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439 Commits

Author SHA1 Message Date
Pat Hickey 067724b4f1 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 6710cf5c5a Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey 67436d7ff2 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey bd00b629e7 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey 82b8f4d7b7 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 5fd8fea957 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey 0b0922d04c ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 698a231dd6 ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey 05b6f4be81 ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey 273492bc66 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short 4efbae4a1c Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short c01361a79d removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short b442a1b23c added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short 4ff5d5016a fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay 26705111e1 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short a0cef1cc88 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 995727383b Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short 37f1a574fa Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short 64cb2a54cf eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short 9c3475f168 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short 2b06a54fc5 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short 6228dfb37c Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short 146d52d650 Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short 2defbe818f rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short 37f3875968 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short 34213e745c Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short f444aac706 Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7c1a975a71 Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short a9e82e3fbd Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short 22e4ed67aa Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short 9afd99b834 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short 9ef902d4a5 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short 718af404ed Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short 0969bf3146 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short b659d35f18 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay f77131db94 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay f4ac36bd8b ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey 2a7013f7e2 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay f4fd6e0910 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay ced26d7ba2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay ee8986c463 TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel 4f6f9a6be4 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short e3700365d4 Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short 118a232b13 made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short ad94166c22 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short 55b2e5339a simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short 50afa16f31 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short 11363a26cb Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short fdcf9aecd5 Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00