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491 Commits

Author SHA1 Message Date
Andrew Tridgell 5498d347f3 APM: Added RST_MISSION_CH option 
this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
 2012-08-09 10:33:16 +10:00
Andrew Tridgell e2c8ec2c9e APM: removed THROTTLE_REVERSE option 
Better to use RC3_REV
 2012-08-09 10:04:44 +10:00
Andrew Tridgell e133900c68 APM: Added STICK_MIXING option 
this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
 2012-08-09 08:53:29 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Andrew Tridgell dc99586981 APM: removed pointless load() call 2012-08-08 16:51:23 +10:00
Andrew Tridgell dcc50b5705 AP_Airspeed: removed values passed to constructor 2012-08-08 16:38:39 +10:00
Andrew Tridgell 2114acddf1 APM: fixed default flap speed 
the default of 255 translates to -1 as a AP_Int8, so use zero to mean
no flaps
 2012-08-08 13:04:21 +10:00
Andrew Tridgell 5bfd1200d6 APM: change variables to use _cm, _cd and _ms suffix for units 
this makes it less likely that we mix up units
 2012-08-08 12:12:30 +10:00
Andrew Tridgell a823c9ceae APM: removed cli slider and dipswitch options 
use mavlink/eeprom for all config
 2012-08-08 12:12:29 +10:00
Andrew Tridgell 12cd6b68ff AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Jonathan Challinger 7815e3d810 APM: fixed rounding of altitude 
the cast was rounding to the nearest meter
 2012-08-08 12:07:35 +10:00
Amilcar Lucas f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas 9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 95f2af6d2d Implement set ROI 2012-08-04 18:44:29 +02:00
Amilcar Lucas 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas 50b5d33745 Enable camera triggering by default 2012-08-04 16:32:47 +02:00
Amilcar Lucas 82b82283be ATmega1280 does not have enough memory for mount support so disable AUTO GPS support, to allow mount support to fit. 
This should almost have no side effects, because the most users use MTK anyways.
If the user defined a GPS protocol, than we will NOT overwrite it
 2012-08-04 16:32:20 +02:00
Andrew Tridgell 301ab00c5b APM: added control switch debouncer 
this adds a switch debouncer, similar to the one used in
ArduCopter. I'm adding this after a flight on the weekend where noise
on the control mode channel caused a mode change away from auto.

To prevent this change adding excessive mode switch latency, it also
moves the reading of the control switch to the 10Hz loop, away from
the 3.3Hz loop. That gives us 0.2s delay in mode switch changes and
allows for spikes in the control mode for 0.1 seconds without changing
mode.
 2012-08-01 13:59:37 +10:00
rmackay9 176e6fdd68 ArduPlane: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:34 +09:00
Andrew Tridgell 0b49ac0ed0 APM: fixed overflow in geofence code for altitudes above 327 meters 2012-07-31 15:46:47 +10:00
Andrew Tridgell cb61c3be96 APM: fixed case of 'LAND_PITCH_CD' 
mavlink parameters are uppercase by convention
 2012-07-29 17:07:38 +10:00
rmackay9 06e35820e5 ArduPlane: allow MPU6000's DMP to be used for attitude estimation. 
Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
 2012-07-28 19:50:40 +09:00
rmackay9 842ce47219 ArduPlane: change to Parameters.pde to support moving var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:31:01 +09:00
Michael Oborne cb0eacca37 AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell 9eb05a2e1a APM: update version for 2.50 release 2012-07-26 11:36:17 +10:00
Andrew Tridgell 6bcfe913f7 APM: added a SCALING_SPEED parameter 
this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
 2012-07-26 11:30:23 +10:00
Andrew Tridgell 3c2fc72654 APM: fixed HIL build 2012-07-26 10:09:07 +10:00
Andrew Tridgell 07992bc943 APM: fixed build 
the SET_ROI commands are not supported yet
 2012-07-26 10:03:36 +10:00
Andrew Tridgell 7e697e4abd APM: switch back to old nav_roll calculation 
the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
 2012-07-26 10:03:36 +10:00
Michael Oborne 39ad8b5eec AP fix sitl hil attitude mode. 2012-07-24 07:18:25 +08:00
Andrew Tridgell 9e72d4c3f4 APM: fixed a problem with wayoints completing early 
when a user forces a waypoint jump, we may need to reset prev_WP to
prevent us thinking the waypoint is complete before we have started
 2012-07-21 20:32:07 +10:00
Andrew Tridgell 85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short 98237a0e00 Added Oilpan INS group object param 2012-07-18 23:07:50 -07:00
Jason Short e574f3c8cf Arduplane: Fixed unsigned int comparison warning 2012-07-18 23:07:34 -07:00
Jeff Taylor d02655ac56 APM: Fixed bug where landing_pitch wasnt initialized properly 
this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
 2012-07-19 13:59:30 +10:00
Andrew Tridgell d6e370886f APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer 
it is in cm/s, not m/s
 2012-07-19 11:50:41 +10:00
Andrew Tridgell 1cf5057c61 APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled. 
This gives our best approximation for auto flight
 2012-07-19 11:50:41 +10:00
Jonathan Challinger c7da63509b APM: Removed unused YAW_DAMPENER code. 
YAW_DAMPENER was defined as zero
 2012-07-19 11:50:21 +10:00
Jonathan Challinger d9d055ef78 APM: Removed incorrect nav_gain_scaler from nav_roll calculation. 
nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
 2012-07-19 11:50:06 +10:00
Amilcar Lucas 3d385c0fb4 ArduPlane parameters: re-order the files, looks like the second file gets ignored :( 2012-07-18 22:52:17 +02:00
Amilcar Lucas 8a8e11fa7f ArduPlane parameters: Add base class info as well 2012-07-18 22:39:49 +02:00
Amilcar Lucas 610fdeacc1 Support up to 11 servos in APM2 
Conflicts:

	ArduPlane/ArduPlane.pde
 2012-07-18 22:01:19 +02:00
Michael Oborne 636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Jonathan Challinger fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andrew Tridgell de3c9ce56d Airspeed: change APM to use new AP_Airspeed library 
the next step is AHRS dead reckoning
 2012-07-16 11:21:50 +10:00
Michael Oborne 67ecaa9252 AP fix duplicate keys in param config 2012-07-13 07:06:01 +08:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell c80a88766f APM: added credit for FBW altitude limit code 
thanks Yuri!
 2012-07-10 08:36:50 +10:00
Andreas M. Antonopoulos de64c05f8e param_parser: cosmetic 
Arduplane: doc fixes
 2012-07-08 21:45:26 -07:00
Andrew Tridgell 78c51b945f APM: fixed DisplayName/Description mixups in parameter docs 2012-07-07 17:40:43 +10:00
Andrew Tridgell f6d7d1bc59 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell 58fd91165f APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell 5abd26a142 APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell 21f06f8a39 GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andrew Tridgell 0385932afb MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell 95d9569b35 Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell 60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell fb66899414 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell 6ee9f1ae97 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell 99b11e4f19 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Michael Oborne b2d73d8f68 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Andrew Tridgell 82ede937e7 AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
Andrew Tridgell 55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell 5bccfbd94c Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 3a2594fa1a APM: ArduPlane updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 6639294c72 APM: update for new barometer interface 
the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 2934b4173b APM: set_centripetal() is now set_fly_forward() 
this controls more than just centripetal correction
 2012-06-27 16:01:49 +10:00
rmackay9 621e020dac ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). 2012-06-26 22:59:24 +09:00
Amilcar Lucas b072a59843 Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Andrew Tridgell 4a50686c3e APM: prepare for 2.40 release 2012-06-16 10:11:26 +10:00
Andrew Tridgell 58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
Andrew Tridgell 619bcc00d9 APM: parameter enums should not be conditionally compiled 2012-06-15 11:57:00 +10:00
Andrew Tridgell 0900751bcd APM: added longer comment on k_format_version 2012-06-15 11:55:09 +10:00
Amilcar Lucas 6d2ac62006 Let's keep the same format version until CAMERA is activated by default 2012-06-13 21:28:13 +02:00
Amilcar Lucas 07a18904fc With CLI and MOUNT active, the linker says: region `text' overflowed by 3858 bytes 
So disable CLI when MOUNT is active. Sorry I did not detect it before, but the APM_Camera branch worked in a different way.
 2012-06-13 21:08:09 +02:00
Amilcar Lucas 1906e06b69 Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Amilcar Lucas a32b7c200b Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Amilcar Lucas 5ffd489d87 Spellcheck 2012-06-13 20:44:35 +02:00
Jason Short 448e4d8728 Added CLI level command 2012-06-11 23:01:25 -07:00
Jason Short c804860243 Cosmetic changes only. 2012-06-10 13:10:07 -07:00
Jason Short 4e50db2f6e Added missing Manual_level config 2012-06-10 13:08:48 -07:00
Jason Short 37d8f86d33 Added missing Manual Level initializer 2012-06-10 13:08:22 -07:00
Andrew Tridgell 940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
Andrew Tridgell 99b39aef93 APM: ready for 2.40-beta 2012-06-08 18:03:21 +10:00
Andrew Tridgell a684bddbda GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Andrew Tridgell 25c17a5425 re-enable the AP_Mount build 2012-06-04 19:32:11 +10:00
Andrew Tridgell e7cf643386 added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell 3af29bd84e AP_Mount: disable AP_Mount until it works with MAVLINK10 2012-06-04 13:14:51 +10:00
Michael Oborne a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Michael Oborne b4a1b03fd3 AP: add fake satellite count for hil. 2012-06-02 16:38:20 +08:00
Pat Hickey 5766afa6c8 ArduPlane: Increment format number in Parameters.h 
* Force all users to reconfigure to take advantage of elevon patch
  ( 669e6867 )
 2012-05-28 20:51:12 -07:00
Pat Hickey 1c00d1ffe3 ArduPlane: Fix effect of ELEVON_REVERSE 
* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
  ELEVON_CH1_REVERSE parameter. These parameter values are found in
  g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
  channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
  the combination of pitch & roll into ch1 & ch2, as there are already
  parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
  not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
  instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
 2012-05-27 22:15:08 -07:00
Michael Oborne c307b69515 increase resolution on params 0.1 > 0.01 2012-05-24 06:22:57 +08:00
Andrew Tridgell d9457ecc38 MAVLink: send time of GPS fix accurately 
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
 2012-05-23 17:33:33 +10:00
Andrew Tridgell 66544a5db2 Log: don't print '+' while erasing logs 
we no longer do page based erase, so printing a + every 128 pages
makes no sense
 2012-05-22 20:10:29 -07:00
Andrew Tridgell b3aa704c49 AirSpeed: added parameter ARSPD_USE 
setting ARSPD_ENABLE to 1 and ARSPD_USE to 0 allows the airspeed
sensor to be initialised and logged without it being used for flight
control. This is very useful when initially testing an airspeed sensor
in a new plane. It also makes it possible to enable/disable the use of
the airspeed sensor during a flight at any time.
 2012-05-22 20:02:23 +10:00
Andrew Tridgell 8e01bc3593 MAVlink: update ArduPlane for param fetch during DataFlash erase 
same changes as for ArduCopter
 2012-05-22 16:13:35 +10:00
Andrew Tridgell 251fe26875 GPS: added ublox build target 
useful for 1280 APM1s
 2012-05-18 22:31:50 +10:00