73dafe537e
SITL: use the new noise model
...
use the new noise model at a low level for master until we sort out
DCM noise handling
13 years ago
5f749325f0
APM_RC: allow the fast RC speed to be passed as a parameter
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this will allow users to test different speeds
13 years ago
f4329d2680
AP_Param: ensure we can't have duplicate keys in Parameters.h
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this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
13 years ago
1e8d98cdda
I2C: added lockup_count() interface
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used for reporting I2C problems
13 years ago
37275d229d
SITL: implement cli()/sei() properly for desktop build
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this disables simulated hardware interrupts during critical sections
13 years ago
41b435a487
Updated fastPWM to 490Hz
13 years ago
337af0c7a2
AP_Param: nested group recursion into next_group disableable by macro
...
* c.f. 0251932c81fe7eb, e5515bb6ef82
13 years ago
2648694489
AP_Param: One more nexted group recursion disableable by macro
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* c.f. e5515bb6ef82
13 years ago
fa34ac076e
AP_Compass - fixed compile warning
13 years ago
d81c951849
AP_Baro - fixed small compiler warning to do with order of parameters in constructor
13 years ago
c819a0f68a
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
13 years ago
5026b5c192
AP_DCM - fixed small compiler warning to do with order of parameters in constructor
13 years ago
82f81295a7
RC_Channel - fixed small compiler warning
13 years ago
c444cdb3f4
AP_ADC - removed small compiler warning
13 years ago
eac8b66385
AP_Param: Make nested group recursion disableable by macro
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* Eliminates recursive calls inside AP_Param.
This is important to Pat @ Galois, but not the project in general.
Recursion depth on these functions is bounded structurally using
existing nested group constructors (can't create loops in finite space)
and checked at init time
13 years ago
2b6a10d18b
AP_RangeFinder - changed example sketch to work with new Filter library
13 years ago
033347f8ee
Filter - updated example sketch to use modified library
13 years ago
645fda2fb2
Filter - added AverageFilter, removed SumFilter
...
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
13 years ago
cb52b6c6d9
AP_Param: show numerical value in eeprom dump utility
13 years ago
a432232db9
AP_Param: fixed v.load() on a sub-element of a AP_Vector3f
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this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
13 years ago
39797c6f33
SITL: simulate noise on each ADC channel separately
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scale the noise based on the period of the motors
13 years ago
efe5c0142c
SITL: raise the ADC noise level to 8 bits when flying
...
this is about the level of noise of a aircraft that has a lot of
vibration
13 years ago
cd4fcb694e
IMU: removed unused accel_filtered code
13 years ago
87a6d97f7b
AP_Param: fixed setting of CAM_P_G in ArduCopter
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the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
13 years ago
fa443bd928
AP_Param: make the templating code a bit clearer
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add comments on the arguments, and name them in a clearer way
13 years ago
eb35e0e8ac
DCM: fixed the sense of the compass GPS test in initial yaw
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we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
13 years ago
297d2ae457
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
13 years ago
b9b88ba237
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
13 years ago
f53ff8de97
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
...
increased maximum sample buffer size from 6 to 10
13 years ago
74f7d7a1c0
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
13 years ago
f264e29814
AP_RangeFinder - cut over to use new ModeFilter from Filter library
13 years ago
c14d7768f7
Filter - first version of filter library include ModeFilter
13 years ago
952e5d7bbc
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
13 years ago
d0a6359b37
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
13 years ago
900388a85a
DCM: disable compass null offsets when setting initial yaw
...
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
13 years ago
f59297d7a7
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
13 years ago
eb71b26d3f
DCM: use the new use_for_yaw() compass method
13 years ago
664622523d
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
13 years ago
f10097a6d5
AP_Param: added some comments on AP_Vector3f handling
13 years ago
5e2fbdb6cf
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
13 years ago
2e9105c68a
AP_Param: added special handling for Vector3f
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We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
13 years ago
d6bfceef7c
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
13 years ago
54aa8297af
libs: removed unused library GPS_IMU
13 years ago
185ab5aea9
libs: removed unusued library GCS_SIMPLE
13 years ago
55e33c3359
DCM: tidy up use of error_course and in_motion
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in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
13 years ago
ab8cc3d478
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
13 years ago
ddeda1c367
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
13 years ago
06f37aad75
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
13 years ago
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
13 years ago
c354879f1f
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
13 years ago
Andrew Tridgell
Jason Short
Pat Hickey
rmackay9
Pat Hickey