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4314 Commits

Author SHA1 Message Date
Jason Short b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short fb5302c50b No longer resetting ch7 wp index with mode change, requires reboot 2011-11-27 22:23:02 -08:00
Andrew Tridgell 2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Jason Short 940fa9621c Added minimum Altitude for RTL failsafe 2011-11-26 16:39:29 -08:00
Jason Short 44cb73c9fa added safety checks for RTL 2011-11-26 16:39:29 -08:00
Jason Short d0af4e7200 CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short ec5b080167 Enable RTL 2011-11-26 16:39:29 -08:00
Jason Short ca5e4bb802 Allow output of system type 2011-11-26 16:39:28 -08:00
Jason Short 1621f3a638 allow CH7 to be set via params 2011-11-26 16:39:28 -08:00
Jason Short ea911e0bcb updated failsafe code 2011-11-26 16:39:28 -08:00
Jason Short 19c3c27ed0 Erasing Logs at new FW version detection 2011-11-26 16:39:28 -08:00
Jason Short 52297679c4 sending Mavlink system type 2011-11-26 16:39:28 -08:00
Andrew Tridgell a048709828 Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Andrew Tridgell a99bcec762 desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Pat Hickey 6ee477bd8d ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell 38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell 338445e60c ArduCopter-HIL: fixed HIL build 
Logging isn't always enabled
 2011-11-25 20:00:18 -08:00
Andrew Tridgell ffba37d599 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 aa558eb033 fixed a valgrind error 
this error is harmless, but false positives can disguise real errors
 2011-11-25 20:00:18 -08:00
Pat Hickey eee2da01ac Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels 2011-11-25 20:00:18 -08:00
Pat Hickey ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell 6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 1d50bb80fd hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell a3701e521a build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell 2a5a15abce test: fixed test code for HIL build 2011-11-25 20:00:17 -08:00
Andrew Tridgell 3072fdda85 adc.Init() needs timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell c0898ab3b9 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Andrew Tridgell 2d8cfc0c3f test: neaten up the output of the dcm test 2011-11-25 20:00:17 -08:00
Pat Hickey 3131ab16ef remove BROKEN_SLIDER code 
use the new CLI_SLIDER_ENABLED option and the "hit ENTER 3 times"
method
 2011-11-25 20:00:17 -08:00
Pat Hickey 475afd6ac2 purple: enable dcm test, and fixed imu test to test the IMU API 2011-11-25 20:00:17 -08:00
Pat Hickey c2972ff1f9 purple: fixed CLI code for non-ADC hardware and no sonar 
purple hardware does not use the ADC driver
 2011-11-25 20:00:17 -08:00
Pat Hickey 63393b206a purple: added ins test 
this tests the InertialSensor library API
 2011-11-25 20:00:17 -08:00
Pat Hickey f1bad83d21 purple: fixed system init for purple sensor objects 2011-11-25 20:00:16 -08:00
Pat Hickey e3027fe54e purple: pass isr_registry to APM_RC.Init() 2011-11-25 20:00:16 -08:00
Pat Hickey 660174e610 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Pat Hickey 4869ac3385 purple: use the new LED_ON/LED_OFF macros for LED level 
this gets this right on both APM1 and purple for ArduCopter
 2011-11-25 20:00:16 -08:00
Pat Hickey 3f2692d1da purple: added configuration logic for APM1 versus purple hardware 
This abstracts the names for LED on/off (due to the different wiring
of LEDs on APM1 and purple), and adds the needed config defines for
the two hardware types
 2011-11-25 20:00:16 -08:00
Pat Hickey 90c5eb8487 purple: added defines for APM hardware selection 
we can now choose APM_HARDWARE_APM1 or APM_HARDWARE_PURPLE
 2011-11-25 20:00:16 -08:00
Pat Hickey cc67062442 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Pat Hickey 5ee5036fa1 purple: added comment for enabling purple hardware 2011-11-25 20:00:16 -08:00
Andrew Tridgell 89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne 0a0b2d32f4 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Jason Short abe4758c3b no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Doug Weibel 9ecfac1156 Change ArduCopter DataFlash log file system to new file system which allows overwriting logs. 
Also changed the feature to dump all DataFlash memory to occur when user requests dumping log "-1"
 2011-11-25 07:17:15 -07:00
Jason Short c5c5884006 v number 2011-11-21 22:13:18 -08:00
Jason Short 89e014c06a Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short 85a5647f5d cleanup 2011-11-21 22:11:06 -08:00
Jason Short 6d99e78887 removed unused function 2011-11-20 21:59:55 -08:00
Jason Short 95b797d359 removed the init_esc - reworking the method to avoid the use of the CLI. 2011-11-20 21:24:32 -08:00
Jason Short 5c797e91b5 Better function definition 2011-11-20 20:32:46 -08:00
Jason Short beeba99b92 Missed a function definition for no_logs option 2011-11-20 20:29:58 -08:00
Jason Short 2600f19172 RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short fbf09dbf2d Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay f397bae793 ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short 17041e5346 my take at a merge to give tridge a head start at Mav1.0 2011-11-20 00:23:40 -08:00
Jason Short 556db68d2d Made loiter rad smaller in storage 2011-11-20 00:22:53 -08:00
Jason Short 7feecf3220 renamed WP mask 2011-11-20 00:22:53 -08:00
Jason Short 185c2a50ce added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short 94ef8a91ff removed typo 2011-11-20 00:22:52 -08:00
Jason Short 1e855503da renamed MASK_OPTIONS_RELATIVE_ALT 2011-11-20 00:22:52 -08:00
Jason Short c6f9c532af renamed set_command_with_index 2011-11-20 00:22:52 -08:00
Jason Short b883ff937c renamed the options_mask 2011-11-20 00:22:52 -08:00
Jason Short 77da1227bb renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short 10a24f22fa renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short aef4db8263 Logging stabilization KP to hunt bug 2011-11-19 16:59:54 -08:00
Jason Short 194778a6f9 Logging APVar saves 2011-11-19 16:59:54 -08:00
Jason Short 90bc03ef99 new DataLog message 2011-11-19 16:59:54 -08:00
Jason Short 56179a24e1 Added Arbitrary data logging 2011-11-19 16:59:54 -08:00
Jason Short b6adfdb62f missed == 2011-11-19 14:42:57 -08:00
Jason Short eef04a5a54 removed some tests 2011-11-19 14:02:00 -08:00
Jason Short 8e1f311c36 s 
shortened strings, logging defines updated
 2011-11-19 14:01:47 -08:00
Jason Short 8e509b63a7 shortened strings for mem 2011-11-19 14:00:55 -08:00
Jason Short d02b4342ae removed some unused code, made output min by default 2011-11-19 14:00:42 -08:00
Jason Short d1c161ecd0 Upped version 
added new logging params
added crosstrack gain
re-ordered param inits
 2011-11-19 14:00:23 -08:00
Jason Short 39d0df4cef added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short 9bc4328724 Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00
Jason Short e4f2ad1809 remove PI_crosstrack 2011-11-19 13:58:53 -08:00
Jason Short 579096cd2e return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short 35524f6da7 Added optimizations for radian calls to remove a division. 
added a protection for entering AP modes without Home being set by GPS lock.
 2011-11-19 11:08:13 -08:00
Jason Short 791fd194a4 added logging of raw baro 2011-11-19 11:08:13 -08:00
Jason Short 802dd6994a PM restored to normal output 2011-11-17 10:37:01 -08:00
Jason Short 7ebab2a9fe Log type error fix 2011-11-17 10:27:02 -08:00
Randy Mackay c8d2341156 TradHeli - automatically reinitialise swash plate if HSV_MAN is switched from 1 to 0. 
Turn-off feed forward correction to yaw based on collect when in HIL mode.
 2011-11-17 20:43:07 +09:00
Jason Short a168691eba Working implementation of Jump Command 2011-11-16 21:28:56 -08:00
Jason Short ddd89e1849 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short 833fe17c6a disabled raw GPS temp 2011-11-16 00:22:23 -08:00
Jason Short fed5c0b204 Mission Scripting updates 2011-11-16 00:22:23 -08:00
Jason Short 8392e375e1 Do not write home from GS, 
MAV_Action_Continue disabled until I find out what it does and how to do it.
 2011-11-16 00:22:23 -08:00
Jason Short 937a364dce Made RTL Altitude hold current by default 2011-11-16 00:22:23 -08:00
Jason Short 0245e73a8b Mission Scripting re-write 2011-11-16 00:22:23 -08:00
Jason Short 163345dadd Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 65fe467a57 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 5ed931c582 Mission Scripting re-write 2011-11-16 00:22:22 -08:00
Jason Short 3eaef4081c Added better navigation flag for more accurate dtnav timing 
Added better support for climb rate in SIM
 2011-11-16 00:22:22 -08:00
Jason Short c343cee727 Fixed typo in notes about timer speed 2011-11-14 12:25:06 -08:00
Jason Short 2ad1294514 scaling width of circle mode to make it more round. 2011-11-13 23:09:42 -08:00
Jason Short 687d0eda98 fixed bad indexing for setting current mission index 2011-11-13 22:59:57 -08:00
Jason Short be1007d032 Moved updated alt to GPS so the climb rate is sane 2011-11-13 22:54:57 -08:00
Jason Short 288db5c7c5 Better error and defaults checking 2011-11-13 22:54:18 -08:00
Jason Short 349ab7e0c6 slowed Circle flight 2011-11-13 13:41:23 -08:00
Jason Short daaf681417 error checking command saving 2011-11-13 13:41:23 -08:00
Randy Mackay 2112f74324 TradHeli - reversed the direction of "phase angle" to make it more intuitive. This parameter is used to correct for a heli's tendency to lean left or right when the pilot gives it a pitch forward command. 2011-11-13 22:40:46 +09:00
Randy Mackay 70aadd4afc TradHeli - added two parameters to improve heli control. 
heli_phase_angle allows pilot roll/pitch command to be translated into mixed roll and pitch.
heli_coll_yaw_effect mixes some collective into the yaw so tail can counter act collective movements more easily.
 2011-11-13 22:20:57 +09:00
Jason Short 930ee51bbe added scale note 2011-11-13 00:25:04 -08:00
Jason Short 04491d66db Fixed scaling issue with Circle mode 2011-11-13 00:24:25 -08:00
Jason Short 7dd737ad90 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	Tools/autotest/autotest.py
 2011-11-12 21:53:08 -08:00
Jason Short bee53453d6 nav updates 2011-11-12 21:46:57 -08:00
Jason Short ea57fad80c WP counting update 2011-11-12 21:46:03 -08:00
Jason Short 901e46334d updates to Mavlink for zero based WP counting 2011-11-12 21:44:38 -08:00
Jason Short e1315b1ab8 Update and fix for Circle mode 
HIL updates for altitude
 2011-11-12 21:43:21 -08:00
Jason Short bcfb3a0ee3 Fix for WP saving with CH7 2011-11-12 21:40:58 -08:00
Jason Short d6bfae598f WIP: adding 255 to represent a completed mission 2011-11-12 21:40:33 -08:00
Jason Short fd02ebca74 Work in progress for using 0 based counting 2011-11-12 21:39:24 -08:00
Jason Short 9e67c7efca Added additional nav params to reset 2011-11-12 21:39:00 -08:00
Michael Oborne b3747ab10f fix loiter radius 2011-11-13 08:24:56 +08:00
Jason Short be3edc19f8 Fixed type error in params 2011-11-12 15:15:33 -08:00
Jason Short bb4e612241 Shortened test name 2011-11-12 15:14:32 -08:00
unknown a7038cbaf9 TradHeli - new parameter HSV_MAN to allow better set-up from APMissionPlanner. Also changed swash movement to use radio_out which fixes some setup bugs 2011-11-12 23:23:07 +09:00
Jason Short dd96b146b5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-10 10:02:08 -08:00
Jason Short 3450e91039 Trying to break Nav to test a feature 2011-11-10 10:01:57 -08:00
Andrew Tridgell 2d204b727b fixed build error 
the prototype extractor was finding the commented out version of
cross_track_test(), which had a different prototype
 2011-11-10 22:01:09 +11:00
Jason Short 3f0b42f64f made crosstrack functions static 2011-11-09 23:30:16 -08:00
Jason Short 2c9ebf11b8 removed unused functions, log fix 2011-11-09 23:28:50 -08:00
Jason Short d8361dfe67 renamed original_target_bearing 2011-11-09 23:04:04 -08:00
Jason Short 8ad94b9993 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-09 22:56:52 -08:00
Jason Short ae1684a37c crosstrack angle variable 2011-11-09 22:56:38 -08:00
Jason Short 7259cf2180 Added in crosstrack correction - test for SIM 2011-11-09 22:56:09 -08:00
Andrew Tridgell c056c4f0cb HIL: allow for fast HIL attitude update in HIL_MODE_ATTITUDE 
this runs it at the full loop rate
 2011-11-10 13:17:06 +11:00
Jason Short 6211cc4e50 back to original config for testing 2011-11-10 13:00:34 +11:00
Jason Short 6b26c32e9d Lowered Nav_P based on SIM data 2011-11-10 13:00:34 +11:00
Jason Short fafa6e52e9 back to original config for testing 2011-11-09 13:53:26 -08:00
Jason Short f994d16a48 Lowered Nav_P based on SIM data 2011-11-09 12:46:34 -08:00
Jason Short 6e3b3fd974 CTUN log update 2011-11-09 12:28:12 -08:00
Jason Short 3732b7db71 Added code notes 2011-11-09 12:07:15 -08:00
Jason Short 630f2dbf05 Code formatting 2011-11-09 12:06:55 -08:00
Jason Short d6c0e34516 Tuning nav_WP 
Added more notes
 2011-11-09 12:06:37 -08:00
Jason Short a8d622d8e6 Lowered Nav_P I term to ramp slower base on SIM 2011-11-09 11:30:50 -08:00
Jason Short 27d9bc92f3 Added more output to Mavlink for debugging 2011-11-09 11:00:40 -08:00
Jason Short e5b37d9d89 Added MAV_CMD YAW parsing 2011-11-08 23:44:14 -08:00
Jason Short 7714f203f9 Added Mav_CMD_Yaw parsing 2011-11-08 23:42:41 -08:00
Andrew Tridgell c158cb8e63 call gcs_update() while waiting for GPS lock 
this ensures we react to ground commands, and also allows HIL GPS to
work
 2011-11-09 17:43:55 +11:00
Jason Short 79e30b5f21 removed debugging code 2011-11-08 14:41:46 -08:00
Jason Short d375de8424 SIM test 2011-11-08 14:11:02 -08:00
Jason Short b29f4456c4 fix for SIM GPS 2011-11-08 14:10:09 -08:00
Andrew Tridgell 3b67321945 Log: try to fix -ve lat in logging 2011-11-09 08:46:05 +11:00
Jason Short 2dc2a2114a restoring throttle i term for SIM 2011-11-08 11:51:49 -08:00
Jason Short 90ee0f7e09 bad hijacking of GPS_Status 2011-11-08 10:48:47 -08:00
Jason Short 1ab1d8bab4 Fixes for Sim - Missing climb rate calculation 2011-11-08 10:46:52 -08:00
Jason Short 10bbfdbe11 PID test for alt hold to narrow down on a bug 2011-11-08 10:13:16 -08:00
Jason Short c3d5d92a71 Updated Logs to be C++ compliant 2011-11-07 22:23:48 -08:00
Jason Short 69fec433e6 Update to RTL logic. 2011-11-07 21:30:12 -08:00
Jason Short 4afc3e9f17 Fix for bad RTL tracking in Autopilot 2011-11-07 21:09:29 -08:00
Andrew Tridgell dc6fb484cd Log: fixed a few more casts 2011-11-08 11:59:30 +11:00
Andrew Tridgell 28634f51b7 ArduCopter: use specific sized data types in a lot of places 
this will make the Desktop build more consistent with the real AVR
build, and also with a future ARM build
 2011-11-08 11:05:36 +11:00
Jason Short 6bf0c32173 Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell 3176d4ffc5 HIL: enable CTUN log message in ATTITUDE HIL 2011-11-08 07:58:35 +11:00
Andrew Tridgell 92471aead2 Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Jason Short 0446cae242 Alt hold fix 2011-11-07 12:00:37 -08:00
Andrew Tridgell 2bd451b445 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 ae1e1c940f 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 3a37e7fe60 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-06 22:46:57 -08:00
Jason Short a37fadbedb moved to 200hz update 
Zccel Z updates from Aurelio in attitude.pde
lowered baro_alt sanity check
moved user hooks to the medium 10hz loop.
 2011-11-06 22:46:39 -08:00
Jason Short d1431f1070 default top_bottom ratio 1.0 2011-11-06 22:45:07 -08:00
Jason Short 3153257d37 default top_bottom ratio 1.0 2011-11-06 22:43:49 -08:00
Jason Short 4bb0bf96ae Y6 Motors now have top bottom ratio 2011-11-06 22:42:59 -08:00
unknown 9c59fdfdd6 AltHold - another correction to the manual boost. Hopefully properly transferring building up I terms to g.throttle_cruise 2011-11-06 19:06:13 +08:00
unknown 32057fb3c9 AltHold - made TradHeli code also use manual_boost 2011-11-06 18:25:13 +08:00
unknown 755cb4b201 Altitude hold bug fix - changed g.throttle_cruise to be updated to steal I term from correct controller 2011-11-06 17:47:24 +08:00
unknown 156b496bab TradHeli - small change to make throttle_cruise in terms of radio input instead of servo output 2011-11-06 17:40:17 +08:00
unknown f1e626e3c1 TradHeli - changed deadzones for throttle to zero (and also reduced for yaw) 2011-11-06 17:37:59 +08:00
Jason Short c265555b69 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-04 21:42:10 -07:00
Jason Short c8304114a3 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
unknown 12f5f3f96e TradHeli - fix to allow tail servo to be reversed. Also increase max movement of tail servo to 45 degrees. 2011-11-05 12:31:30 +08:00
Jason Short 3f211121fe Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:18:56 -07:00
Jason Short 27fc6eea10 Z dampener 
Integrated Aurelio R. Ramos' Z dampening code.
 2011-11-01 21:18:47 -07:00
Andrew Tridgell acc03753ab fixed HIL build 2011-11-02 08:14:07 +11:00
Jason Short 4f8ef25643 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short 1df9f8488d updated Alt hold PIDs 2011-11-01 09:30:34 -07:00
Jason Short 0a538baeb2 updated baro test 2011-11-01 09:29:55 -07:00
Jason Short c32a707632 cleanup 2011-11-01 09:28:36 -07:00
Jason Short c402311077 removed accel.z references 2011-11-01 09:28:23 -07:00
Jason Short c6ed8ed0ea alt hold logging 2011-11-01 09:28:04 -07:00
Jason Short fd9b16e787 resetting alt hold I 2011-11-01 09:27:49 -07:00
Jason Short 48db60a4eb Tweaks to alt hold 2011-11-01 09:25:23 -07:00
Jason Short ab1de277dc altered the interactive throttle to be more aggressive and proportional. 
reworked baro reading strategy.
 2011-11-01 09:24:51 -07:00
Andrew Tridgell 56390c4696 GCS: fixed timeout loading waypoints (ArduCopter) 
prevents link saturation
 2011-10-31 21:25:58 +11:00
James Goppert 3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
James Goppert 8102b31d8d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert 1a8c4a2597 Working on cmake support. 2011-10-29 15:01:05 -04:00
Jason Short 67e98ae867 Added additional NTUN logging entries. 2011-10-29 11:53:50 -07:00
unknown c253996ea9 TradHeli - added TUNE value 13 to allow adjusting of external gyro gain using channel 6 2011-10-29 20:34:21 +09:00
unknown ea66c74ff0 TradHeli - added throttle scaling and heli specific angle_boost function that takes into account that heli's main blades can have -ve pitch. 2011-10-29 17:27:43 +09:00
Jason Short 1238944573 logging type change in CTUN 2011-10-28 21:59:47 -07:00
Jason Short 842311dfcd Added save WP note to APM_Config.h 2011-10-28 21:46:31 -07:00
Jason Short 7266c5372a Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 21:29:18 -07:00
Jason Short 07daf34ccc Added a slew rate to the alt change rate. 
Added better reporting of throttle control
upped constraints for alt hold
Additional logging for CTUN lay hold
 2011-10-28 21:29:10 -07:00
Andrew Tridgell 1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Jason Short 46590e5f28 Log updates 
Added motor logging for different frame types. Switched the PM log to some new debugging values and speed up the writing of the value to the logs.
 2011-10-27 22:36:25 -07:00
Jason Short 04b5776601 50 rev 
Work in progress, revved the EEPROM
 2011-10-27 12:42:28 -07:00
Jason Short 27d9712e80 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short 2458fe078f Loiter updates 
Added new option to do rate based Loiter with lat and long values, avoiding GPS heading latency issues.
 2011-10-27 12:37:33 -07:00
Jason Short d089059f58 Set default gain to 20 2011-10-27 12:33:44 -07:00
Jason Short c8c26d8193 added boost scalar arguments 
removed accel math from Trig function into Attitude.pde
 2011-10-27 12:33:19 -07:00
Jason Short c6c7966205 Attitude 
Made the Acro mode more NG like. Should be much more nimble!
Tweaked the Accel hold with sim tests. not flight tested or enabled by default.
added option to set scalar in angle boost
 2011-10-27 12:31:46 -07:00
Jason Short 0b4a3ccadb Acro PI defaults 2011-10-27 11:55:13 -07:00
Jason Short dd23883097 Motor arming delays 
Speeding up delays for motor arming commands - Level and Inflight leveling.
 2011-10-27 11:54:46 -07:00
Jason Short a076b45506 Added Acro Params 
Allows user's to fly separate PI loops settings for Acro
 2011-10-27 11:52:00 -07:00
Jason Short d4e5281a4c Deafaut dead_zone call 
Sets the correct default values for the RC_Channel group for Quads.
 2011-10-27 11:35:02 -07:00
Jason Short 76bf784f8c RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
Andrew Tridgell 5a44298d57 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
Jani Hirvinen a503d9a7a7 adding missing config parameters 2011-10-21 10:41:52 +07:00
Jani Hirvinen f5f3fa8fb9 Adding second default PID sets for bigger motors 2011-10-21 10:38:36 +07:00
Jason Short d551494b94 Added ability to dynamically set wp with toggle switch 2011-10-18 17:59:45 -07:00
Jason Short a693bea7d9 added extra user hook 2011-10-17 23:51:47 -07:00
Jason Short 42d0b5cdb3 tweaked Alt hold PIDs, loiter PIDs based on SIM testing and feedback. 
Increased distance error for loiter for faster return to center.
 2011-10-16 15:41:54 -07:00
Jason Short 3bf36b5427 fix for Camera Roll 2011-10-15 20:45:45 -07:00
Jason Short 2f751793bc typoo in params for camera roll gain. fixed. 2011-10-15 18:34:23 -07:00
Jason Short 4c1d10a75e Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-15 16:35:09 -07:00
Jason Short 6a5aefd0ec Added gains to adjust travel of camera. 2011-10-15 16:34:57 -07:00
Michael Oborne 5c10b2af6c ac quick redo fix 2011-10-16 06:58:03 +08:00
Jason Short 4052fd4f73 Made wpspeed governor run per second so 1hz gps doesn't fail. Gave a 1m/s minimum. Increased WPspeed max to 4.0m/s 2011-10-15 15:35:18 -07:00
Jason Short 4be2776b17 Added Andrew's user hooks. 2011-10-15 15:29:33 -07:00
Jason Short 142707711e Updates to guided mode from Michael O. 
removed or commented unused static vars
 2011-10-15 13:09:04 -07:00
Jason Short 65f26f7138 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-13 10:55:17 -07:00
Jason Short 338396b76a slowed acceleration from WP 2011-10-13 10:54:51 -07:00
Michael Oborne e85e3b87a8 AC2 fix guide mode fly off 2011-10-13 18:34:32 +08:00
Jason Short 2330006fbe logging for gyro and accell testing 2011-10-12 21:21:46 -07:00
Jason Short 9500171a46 tweak to the Loiter N turns 2011-10-12 20:59:12 -07:00
Jason Short 43b3015963 lowered DCM RP gains 
made Instant_PWM optional
upped PWM output to 400hz
 2011-10-11 22:20:23 -07:00
Amilcar Lucas 04299122d8 Spell 2011-10-11 22:52:02 +02:00
Andrew Tridgell d11303ef78 removed an unused variable 2011-10-11 20:53:43 +11:00
Andrew Tridgell 97b3ced7aa fixed a signed/unsigned warning 2011-10-11 20:53:43 +11:00
Andrew Tridgell eed26ae91a fixed a '=' vs '==' bug in do_loiter_turns() 2011-10-11 20:53:43 +11:00
Andrew Tridgell d89ae696ef merged the GCS updates from ArduPlane to ArduCopter 
this removes all the non-MAVLink GCS options, and simplifies the HIL
and GCS code a lot. It also adds async sending of low priority GCS
text messages.
 2011-10-11 20:53:43 +11:00
Andrew Tridgell ea82b27fe5 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Andrew Tridgell 0939b51a4c added build makefiles 2011-10-10 07:18:38 +11:00
Andrew Tridgell 5a71030d76 don't check the slider switch if CLI is disabled 
this prevents a build error in desktop mode
 2011-10-09 22:39:23 +11:00
Andrew Tridgell c61fe55d76 don't initialise DataFlash if logging is disabled 2011-10-09 22:38:49 +11:00
Andrew Tridgell 01e5ae2ab9 use memcheck_available_memory() instead of freeRAM() 
this provides a more accurate view of memory
 2011-10-09 22:38:14 +11:00
Michael Oborne d42f2e230e undo config change 2011-10-08 21:13:53 +08:00
Michael Oborne a052c25899 Merge commit 'e7f5e4a623b79872a015dff5ca959e60f6f7fd64' 2011-10-08 20:43:13 +08:00
Jason Short c25478448b Quick RTL Fix, logic was backward 2011-10-07 11:06:31 -07:00
Jason Short 167df79b49 Better Loiter PIDs 
Fixed RTL overshoot bug
 2011-10-06 17:42:09 -07:00
Michael Oborne fab2121c6d fix ac2 hil build 2011-10-04 18:55:10 +08:00
Michael Oborne f9883bf382 fix make issue 2011-10-04 09:34:47 +08:00
Jason Short 1ff372a41d Implementing a limiter for the ramp up of speed to WPs. 2011-10-03 10:37:56 -07:00
Jason Short eb1117b136 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-02 11:36:31 -07:00
Jason Short b0bd9d1c44 Added second PI loop for alt hold. 
Upped gains for default JDrones Frame
added gains for second PI loop for alt
removed some tests for 1280 space constraints
 2011-10-02 11:36:23 -07:00
Amilcar Lucas ee4251baef Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas 3d1902abac Use the new AP_Relay library 2011-10-02 14:22:27 +02:00
Jason Short 189fc194b6 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-30 18:40:40 -07:00
Jason Short f89da12387 Minimized the accel_filtered vector to be faster and more accurate. 
Made the Filter include the Accels and moved from 8 to 4 terms in the filter
 2011-09-30 18:40:29 -07:00
James Goppert e20c279ca5 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 b4e56e889f ArduCopter: Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:30:43 +03:00
Jason Short 12cd4539a3 2.0.46 preliminary release 2011-09-29 23:30:32 -07:00
Jason Short a7ea200407 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-29 23:27:36 -07:00
Jason Short de61e87128 Added ADC gyro Filtering for quads - this fixes a noise issue introduced into the controller 
added Position mode
removed
Added back in the accelerometer experiment
Added filter_result boolean to enable filter on the fly
 2011-09-29 23:27:23 -07:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert dafaa1fa0b Merge branch 'apo' 
Conflicts:
	ArduBoat/ArduBoat.pde
	ArduBoat/CMakeLists.txt
	ArduRover/ArduRover.pde
	ArduRover/CMakeLists.txt
	apo/CMakeLists.txt
	apo/apo.pde
 2011-09-29 14:22:55 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short 758d0e1aec Attempting to mimic loiter values for 4.0.42 
lowered Rate Error max in loiter
 2011-09-28 23:11:19 -07:00
Jason Short c881600385 lowered the deadzone a tad 2011-09-27 13:56:02 -07:00
Jason Short 888e1119e8 Added Loiter P tuning as #12 2011-09-27 09:39:32 -07:00
Jason Short c209d6e6dd 2.0.46 -Not flight tested! 
restored 42 alt hold code
removed throttle timer, replaced with safer constant
increased alt control range
reformatted nav_rate calls
removed unused simple mode defines
set alt hold home to 10m
tuned down rateP to .13 from .14 for broader application.
 2011-09-27 09:35:05 -07:00
Jason Short 326cfef808 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
Michael Oborne d8fd3eadfd heli config 2011-09-27 07:36:12 +08:00
Michael Oborne b33eaa8c9c heli hil config 2011-09-27 07:34:32 +08:00
Michael Oborne 108a89f617 heli hil 2011-09-27 07:30:28 +08:00
Jason Short 0ed9af1bf5 Turned off Rate_I for Arduino users. 2011-09-25 15:34:59 -07:00
Jason Short b2a2221474 Fixed issue with Simple mode changes. 
Reverted to simpler, safer timer code for throttle hold
 2011-09-25 14:16:35 -07:00
Jason Short f437e4b2d1 Revved the firmware to force resetting the EERPOM 2011-09-25 12:24:02 -07:00
Jason Short 706211b757 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-25 12:22:07 -07:00
Jason Short 239164fa19 Fixed Flip code to compile. Flip still not flight tested! 2011-09-25 12:21:54 -07:00
rmackay9 bd79e1f73c Merge remote-tracking branch 'origin/master' 2011-09-25 16:55:52 +09:00
rmackay9 b5ea05698e TradHeli - added servo averaging to allow support of analog servos 
- moved heli parameters to 80 because they were causing flight modes to overlap with waypoints
 2011-09-25 16:51:25 +09:00
Jason Short bb8f97ec0b Better throttle boost value 2011-09-24 21:55:54 -07:00
Jason Short d262fdb264 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-24 21:50:08 -07:00
Jason Short d495e6a9c4 turned off Stabilize_I by default because it was hurting loiter 
tweaked speed control of rate_nav
 2011-09-24 21:49:45 -07:00
rmackay9 ddb4de1949 TradHeli - fix to set motor_auto_armed = true if throttle > 0. Required to let ALT_HOLD work! 2011-09-25 12:30:37 +09:00
Jason Short 236f665378 Added Loiter Turns - It orbits the Current location 
Added WP to Loiter_time so you can spec a specific location in the planner
added new Navigation alg. Should perform better (doesn't rely on 45° flow fields like last one)
Added "Jump" counter so missions don't get overwritten in flight.
removed I term by default for Rate pitch and roll
 2011-09-24 17:40:29 -07:00
Jason Short 35c30e91bf Test for new nav function 2011-09-24 16:48:04 -07:00
Jason Short e961d3f3d4 Removed default Rate_I for pitch and roll 
added change speed control for missions
 2011-09-24 09:49:11 -07:00
Amilcar Lucas e5c248e2bf 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
Jason Short a8befb189c Fixed throttle_boost 2011-09-23 15:34:18 -07:00
Jason Short 2ae163ef75 Trying to make Alt hold more aggressively change altitudes. 2011-09-23 13:58:39 -07:00
Jason Short ba7abd62d8 Adjusted DCM Gains to normal levels. Added a check to stop navigating when landing and to land faster. 2011-09-23 13:52:10 -07:00
Jason Short 25b0a3c43b Added a default, but low throttle cruise value 
Added a clear integrator for Rate I to prevent tip ups at launch.
 2011-09-22 23:10:55 -07:00
Jason Short 7177bcec77 removed old CH6 tuning defines 2011-09-22 18:51:41 -07:00
Jason Short cfd2c31fb2 Better Tuning for default Quad 2011-09-22 18:30:29 -07:00
Jason Short 991279851a Refined Throttle Timer reset 
Reduced Loiter I gain to decrease overshoot.
 2011-09-22 17:38:39 -07:00
Jason Short f49621bde1 Fixed for sticky RTL CH7 option 2011-09-22 15:25:07 -07:00
Jason Short 078f64e276 Fixed Throttle integrator bug. Time was not being reset causing a big drop in throttle control. 2011-09-22 12:28:46 -07:00
Jason Short a012e7981a removed debug statements 2011-09-21 22:34:27 -07:00
Jason Short c91ad14e18 Fixed Timer overflow for throttle PI loop. 
Moved look at home to update_nav where it belongs
 2011-09-21 22:31:12 -07:00
Jason Short 0fba3e6742 Added Auto_trim to CH7 option 2011-09-21 16:24:09 -07:00
Jason Short 5ca50f1f01 Altered CIRCLE mode to allow Loiter_N_Turns to work in AP mode. 2011-09-21 13:19:36 -07:00
Jason Short 2a6d2dea5c upped to 2.0.44 - not flight tested 2011-09-20 23:23:42 -07:00
Jason Short 00fe8e0450 Fixed do_flip, 2011-09-20 23:20:33 -07:00
Jason Short 94313ea88f Fixed Yaw for Auto mode. 2011-09-20 22:59:23 -07:00
Jason Short c143e08d2e Logic fix for RTL option 2011-09-20 10:39:39 -07:00
Jason Short 020062498b Edited CH7 options to include Do Nothing and RTL. 2011-09-20 10:37:50 -07:00
Jason Short b2b28cc90c Converted Millis to Micros 
added navigation check to return a failed navigation
 2011-09-19 22:24:57 -07:00
Jason Short bf94ba551e changed PI Library to take Float for DeltaTime 
Changed timing to be more accurate in main loop. Still need to switch to micros(). Left that for Tridge. This gets rid of six floating point calcs *250. Nice!
 2011-09-19 14:02:42 -07:00
Jason Short 6dd2cc058a removed outdated reference file. 2011-09-18 17:18:35 -07:00
Jason Short b9b5c57662 added contributor 2011-09-18 17:12:59 -07:00
Jason Short 73fd0084be Added Piezo Support, code from Oliver. 2011-09-18 17:12:28 -07:00
Jason Short ddc5ced162 removed saving - not needed for copters 2011-09-18 16:28:53 -07:00
Jason Short 151cae6074 Jump command was reported to have issues, updated to match APM branch. 2011-09-18 16:27:43 -07:00
Amilcar Lucas 2755748d44 Added comment, spellcheck 
This reduces the diff to the APM_Camera branch
 2011-09-18 14:57:55 +02:00
Andrew Tridgell dc23ad4275 MAVLink: merged in the stack saving changes from ArduPlane 2011-09-18 11:37:24 +10:00
Jason Short 2f961ad315 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 12:23:22 -07:00
Jason Short 99065d5035 Added a GPS watchdog to stop navigating if we loose signal. 2011-09-17 12:23:16 -07:00
Amilcar Lucas 1dca64f190 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-17 20:25:49 +02:00
Amilcar Lucas 227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Jason Short 0b701f7351 Reverted to current_loc.alt in MSG_VFR_HUD and MSG_Location 2011-09-17 11:16:13 -07:00
rmackay9 c825e76a88 ArduCopter - small changes to fix compile errors when optical flow enabled 2011-09-17 22:09:18 +09:00
Andrew Tridgell d4a068416f fixed bit-logic for simple modes 2011-09-17 14:58:02 +10:00
Andrew Tridgell 3c69404d5b fixed build of OpticalFlow code 2011-09-17 14:58:02 +10:00
Andrew Tridgell 0425f4be54 updates for new DCM code 
G_Dt is no longer needed by the DCM
 2011-09-17 14:58:02 +10:00
Jason Short 4607bdb4b5 fixed naming for opt flow 2011-09-16 19:26:17 -07:00
Jason Short f79b8de5e8 removed DCM reference from OPT FLOW 2011-09-16 19:17:50 -07:00
Jason Short cd72e6bea9 roughed in an expo option idea 
made min and max values 1100, 1900
removed hard coded init for camera values
 2011-09-16 19:06:53 -07:00
Jason Short 1689a9857c removed unused pde file 2011-09-16 18:57:35 -07:00
Jason Short 9c5cba56eb Added low voltage code flashing code. 2011-09-16 18:56:51 -07:00
Jason Short 9bcbe70e59 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-16 18:35:14 -07:00
Jason Short b948e0f02b Lowered Loiter_I - higher value didn't test well. 2011-09-16 18:24:42 -07:00
Jason Short 129c13e065 Fixed CIRCLE mode trig error 
made loiter_radius * 100 in Params
updated gains
 2011-09-16 16:54:45 -07:00
Jason Short 8d0a2fae9b cleanup 
added more ifdef for optflow
 2011-09-15 23:41:15 -07:00
Jason Short d29cfbcee3 Integration of optical flow 
bug fixes for new Simple mode
increased Baro filter by 2 fields
 2011-09-15 23:33:00 -07:00
Michael Oborne e43b711e96 fix remote error value 2011-09-15 18:26:59 +08:00
Jason Short 1025fc3abf Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-14 14:45:13 -07:00
Jason Short 1ce2308d11 Removed Simple Mode 
Added Simple option to mode switch positions
removed unused OptFlow code
added reset lat and lon error
removed unused init_auto
Fixed log formatting
Added simple mode bitmask
removed pitchmax
added CLI setup for enabling Simple mode to any switch position
 2011-09-14 13:58:18 -07:00
unknown a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
Jason Short fdc56c9ad5 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-12 12:57:56 -07:00
Jason Short ecd14f4425 Cleaned up guided mode 
Reduced ADC filter to 3 from 6 to increase speed of filter.
 2011-09-12 12:57:36 -07:00
Amilcar Lucas d1a63db767 These defines got moved to the library 2011-09-12 21:32:05 +02:00
Jason Short a6182965c1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-09-11 21:46:53 -07:00
Jason Short 885ec18182 Removed last of Xtrack 2011-09-11 20:40:05 -07:00
Jason Short bae05178f0 removed Xtrack and increased rate error limit 2011-09-11 20:36:20 -07:00
Jason Short 285029856b removed nav_bearing 2011-09-11 20:33:29 -07:00
Jason Short 5f94aa1d40 removed Nav_bearing 2011-09-11 20:32:58 -07:00
Jason Short c15b6be83f increased imax 2011-09-11 20:28:43 -07:00
Jason Short 466488e78d removed nav_bearing - not used 2011-09-11 20:27:56 -07:00
Olivier ADLER b9383537e2 Added missing motor tests for octa quad and octa V 2011-09-12 00:43:54 +02:00
Olivier ADLER 1ee65e3ef2 Merge branch 'APM_Camera' of https://code.google.com/p/ardupilot-mega/ 
Conflicts:
	ArduPlane/ArduPlane.pde
	libraries/AP_Camera/AP_Camera.h
	libraries/AP_Mount/AP_Mount.cpp
	libraries/AP_Mount/AP_Mount.h
 2011-09-12 00:31:18 +02:00
Olivier ADLER 8b3e9d2df6 Signed-off-by: Olivier ADLER <contact2@nerim.net> 
slightly upped motor out values for motor test. Was too low for some ESCs.
 2011-09-11 23:32:04 +02:00
Jason Short d733868fea Fixed Yaw mode for CIRCLE 2011-09-11 11:48:11 -07:00
Jason Short e6b7c57d26 Circle Mode now working 
250Hz loop implemented
 2011-09-11 11:22:01 -07:00
Jason Short 482844b87a Added Input Voltage value to params 2011-09-10 18:44:56 -07:00
Jason Short b4a51806bc Added Nav Rate tuning 2011-09-10 18:37:28 -07:00
Jason Short bb1b7b47a7 Fixed numbering issue with defines 2011-09-10 16:25:52 -07:00
Jason Short 97d69906dd Incremented to 2.0.41 2011-09-10 15:28:55 -07:00
Jason Short 02bfd43390 Fixes Alt hold mistake 
Moves tuning into runtime definable param
Added more IMax to throttle

Signed-off-by: Jason Short <jasonshort@gmail.com>
 2011-09-10 15:16:51 -07:00
Chris Anderson 59b5bafdd1 Renamed code to ArduCopter 2011-09-08 19:14:12 -07:00
jasonshort 8870e2f309 circle mode patch 2011-09-09 11:59:42 +10:00
Andrew Tridgell ec398505a6 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00
Andrew Tridgell b9fad1262a move Frame into ArduCopter 2011-09-09 11:52:15 +10:00
Andrew Tridgell d95e454609 rename main pde file for arduino requirements 2011-09-09 11:51:21 +10:00
Andrew Tridgell afe0fa18ea move Frame into ArduCopter 2011-09-09 11:49:11 +10:00
Andrew Tridgell 1456a2a912 renamed top level directories 
ArduCopterMega -> ArduCopter
added archives directory for old code
 2011-09-09 11:27:41 +10:00