d53844c52d
Implement a pure data serialisation load/save model for AP_Var.
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The format is a simple TLV format; a tag identifying the variable, a length for the variable, and then the actual data. This format could ultimately be extended to include waypoint/commands as well.
This allows us to load and save groups of variables to EEPROM without having to have a static EEPROM map.
Still needs unit tests and (probably) bugfixing.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1522 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-22 08:37:52 +00:00
64d061a79f
cleaning up the instructions for use
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1519 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-21 06:10:26 +00:00
02fae1d48d
minor navigation updates, added new copter friendly altitude control for navigating waypoints.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1518 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-21 05:28:01 +00:00
e26b2dab67
made I term 0 by default
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1517 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-21 04:16:11 +00:00
b074312487
New updated CLI for setup. Cleaner and better defaults and reporting of values.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1516 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-20 07:11:21 +00:00
96262f3bcd
changed casting
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1515 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-19 01:48:23 +00:00
e0298b6e58
removed access to kD = use the dampener instead
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1513 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 19:02:54 +00:00
cf55b0f93f
updated the stabilize_dampener variable
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1512 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 19:00:07 +00:00
4c34b46e14
Added current total to the log. Logging at a lower rate. decreased size to ints.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1511 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 06:12:11 +00:00
d542c75d6e
Added current total to the log. Logging at a lower rate. decreased size to ints.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1510 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 06:11:48 +00:00
8ec3a8de4a
Updated AP_RcChannel for AP_Var.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1509 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 04:56:45 +00:00
f60602d7a9
Renamed the loop timers to gain a new medium loop delta. Fixed an issue with the navigation timer. Updated the current sensing. Need to add a low voltage or current trigger.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1508 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-18 02:48:44 +00:00
dbb40ad9a4
Reinstate Float loading and saving
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1507 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 22:57:48 +00:00
82e6e29d2f
Add initial values for scaling and dead zone to RC_Channel constructor
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1506 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 04:05:48 +00:00
feb3f1a811
Added support for the AttoPilot Current sensor, Logging current is enabled at 10hz,
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Trim is now called again on pitch and roll, now that trimming can be done with adc_offsets. Fixed setup::motors for x frame.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1505 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 03:44:12 +00:00
c9788d7b0b
Add back AP_GPS_IMU to provide Xplane functionality
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1504 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-17 01:50:34 +00:00
709b56f477
Added getter functions to accels
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1503 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 20:42:11 +00:00
ea3570ded0
Formatting and naming changes for conformance with the ArduPilot Coding Conventions.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1502 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 09:14:21 +00:00
d7418d4fc4
removed unused EEPROMB include
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1501 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 03:53:30 +00:00
53b2560412
Flipped the signs. Should be right.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1500 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 02:44:30 +00:00
3558567aad
Added new leveling command. Hold the trainer swicth - ch7- in and the copter will adjust the ADC_OFFSET based on the roll and pitch command needed to straighten the copter.
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no roll and pitch input means no change. Flicking will still update the throttle cruise value. Please check I have the signs correct!!!
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1499 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 02:37:35 +00:00
91efbeac56
Deal more gracefully with the case where the incoming PPM stream has more than 8 channels encoded.
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This makes it possible to move one resistor on the APM board and feed it PPM directly from a receiver emitting a PPM stream.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1498 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-15 19:32:04 +00:00
067ddc4802
TradHeli - updated Heli.h to use AP_Compass instead of the outdated APM_Compass. Also changed autopilot on/off switch to be consistent with Quad.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1497 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-15 01:41:51 +00:00
78095b1dd7
Implemented new DCM based yaw independent heading controller.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1495 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-13 01:31:05 +00:00
e552b7c7e1
Update to current MAVLink dev branch protocol version. This has NOT been tested yet.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-12 08:57:54 +00:00
3f663597b5
Based on explaining AP_VarNoAddress to Doug, improve the description of the value.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1491 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-12 02:43:25 +00:00
d1052612ac
added better default value for longitude scaling
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1490 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:22:54 +00:00
76efe23cd7
added new FBW test to develop new nav functions
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1489 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:16:00 +00:00
41bdcfee48
added new PID nav functions to split lat and long based on Randy's work.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1488 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:15:08 +00:00
fb5609d3eb
added new PID nav functions to split lat and long based on Randy's work.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1487 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:15:02 +00:00
40b4c0d8ac
added new PID nav functions to split lat and long based on Randy's work.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1486 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:14:57 +00:00
754c7bc710
added new PID nav functions to split lat and long based on Randy's work.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1485 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:13:30 +00:00
5d1df69f13
added reset I functions for new pids
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1484 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:12:57 +00:00
5d728c0530
deprecated older method of finding pitch and roll
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1483 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:12:29 +00:00
085af4f8a2
increased PitchMax to 22 to match NG
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1482 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 21:11:51 +00:00
8531e085a1
This is just a test for SVN
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1481 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-11 02:42:53 +00:00
3cdeffa372
Bring AP_GPS_Auto closer to ready for prime-time:
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- disable NMEA autodetection; false positives are still a risk
- trim down the console output to a minimum; we still need something to help users diagnose potential problems, but the old output was much too verbose
- rather than block forever, only do one autodetect pass for each ::read call. That's still too long (five seconds or so) but better than blocking forever.
- don't block forever if no GPS is attached.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1480 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 08:20:41 +00:00
b88cfe92f4
Extend the logic that preserves buffer sizing on re-begin by also avoiding freeing and re-allocating buffers when they don't change in size.
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This can make re-opening a port faster (as the free/malloc pair can be avoided) and possibly more robust (in the case where e.g. the heap has been corrupted).
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1479 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 08:17:31 +00:00
0a07b25e39
renamed err to altitude_error
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1478 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:49:45 +00:00
81c44ffec7
not used
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1477 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:29:16 +00:00
de796598bf
Changed "rate" var to float from long.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1476 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:28:59 +00:00
1ec8861641
Moved implementation of alt hold from NG to ACM.
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Tweaked the nav pitch and roll commands to no longer use bearing error.
Angle boost is now a lot less thrust. I was getting too much added thrust when pitched at 45°
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1475 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:24:26 +00:00
4191adec7d
Added Sonar to setup, removed Level, compass is now done with text based on and off, compass renamed to mag_offset
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1474 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:21:09 +00:00
e69075ffb7
Added Sonar throttle gains,
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new default dampening gain - STABILIZE_DAMPENER - which should be equivalent to NG.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1473 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:18:49 +00:00
5b3830694d
Added Sonar throttle PID, renamed old throttle PID
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1472 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:15:24 +00:00
e902e8cd19
Added Sonar throttle PID
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1471 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:13:57 +00:00
cfcc88d405
Added Sonar and Baro enumerations
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1470 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 02:13:23 +00:00
7cb9579edf
Update the NMEA example code in conjunction with the new parser.
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Added an init string for SiRF receivers that will bring them back out of the binary mode configuration that AP_GPS_Auto sets them to.
Picked up the GPS logging format from the AP_GPS_Auto test.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1469 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:57:16 +00:00
e27af48391
Implement a completely new NMEA parser based on the TinyGPS parser by Mikal Hart.
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Major new features:
- No RAM buffer for the NMEA message being parsed; saves 120 bytes of RAM.
- More robust parser, a little less likely to be confused by bad messages.
- Added configuration strings for SiRF, ublox and MediaTek GPS in NMEA mode to select just the messages of interest.
Note that the issue that TinyGPS has with co-ordinates with "different" numbers of decimal digits is addressed in this code.
Size is comparable to the old parser.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1468 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:55:45 +00:00
3ac2193d48
Add a delay after sending the GPS mode switch strings in an attempt to give any NMEA data time to drain before we attempt to sniff again.
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Otherwise, we can end up settling on NMEA as a mode just after switching a SiRF GPS to binary mode.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1467 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-10 01:50:42 +00:00
DrZiplok@gmail.com
jasonshort
james.goppert
mich146@hotmail.com
deweibel@gmail.com
DrZiplok
rmackay9@yahoo.com
gigiorm