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4136 Commits

Author SHA1 Message Date
Andrew Tridgell
92a52f5e4a AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-23 17:04:25 +09:00
Andrew Tridgell
f0d5cde9cf AP_InertialNav: update for AHRS API changes 2013-11-23 17:04:17 +09:00
Andrew Tridgell
fc920df8d4 AP_InertialSensor: use const reference returns 
saves some vector copies
 2013-11-23 17:04:16 +09:00
Andrew Tridgell
a18582673d AP_TECS: update for AHRS API change 2013-11-23 17:04:14 +09:00
Andrew Tridgell
14d2453216 DataFlash: use const ins reference 
save some pointer dereferences
 2013-11-23 17:04:13 +09:00
Andrew Tridgell
b258a63b8c AP_YawController: update for AHRS API change 2013-11-23 17:04:11 +09:00
Andrew Tridgell
41d0fda92c AC_Fence: update for AHRS API changes 2013-11-23 17:04:09 +09:00
Andrew Tridgell
3004ed9c41 AP_AHRS: save memory and reduce pointer references 
use a refence for ins, and don't save gyro and accel between updates
 2013-11-23 17:04:08 +09:00
Andrew Tridgell
a69ecfa06b AP_AHRS: removed limit on normalisation of accel reference vectors 
this could lead to a bias in the accel drift correction
 2013-11-23 17:04:06 +09:00
Andrew Tridgell
f9c72f9dbf AP_AHRS: removed vertical G limit on GPS velocity correction 
this limit could lead to a bias in the accel drift correction, and is
frequenctly exceeded
 2013-11-23 17:04:05 +09:00
Andrew Tridgell
820ec465c7 AP_AHRS: fixed wrapping bug in GPS based heading error 
this bug could cause the GPS based yaw to use an expensive reset far
too often
 2013-11-23 17:04:03 +09:00
Andrew Tridgell
1c9dfb9b8a AP_AHRS: prevent GPS yaw resets on compass errors 
when we switch from compass heading to GPS heading we don't want to
trigger a sudden GPS yaw reset
 2013-11-23 17:04:01 +09:00
Andrew Tridgell
81ddab4ea8 AP_Notify: make APM2 ToshibaLED driver more efficient 
use one I2C transfer, not 3
 2013-11-23 17:04:00 +09:00
Robert Lefebvre
05397bc024 TradHeli: Change user description for COLYAW parameter. 2013-11-23 17:03:57 +09:00
Jason Short
b9a4a7e0bf InertialNav: fix for get_velocity_xy 
forgot to sq
 2013-11-23 17:03:52 +09:00
Jason Short
55b22f8635 InertialNav: added get_velocity_xy 2013-11-23 17:03:39 +09:00
Paul Riseborough
e3a96094ca AP_Airspeed : Fixes bug that caused airspeed calibration to be sent a zero airspeed 
This bug resulted in the airspeed ratio going to the maximum value of 4 and staying there. This could lead to a very slow flying model and a stall.
 2013-11-23 17:03:33 +09:00
Andrew Tridgell
3e6a17a89f AP_InertialSensor: SITL doesn't use Oilpan code any more 2013-11-23 17:03:29 +09:00
Randy Mackay
b98f11d819 RC_Channel: formatting 2013-11-23 17:03:14 +09:00
Randy Mackay
2240bb80d1 Copter: correct @Range of MOT_TCRV_MAXPCT parameter 2013-11-23 17:03:10 +09:00
Andrew Tridgell
d4af757cbb AP_Airspeed: fixed I2C semaphore handling for I2C airspeed 
this affects MS4525DO on APM2
 2013-11-23 17:03:04 +09:00
Randy Mackay
c6a6fb29df BattMonitor: add @Increment to CAPACITY description 2013-11-23 17:02:57 +09:00
Randy Mackay
e596bbe147 BoardLEDs: all leds off during init 2013-11-23 17:02:55 +09:00
Andrew Tridgell
3b72741e15 HAL_AVR: switch back to 500kHz SPI for MPU6k until we understand the issues 
this is for new plane release. We need for analysis before we can
re-enable high speed SPI
 2013-11-23 17:02:48 +09:00
Andrew Tridgell
7c4067e154 HAL_PX4: prevent excessive writes on startup from blocking 
this could cause copter on PX4 to hang on startup
 2013-11-23 17:02:44 +09:00
Randy Mackay
7157a44fdb AC_Fence: fix example sketch 2013-11-23 17:02:36 +09:00
Andrew Tridgell
d4fdead45a AP_InertialNav: fixed example build 2013-11-23 17:02:35 +09:00
Randy Mackay
e563a236ab AP_InertialNav: remove unused velocity fns 
remove get_longitude_velocity and get_latitude_velocity
 2013-11-23 17:02:33 +09:00
Randy Mackay
bf062cc4bb AP_InertialNav: add comments, make ahrs const from neurocopter 
These fixes are provided by neurocopter but with my name because of
merge conflicts
_position and _velocity vectors added to save some floating point add
operations
unused reference to ins in constructor removed
 2013-11-23 17:02:30 +09:00
Tobias
c34de8d9ad AP_Buffer: remove header/source separation to allow arbitrary template 
parameters without explicit instantiation in the cpp file.

http://stackoverflow.com/questions/495021/why-can-templates-only-be-implemented-in-the-header-file
 2013-11-23 17:02:27 +09:00
Randy Mackay
16baa7557c AP_InertialNav: bug fix for gps delay handling 2013-11-23 17:02:25 +09:00
Tobias
01074f9839 AP_InertialNav: rename AP_Buffer functions, fix delay handling bug 
The most recent value was used instead of the intended historical value
as indicated by the comment.
 2013-11-23 17:02:24 +09:00
Tobias
a809d57e4b AP_Buffer: add comments and rename functions to conform with the 
STL-container naming conventions
Comment format changes by Randy
 2013-11-23 17:02:22 +09:00
Tobias
a19093b1c4 AP_InertialNav: move variable definitions to elide unused default 
construction of objects (saves 106 bytes)
 2013-11-23 17:02:21 +09:00
Tobias
ec72095fc2 AC_WPNav: make more member pointers const 2013-11-23 17:02:19 +09:00
Tobias
de9778ae1c AC_WPNav: make member pointer to AP_InertialNav object const since it's 
never modified
 2013-11-23 17:02:17 +09:00
Tobias
7377d4a5f1 AC_Fence: replace "_ina->geT_position().z" with more efficent 
"_inav->get_altitude()"
 2013-11-23 17:02:16 +09:00
Tobias
89173656c5 AC_Fence: make member pointer to AP_InertialNav const, remove unused 
gps-pointer member
 2013-11-23 17:02:14 +09:00
Randy Mackay
3e9e0f82aa AC_Sprayer: add doxygen info 2013-11-23 17:02:11 +09:00
Tobias
43be74c60a AC_WPNav: replace unnecessary objects with const refs 2013-11-23 17:02:09 +09:00
Tobias
a56efe837f AC_Sprayer: replace unnecessary object with const ref 2013-11-23 17:02:08 +09:00
Tobias
176096df4e AC_Sprayer: add consts, update comments 
* removed some comments that were left over from the classes this class
was copypasta'ed from
 2013-11-23 17:02:05 +09:00
Tobias
07a95b398d Filter: add consts 2013-11-23 17:02:03 +09:00
Tobias
c02c8806cc AP_Baro: add time-unit comment 2013-11-23 17:02:02 +09:00
Tobias
9a743d0444 AP_InertialNav: remove unused AP_InertialSensor pointer 2013-11-23 17:01:59 +09:00
Tobias
9fb8352d32 AP_InertialNav: add comments, rename incorrectly named member, 
initialize member, remove redundant assignment
adjustments to original commit by randy
 2013-11-23 17:01:58 +09:00
Andrew Tridgell
61d4134ba9 HAL_Linux: fixed scheduler initialisation bug in Linux HAL as well 2013-11-23 17:01:56 +09:00
Andrew Tridgell
13d9103a83 HAL_PX4: prevent threads running before subsystems are initialised 
this fixes a bug where the timer thread would hang waiting for the
console on startup. This caused the "hit enter" behaviour with recent
PX4 bugs, as AnalogIn tried to read from fd==0, which was a console
read
 2013-11-23 17:01:55 +09:00
Paul Riseborough
8e8f3f87d9 APM_Control : Moved scaler on roll and pitch integrator to be before integrator 
This means that the value of aileron and elevator trim offset won't change with airspeed
 2013-11-23 17:01:52 +09:00
Randy Mackay
ebd60ebcdc GCS_MAVLink: generate after adding RC reciever to SYS_STATUS enum 2013-11-23 17:01:48 +09:00
Randy Mackay
65f69dcfdb GCS_MAVLink: add RC receiver to SYS_STATUS enum 2013-11-23 17:01:47 +09:00
Andrew Tridgell
191c104748 AP_GPS: fixed date handling in NMEA driver 2013-11-23 17:01:44 +09:00
Andrew Tridgell
e11dbb4803 HAL_SITL: fixed time strings in simulated NMEA GPS 2013-11-23 17:01:43 +09:00
Andrew Tridgell
4eefd2683b DataFlash: show timestamps on flash logs 2013-11-23 17:01:38 +09:00
Andrew Tridgell
304737ade3 HAL_PX4: implement set_system_clock() 2013-11-23 17:01:36 +09:00
Andrew Tridgell
343b520d93 AP_HAL: added set_system_clock() API 2013-11-23 17:01:35 +09:00
Andrew Tridgell
d3dcae1b08 AP_GPS: added fake time to fake GPS lock 2013-11-23 17:01:34 +09:00
Andrew Tridgell
cdede70433 DataFlash: updates for new GPS API 2013-11-23 17:01:28 +09:00
Andrew Tridgell
0ad43b58a3 AP_InertialNav: updates for new GPS API 2013-11-23 17:01:27 +09:00
Andrew Tridgell
8084a71c02 HAL_SITL: properly emulate timestamps on ublox and MTK 2013-11-23 17:01:25 +09:00
Andrew Tridgell
3b2ba78aca AP_GPS: added support for GPS time in week/millisec 
also adds time_epoch_usec() for MAVLink SYSTEM_TIME
 2013-11-23 17:01:24 +09:00
Andrew Tridgell
3893e2ca92 HAL_SITL: get the ublox GPS timestamps right in SITL 2013-11-23 17:01:23 +09:00
Andrew Tridgell
f34b1c280d AP_BattMonitor: added set_monitoring() API 
needed for test sketch
 2013-10-23 09:40:42 +11:00
Andrew Tridgell
d305dd5946 AP_AHRS: debounce the GPS/compass consistency test 
we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
 2013-10-23 09:40:42 +11:00
texlan
78acea820f Copter: fix symmetry in stability patch for Tricopters 
Removes the "Increase opposing motors by 1/2 the overage of the high
motor" logic and merely moves all 3 motors down by the same amount if
one is over out_max. This eliminates the asymmetric scaling of
the previous logic when more than one motor is over out_max. This
resolves #537
 2013-10-21 20:12:53 +09:00
Randy Mackay
8f4665c4c7 ToshibaLED: ignore I2C errors during init 2013-10-21 20:01:34 +09:00
Randy Mackay
443023bbbf AP_HAL: add ignore_errors to I2C driver 2013-10-21 20:01:32 +09:00
Randy Mackay
943d7374f6 Copter: slow start motors from 0 to min throttle 2013-10-20 14:51:35 +09:00
texlan
53553751d1 Copter: Correctly set limit.lower flags for Tricopters 
Resolves #536
 2013-10-19 23:08:25 +09:00
Andrew Tridgell
1c091cbca5 HAL_PX4: fixed a scheduler bug that affects UART IO 
we need to detect if we are in a timer task using a PID, not a
flag. This is the same type of bug I fixed last week, but now fixed
properly.

The bug could well be the "USB bug" that Craig has been chasing
 2013-10-19 16:50:38 +11:00
Randy Mackay
e0c4785b2a Copter: OctaQuad H-frame support 2013-10-18 10:41:07 +09:00
Andrew Tridgell
3393a5c99e AP_Baro: prevent a race condition in the SITL baro driver 2013-10-17 17:22:19 +11:00
Andrew Tridgell
86afc26609 HAL_SITL: decrease wind with altitude 
this prevents JSBSim crash on the runway
 2013-10-17 17:22:19 +11:00
Andrew Tridgell
98d391efa0 AP_Camera: added note on DO_SET_CAM_TRIGG_DIST in docs 2013-10-15 10:09:39 +11:00
Andrew Tridgell
ede927f68a HAL_SITL: added airspeed noise control 2013-10-14 15:40:45 +11:00
Mike McCauley
c524a7c717 AP_HAL_FLYMAPLE: remove obsolete debugging code from RCInput 2013-10-14 11:34:47 +10:00
Mike McCauley
6f04e5f2e7 AP_HAL_FLYMAPLE: RCInput now more robust in the face of connect/disconnect of 
a PPM-SUM source

Also remove some left over debug code.
 2013-10-14 11:34:47 +10:00
Mike McCauley
ce1a8fb831 AP_HAL_FLYMAPLE: Added new example test sketch RCInput.pde 2013-10-14 11:34:47 +10:00
Mike McCauley
3226a81611 AP_HAL_FLYMAPLE: Improvements to RCInput 
More reasonable sync pulse times, add input filter to prevent false triggering
 2013-10-14 11:34:47 +10:00
Mike McCauley
fe6cacf081 AP_InertialSensor: Minor correction to comments in AP_InertialSensor_Flymaple.cpp 2013-10-14 11:34:47 +10:00
Mike McCauley
0920d9ac49 AP_HAL_FLYMAPLE: UARTDriver Use new libmaple TX buffers. 
Caution: requires latest libmaple from
git@github.com:mikemccauley/libmaple.git
 2013-10-14 11:34:47 +10:00
Mike McCauley
38512e3756 AP_HAL_FLYMAPLE: I2CDriver improvements to interrupt hygiene 2013-10-14 11:34:47 +10:00
Mike McCauley
8e5a9b06fb AP_HAL_FLYMAPLE: Fix example Scheduler.pde fo recent changes to API 2013-10-14 11:34:47 +10:00
Mike McCauley
bc55a2844c AP_HAL_FLYMAPLE: Fix example Scheduler.pde to compile with recent changes to 
scheduler API
 2013-10-14 11:34:47 +10:00
Andrew Tridgell
72b97168c9 AP_RangeFinder: improved SONAR_PIN docs 2013-10-14 10:03:52 +11:00
Andrew Tridgell
7831113f84 AP_InertialSensor: yield the CPU for the right time in wait_for_sample() 
this improves timing performance
 2013-10-14 08:45:58 +11:00
Andrew Tridgell
d973730b88 HAL_PX4: use hrt timer and semaphores to improve timing 
this gives much more accurate microsecond delays, while also ensuring
we yield the CPU when possible
 2013-10-14 08:29:30 +11:00
Andrew Tridgell
8532e2bff8 AP_InertialSensor: fixed timing of PX4 sensor samples 2013-10-13 22:15:50 +11:00
Andrew Tridgell
c4d62f6b92 AP_Scheduler: fixed SCHED_DEBUG docs 2013-10-13 21:41:01 +11:00
Andrew Tridgell
0f4da25e68 AP_Scheduler: make sure we run remaining tasks on overrun 
when a task overruns its time, we can still run the rest of the tasks
in the task list
 2013-10-13 21:41:01 +11:00
Andrew Tridgell
a5788dde8f HAL_AVR: added Scheduler.set_timer_speed() support 2013-10-13 11:03:37 +09:00
Andrew Tridgell
7ef187fcfd AP_HAL: added optional set_timer_speed() scheduler API 
will be used by copter to reduce interrupt load on APM2
 2013-10-13 11:03:35 +09:00
Andrew Tridgell
4de2a654ab AP_Mount: changed ahrs to be a const reference 
saves a bit of code
 2013-10-13 11:03:24 +09:00
Andrew Tridgell
34770fe6bf HAL_AVR: fixed SPI bus speed switching 
this fixes a bug in changing the bus speed between devices
 2013-10-13 11:03:17 +09:00
Randy Mackay
f2f61af125 HAL_AVR: scheduler interrupt 500hz for APM2 2013-10-13 11:03:13 +09:00
Andrew Tridgell
9833900f91 AP_InertialSensor: run MPU6000 sensor register reads at 8MHz 
run other register IO at 500kHz
 2013-10-13 11:03:08 +09:00
Andrew Tridgell
04836ea763 HAL_AVR: set initial bus speed on MPU6k to 500kHz, then change to 8MHz 
this should allow us to work even with older chips. See the MPU6000
product specification, which says max 20MHz for sensor and interrupt
regs, and max 1MHz for all other regs
 2013-10-13 11:03:06 +09:00
Andrew Tridgell
5ccf8409b4 AP_HAL: added an optional spi.set_bus_speed() API 
this will be used by MPU6000 on APM2 to change speed after init
 2013-10-13 11:03:04 +09:00
Andrew Tridgell
4dc2f4bd58 HAL_AVR: spi3 at 8mhz for mpu6k and ms5611 2013-10-13 11:03:02 +09:00
John Arne Birkeland
f6038f36bf HAL_AVR: Improved AVRTimer micros() and millis() 
- More efficient code by using 16-bit timer
- micros() now has proper 1 us resolution and less overhead
- millis() has less overhead
- removed unneeded/unwanted initializatin of timers in AVRTimer::init()
 2013-10-13 11:03:00 +09:00