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650 Commits

Author SHA1 Message Date
Andrew Tridgell 98015636d9 APM: interpret zero lat/lng as being current location 
this makes it easy to have a "loiter in current position" mission
element
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 98d5a49717 APM: fixed LOITER_TIME and LOITER_TURNS 
These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 35c88dd418 INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Andrew Tridgell 3b9623a44c Mavlink: log wind estimation result 2012-08-11 22:06:03 +10:00
Andrew Tridgell 9d9c7b0455 APM: allow for navigation by dead-reckoning 
we now ask AHRS if we have a position estimate, and use that if
available
 2012-08-11 12:01:08 +10:00
Andrew Tridgell aa839c3f46 APM: pass airspeed sensor to AHRS 2012-08-11 08:57:44 +10:00
Andrew Tridgell 9bdf204e35 APM: support the MISSION_WRITE_PARTIAL_LIST command 
this allows missions to be partially updated in flight
 2012-08-09 17:13:36 +10:00
Andrew Tridgell a7399c405d MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell 16d63978f1 MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Andrew Tridgell 4c77cbcd0b APM: Added RST_MISSION_CH option 
this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
 2012-08-09 10:33:16 +10:00
Andrew Tridgell 54f97bb9e7 APM: removed THROTTLE_REVERSE option 
Better to use RC3_REV
 2012-08-09 10:04:44 +10:00
Andrew Tridgell 6e46db39a1 APM: Added STICK_MIXING option 
this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
 2012-08-09 08:53:29 +10:00
Amilcar Lucas 9a8fd4738e Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Andrew Tridgell f33d15ab80 APM: removed pointless load() call 2012-08-08 16:51:23 +10:00
Andrew Tridgell 5e19c0cf04 AP_Airspeed: removed values passed to constructor 2012-08-08 16:38:39 +10:00
Andrew Tridgell 7d9e4a7559 APM: fixed default flap speed 
the default of 255 translates to -1 as a AP_Int8, so use zero to mean
no flaps
 2012-08-08 13:04:21 +10:00
Andrew Tridgell 67f076a9db APM: change variables to use _cm, _cd and _ms suffix for units 
this makes it less likely that we mix up units
 2012-08-08 12:12:30 +10:00
Andrew Tridgell b366205172 APM: removed cli slider and dipswitch options 
use mavlink/eeprom for all config
 2012-08-08 12:12:29 +10:00
Andrew Tridgell f98b887dbe AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Jonathan Challinger e97305ea6e APM: fixed rounding of altitude 
the cast was rounding to the nearest meter
 2012-08-08 12:07:35 +10:00
Amilcar Lucas 03b902d4b7 Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas fe4713b46e RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas f3f89004e9 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 4be8073328 Implement set ROI 2012-08-04 18:44:29 +02:00
Amilcar Lucas 9b31938519 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas 431ed1c9b9 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas 813e3ad229 Enable camera triggering by default 2012-08-04 16:32:47 +02:00
Amilcar Lucas 8f836b2fd6 ATmega1280 does not have enough memory for mount support so disable AUTO GPS support, to allow mount support to fit. 
This should almost have no side effects, because the most users use MTK anyways.
If the user defined a GPS protocol, than we will NOT overwrite it
 2012-08-04 16:32:20 +02:00
Andrew Tridgell 526344ab7c APM: added control switch debouncer 
this adds a switch debouncer, similar to the one used in
ArduCopter. I'm adding this after a flight on the weekend where noise
on the control mode channel caused a mode change away from auto.

To prevent this change adding excessive mode switch latency, it also
moves the reading of the control switch to the 10Hz loop, away from
the 3.3Hz loop. That gives us 0.2s delay in mode switch changes and
allows for spikes in the control mode for 0.1 seconds without changing
mode.
 2012-08-01 13:59:37 +10:00
rmackay9 95522fb8a3 ArduPlane: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:34 +09:00
Andrew Tridgell 24ba59f528 APM: fixed overflow in geofence code for altitudes above 327 meters 2012-07-31 15:46:47 +10:00
Andrew Tridgell cc9712860b APM: fixed case of 'LAND_PITCH_CD' 
mavlink parameters are uppercase by convention
 2012-07-29 17:07:38 +10:00
rmackay9 717d0d25d4 ArduPlane: allow MPU6000's DMP to be used for attitude estimation. 
Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
 2012-07-28 19:50:40 +09:00
rmackay9 d9e92c0beb ArduPlane: change to Parameters.pde to support moving var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:31:01 +09:00
Michael Oborne eeac211b1d AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell cfe19c8f53 APM: update version for 2.50 release 2012-07-26 11:36:17 +10:00
Andrew Tridgell 6243cf77a8 APM: added a SCALING_SPEED parameter 
this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
 2012-07-26 11:30:23 +10:00
Andrew Tridgell caa16cbb54 APM: fixed HIL build 2012-07-26 10:09:07 +10:00
Andrew Tridgell efc184c3ad APM: fixed build 
the SET_ROI commands are not supported yet
 2012-07-26 10:03:36 +10:00
Andrew Tridgell d4599aa4f0 APM: switch back to old nav_roll calculation 
the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
 2012-07-26 10:03:36 +10:00
Michael Oborne 7dd58227a6 AP fix sitl hil attitude mode. 2012-07-24 07:18:25 +08:00
Andrew Tridgell 16ddc9fb8a APM: fixed a problem with wayoints completing early 
when a user forces a waypoint jump, we may need to reset prev_WP to
prevent us thinking the waypoint is complete before we have started
 2012-07-21 20:32:07 +10:00
Andrew Tridgell d0ebb4ca26 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short dbcfbfe857 Added Oilpan INS group object param 2012-07-18 23:07:50 -07:00
Jason Short fdf8724b66 Arduplane: Fixed unsigned int comparison warning 2012-07-18 23:07:34 -07:00
Jeff Taylor c083ca5f35 APM: Fixed bug where landing_pitch wasnt initialized properly 
this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
 2012-07-19 13:59:30 +10:00
Andrew Tridgell 2121491197 APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer 
it is in cm/s, not m/s
 2012-07-19 11:50:41 +10:00
Andrew Tridgell 2673179075 APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled. 
This gives our best approximation for auto flight
 2012-07-19 11:50:41 +10:00
Jonathan Challinger 3c4f971618 APM: Removed unused YAW_DAMPENER code. 
YAW_DAMPENER was defined as zero
 2012-07-19 11:50:21 +10:00
Jonathan Challinger 87c78cff5e APM: Removed incorrect nav_gain_scaler from nav_roll calculation. 
nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
 2012-07-19 11:50:06 +10:00
Amilcar Lucas 504809d146 ArduPlane parameters: re-order the files, looks like the second file gets ignored :( 2012-07-18 22:52:17 +02:00
Amilcar Lucas 61f0cd15be ArduPlane parameters: Add base class info as well 2012-07-18 22:39:49 +02:00
Amilcar Lucas d911e4f61e Support up to 11 servos in APM2 
Conflicts:

	ArduPlane/ArduPlane.pde
 2012-07-18 22:01:19 +02:00
Michael Oborne 45609b3e6f fix rc libray param gen 2012-07-18 07:03:39 +08:00
Jonathan Challinger e271f97b53 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andrew Tridgell ead41670c4 Airspeed: change APM to use new AP_Airspeed library 
the next step is AHRS dead reckoning
 2012-07-16 11:21:50 +10:00
Michael Oborne e877650c06 AP fix duplicate keys in param config 2012-07-13 07:06:01 +08:00
Amilcar Lucas 8e14ebbc10 Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell d07593b3bb APM: added credit for FBW altitude limit code 
thanks Yuri!
 2012-07-10 08:36:50 +10:00
Andreas M. Antonopoulos 3b0a4f8c68 param_parser: cosmetic 
Arduplane: doc fixes
 2012-07-08 21:45:26 -07:00
Andrew Tridgell 58fd1d1cf6 APM: fixed DisplayName/Description mixups in parameter docs 2012-07-07 17:40:43 +10:00
Andrew Tridgell 7bc724d118 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell 6ced622da4 APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell 855d67c30a APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell 85332ff85b GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andrew Tridgell ba39738606 MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell 6afbfdafeb Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell fe54329de2 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell 5623ef99a0 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell d9351ff681 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell f150c645c8 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Michael Oborne 84d2782c33 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Andrew Tridgell e791cad9ef AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
Andrew Tridgell 1cb96e14a9 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell 57579e494b Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 44b7d94b1c APM: ArduPlane updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 4fda89beb7 APM: update for new barometer interface 
the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 4a91c267d7 APM: set_centripetal() is now set_fly_forward() 
this controls more than just centripetal correction
 2012-06-27 16:01:49 +10:00
rmackay9 74d37a3713 ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). 2012-06-26 22:59:24 +09:00
Amilcar Lucas be6923be0f Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Andrew Tridgell 7941abad16 APM: prepare for 2.40 release 2012-06-16 10:11:26 +10:00
Andrew Tridgell 5525180814 MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
Andrew Tridgell d4056213ad APM: parameter enums should not be conditionally compiled 2012-06-15 11:57:00 +10:00
Andrew Tridgell 3a9096aa41 APM: added longer comment on k_format_version 2012-06-15 11:55:09 +10:00
Amilcar Lucas bd632e9d01 Let's keep the same format version until CAMERA is activated by default 2012-06-13 21:28:13 +02:00
Amilcar Lucas 2cebd44313 With CLI and MOUNT active, the linker says: region `text' overflowed by 3858 bytes 
So disable CLI when MOUNT is active. Sorry I did not detect it before, but the APM_Camera branch worked in a different way.
 2012-06-13 21:08:09 +02:00
Amilcar Lucas a12cb8fd9a Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Amilcar Lucas f7ef60565e Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Amilcar Lucas e9226d6f0a Spellcheck 2012-06-13 20:44:35 +02:00
Jason Short 29bb39f580 Added CLI level command 2012-06-11 23:01:25 -07:00
Jason Short 8e570fa2d0 Cosmetic changes only. 2012-06-10 13:10:07 -07:00
Jason Short 1eb2d0e485 Added missing Manual_level config 2012-06-10 13:08:48 -07:00
Jason Short b03feabacc Added missing Manual Level initializer 2012-06-10 13:08:22 -07:00
Andrew Tridgell 8f1121c980 GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
Andrew Tridgell c034a3a6f7 APM: ready for 2.40-beta 2012-06-08 18:03:21 +10:00
Andrew Tridgell bfb2c1ee87 GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Andrew Tridgell 43fe5bab78 re-enable the AP_Mount build 2012-06-04 19:32:11 +10:00
Andrew Tridgell 8d28cb51fc added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell 18b5933240 AP_Mount: disable AP_Mount until it works with MAVLINK10 2012-06-04 13:14:51 +10:00
Michael Oborne 7d2532450a enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Michael Oborne 7007d46761 AP: add fake satellite count for hil. 2012-06-02 16:38:20 +08:00
Pat Hickey c2060d6d5f ArduPlane: Increment format number in Parameters.h 
* Force all users to reconfigure to take advantage of elevon patch
  ( 669e6867 )
 2012-05-28 20:51:12 -07:00
Pat Hickey cb9459afed ArduPlane: Fix effect of ELEVON_REVERSE 
* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
  ELEVON_CH1_REVERSE parameter. These parameter values are found in
  g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
  channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
  the combination of pitch & roll into ch1 & ch2, as there are already
  parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
  not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
  instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
 2012-05-27 22:15:08 -07:00
Michael Oborne 36f8f7c4eb increase resolution on params 0.1 > 0.01 2012-05-24 06:22:57 +08:00
Andrew Tridgell 1fc8347af3 MAVLink: send time of GPS fix accurately 
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
 2012-05-23 17:33:33 +10:00
Andrew Tridgell 5b5d43f5d0 Log: don't print '+' while erasing logs 
we no longer do page based erase, so printing a + every 128 pages
makes no sense
 2012-05-22 20:10:29 -07:00
Andrew Tridgell 557834f9a9 AirSpeed: added parameter ARSPD_USE 
setting ARSPD_ENABLE to 1 and ARSPD_USE to 0 allows the airspeed
sensor to be initialised and logged without it being used for flight
control. This is very useful when initially testing an airspeed sensor
in a new plane. It also makes it possible to enable/disable the use of
the airspeed sensor during a flight at any time.
 2012-05-22 20:02:23 +10:00
Andrew Tridgell 9eb3f44ce1 MAVlink: update ArduPlane for param fetch during DataFlash erase 
same changes as for ArduCopter
 2012-05-22 16:13:35 +10:00
Andrew Tridgell 07dac1a5a7 GPS: added ublox build target 
useful for 1280 APM1s
 2012-05-18 22:31:50 +10:00
Andrew Tridgell 116ed39e77 APM: prepare for 2.34 2012-05-14 14:29:59 +10:00
Michael Oborne 922338e982 AP - fix attitude level hil mavlink 1.0 issue 2012-05-06 11:05:35 +08:00
Andrew Tridgell 78d273fa34 Telemetry: make it possible to use UART2 on APM2 
building with TELEMETRY_UART2=ENABLED allows you to use the solder
bridge on the APM2 to enable telemetry on UART2. This allows both USB
telemetry and a radio at the same time.
 2012-05-04 10:39:44 +10:00
Michael Oborne eee5a5bff0 more arduplane param info 2012-04-30 20:39:41 +08:00
Michael Oborne 650e9467d7 update some arduplane config items 2012-04-30 18:44:20 +08:00
Andrew Tridgell 1017b0f6a3 APM-nav: set NAV I value defaults to 0.1 
a small I value is good on most planes, so I think this is a better
default than 0. Thanks to Chris for asking about this.
 2012-04-30 12:27:30 +10:00
Andrew Tridgell 8134c9a883 autotest: fixes for MAVLink 1.0 in autotest 2012-04-27 15:15:53 +10:00
Andrew Tridgell 9d56d28615 MAVLink: make APM build with MAVLink 1.0 possible with arduino GUI 2012-04-24 22:24:58 +10:00
Andrew Tridgell a51593d4ad APM: updates for MAVLink 1.0 2012-04-24 19:54:20 +10:00
Andrew Tridgell 3347f461f6 use build_all.sh to ensure we don't break the mount code 2012-04-24 10:57:43 +10:00
Andrew Tridgell 0eadae9704 APM: use OutputCh_current() in MAVLink servo logging 
this gives a more accurate picture of what is actually happening with
the servos
 2012-04-24 10:57:43 +10:00
Michael Oborne 71f9e33f2f fix potential null pointer 2012-04-20 17:57:06 +08:00
Andrew Tridgell 781280b001 sitl: allow sitl build with MAVLink 1.0 2012-04-20 10:09:21 +10:00
James Goppert 1bc4d54ce9 Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
James Goppert 49744de519 Working on ArduPlane options. 2012-04-19 02:23:54 -04:00
James Goppert f094085c25 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert cc66e8e259 Changed default cmake port for ArduPlane. 2012-04-18 21:31:46 -04:00
James Goppert 0a38e2b8d4 Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
James Goppert 26e3d6ae45 Switched to project specific cmake lists. 
This is better since each project has very different options.
 2012-04-17 23:07:20 -04:00
James Goppert ee84a6d301 Making cmake local to projects. 2012-04-17 21:31:10 -04:00
Andrew Tridgell 6332c09425 AHRS: enable AHRS_ group in ArduPlane 2012-04-16 20:55:13 +10:00
Andrew Tridgell 840f7f87ca ready for 2.33 release 2012-04-09 18:16:49 +10:00
Andrew Tridgell b38d8c526f MAVLink: make parameter send use adaptive stream rate 
this makes it possible to fetch parameters with very low air data
rates
 2012-04-02 11:18:53 +10:00
Andrew Tridgell 222009002e MAVLink: allow for find grained stream rate control 
streams can now be requested at any multiple of 20ms. So if you ask
for a stream at 7Hz then you will get it at close to 7Hz.
 2012-04-02 11:18:53 +10:00
Andrew Tridgell 1e0a2fb0be MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information 
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.

This makes MAVLink work better at low baud rates
 2012-03-30 17:46:20 +11:00
Andrew Tridgell e9773ea09c APM: use set_blocking_writes(false) when we have done ground start 2012-03-30 17:46:20 +11:00
Andrew Tridgell 36e741b078 MAVLink: raise the serial transmit buffer size to 256 bytes 
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient

As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
 2012-03-30 17:46:20 +11:00
Andrew Tridgell 5dbd2a2b60 APM: enable AP_Declination by default 2012-03-30 14:25:27 +11:00
Andrew Tridgell a98a092a59 AP_Declination: enabled auto declination by default in APM 2012-03-30 14:25:27 +11:00
Andrew Tridgell eb98442ed0 APM: Change version to 2.32 2012-03-29 12:50:12 +11:00
Andrew Tridgell 03800ec5f4 APM: Added MANUAL_LEVEL option 
when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at
startup, and instead used the values saved in the EEPROM. This makes
it easier to do levelling on the bench, or once for a series of
flights for the day
 2012-03-29 12:39:53 +11:00
Andrew Tridgell 491b73c4e2 APM: increase ArduPlane version to 2.31 2012-03-27 16:13:29 +11:00
Andrew Tridgell 8ccf3a05f0 Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell 3a325541f6 APM: enable the new offset nulling in APM 2012-03-27 15:37:24 +11:00
Andrew Tridgell dc71191f25 MAVLink: constrain variable changes to the datatype range 
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
 2012-03-19 17:29:02 +11:00
Andrew Tridgell c1e4f63907 APM: adapt ArduPlane for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell f740f6e94d APM: removed some config file cruft 
these options are now settable via MAVLink
 2012-03-18 13:34:40 +11:00
Michael Oborne 80b356367e update AP version to 2.30 2012-03-18 10:27:49 +08:00
Amilcar Lucas a203282779 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell 1e47ab26f2 AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera 2e1cacd67f AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera 566bbed7ad AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell f39d8dbde8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell 4f739ea28f make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell d17a7e81e3 APM: removed quaternion special cases 2012-03-10 10:34:32 +11:00
Andrew Tridgell 3239a00b23 APM: avoid fetching the DCM matrix twice 
also no special case for quaternions
 2012-03-10 10:34:32 +11:00
Andrew Tridgell 04826065ef Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell aa4beb9753 APM: make it possible to build ArduPlane with quaternion support 2012-03-10 10:34:29 +11:00
Andrew Tridgell a54d6f744e HWSTATUS: if we don't know the voltage, report it as zero 
this will tell us if board_voltage() is really working
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 8e162ec35b APM: fixed reset of control switch when short_fs_action is disabled 
When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 46c91fa0c4 APM: added logging of DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell 82dd1cd7ce APM: added board_voltage() function 2012-03-02 15:48:27 +11:00
Pat Hickey 00180e7084 Cleanup: rename files with spaces in their names, replace with underscores 
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
  and /archive/Configurator/Source/Utilities/TDMS/G...
  because I don't want to mess with that.
 2012-02-28 16:14:31 -08:00
rmackay9 630de04bd1 ArduPlane - updated to use new filter library 2012-02-28 21:03:04 +09:00
rmackay9 4501c488b4 ArduPlane - added Filter.h to unbreak the build! 2012-02-26 17:05:56 +09:00
rmackay9 6363da2829 ArduPlane - switch sonar to use new mode filter from filter library 2012-02-26 15:35:42 +09:00
Andrew Tridgell 3fe5b3151b allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 17718720b1 GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell b231112957 DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell 1fc24b506e AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell b6fdf626e4 APM: expanded parameter area to match ACM 
this ensures waypoints and basic eeprom layout remain in sync
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 6b357fc66b AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 8355823bc7 APM: use set_and_save_ifchanged() for GCS stream rates 
this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
 2012-02-18 10:51:57 +11:00
Phil f8ed9f0e8d APM: Fix rudder in elevon mode. 
elevon planes can have rudders too
 2012-02-16 14:43:24 +11:00
Andrew Tridgell 2dcb594f4a APM: changed hold_course for landing to be based on yaw_sensor 
when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.

This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
 2012-02-15 08:50:45 +11:00
Andrew Tridgell c6b6320b43 APM: report the nav_bearing as hold_course when enabled 
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
 2012-02-15 08:50:45 +11:00
Andrew Tridgell 252a2d0c9b APM: added some comments related to hold_course 
hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.

It also resets hold_course in all non-auto modes, to ensure it isn't
used
 2012-02-15 08:50:45 +11:00
Andrew Tridgell c93dedc955 when setting airspeed and groundspeed in a mission, don't save to EEPROM 
If you include airspeed, throttle or groundspeed changes in a mission
then those should not be saved to EEPROM, as otherwise if you restart
and re-fly the mission you will be starting with different parameters
to the ones you used for the first flight.

This is particularly important for setting the target airspeed when
coming in for a landing. You typically set a low target, but if you
fly again the next day I think it would be a real surprise to find
that your loiter airspeed has then changed to the value from the
landing part of your last mission.

This one can be argued either way, but I think that not saving these
changes is the more conservative choice, and better fits the
'principal of least surprise'
 2012-02-14 15:20:44 +11:00
Andrew Tridgell df2ef6ff47 APM: fixed some build warnings 2012-02-14 08:58:56 +11:00
Andrew Tridgell 3907cf81f8 Mavlink: report the corrected pitch via MAVLink 
this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
 2012-02-14 08:58:56 +11:00
Andrew Tridgell da16ccf993 fixed some printf casts 2012-02-14 08:34:10 +11:00
Andrew Tridgell c6f3f7065c APM: the CLI fits nicely on the 1280 again now 
I find the CLI very useful for testing, so enable it by default on the
1280. Logging is still off by default.
 2012-02-14 08:33:49 +11:00
Andrew Tridgell 153575a01c token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell 16a5b5c3ee added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 781617cae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell 50f9d12ad5 go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell f5f6e2d4ec added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell a8140d9524 expand parameter area for ArduPlane 
this ensures all parameters can be saved without overflow
 2012-02-13 16:22:52 +11:00
Andrew Tridgell bbc876fcdf tidy up a comment 2012-02-13 16:22:52 +11:00
Andrew Tridgell 9fe8c079e7 fixed two parameter names 2012-02-13 16:22:51 +11:00
Andrew Tridgell 922139b824 expose mavlink stream rates as parameters 2012-02-13 16:22:51 +11:00
Andrew Tridgell edfb8fe0b7 imported new Parameters code to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell c4bd17052e import new Parameters.h for AP_Param to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell ab057d9801 implement dump of all vars in CLI using AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell faa098b2b6 adapt mainline APM code to AP_Param 2012-02-13 16:22:51 +11:00
Sandro Benigno 3932e8b2a1 Battery monitor type 3 cannot calculate battery remaining properly, due it uses only voltage reading. This path set battery_remaining to a value out-of-band for that type of monitoring. It informs to external devices to not show that info. 2012-02-11 21:01:13 -02:00
Andrew Tridgell c95a295fd6 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Pat Hickey 5cdee95516 ArduPlane: Call APM_RC.enable_out for all channels in init_rc_out. 2012-01-22 12:03:11 -08:00
Michael Oborne e71266c258 change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
Michael Oborne 9dafc668cd fix SITL attitude hil 2012-01-20 16:04:49 +08:00
analoguedevices 40f37c1037 Increment version number in anticipation of a firmware hex push. 2012-01-16 22:48:46 +00:00
Doug Weibel 78ac65d6c3 Additional commenting on global variables 
First pass done.
 2012-01-16 10:28:03 -07:00
Doug Weibel a3f9fee3d2 Additional commenting on global variables 2012-01-16 09:45:42 -07:00
Doug Weibel 2ea9db84e0 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Doug Weibel 82338f2571 Remove a debugging print 2012-01-15 16:37:07 -07:00
Doug Weibel 3b2196354f Stashing some battery monitoring ratio values in the comments for future use. 2012-01-15 16:35:46 -07:00
Doug Weibel e109992c12 Add a CLI setup action to reset the magnetometer offsets 
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI.  Useful if you somehow get bad offsets or if you change magnetometer.  If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values.  I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
 2012-01-15 16:15:08 -07:00
Doug Weibel 17b31d0b5b Fix airspeed sensor support for APM2. 
Airspeed sensor should be attached to Analog input 0
 2012-01-15 16:12:08 -07:00
Doug Weibel 17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Doug Weibel fd8dc84fac Update battery monitoring code for ArduPlane 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
 2012-01-15 16:10:28 -07:00
Doug Weibel 622217357c Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
Doug Weibel 6f9c6a3b8e Adding comments for global variables 2012-01-11 12:37:43 -07:00
analoguedevices 47197891e3 Put in commented-out APM2 # defines, to save people the trouble of having to type them in themselves. 2012-01-09 02:00:46 +00:00
Doug Weibel 0fb4082581 Bug fix for issue 438. 
The rate in a change alt command does not need to be signed.  The code will determine if the rate needs to be positive or negative
 2012-01-08 18:24:55 -07:00
Michael Oborne 5d5800ee1f fix relay on apm 1 AP 2012-01-05 07:51:01 +08:00
Andrew Tridgell 645eac6f38 I2c: default to 5ms timeout, and faster bus speed 
we will slow down the speed when we get a failure
 2012-01-04 16:36:47 +11:00
Doug Weibel 35fba5d4a3 Tweak to FBW min altitude 
Patch from Yury
 2011-12-31 15:44:40 -07:00
Jason Short bc7f0a567c Small issue with newline formatting 2011-12-29 23:02:02 -08:00
Michael Oborne 0c75c863de add circle to output modes 2011-12-29 18:21:32 +08:00
Andrew Tridgell 5aca951438 APM: added error checking on barometer read 
if the barometer is dead and the GPS has a fix, use the GPS for
altitude
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 2c41264a9b APM: added error checking on compass read 2011-12-28 20:41:53 +11:00
Andrew Tridgell c6b8a08918 APM: convert to new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell c91827ee09 geofence: re-breach if user changes mode outside the fence 
if the user changes mode while outside the fence, and fencing is still
enabled, then declare a new breach
 2011-12-28 17:28:35 +11:00
Andrew Tridgell b108b907e0 APM: Update for DataFlash changes 2011-12-28 16:00:49 +11:00
analoguedevices fefda548d2 Added contributor names, removed "alpha" from firmware name 2011-12-26 17:13:37 +00:00
Andrew Tridgell 4cd4987ae7 APM: fixed some unsigned/signed warnings 2011-12-26 19:17:11 +11:00
Andrew Tridgell d09c344ab8 APM-log: fixed reading of GPS logs 2011-12-26 19:17:11 +11:00
Andrew Tridgell 94cbbf6f28 APM-log: changed to use df_NumPages 
this copes with different data flash sizes on APM1 and APM2
 2011-12-26 19:17:11 +11:00
Doug Weibel 7779dff355 Correct a bug in throttle failsafe feature 2011-12-24 15:34:31 -07:00
Doug Weibel c40093a1a7 Remove old debug print 2011-12-24 14:26:35 -07:00
Doug Weibel 4009018167 Fix scaling on "turn coordination" yaw PID so that P gain values fall in "usual" range 0.1 to 10. 2011-12-24 14:26:35 -07:00
Andrew Tridgell 66029af574 setup the main loop failsafe after RC library is setup 2011-12-23 11:13:01 +11:00
Andrew Tridgell f7dda9f413 added comment on using GPS ground course 2011-12-23 11:13:01 +11:00
Andrew Tridgell 968ad78df0 APM2: default magnetometer to enabled 
all APM2s have a MAG at the moment

thanks to Chris for the suggestion
 2011-12-22 17:51:14 +11:00
Andrew Tridgell ef3c5c071a failsafe: make sure we clear any RC override in manual failsafe 2011-12-22 10:55:43 +11:00
Andrew Tridgell c6633d7bc9 fixed HIL build 2011-12-21 23:31:39 +11:00
Andrew Tridgell ad63c10ab7 APM: added failsafe support 
we now pass all channels through at 50Hz if the main loop stops
running, regardless of why. This gives us a reasonable failsafe, as
long as the low level RC library is still working, and interrupts
don't get completely disabled.
 2011-12-21 23:31:39 +11:00
Andrew Tridgell 0aab4da1a1 mainloop_count should be uint16_t 2011-12-21 23:31:38 +11:00
Andrew Tridgell 61b2b2e32a always declare a timer_scheduler 
we should always run this code
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 73146bae5d APM: show temperature in airpressure test 
useful for tracking down baro bugs
 2011-12-19 18:52:56 +11:00
Andrew Tridgell 98406e842b geofence: send fence status messages on fence events 
this ensures the fence status goes out as soon as possible, which
means the messages arrive in a sane order on the GCS
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 226470c614 APM: added RST_SWITCH_CH parameter 
This is useful for switching back to the mode indicated by the control
switch after a failsafe or fence breach. I was just changing modes
each time, but it is far more elegant to have a spring loaded switch
for "I am ready to take control again", rather than continually
changing modes.
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 54b8aab0ac Log: fixed logging dependence on compiler arg eval order 2011-12-18 17:31:45 +11:00
Andrew Tridgell 8a7d064842 APM: run mavlink loop while erasing logs 2011-12-18 10:19:52 +11:00
Andrew Tridgell ce035fc324 geofence: enable return to old control mode via FENCE_CHANNEL 
if you disable fencing with the fence channel switch while still in
GUIDED mode to the return point, then reset the control mode back to
the transmitter control mode
 2011-12-18 10:00:44 +11:00
Andrew Tridgell 5d2301ef47 fixed airspeed sensor for ArduPlane on APM2 
we were trying to use a non-existant ADC chip!
 2011-12-17 07:29:09 +11:00
Andrew Tridgell 4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell ed17f64459 geofence: added FENCE_TRIGGERED_PIN 
this allows for a digital pin to be set high when the geofence
triggers. This pin can be connected to an external failsafe device
 2011-12-17 07:29:08 +11:00
Michael Oborne eed0eea13b apm 1280 disables 2011-12-16 22:26:39 +08:00
Andrew Tridgell 1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell b3327c64de geofence: added fence status reporting and faster altitude check 2011-12-16 20:11:51 +11:00