0753782c49
MAVLink: re-add the XML message definitions
...
these are a very useful reference for the current headers in the code
13 years ago
5c067d5a03
MAVLink: imported new mavlink header updates
...
this fixes the camera control code which was broken by a previous
import
13 years ago
e8f8115a8f
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
13 years ago
2a3af369b6
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.
13 years ago
f27d85cb8d
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.
13 years ago
11a384a7ff
AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228
13 years ago
c45b124cbe
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.
13 years ago
f18ee75b5c
AP_OpticalFlow - updated test sketch to allow testing of APM2 version
13 years ago
3075a0c5bd
AP_OpticalFlow - added support for optical flow for APM2
13 years ago
7bda35dc28
AP_OpticalFlow - moved most pin definitions into .cpp file
13 years ago
20cdc3a0ac
MAVLink update to 1.0.7
13 years ago
7f8fe97889
GPS: u-center config file for 3DR Ublox
13 years ago
f170790fd8
GPS: fixed auto GPS test
13 years ago
711814085b
GPS: detect new style 3DR UBlox
13 years ago
08bc7f1a41
GPS: fixed the UBlox test code
13 years ago
ba89f39781
Updated MAVLink to 1.0.6 release.
13 years ago
b500d9430f
AP_AHRS_HIL.h: Fixed HIL build by adding missing public property.
13 years ago
8e90aeea4e
AHRS: added AHRS_YAW_P parameter
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this allows users to change the yaw gain in DCM
13 years ago
28833ed1d6
added missing #include
13 years ago
c96dfb2108
AP_AHRS - changed parameter order to remove compiler warning
13 years ago
ef43da9b92
AP_Compass - changed parameter initialisation order to remove compiler warning
13 years ago
985c967bb9
MAVLink: imported new mavlink headers
...
this adds local and remote radio noise levels
13 years ago
53827f2e92
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.
13 years ago
127a990509
AP_MotorsOcta - V Frame - test order fix spotted by David Wiens
13 years ago
f6e1509d05
AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method.
13 years ago
1e20d7de88
AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used
13 years ago
7a8973eaf0
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.
13 years ago
926211f0f0
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.
13 years ago
b71877366e
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.
13 years ago
1fd1a55fa6
MAVLink: import change to txbuf as a percentage
13 years ago
4ddeb82b26
MAVLink: imported new headers, with RADIO packet
13 years ago
0c445101ff
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
13 years ago
22ff8cb197
examples: fixed build of some examples with new AP_Declination code
13 years ago
504c53f746
Compass: added COMPASS_AUTODEC option
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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
13 years ago
927834106d
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
13 years ago
70d4280935
AP_Declination: added timing information to declination test
13 years ago
175352845c
AP_Declination: fixed build under SITL
13 years ago
ca82350f17
AP_Declination_test: Updated test with better print messages.
13 years ago
01b1e58f7d
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.
13 years ago
23f6093f05
AP_Declination: Updated comments to reflect new LUT size.
13 years ago
50791a8b0f
AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes.
13 years ago
f35e447927
AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT.
13 years ago
72b70c394c
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.
13 years ago
076192db51
AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail.
13 years ago
230ca1ddca
AP_Declination: Moved check for y index of zero to after the y index is properly transformed.
13 years ago
e0fa053c79
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.
13 years ago
f66c6e16e4
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.
13 years ago
d88b9e8ffc
AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly.
13 years ago
036da88174
AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular.
13 years ago
580b274bde
AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps.
13 years ago
Andrew Tridgell
rmackay9
James Goppert
Adam M Rivera
analoguedevices