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584 Commits

Author SHA1 Message Date
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
Andrew Tridgell
a6e451c1b2 geofence: don't trim control surfaces on geo-fence breach 
the user input is likely to be bad
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
1b64185b18 geofence: main geo-fence code 
this implements the primary logic of geo-fencing
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
238c25c05e geofence: added geo-fencing control parameters 2011-12-16 20:11:51 +11:00
Andrew Tridgell
1455ff4a91 removed an unused variable 2011-12-16 20:09:49 +11:00
Andrew Tridgell
e1e9002fad only check for "enter 3 times" in first 20s after boot 
we don't want stray bytes on serial3 to make us enter the CLI during
flight!
 2011-12-16 20:09:32 +11:00
Doug Weibel
a77f91fa4e Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Andrew Tridgell
e8617fc929 DCM: reset the DCM matrix after a ground start 2011-12-13 21:33:07 +11:00
Andrew Tridgell
b0aa1deac2 MAVLink: fixed link flood on waypoint upload 2011-12-13 20:39:04 +11:00
Andrew Tridgell
d416013bd8 fixed a hang on 2nd run of IMU test 
we should not try to initialise the ISR handlers twice
 2011-12-13 18:28:50 +11:00
Andrew Tridgell
c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell
4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Andrew Tridgell
dd4498d113 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell
80a0dfe862 fixed hardware config check for barometer 2011-12-12 15:14:55 +11:00
Andrew Tridgell
65ed8cc2c3 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell
4319d1ceb0 throttle: only use throttle slew in auto throttle modes 
we don't want STABILISE and FBWA to have throttle change limits
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
fa683c5718 airspeed: smooth the airspeed value a bit more 
the value is very noisy in my tests. A bit more smoothing may help
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
faf58a355b airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
bb861117a3 apm2: fixed for new barometer code 2011-12-11 15:21:10 -08:00
Pat Hickey
85b82e75f6 ArduPlane: update AP_Baro construtors and 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
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
6f27c4c779 ArduPlane: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
63d3b6a278 ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes 2011-12-11 15:21:09 -08:00
Pat Hickey
c64e3f5772 ArduPlane: calibrate accel with imu.init_accel after imu.init 
* complements commit 73418559, where init_accel was eliminated
  from AP_IMU_INS::init cold start.
 2011-12-10 13:32:47 -08:00
Doug Weibel
f34333d42b Minimum ground speed patch from Claudio Natoli. Thanks Claudio! 
This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed.  Airspeed is still limited to FBW-max.  Setting min_groundspeed to zero (default) disables the feature.
 2011-12-09 16:43:25 -07:00
Doug Weibel
77a7734111 Augment failsafe gcs_send_text message 2011-12-09 09:11:45 -07:00
Doug Weibel
4f6f9a6be4 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Andrew Tridgell
c1569e49a8 fixed the "reboot on GPS lock" bug 
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
 2011-12-04 09:06:58 +11:00
Andrew Tridgell
899c1364cc test: removed the broken gyro test and merge it into the imu test 
the gyro test assumed APM1 hardware, and would hang on APM2. The imu
test can just as easily display gyro and accelerometer data as well as
roll/pitch/yaw, so combine it in one test
 2011-12-03 14:08:20 +11:00
Doug Weibel
b3b218fa40 Fix for intermittent bug of log #1 starting on page 2 and confusing file system 2011-11-28 19:43:10 -07:00
Doug Weibel
aa6c336479 Add DataFlash.Init before doing a forced log erase on eeprom reset. 
Add progress indication during log erase
 2011-11-28 19:42:27 -07:00
Andrew Tridgell
7f4c87eeec mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Andrew Tridgell
e61d945874 mavlink: paranoia setting of failsafe when forcing AUTO mode 
this shouldn't be needed, but will do no harm, and I thought I saw
this fail in a test
 2011-11-28 16:22:33 +11:00
Andrew Tridgell
833f5f5895 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Andrew Tridgell
d295b7d76c build: CLI_SLIDER_ENABLED doesn't need to be forced off in apm2 build 
this is handled by config.h now
 2011-11-28 13:53:57 +11:00
Doug Weibel
ca5560ef1c Add Guided mode to failsafe handling 2011-11-26 21:10:53 -07:00
Andrew Tridgell
fb21e619fe Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Pat Hickey
0fa8ce9a52 ArduPlane: rev version number from 2.26 to 2.27 Alpha 2011-11-25 20:00:19 -08:00
Pat Hickey
a6bf2d9cd6 ArduPlane: LED digital writes use LED_OFF and LED_ON 2011-11-25 20:00:19 -08:00
Andrew Tridgell
7467bf649c ArduPlane: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
0604f2c667 USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane 
when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from
EEPROM
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
c8b592f8a7 purple: there are no dipswitches on the purple board 2011-11-25 20:00:18 -08:00
Andrew Tridgell
67e5c89226 compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
b6bab1d92d purple: adc test not useful if no ADC 2011-11-25 20:00:18 -08:00
Andrew Tridgell
6c856dde4e purple: fixed LED and IO pin defintitions 2011-11-25 20:00:18 -08:00
Andrew Tridgell
2db5a2b5e2 purple: add the remaining hw defines for purple hardware 2011-11-25 20:00:18 -08:00
Andrew Tridgell
01cfd64327 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell
0d3e07c2f7 build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell
446a9aac84 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
ee3254ef8f adc.Init() takes timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell
992fc87112 purple: always declare timer_scheduler 2011-11-25 20:00:17 -08:00
Pat Hickey
c93d7a9560 purple: added new parameters to Init() functions 
this adapts the test code for the purple API changes
 2011-11-25 20:00:17 -08:00
Pat Hickey
ed74d1c987 test: added new passthru test 
this passes radio inputs direct to servo outputs, which is useful for
hardware testing
 2011-11-25 20:00:17 -08:00
Pat Hickey
71ebf1f543 removed old commented out code 2011-11-25 20:00:17 -08:00
Pat Hickey
fefc7da1d1 purple: added new parameters needed for new library APIs 
new APIs pass in timer_scheduler. We also to init the isr_registry
 2011-11-25 20:00:17 -08:00
Pat Hickey
5626f4a127 purple: fixed APM_RC.Init() to add isr_registry parameter 2011-11-25 20:00:17 -08:00
Pat Hickey
d3a45a053d purple: declare sensors for purple library rework 
we need some different declarations to match the new APIs
 2011-11-25 20:00:17 -08:00
Pat Hickey
d5ebf30d74 purple: added config options for purple/APM1 hardware 2011-11-25 20:00:17 -08:00
Pat Hickey
f580a4bea0 purple: added hardware defines for ArduPlane 2011-11-25 20:00:17 -08:00
Pat Hickey
395f43bee8 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Andrew Tridgell
32073eaa51 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne
f66a6b4308 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Doug Weibel
516216f159 Change type to support "dump all with -1" 2011-11-24 18:55:33 -07:00
Doug Weibel
4a07bb3127 Logging cleanup. Fixed missing cast, removed erase warning, added -1 to dump all option, and fix intermittent bug for log number 1. 2011-11-24 18:55:33 -07:00
Doug Weibel
06c88cf07b Simplified logging logic for finding start/end of log files 2011-11-24 18:55:32 -07:00
Doug Weibel
e02d615c8a Rework logging file system to be more robust 2011-11-22 20:20:17 -07:00
Andrew Tridgell
a69b4c2d7e MAVLink: fixed throttle display in VFR_HUD 2011-11-21 20:29:19 +11:00
Andrew Tridgell
2cc0cd65b4 zero airspeed on ground start when initiated by MAVLink 
If the users asks for a new calibration, that should include the
airspeed sensor
 2011-11-21 20:29:18 +11:00
Andrew Tridgell
2137e91ede fixed disabling of GPS in ArduPlane 
we may need a new hex
 2011-11-21 20:29:18 +11:00
Andrew Tridgell
d9f32ce5b8 Log: prevent looping forever 
this happened with an empty dataflash
 2011-11-20 19:06:24 +11:00
analoguedevices
1a610ba450 Rev version number 2011-11-19 23:43:47 +00:00
Jason Short
014204409a shortened strings 2011-11-19 14:02:45 -08:00
Doug Weibel
0bc31fa236 Remaining changes to the logging file system. 
With these changes the logging system will allow overwriting of logs with no loss of functionality.  I have tested (successfully) logging with the Dataflash being filled and overwriting previous files.  I have also tested with a single long file that partially overwrites itself.
 2011-11-17 21:25:51 -07:00
Doug Weibel
a11ea12ca8 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
Jason Short
fc3e7767ba Mission Scripting updates 2011-11-16 00:22:23 -08:00
analoguedevices
fa4896ee91 Rev version number 2011-11-16 05:04:36 +00:00
Doug Weibel
1c6469d25b Fix Do_Jump bug. Also fix cross track bearing bug after Jump 2011-11-15 20:44:19 -07:00
Doug Weibel
b23dd36f6d Missed hunk for last commit 2011-11-15 20:43:00 -07:00
Doug Weibel
b7494774f7 Add logging of DCM drift correction integrator in PM 
This may be a temporary feature…  Mostly added to check new (lower) integrator limit.
 2011-11-15 20:42:59 -07:00
analoguedevices
b4ccf3b41b Rev version number to 2.25 2011-11-14 05:31:27 +00:00
Michael Oborne
0a2f67a235 modify crosstrack calc 2011-11-13 08:25:24 +08:00
Andrew Tridgell
49053a9721 fixed a valgrind warning 
need to initialise all fields
 2011-11-08 17:26:53 +11:00
Andrew Tridgell
a045e4ec7e Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Andrew Tridgell
4113d04f70 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell
0775f57a89 Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short
80c7e135d5 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Amilcar Lucas
01df18b292 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00
Andrew Tridgell
ac4c604a6b GCS: fixed timeout loading waypoints 
while loading waypoints we could saturate the link
 2011-10-31 21:25:35 +11:00
James Goppert
663ed536c4 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 23:12:53 -04:00
James Goppert
249ce91d78 Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne
193940f2e2 Revert Changes 
switch back to old nav_rol lcalc
switch back to old planner - non mavlink 1.0
 2011-10-31 07:23:20 +08:00
Michael Oborne
95479e29ae Add MAVLINK_MSG_ID_HIL_STATE message 2011-10-30 18:17:37 +08:00
Michael Oborne
6d2be49304 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 14:27:13 +08:00
Andrew Tridgell
e6f7bf9df8 MAVLink: use new MAV_MODE_FLAG_CUSTOM_MODE_ENABLED flag 
this enables us to tell if custom_mode is set
 2011-10-30 13:00:54 +11:00
Andrew Tridgell
3f7d46b17e fixed uninitialised variable warning 2011-10-30 11:48:56 +11:00
Andrew Tridgell
c914b11504 use C++ tricks to minimise differences for MAVLink 1.0 
this should make maintainence/testing a bit easier
 2011-10-30 11:48:56 +11:00
Michael Oborne
0707198bd5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 07:35:10 +08:00
James Goppert
b655482b98 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert
c56c3e33e1 Working on cmake support. 2011-10-29 15:01:05 -04:00
Andrew Tridgell
3991f9eff3 move g_rc_function[] to RC_Channel library 
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
 2011-10-29 18:42:18 +11:00
Michael Oborne
63c884a6df better crosstrack 2011-10-29 12:54:13 +08:00
Michael Oborne
abed7fa5f2 Merge branch 'master' of https://code.google.com/r/meee146-hil 2011-10-29 11:37:54 +08:00
Andrew Tridgell
4a92048ef0 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Michael Oborne
357f299d61 APM track following change 2011-10-28 12:05:22 +08:00
Doug Weibel
c7d91a199c Bug fixes for command logic re-write 2011-10-27 13:45:57 -06:00
Doug Weibel
1cd3c21774 Initial rewrite of command logic. 
Changes mission structure so that conditional and immediate commands are located between associated waypoints instead of after the second waypoint.
 2011-10-27 13:45:52 -06:00
Andrew Tridgell
c0c771042f CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Andrew Tridgell
6cd604e510 mavlink: fixed WP upload 
The previous code accepted arbitrary command codes here, and ACKed
them. Later we should specifically list which ones are OK
 2011-10-26 12:18:24 +11:00
Andrew Tridgell
d18071d6c2 MAVLink: MAVLink 1.0 support now builds 
not testing at all - so be careful!
 2011-10-24 12:21:26 +11:00
Andrew Tridgell
2c4c00ece8 mavlink: started adding support for MAVLink 1.0 
this is nowhere near complete, and does not compile yet
 2011-10-24 10:20:36 +11:00
Doug Weibel
86ea3a9558 Add a feature for a minimum altitude parameter while flying in FBW-B 
This patch written by YureZzZ - Thank you!
 2011-10-16 23:11:40 -06:00
Michael Oborne
6987e6c4b2 hil sensor cleanup 2011-10-14 18:14:32 +08:00
Michael Oborne
392160314e Sensor hil fix's 2011-10-13 22:22:03 +08:00
Andrew Tridgell
52dc221969 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Michael Oborne
ec7fa70fd6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-11 08:05:14 +08:00
Michael Oborne
a28a0f9433 Merge branch 'desktop-wip' of https://code.google.com/r/tridge60-apm-wip 2011-10-10 07:22:57 +08:00
Andrew Tridgell
ed2bec75b9 added build makefiles 2011-10-10 07:18:38 +11:00
Amilcar Lucas
ea27d1604a More optimizations 
I forgot these ones.
 2011-10-09 15:34:47 +02:00
Amilcar Lucas
282722eae6 Optimize the code a bit more, only perform calculations if they are necessary 2011-10-09 15:27:17 +02:00
Amilcar Lucas
02f023a9ec Use a single if instead of four 2011-10-09 15:27:17 +02:00
Amilcar Lucas
758ae5a78e Use the shorter macro call instead 2011-10-09 13:57:35 +02:00
Andrew Tridgell
2cb93f5a16 fixed a crash in HIL 
The g_rc_function[RC_Channel_aux::k_flap_auto] ptr came out as NULL
during one HIL run on a desktop CPU, which led to ArduPlane
crashing. I am not yet sure if this can happen in real flight, but I
think the NULL check is worthwhile to be sure.
 2011-10-09 22:09:00 +11:00
Andrew Tridgell
1195c4750e fixed some ambiguous if/else combinations 
gcc was complaining about the logic
 2011-10-09 22:09:00 +11:00
Andrew Tridgell
dcc6f30af1 don't initialise DataFlash if logging is disabled 
this fixes HIL without an IMU
 2011-10-09 22:08:59 +11:00
Andrew Tridgell
e927cf94d7 use memcheck_available_memory() instead of freeRAM() 
this gives a more accurate view of free memory
 2011-10-09 22:08:59 +11:00
Andrew Tridgell
657367426b avoid the need for compiler optimisation for HIL build 
read_airspeed() is only available when in a non-HIL build. The
optimiser normally removes this call, but when debugging in a desktop
build, it is nice to avoid using the optimiser
 2011-10-09 22:08:58 +11:00
Amilcar Lucas
6a5d6889b7 Only use radio_in values if the channel is not used as flight_mode_channel 2011-10-08 22:15:54 +02:00
Amilcar Lucas
101dc83239 Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas
4b35757a1e Moved relay control functions to it's own library 2011-10-02 01:00:27 +02:00
Amilcar Lucas
213e731061 Correct/update channel assigment comment 2011-10-02 00:06:44 +02:00
Doug Weibel
dd8367eae4 Add auto flap functionality to FBW-B 2011-09-30 07:25:36 -06:00
Doug Weibel
8f2ae139a4 Fix missing capitalization 2011-09-30 07:25:35 -06:00
Doug Weibel
b6cd0ad9b8 Rework prev commit a bit cleaner as suggested by Janne Mäntyharju 2011-09-30 07:25:35 -06:00
Doug Weibel
aac8eac0cb Add code to disable throttle if we are on the ground and in FBW_B or higher 
Add code to disable throttle if we are on the ground and in FBW_B or higher.  We believe we are on the ground if speed < 5 and alt < 5.  Also check that we are not trying to perform a takeoff.
 2011-09-30 07:25:35 -06:00
James Goppert
204c6bb6e7 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M
cd02e78af7 Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:17:08 +03:00
James Goppert
112d5e9531 Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert
bfe0331803 Corrected makefile. 2011-09-29 18:57:19 -04:00
James Goppert
a0db0fc25f Added missing files. 2011-09-29 14:18:05 -04:00
James Goppert
3a00ceb593 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short
1243e76f29 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Amilcar Lucas
cd0bbd718b Fix issue #285 2011-09-25 11:36:31 +02:00
Amilcar Lucas
a3152b2410 Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
Doug Weibel
5767575a73 Correct bug in auto flap handling 2011-09-22 20:50:15 -06:00
Andrew Tridgell
c5bf8312b8 removed some more unused defines 
mavlink is now the only choice for HIL and GCS
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
3a81e12866 get rid of the last active uses of the SendDebug macros 
please use gcs_send_text*() from now on, to ensure serial queueing
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
e7bc74a38e remove unused climb_rate code 2011-09-19 11:04:02 +10:00
Andrew Tridgell
c2126e127d use gcs_send_text_fmt() and cleanup a few old debug lines 2011-09-19 11:04:02 +10:00
Andrew Tridgell
943c234c62 GCS: added new gcs_send_text_fmt() method 
this allows low priorty formatted messages to be sent to the ground
station, without causing a CPU stall on the serial send buffer
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
f71674ffa4 GCS: don't send low priority messages unless they fit 
check the serial transmit buffer, and don't send low priority messages
unless they can go straight out without blocking the CPU
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
8f604a1035 added gcs_severity enum 
this makes it harder to mixup defines
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
4e346a0cc5 remove some more old cruft 2011-09-19 11:04:02 +10:00
Andrew Tridgell
225e6d760f remove Mavlink_Common.h and used deferred logic for params/waypoints 
this moves the mavlink send logic into GCS_Mavlink.pde, and also
ensures we only ever send parameters and waypoints when there is
sufficient space in the serial send buffer
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
ef6e2c2adf remove some more unused code in the GCS interface 2011-09-19 11:04:02 +10:00
Andrew Tridgell
de18df06b5 GCS: make the two GCS links gcs0 and gcs3 
the artifical separation between 'gcs' and 'hil' just leads to
confusion. This also simplifies the code a bit more, and saves us a
bit more text
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
35fcd6dae7 GCS: simplify the API for sending messages 
this makes the code clearer, and saves us another 100 bytes of text
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
83492f92f2 MAVLink: use enum ap_message and remove unused param argument 
saves us another 200 bytes of text
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
9fed709be2 removed some more dead messages, and convert MSG_* to an enum 
this make it safer to add a new message while keeping deferred queue
the right size
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
7d6301976e remove unused MESSAGE_COMMAND_LIST 2011-09-19 11:04:02 +10:00
Andrew Tridgell
bc1bfed22d HIL: first step in simplifying the HIL/GCS code 
this gets rid of the messy #ifdefs around HIL_PORT, and removes
non-MAVLink GCS and HIL support
 2011-09-19 11:04:01 +10:00
Andrew Tridgell
46d6974da2 remove unsued MSG_LOCAL_LOCATION 
this saves us a bit of code
 2011-09-18 11:07:24 +10:00
Andrew Tridgell
ee1541cda7 rework the MAVLink send code to avoid excessive stack usage 
this avoids a varient of the gcc excessive stack usage bug, by
wrapping the send calls in NOINLINE functions. This saves us a lot of
stack space, and strangely enough produces slightly smaller code!
 2011-09-18 11:05:21 +10:00
Janne M
326f913e64 Merge branch 'divider' 2011-09-17 23:56:41 +03:00
Janne M
95dd8cc35b Added voltage divider, input voltage and amps per volt to parameters. 2011-09-17 22:32:19 +03:00
Amilcar Lucas
c9d9ee0d3b Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Andrew Tridgell
4fed88ffbf ArduPilot updates for new DCM code 
G_Dt is no longer needed, and scale ADC values by 8 to match old
constants
 2011-09-17 14:58:02 +10:00
Andrew Tridgell
d34f8ceca6 MAVLink: only send HEARTBEAT and SYS_STATUS during initialisation 
I am concerned that some of the mavlink send routines may impact on
sensor calibration, so its safer to just send the minimum information
to keep the GCS happy
 2011-09-17 14:58:02 +10:00
Michael Oborne
c6eae87f8a fix remote error value 2011-09-15 18:26:59 +08:00
unknown
7bb800aafc Merge branch 'master' of https://code.google.com/p/ardupilot-mega/ 2011-09-14 16:02:21 +02:00
unknown
9f028bb5a0 Adding CMake support 2011-09-14 15:44:55 +02:00
Amilcar Lucas
c58b563584 Revert more of 6dcbc7f44bc0. 
Fix an issue with initialization of channels that on-line changed their function.
For the curious people that the code size overhead of having any aux channel do any function (with this code) is 44 bytes.
 To see wich code I'm talking about, do a git diff 05057ac2d455..this_commit (replace this commit with the commit hash of this commit)
 2011-09-13 14:01:35 +02:00
Amilcar Lucas
ef955eace4 These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy 2011-09-13 01:54:47 +02:00
Amilcar Lucas
dd843d18ec Added support for routing any function to any of the aux. servos. 
This is a manual merge from the APM_Camera branch.
It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0
 2011-09-13 01:24:06 +02:00
Amilcar Lucas
f7f745055d Use the G_RC_AUX macro when possible. Added more comments. Remove unused code 2011-09-12 20:21:12 +02:00
Doug Weibel
5a14d546bb Correct bug in initialization of auxiliary channels 
The value of aux_servo_function[CH_x] was not being set before the radio init_rc_in() function was setting channel angle/range.
 2011-09-12 20:21:12 +02:00
Doug Weibel
2a0912b867 Change default setting for auto_trim to disabled per user (JB) request. 2011-09-12 07:24:52 -06:00
Doug Weibel
d6370fd389 Correct state machine processing for long failsafe event following short failsafe from lower modes 2011-09-11 21:59:46 -06:00
Doug Weibel
1a8b74063a Disable stick mixing if in failsafe 
If trim values differ from failsafe channel values then stick mixing will adversely affect performance while in failsafe
 2011-09-11 21:50:32 -06:00
Amilcar Lucas
b8832fe9ab Use G_RC_AUX macro to simplify accessing the auxiliary servos 2011-09-12 00:02:47 +02:00
Amilcar Lucas
69a9f44fee This is ugly, but it fixes compilation on arduino 2011-09-11 23:25:06 +02:00
Amilcar Lucas
5a27954e26 Moved update_aux_servo_function() to the RC_Channel_aux.* files. 
This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong
 2011-09-11 23:07:30 +02:00
Amilcar Lucas
966f9f962a Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ? 2011-09-11 19:13:01 +02:00
Amilcar Lucas
ed112b2243 Only run camera code if camera support is enabled 2011-09-11 17:41:18 +02:00
Amilcar Lucas
55e6ac5fe6 Fix RC range reversal 2011-09-11 04:12:04 +02:00
Amilcar Lucas
42de4efc40 Revert "Fix RC range reversal" 
This reverts commit d5046b1097b0b5455aa1a59e9dd80533e589432e.
 2011-09-11 04:07:36 +02:00
Amilcar Lucas
f53364bf41 Fix RC range reversal 2011-09-11 04:04:02 +02:00
Amilcar Lucas
5454cd503b For now point the camera manually via the RC inputs 2011-09-11 02:40:13 +02:00
Amilcar Lucas
5fc771f9d8 Added a comment about lower half of the array 2011-09-10 23:58:25 +02:00
Amilcar Lucas
f60969a5d5 Added comments explaining when should the function be used 2011-09-10 23:36:47 +02:00
Amilcar Lucas
329df04157 Egg_drop has a 0..100 range 2011-09-10 23:35:23 +02:00
Andrew Tridgell
6d059b8eba Revert "added support for AP_ADC MAVLink packet" 
This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.

I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
 2011-09-10 22:00:29 +02:00
Andrew Tridgell
a2d602b090 added support for AP_ADC MAVLink packet 
this adds AP_ADC, which sends raw ADC 16 bit values for all 6 ADC
channels at the Extra3 MAVLink stream rate. Extra3 was previously
unused
 2011-09-10 14:18:15 +02:00
Amilcar Lucas
ada409855a Moved a camera mount function call, out of the servos update function 2011-09-10 13:47:09 +02:00
Amilcar Lucas
b977007bdf Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable 2011-09-10 13:26:29 +02:00
Amilcar Lucas
9e80f2e920 This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:18:38 +02:00
Amilcar Lucas
581603c3b7 This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:02:22 +02:00
Andrew Tridgell
6e2f231688 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00
Andrew Tridgell
a1b2cc7229 import APM_Camera branch from SVN 2011-09-09 11:45:13 +10:00
Andrew Tridgell
89fa70520f imported ArduPlane from ArduPilotMega svn 2011-09-09 11:29:39 +10:00