmackay9
9e3824a09b AP_AHRS: fix compile error in example sketch 2012-11-01 21:56:34 +09:00
rmackay9
0159d8bd35 AP_Motors: bug fix to reached_limits so by default it returns true if any limits have been breached 2012-10-31 22:00:17 +09:00
Andrew Tridgell
024e5c3cc7 RC_Channel: added set_radio() and set_radio_to_trim() functions 2012-10-31 12:43:53 +11:00
Xichen Shi
8c46fced16 APM: Added functionality to use differential spoilers in elevon mode 
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
 2012-10-31 12:43:42 +11:00
rmackay9
09485ddc5f AP_OpticalFlow: fix example sketch to work with modified AP_Opticalflow library after memory saves 2012-10-22 16:41:45 +09:00
rmackay9
79fc5f072e AP_Curve: replace Serial.print with Serial.print_P to save 18 bytes of memory 2012-10-22 16:40:57 +09:00
rmackay9
57439b662c AP_OpticalFlow: change Serial.print to Serial.print_P to save 27 bytes 2012-10-22 16:37:24 +09:00
rmackay9
bff3417d29 AP_Limit_Geofence: reduce maximum number of fence points to 6 from 20 to save memory 2012-10-22 16:34:25 +09:00
Pat Hickey
d728ccb620 AP_Menu unit test fixup 2012-10-18 21:08:37 -07:00
Pat Hickey
1bf21aae20 AP_Menu: create new library with menu from AP_Common 2012-10-18 20:50:16 -07:00
Andrew Tridgell
eb0dd45a11 Desktop: fixed build with recent SPI changes 2012-10-19 11:21:42 +11:00
rmackay9
0bcf581a17 Desktop: fix build error 2012-10-18 19:33:31 +09:00
rmackay9
3f7b2dbda7 Desktop: add AP_Semaphore to list of includes for DataFlash_APM1.cpp 2012-10-18 19:25:53 +09:00
rmackay9
1958169e30 SPI3: add checks that SPI bus has been initialised to reduce possibility of interfering with UART3 on APM1 2012-10-18 19:17:24 +09:00
rmackay9
17afd075c1 DataFlash_APM1: use spi_semaphore to avoid conflicts with optical flow 2012-10-18 17:03:50 +09:00
rmackay9
a1b4531545 AP_OpticalFlow: added ability to pass in semaphores for main spi bus to stop conflicts with dataflash on APM1 2012-10-18 17:02:45 +09:00
rmackay9
785d9ca6a7 DataFlash_APM2: renamed semaphore to spi3_semaphore to make it more obvious which semaphore is required. 2012-10-18 17:00:05 +09:00
Andrew Tridgell
a53cbc08f3 GPS: avoid output delays in the GPS auto detection 
this sends out the GPS init strings in 16 byte chunks to avoid causing
timing glitches when no GPS is attached
 2012-10-18 16:18:32 +11:00
Andrew Tridgell
a979fb6014 AP_AnalogSource: added set_pin() interface 
this allows pin numbers to be changed at runtime
 2012-10-16 17:20:15 +11:00
Andrew Tridgell
5642922ca7 RC_Channel: simplify the example 
use an array of channels
 2012-10-16 15:50:54 +11:00
Andrew Tridgell
86b509a609 RC_Channel: ensure _reverse is not 0 
this caused the example to fail
 2012-10-16 15:50:29 +11:00
Pat Hickey
f48568c9a6 MultiFastSerial example sketch: notes on fatal error in avr-gcc 4.5.x 2012-10-15 20:42:19 -07:00
Pat Hickey
e84a467311 FastSerial example sketch: Depend on AP_Common for PSTR definitions 2012-10-15 20:42:18 -07:00
Pat Hickey
76e93e9fd7 AP_Common: PSTR def has specific version for avr-gcc 4.6 compatibility 
* Also a small change in FastSerial/vprintf.cpp, which duplicates the
  PSTR definition
* Won't effect others using earlier versions of avr-gcc
 2012-10-15 20:42:18 -07:00
Pat Hickey
2936dbb9de RC_Channel unit test: fixed build, functionality still wrong 2012-10-15 10:37:29 -07:00
Pat Hickey
d75ca684cc MultiFastSerial test: make it easier to observe which serial port causes crash 2012-10-14 21:08:33 -07:00
Pat Hickey
930d387b8d FastSerial: add extra example sketch MultiFastSerial to test multiple ports 2012-10-14 18:58:12 -07:00
rmackay9
c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
Andrew Tridgell
00bf548f87 AHRS: limit wind speed estimate changes 
sudden yaw changes can cause bad wind estimates
 2012-10-11 11:51:24 +11:00
Andrew Tridgell
e8c4dedcd7 AP_OBC: fixed resume on GPS loss 2012-10-11 11:51:24 +11:00