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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

Browse Source 
Conflicts:
	Tools/autotest/autotest.py
This commit is contained in:
Jason Short 2011-11-12 21:53:08 -08:00
commit 3b825fb8c1
20 changed files with 137 additions and 90 deletions
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7
ArduCopter/Parameters.h
View File

@ -75,7 +75,8 @@ public:
k_param_heli_collective_mid,
k_param_heli_ext_gyro_enabled,
k_param_heli_ext_gyro_gain,
k_param_heli_servo_averaging, // 94
k_param_heli_servo_averaging,
k_param_heli_servo_manual, // 95
#endif
// 110: Telemetry control
@ -253,6 +254,7 @@ public:
AP_Int8 heli_ext_gyro_enabled; // 0 = no external tail gyro, 1 = external tail gyro
AP_Int16 heli_ext_gyro_gain; // radio output 1000~2000 (value output on CH_7)
AP_Int8 heli_servo_averaging; // 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz)
AP_Int8 heli_servo_manual; // 0 = normal mode, 1 = radio inputs directly control swash. required for swash set-up
#endif
// RC channels
@ -320,7 +322,7 @@ public:
command_index (0, k_param_command_index, PSTR("WP_INDEX")),
command_must_index (0, k_param_command_must_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS * 100, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
loiter_radius (LOITER_RADIUS, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
@ -361,6 +363,7 @@ public:
heli_ext_gyro_enabled (0, k_param_heli_ext_gyro_enabled, PSTR("GYR_ENABLE_")),
heli_ext_gyro_gain (1000, k_param_heli_ext_gyro_gain, PSTR("GYR_GAIN_")),
heli_servo_averaging (0, k_param_heli_servo_averaging, PSTR("SV_AVG")),
heli_servo_manual (0, k_param_heli_servo_manual, PSTR("HSV_MAN")),
#endif
// RC channel group key name

54
ArduCopter/heli.pde
View File

@ -5,7 +5,6 @@
#define HELI_SERVO_AVERAGING_DIGITAL 0 // 250Hz
#define HELI_SERVO_AVERAGING_ANALOG 2 // 125Hz
static int heli_manual_override = false;
static float heli_throttle_scaler = 0;
// heli_servo_averaging:
@ -81,25 +80,18 @@ static void heli_move_servos_to_mid()
// yaw: -4500 ~ 4500
//
static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
{
{
// ensure values are acceptable:
roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max);
if( g.heli_servo_manual != 1) {
roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max);
}
// swashplate servos
g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500);
if( g.heli_servo_1.get_reverse() )
g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out;
g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500);
if( g.heli_servo_2.get_reverse() )
g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out;
g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500);
if( g.heli_servo_3.get_reverse() )
g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out;
g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_4.servo_out = yaw_out;
// use servo_out to calculate pwm_out and radio_out
@ -109,9 +101,9 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
g.heli_servo_4.calc_pwm();
// add the servo values to the averaging
heli_servo_out[0] += g.heli_servo_1.servo_out;
heli_servo_out[1] += g.heli_servo_2.servo_out;
heli_servo_out[2] += g.heli_servo_3.servo_out;
heli_servo_out[0] += g.heli_servo_1.radio_out;
heli_servo_out[1] += g.heli_servo_2.radio_out;
heli_servo_out[2] += g.heli_servo_3.radio_out;
heli_servo_out[3] += g.heli_servo_4.radio_out;
heli_servo_out_count++;
@ -125,13 +117,13 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
heli_servo_out[2] /= g.heli_servo_averaging;
heli_servo_out[3] /= g.heli_servo_averaging;
}
// actually move the servos
APM_RC.OutputCh(CH_1, heli_servo_out[0]);
APM_RC.OutputCh(CH_2, heli_servo_out[1]);
APM_RC.OutputCh(CH_3, heli_servo_out[2]);
APM_RC.OutputCh(CH_4, heli_servo_out[3]);
// output gyro value
if( g.heli_ext_gyro_enabled ) {
APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain);
@ -164,19 +156,21 @@ static void init_motors_out()
// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
static void output_motors_armed()
{
// if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
if( g.heli_servo_manual == 1 ) {
g.rc_1.servo_out = g.rc_1.control_in;
g.rc_2.servo_out = g.rc_2.control_in;
g.rc_3.servo_out = g.rc_3.control_in;
g.rc_4.servo_out = g.rc_4.control_in;
}
//static int counter = 0;
g.rc_1.calc_pwm();
g.rc_2.calc_pwm();
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
if( heli_manual_override ) {
// straight pass through from radio inputs to swash plate
heli_move_swash( g.rc_1.control_in, g.rc_2.control_in, g.rc_3.radio_in, g.rc_4.control_in );
}else{
// source inputs from attitude controller
heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out );
}
heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out );
}
// for helis - armed or disarmed we allow servos to move
@ -200,7 +194,7 @@ static void output_motor_test()
static int heli_get_scaled_throttle(int throttle)
{
float scaled_throttle = (g.heli_coll_min - 1000) + throttle * heli_throttle_scaler;
return g.heli_coll_min - 1000 + (throttle * heli_throttle_scaler);
return scaled_throttle;
}
// heli_angle_boost - takes servo_out position

4
ArduCopter/radio.pde
View File

@ -9,8 +9,8 @@ static void default_dead_zones()
g.rc_1.set_dead_zone(60);
g.rc_2.set_dead_zone(60);
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.set_dead_zone(0);
g.rc_4.set_dead_zone(60);
g.rc_3.set_dead_zone(20);
g.rc_4.set_dead_zone(30);
#else
g.rc_3.set_dead_zone(60);
g.rc_4.set_dead_zone(200);

31
ArduCopter/setup.pde
View File

@ -469,8 +469,8 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
// initialise swash plate
heli_init_swash();
// source swash plate movements directly from
heli_manual_override = true;
// source swash plate movements directly from radio
g.heli_servo_manual = true;
// display initial settings
report_heli();
@ -494,6 +494,9 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
// read radio although we don't use it yet
read_radio();
// allow swash plate to move
output_motors_armed();
// record min/max
if( state == 1 ) {
@ -501,13 +504,12 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
max_roll = abs(g.rc_1.control_in);
if( abs(g.rc_2.control_in) > max_pitch )
max_pitch = abs(g.rc_2.control_in);
if( g.rc_3.radio_in < min_coll )
min_coll = g.rc_3.radio_in;
if( g.rc_3.radio_in > max_coll )
max_coll = g.rc_3.radio_in;
min_tail = min(g.rc_4.radio_in, min_tail);
max_tail = max(g.rc_4.radio_in, max_tail);
//Serial.printf_P(PSTR("4: ri:%d \tro:%d \tso:%d \n"), (int)g.rc_4.radio_in, (int)g.rc_4.radio_out, (int)g.rc_4.servo_out);
if( g.rc_3.radio_out < min_coll )
min_coll = g.rc_3.radio_out;
if( g.rc_3.radio_out > max_coll )
max_coll = g.rc_3.radio_out;
min_tail = min(g.rc_4.radio_out, min_tail);
max_tail = max(g.rc_4.radio_out, max_tail);
}
if( Serial.available() ) {
@ -533,8 +535,8 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
break;
case 'c':
case 'C':
if( g.rc_3.radio_in >= 900 && g.rc_3.radio_in <= 2100 ) {
g.heli_coll_mid = g.rc_3.radio_in;
if( g.rc_3.radio_out >= 900 && g.rc_3.radio_out <= 2100 ) {
g.heli_coll_mid = g.rc_3.radio_out;
Serial.printf_P(PSTR("Collective when blade pitch at zero: %d\n"),(int)g.heli_coll_mid);
}
break;
@ -561,7 +563,7 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
max_pitch = abs(g.rc_2.control_in);
min_coll = 2000;
max_coll = 1000;
min_tail = max_tail = abs(g.rc_4.radio_in);
min_tail = max_tail = abs(g.rc_4.radio_out);
}else{
state = 0; // switch back to normal mode
// double check values aren't totally terrible
@ -639,9 +641,6 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
}
}
// allow swash plate to move
output_motors_armed();
delay(20);
}
@ -664,7 +663,7 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
g.heli_servo_averaging.save();
// return swash plate movements to attitude controller
heli_manual_override = false;
g.heli_servo_manual = false;
return(0);
}

1
ArduCopter/system.pde
View File

@ -178,6 +178,7 @@ static void init_ardupilot()
#endif
#if FRAME_CONFIG == HELI_FRAME
g.heli_servo_manual = false;
heli_init_swash(); // heli initialisation
#endif

2
ArduPlane/navigation.pde
View File

@ -183,7 +183,7 @@ static void update_crosstrack(void)
static void reset_crosstrack()
{
crosstrack_bearing = get_bearing(&current_loc, &next_WP); // Used for track following
crosstrack_bearing = get_bearing(&prev_WP, &next_WP); // Used for track following
}
static long get_distance(struct Location *loc1, struct Location *loc2)

23
Tools/ArdupilotMegaPlanner/ArduinoDetect.cs
View File

@ -2,6 +2,7 @@
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Management;
namespace ArdupilotMega
{
@ -54,6 +55,26 @@ namespace ArdupilotMega
System.Threading.Thread.Sleep(500);
//HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_2341&PID_0010\640333439373519060F0\Device Parameters
if (!MainV2.MAC)
{
ObjectQuery query = new ObjectQuery("SELECT * FROM Win32_USBControllerDevice");
ManagementObjectSearcher searcher = new ManagementObjectSearcher(query);
foreach (ManagementObject obj2 in searcher.Get())
{
Console.WriteLine("Dependant : " + obj2["Dependent"]);
if (obj2["Dependent"].ToString().Contains(@"USB\\VID_2341&PID_0010"))
{
return "2560-2";
}
}
}
else
{
int fixme;
}
serialPort.DtrEnable = true;
serialPort.BaudRate = 115200;
serialPort.Open();
@ -92,7 +113,7 @@ namespace ArdupilotMega
port = new ArduinoSTK();
port.BaudRate = 57600;
}
else if (version == "2560")
else if (version == "2560" || version == "2560-2")
{
port = new ArduinoSTKv2();
port.BaudRate = 115200;

1
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
View File

@ -166,6 +166,7 @@
<HintPath>..\..\..\..\..\Desktop\DIYDrones\myquad\greatmaps_e1bb830a18a3\Demo.WindowsForms\bin\Debug\x86\System.Data.SQLite.DLL</HintPath>
</Reference>
<Reference Include="System.Drawing" />
<Reference Include="System.Management" />
<Reference Include="System.Speech">
<Private>True</Private>
</Reference>

6
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -508,7 +508,7 @@ namespace ArdupilotMega.GCSViews
ofd.AddExtension = true;
ofd.DefaultExt = ".param";
ofd.RestoreDirectory = true;
ofd.Filter = "Param List|*.param";
ofd.Filter = "Param List|*.param;*.parm";
DialogResult dr = ofd.ShowDialog();
if (dr == DialogResult.OK)
{
@ -562,7 +562,7 @@ namespace ArdupilotMega.GCSViews
sfd.AddExtension = true;
sfd.DefaultExt = ".param";
sfd.RestoreDirectory = true;
sfd.Filter = "Param List|*.param";
sfd.Filter = "Param List|*.param;*.parm";
DialogResult dr = sfd.ShowDialog();
if (dr == DialogResult.OK)
{
@ -1005,7 +1005,7 @@ namespace ArdupilotMega.GCSViews
ofd.AddExtension = true;
ofd.DefaultExt = ".param";
ofd.RestoreDirectory = true;
ofd.Filter = "Param List|*.param";
ofd.Filter = "Param List|*.param;*.parm";
DialogResult dr = ofd.ShowDialog();
if (dr == DialogResult.OK)
{

7
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
View File

@ -514,10 +514,15 @@ namespace ArdupilotMega.GCSViews
{
baseurl = temp.url2560.ToString();
}
else
else if (board == "1280")
{
baseurl = temp.url.ToString();
}
else
{
MessageBox.Show("Invalid Board Type");
return;
}
// Create a request using a URL that can receive a post.
WebRequest request = WebRequest.Create(baseurl);

2
Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
View File

@ -112,7 +112,7 @@ namespace ArdupilotMega.HIL
double pitch_accel = (m[2] - m[3]) * 5000.0;
double yaw_accel = -((m[2] + m[3]) - (m[0] + m[1])) * 400.0;
// Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);
//Console.WriteLine("roll {0} {1} {2}", roll_accel, roll_rate, roll);
//# update rotational rates
roll_rate += roll_accel * delta_time.TotalSeconds;

6
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -348,16 +348,22 @@ namespace ArdupilotMega
public void sendPacket(object indata)
{
bool run = false;
byte a = 0;
foreach (Type ty in mavstructs)
{
if (ty == indata.GetType())
{
run = true;
generatePacket(a, indata);
return;
}
a++;
}
if (!run)
{
Console.WriteLine("Mavlink : NOT VALID PACKET sendPacket() "+indata.GetType().ToString());
}
}
/// <summary>

16
Tools/ArdupilotMegaPlanner/MAVLinkTypes0.9.cs
View File

@ -305,20 +305,6 @@ namespace ArdupilotMega
};
public const byte MAVLINK_MSG_ID_ATTITUDE_NEW = 30;
[StructLayout(LayoutKind.Sequential,Pack=1)]
public struct __mavlink_attitude_new_t
{
public ulong usec; /// Timestamp (microseconds since UNIX epoch or microseconds since system boot)
public float roll; /// Roll angle (rad)
public float pitch; /// Pitch angle (rad)
public float yaw; /// Yaw angle (rad)
public float rollspeed; /// Roll angular speed (rad/s)
public float pitchspeed; /// Pitch angular speed (rad/s)
public float yawspeed; /// Yaw angular speed (rad/s)
};
public const byte MAVLINK_MSG_ID_AUTH_KEY = 7;
[StructLayout(LayoutKind.Sequential,Pack=1)]
public struct __mavlink_auth_key_t
@ -1486,7 +1472,7 @@ namespace ArdupilotMega
MAV_FRAME_LOCAL_ENU = 4
};
Type[] mavstructs = new Type[] {typeof( __mavlink_heartbeat_t) ,typeof( __mavlink_boot_t) ,null ,typeof( __mavlink_ping_t) ,null ,typeof( __mavlink_change_operator_control_t) ,typeof( __mavlink_change_operator_control_ack_t) ,typeof( __mavlink_auth_key_t) ,null ,typeof( __mavlink_action_ack_t) ,typeof( __mavlink_action_t) ,typeof( __mavlink_set_mode_t) ,typeof( __mavlink_set_nav_mode_t) ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_param_request_read_t) ,typeof( __mavlink_param_request_list_t) ,typeof( __mavlink_param_value_t) ,typeof( __mavlink_param_set_t) ,null ,typeof( __mavlink_gps_raw_int_t) ,typeof( __mavlink_scaled_imu_t) ,typeof( __mavlink_gps_status_t) ,typeof( __mavlink_raw_imu_t) ,typeof( __mavlink_raw_pressure_t) ,typeof( __mavlink_attitude_new_t ) ,typeof( __mavlink_local_position_t) ,typeof( __mavlink_gps_raw_t) ,typeof( __mavlink_global_position_t) ,typeof( __mavlink_sys_status_t) ,typeof( __mavlink_rc_channels_raw_t) ,typeof( __mavlink_rc_channels_scaled_t) ,typeof( __mavlink_servo_output_raw_t) ,typeof( __mavlink_scaled_pressure_t) ,typeof( __mavlink_waypoint_t) ,typeof( __mavlink_waypoint_request_t) ,typeof( __mavlink_waypoint_set_current_t) ,typeof( __mavlink_waypoint_current_t) ,typeof( __mavlink_waypoint_request_list_t) ,typeof( __mavlink_waypoint_count_t) ,typeof( __mavlink_waypoint_clear_all_t) ,typeof( __mavlink_waypoint_reached_t) ,typeof( __mavlink_waypoint_ack_t) ,typeof( __mavlink_waypoint_set_global_reference_t ) ,typeof( __mavlink_gps_local_origin_set_t) ,typeof( __mavlink_local_position_setpoint_set_t) ,typeof( __mavlink_local_position_setpoint_t) ,typeof( __mavlink_control_status_t) ,typeof( __mavlink_safety_set_allowed_area_t) ,typeof( __mavlink_safety_allowed_area_t) ,typeof( __mavlink_set_roll_pitch_yaw_thrust_t) ,typeof( __mavlink_set_roll_pitch_yaw_speed_thrust_t) ,typeof( __mavlink_roll_pitch_yaw_thrust_setpoint_t) ,typeof( __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t) ,null ,typeof( __mavlink_attitude_controller_output_t ) ,typeof( __mavlink_position_controller_output_t ) ,typeof( __mavlink_nav_controller_output_t) ,typeof( __mavlink_position_target_t) ,typeof( __mavlink_state_correction_t) ,typeof( __mavlink_set_altitude_t) ,typeof( __mavlink_request_data_stream_t) ,typeof( __mavlink_request_dynamic_gyro_calibration_t ) ,typeof( __mavlink_request_static_calibration_t ) ,typeof( __mavlink_manual_control_t) ,typeof( __mavlink_rc_channels_override_t) ,null ,null ,typeof( __mavlink_global_position_int_t) ,typeof( __mavlink_vfr_hud_t) ,typeof( __mavlink_command_t) ,typeof( __mavlink_command_ack_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_optical_flow_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_object_detection_event_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_sensor_offsets_t) ,typeof( __mavlink_set_mag_offsets_t) ,typeof( __mavlink_meminfo_t) ,typeof( __mavlink_ap_adc_t) ,typeof( __mavlink_digicam_configure_t) ,typeof( __mavlink_digicam_control_t) ,typeof( __mavlink_mount_configure_t) ,typeof( __mavlink_mount_control_t) ,typeof( __mavlink_mount_status_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_debug_vect_t) ,typeof( __mavlink_named_value_float_t) ,typeof( __mavlink_named_value_int_t) ,typeof( __mavlink_statustext_t) ,typeof( __mavlink_debug_t) ,null ,};
Type[] mavstructs = new Type[] {typeof( __mavlink_heartbeat_t) ,typeof( __mavlink_boot_t) ,null ,typeof( __mavlink_ping_t) ,null ,typeof( __mavlink_change_operator_control_t) ,typeof( __mavlink_change_operator_control_ack_t) ,typeof( __mavlink_auth_key_t) ,null ,typeof( __mavlink_action_ack_t) ,typeof( __mavlink_action_t) ,typeof( __mavlink_set_mode_t) ,typeof( __mavlink_set_nav_mode_t) ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_param_request_read_t) ,typeof( __mavlink_param_request_list_t) ,typeof( __mavlink_param_value_t) ,typeof( __mavlink_param_set_t) ,null ,typeof( __mavlink_gps_raw_int_t) ,typeof( __mavlink_scaled_imu_t) ,typeof( __mavlink_gps_status_t) ,typeof( __mavlink_raw_imu_t) ,typeof( __mavlink_raw_pressure_t) ,typeof( __mavlink_attitude_t ) ,typeof( __mavlink_local_position_t) ,typeof( __mavlink_gps_raw_t) ,typeof( __mavlink_global_position_t) ,typeof( __mavlink_sys_status_t) ,typeof( __mavlink_rc_channels_raw_t) ,typeof( __mavlink_rc_channels_scaled_t) ,typeof( __mavlink_servo_output_raw_t) ,typeof( __mavlink_scaled_pressure_t) ,typeof( __mavlink_waypoint_t) ,typeof( __mavlink_waypoint_request_t) ,typeof( __mavlink_waypoint_set_current_t) ,typeof( __mavlink_waypoint_current_t) ,typeof( __mavlink_waypoint_request_list_t) ,typeof( __mavlink_waypoint_count_t) ,typeof( __mavlink_waypoint_clear_all_t) ,typeof( __mavlink_waypoint_reached_t) ,typeof( __mavlink_waypoint_ack_t) ,typeof( __mavlink_waypoint_set_global_reference_t ) ,typeof( __mavlink_gps_local_origin_set_t) ,typeof( __mavlink_local_position_setpoint_set_t) ,typeof( __mavlink_local_position_setpoint_t) ,typeof( __mavlink_control_status_t) ,typeof( __mavlink_safety_set_allowed_area_t) ,typeof( __mavlink_safety_allowed_area_t) ,typeof( __mavlink_set_roll_pitch_yaw_thrust_t) ,typeof( __mavlink_set_roll_pitch_yaw_speed_thrust_t) ,typeof( __mavlink_roll_pitch_yaw_thrust_setpoint_t) ,typeof( __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t) ,null ,typeof( __mavlink_attitude_controller_output_t ) ,typeof( __mavlink_position_controller_output_t ) ,typeof( __mavlink_nav_controller_output_t) ,typeof( __mavlink_position_target_t) ,typeof( __mavlink_state_correction_t) ,typeof( __mavlink_set_altitude_t) ,typeof( __mavlink_request_data_stream_t) ,typeof( __mavlink_request_dynamic_gyro_calibration_t ) ,typeof( __mavlink_request_static_calibration_t ) ,typeof( __mavlink_manual_control_t) ,typeof( __mavlink_rc_channels_override_t) ,null ,null ,typeof( __mavlink_global_position_int_t) ,typeof( __mavlink_vfr_hud_t) ,typeof( __mavlink_command_t) ,typeof( __mavlink_command_ack_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_optical_flow_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_object_detection_event_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_sensor_offsets_t) ,typeof( __mavlink_set_mag_offsets_t) ,typeof( __mavlink_meminfo_t) ,typeof( __mavlink_ap_adc_t) ,typeof( __mavlink_digicam_configure_t) ,typeof( __mavlink_digicam_control_t) ,typeof( __mavlink_mount_configure_t) ,typeof( __mavlink_mount_control_t) ,typeof( __mavlink_mount_status_t) ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,null ,typeof( __mavlink_debug_vect_t) ,typeof( __mavlink_named_value_float_t) ,typeof( __mavlink_named_value_int_t) ,typeof( __mavlink_statustext_t) ,typeof( __mavlink_debug_t) ,null ,};
}
#endif

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.90")]
[assembly: AssemblyFileVersion("1.0.91")]
[assembly: NeutralResourcesLanguageAttribute("")]

28
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -442,6 +442,12 @@ namespace ArdupilotMega.Setup
}
}
}
HS1_REV.Checked = MainV2.comPort.param["HS1_REV"].ToString() == "-1";
HS2_REV.Checked = MainV2.comPort.param["HS2_REV"].ToString() == "-1";
HS3_REV.Checked = MainV2.comPort.param["HS3_REV"].ToString() == "-1";
HS4_REV.Checked = MainV2.comPort.param["HS4_REV"].ToString() == "-1";
}
catch { }
startup = false;
@ -910,28 +916,28 @@ namespace ArdupilotMega.Setup
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS2_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS3_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS4_REV_CheckedChanged(object sender, EventArgs e)
{
if (startup)
return;
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == true ? 1.0f : -1.0f);
MainV2.comPort.setParam(((CheckBox)sender).Name, ((CheckBox)sender).Checked == false ? 1.0f : -1.0f);
}
private void HS1_TRIM_Scroll(object sender, EventArgs e)
@ -1016,6 +1022,20 @@ namespace ArdupilotMega.Setup
{
try
{
try
{
if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
{
MainV2.comPort.setParam("HSV_MAN", 0); // randy request
}
else
{
MainV2.comPort.setParam("HSV_MAN", 1); // randy request
return;
}
}
catch { MessageBox.Show("Failed to set HSV_MAN"); }
MainV2.comPort.setParam("COL_MIN_", HS3.minline);
MainV2.comPort.setParam("COL_MAX_", HS3.maxline);

4
Tools/ArdupilotMegaPlanner/Setup/Setup.resx
View File

@ -3008,13 +3008,13 @@ will work with hexa's etc</value>
<value>430, 307</value>
</data>
<data name="BUT_saveheliconfig.Size" type="System.Drawing.Size, System.Drawing">
<value>90, 23</value>
<value>90, 41</value>
</data>
<data name="BUT_saveheliconfig.TabIndex" type="System.Int32, mscorlib">
<value>111</value>
</data>
<data name="BUT_saveheliconfig.Text" xml:space="preserve">
<value>Save Travel</value>
<value>Manual Travel / Save Travel</value>
</data>
<data name="&gt;&gt;BUT_saveheliconfig.Name" xml:space="preserve">
<value>BUT_saveheliconfig</value>

2
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
View File

@ -11,7 +11,7 @@
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
</dsig:Transforms>
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
<dsig:DigestValue>asA4p3xM8idcyyuyecIXR3bVsug=</dsig:DigestValue>
<dsig:DigestValue>dszV+o57dCwksPcpzEBhuhMS3T8=</dsig:DigestValue>
</hash>
</dependentAssembly>
</dependency>

4
Tools/ArdupilotMegaPlanner/bin/Release/Setup/Setup.resx
View File

@ -3008,13 +3008,13 @@ will work with hexa's etc</value>
<value>430, 307</value>
</data>
<data name="BUT_saveheliconfig.Size" type="System.Drawing.Size, System.Drawing">
<value>90, 23</value>
<value>90, 41</value>
</data>
<data name="BUT_saveheliconfig.TabIndex" type="System.Int32, mscorlib">
<value>111</value>
</data>
<data name="BUT_saveheliconfig.Text" xml:space="preserve">
<value>Save Travel</value>
<value>Manual Travel / Save Travel</value>
</data>
<data name="&gt;&gt;BUT_saveheliconfig.Name" xml:space="preserve">
<value>BUT_saveheliconfig</value>

21
Tools/autotest/arducopter.py
View File

@ -275,8 +275,12 @@ def setup_rc(mavproxy):
mavproxy.send('rc 3 1000\n')
def fly_ArduCopter():
'''fly ArduCopter in SIL'''
def fly_ArduCopter(viewerip=None):
'''fly ArduCopter in SIL
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
'''
global expect_list, homeloc
sil = util.start_SIL('ArduCopter', wipe=True)
@ -295,12 +299,13 @@ def fly_ArduCopter():
mavproxy.expect('Loaded [0-9]+ parameters')
# reboot with new parameters
print("CLOSING")
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
print("CLOSED THEM")
sil = util.start_SIL('ArduCopter')
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --out=192.168.2.15:14550 --quadcopter --streamrate=1')
options = '--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1'
if viewerip:
options += ' --out=%s:14550' % viewerip
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
@ -317,8 +322,10 @@ def fly_ArduCopter():
util.expect_setup_callback(mavproxy, expect_callback)
# start hil_quad.py
hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --fgrate=200 --home=%s' % HOME_LOCATION,
logfile=sys.stdout, timeout=10)
cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%s' % HOME_LOCATION
if viewerip:
cmd += ' --fgout=192.168.2.15:9123'
hquad = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
util.pexpect_autoclose(hquad)
hquad.expect('Starting at')

6
libraries/Desktop/support/FastSerial.cpp
View File

@ -295,11 +295,15 @@ void FastSerial::flush(void)
void FastSerial::write(uint8_t c)
{
struct tcp_state *s = &tcp_state[_u2x];
int flags = MSG_NOSIGNAL;
check_connection(s);
if (!s->connected) {
return;
}
send(s->fd, &c, 1, MSG_DONTWAIT | MSG_NOSIGNAL);
if (!desktop_state.slider) {
flags |= MSG_DONTWAIT;
}
send(s->fd, &c, 1, flags);
}
// Buffer management ///////////////////////////////////////////////////////////