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291 Commits

Author SHA1 Message Date
Randy Mackay 6857b8e4f4 Rover: use renamed RCInput valid_channels 2013-04-29 15:07:22 +09:00
Andrew Tridgell e8c71c1449 Rover: log mode number as well as mode string 
this makes graphing mode changes easier
 2013-04-28 14:58:43 +10:00
Andrew Tridgell a64d067749 Rover: log GPS packets as they come in 2013-04-28 14:57:19 +10:00
Andrew Tridgell 18444d3ac3 Rover: show modes as strings in log 2013-04-28 14:47:59 +10:00
Randy Mackay 95e83314ac Rover: add I2C error count to PM message 2013-04-26 22:40:09 +09:00
Andrew Tridgell 81b9dad1cd Rover: mark new beta version 2013-04-24 16:20:12 +10:00
Andrew Tridgell f50fe7a77a Rover: made a bit test clearer 2013-04-24 08:32:01 +10:00
Bill Bonney 14eca30456 Rover: Enable CURRENT logging by default to dataflash 2013-04-21 07:24:16 +10:00
Andrew Tridgell fb6b736c78 Rover: print mode as string in logs 2013-04-20 15:18:42 +10:00
Andrew Tridgell c45f90fb06 Rover: log board voltage 2013-04-20 13:52:36 +10:00
Andrew Tridgell cabef0ef6c Rover: cleanup build warnings 2013-04-20 13:52:36 +10:00
Andrew Tridgell 7717cc1450 Rover: added compass logging 2013-04-20 13:52:36 +10:00
Andrew Tridgell 8c7a7928d4 Rover: use new StartNewLog() interface 2013-04-20 13:52:36 +10:00
Andrew Tridgell 90f70707b1 Rover: convert to new logging system 2013-04-20 13:52:36 +10:00
Andrew Tridgell 947b64dfc4 Rover: fixed turn time in flash logs 2013-04-19 11:03:43 +10:00
Andrew Tridgell a8d6fa3107 Rover: fixed dataflash logs to be useful 
added sonar and fixed other messages
 2013-04-19 10:23:57 +10:00
Andrew Tridgell 0bbddbb877 Rover: added PX4 flash logging 2013-04-17 21:35:40 +10:00
Andrew Tridgell df27b8b35d Rover: fixed logging for new API 2013-04-17 21:34:20 +10:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell a5fdbadcc2 Rover: use get_pid_4500() to prevent PID overflow 
if users set much too large gains
 2013-04-01 22:17:05 +11:00
Andrew Tridgell 645bd87b63 Rover: minor parameter documentation updates 2013-03-29 22:46:58 +11:00
Andrew Tridgell 12c35da9aa Rover: fixed SKID_STEER_IN calculations 2013-03-29 19:43:28 +11:00
Andrew Tridgell 3a1e9e43a1 Rover: use new angle wrap code 2013-03-29 13:14:14 +11:00
Andrew Tridgell a8bd8950c8 Rover: enable HOLD with throttle failsafe by default 
this is the safest combination
 2013-03-29 11:34:42 +11:00
Andrew Tridgell 9eaa764f42 Rover: report smaller of two sonar distances 2013-03-29 11:00:41 +11:00
Andrew Tridgell ad7e8bd9c4 Rover: added SONAR_DEBOUNCE option 
this allows us to debounce the sonar triggering, which will make it
handle noise better
 2013-03-29 10:49:08 +11:00
Andrew Tridgell caaf32211e Rover: new failsafe logic 
this obeys FS_TIMEOUT and FS_ACTION
 2013-03-29 10:25:53 +11:00
Andrew Tridgell 0ed3061d32 Rover: added waypoint passed logic to RTL 
this prevents circling around home
 2013-03-29 10:24:59 +11:00
Andrew Tridgell d02a127b7e Rover: change version to 2.40 2013-03-29 09:54:06 +11:00
Andrew Tridgell e4a4cb59e0 Rover: fixed timeout for obstacle detection 2013-03-29 09:36:54 +11:00
Andrew Tridgell 7c4dfa6698 Rover: fixed speed scaling for steering 
it was inverted!
 2013-03-29 09:14:58 +11:00
Andrew Tridgell caf5e5b7c5 Rover: added HOLD mode 
used when RTL completes
 2013-03-29 08:53:20 +11:00
Andrew Tridgell d968a7c7ed Rover: log obstacle events 2013-03-29 08:53:02 +11:00
Andrew Tridgell 7b04747366 Rover: identify as a rover in MAVLink heartbeat message 2013-03-29 08:16:29 +11:00
Andrew Tridgell 829a000aa5 Rover: fixed sonar reset after the turn time 
thanks to Tom for finding this
 2013-03-29 08:08:14 +11:00
Andrew Tridgell a25fede6bb Rover: added range of sonar distances and voltages 2013-03-29 08:07:24 +11:00
Randy Mackay 6cb47cee6b Rover: add support for GPS fix type 2D 2013-03-27 11:41:58 +09:00
Andrew Tridgell c76f8a5242 Rover: fixed AUTO_KICKSTART GPIO pin handling 2013-03-22 12:31:35 +11:00
Andrew Tridgell a88ac50e6c Rover: log the X accel that triggers auto 2013-03-22 11:54:04 +11:00
Andrew Tridgell ed6d4a1495 Rover: fixed AUTO_KICKSTART parameter markup 2013-03-22 11:22:02 +11:00
Andrew Tridgell 3bed733f56 Rover: added AUTO_KICKSTART and AUTO_TRIGGER_PIN options 2013-03-22 09:38:25 +11:00
Andrew Tridgell 47890dfa72 Rover: added dual sonar support 2013-03-22 08:49:51 +11:00
Andrew Tridgell 065cac76c0 Rover: use new sonar enabled flag in object 2013-03-22 07:53:16 +11:00
Andrew Tridgell 0e8407ccbd Rover: put obstacle detection in a structure 
easier to extend for multiple sonars
 2013-03-22 07:41:36 +11:00
Andrew Tridgell 1c52de5f20 Rover: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:29 +11:00
Andrew Tridgell 24094252fd Rover: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:58:12 +11:00
Andrew Tridgell 83d5a64ca8 Rover: change CLI timeout to 20s 2013-03-21 17:34:23 +11:00
Andrew Tridgell 89c85f9c5a Rover: added shell command in CLI test menu 2013-03-20 12:35:56 +11:00
John Stäck c9576e59f9 Add set command to setup menu (and changed show command), same as for ArduCopter. Not included when building for 1280. 2013-03-19 11:40:25 +09:00
Andrew Tridgell 4991ea73fe Rover: fixed CH_2 and CH_4 RC pass through 
fixes issue #158
 2013-03-18 18:06:45 +11:00
Andrew Tridgell bb14672dab Rover: fixed PX4 MPU6000 driver for rover 2013-03-16 19:47:09 +11:00
Andrew Tridgell 0dde0b3551 Rover: initial implementation of skid steering for APMrover2 
this adds SKID_STEER_IN and SKID_STEER_OUT parameters for controlling
skid skeering control and output
 2013-03-15 11:04:33 +11:00
Andrew Tridgell 5ddbad6ccb Rover: remove scaling of voltage pin 2013-03-15 08:40:32 +11:00
Andrew Tridgell af141c2487 Rover: implement RSSI_PIN 
route RSSI value from receiver to MAVLink
 2013-03-15 08:08:35 +11:00
Andrew Tridgell 2294de85ac Rover: removed INPUT_VOLTS parameter 
no longer needed
 2013-03-08 10:01:51 +11:00
Andrew Tridgell cf2d99847e Rover: use voltage_average() interface 2013-03-03 16:16:01 +11:00
Andrew Tridgell fc0b50dd82 Rover: reduce throttle more directly 
this gives better throttle control in turns and waypoints
 2013-03-02 13:51:50 +11:00
Andrew Tridgell daa603552b Rover: added new STEERING mode 
this makes it easier to tune for auto mode
 2013-03-01 22:33:11 +11:00
Andrew Tridgell e228bbfebf Rover: implement SONAR_TURN_TIME 
keep turning for at least that time
 2013-03-01 22:33:11 +11:00
Andrew Tridgell 6dd549dea8 Rover: removed SONAR_TYPE option 
now set the values in the object
 2013-03-01 12:59:31 +11:00
Andrew Tridgell d0f27f8830 Rover: comment/maintainer cleanup 2013-03-01 12:32:48 +11:00
Andrew Tridgell 0873f8d00d Rover: cleanup some old code 2013-03-01 12:29:43 +11:00
Andrew Tridgell 3aeb836bc0 Rover: allow sonar test with sonar disabled 
useful for initial config
 2013-03-01 12:29:29 +11:00
Andrew Tridgell 12d73a8662 Rover: use new AP_RangeFinder_analog class 2013-03-01 12:00:48 +11:00
Andrew Tridgell be3b2ee9f8 Rover: cleaned up sonar_trigger_cm parameter 2013-03-01 07:47:26 +11:00
Andrew Tridgell 4de635aa48 Rover: change sonar_dist to sonar_dist_cm 
make units clearer
 2013-03-01 07:43:51 +11:00
Andrew Tridgell 44a279811d Rover: removed old LITE mode 
this will be replaced with a AHRS_Lite backend later
 2013-03-01 07:40:47 +11:00
Andrew Tridgell c4e9d0961a Rover: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell 66abee5544 Rover: added more sonar parameters 
better control over obstacle avoidance
 2013-03-01 07:18:25 +11:00
Andrew Tridgell 06dd6c2790 Rover: always build sonar code 
can use enabled/disabled parameter for runtime control
 2013-03-01 07:18:25 +11:00
Andrew Tridgell 36da75aacd Rover: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Andrew Tridgell bf6198be40 Rover: tweaked parameters and added SPEED_TURN_GAIN and SPEED_TURN_DIST 2013-02-22 08:38:13 +11:00
Andrew Tridgell 52800e52b9 Rover: added 'level' CLI and reboot command 2013-02-22 07:49:07 +11:00
Andrew Tridgell 1cb9f71370 Rover: fixed comments 2013-02-22 07:48:52 +11:00
Andrew Tridgell 882f058e7d Rover: don't override declination on startup 2013-02-22 07:14:54 +11:00
Andrew Tridgell 06ccf8495b Rover: default magnetometer to enabled 
will be disabled by auto-detect code if not attached
 2013-02-22 07:14:38 +11:00
Andrew Tridgell b9a204419a Rover: removed obsolete files 2013-02-22 07:14:07 +11:00
Andrew Tridgell 7e4d4b07c3 Rover: change PX4 main baud rate back to 115200 
we now use USB console
 2013-02-22 07:03:52 +11:00
Andrew Tridgell 0f239ae92c Rover: reset AHRS trim after levelling 2013-02-20 11:56:38 +11:00
Randy Mackay b7a4814e22 Rover: integrate automatic roll and pitch trims 2013-02-19 13:31:03 +09:00
Andrew Tridgell 6cf4d11e33 Rover: cleanup parameter names and remove dead parameters 2013-02-09 20:36:26 +11:00
Michael Oborne c2fd7617e1 Send FS state to gcs for AR 2013-02-09 10:11:43 +08:00
Andrew Tridgell 582d1c47b3 Rover: added filter to auto steering, and fixed throttle pid 2013-02-08 10:21:30 +11:00
Andrew Tridgell 5ee7abd892 Rover: rename Attitude.pde to Steering.pde 2013-02-08 09:32:23 +11:00
Andrew Tridgell f1ff27ed08 Rover: major restructuring 
this removes a lot of the old arduplane code, and renames a lot of
variables.

This will need a lot more testing and fixup before being usable
 2013-02-08 09:21:22 +11:00
Andrew Tridgell 32d702e912 Rover: fixed logging build errors 2013-01-27 13:04:41 +11:00
Randy Mackay 72414085b2 Rover: logging changes to use new faster packet method 2013-01-26 18:46:16 +09:00
Randy Mackay bb21194fd7 Rover: CUR and CURR renamed to CURRENT in dataflash 
Based on user complaint re inconsistency of disabling/enabling and
output in dataflash
 2013-01-26 17:41:38 +09:00
Randy Mackay 648caff1c6 Rover: make dataflash output all csv format 2013-01-26 17:37:34 +09:00
Randy Mackay 7bfe659626 Rover: rename RAW dataflash message to IMU 2013-01-26 17:35:18 +09:00
Andrew Tridgell 0b03df4e69 Rover: run serial0 at 57600 on PX4 2013-01-22 09:50:12 +11:00
Andrew Tridgell 6fa5837f71 Rover: fixed mavlink fetch of 16 character parameter 2013-01-21 16:51:50 +11:00
Andrew Tridgell aff5b1559d Rover: added SERIAL0_BAUD parameter 2013-01-20 22:12:57 +11:00
Andrew Tridgell 583ec2b236 Rover: fixed PX4 mag orientation 2013-01-17 17:23:34 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell 82004d691f Rover: use common log reading function 2013-01-15 14:03:51 +11:00
Andrew Tridgell ca1070f10e Rover: fixed a build warning 2013-01-13 20:05:14 +11:00
Andrew Tridgell c88766850a Rover: ensure ahrs.init() is called 2013-01-13 17:32:48 +11:00
Pat Hickey ec02aab5d7 Rover Makefile: don't include targets.mk directly (included by apm.mk) 2013-01-09 13:15:53 -08:00
Andrew Tridgell 1104d45a2c Rover: update for new AP_Param API 2013-01-09 13:30:53 +11:00
Andrew Tridgell ef35aa63ce Rover: port rover code to PX4 2013-01-02 22:14:35 +11:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell 5a56b845c0 Rover: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Andrew Tridgell c97f84864a Rover: removed old file 2013-01-02 10:18:58 +11:00
Craig@3DR 0ed25cf719 Global change all references from 
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
 2013-01-02 09:24:31 +11:00
Andrew Tridgell cf8e648558 CLI: fixed accel setup 
disable mavlink callback in CLI
 2012-12-24 08:51:33 +11:00
Andrew Tridgell fc953588e1 Rover: allow rover to build on APM1-1280 2012-12-22 13:21:34 +11:00
Andrew Tridgell 9931009db2 Math: use pythagorous2() in some more places 2012-12-20 15:16:18 +11:00
Pat Hickey 087bf380c0 APMrover2: fixes for AP_InertialSensor_UserInteract 2012-12-20 14:53:23 +11:00
Andrew Tridgell 3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell be39ccf02c Rover: use new constrain_int16 function 2012-12-20 14:53:22 +11:00
Pat Hickey 2ad4fed8cd Rover/Copter/Plane: change from vsnprintf to vsnprintf_P 2012-12-20 14:52:38 +11:00
Pat Hickey 2f1846165b ArduRover: use hal's vsnprintf 2012-12-20 14:52:38 +11:00
Andrew Tridgell ba733dcc3e Rover: use targets.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 509e801e21 Rover: fixed RC input 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7fbbc388a7 Rover: fixed formatting 2012-12-20 14:52:35 +11:00
Andrew Tridgell 6f757ed457 Rover: fixup parameter loading 2012-12-20 14:52:35 +11:00
Andrew Tridgell 1c2a220888 Rover: more mavlink fixes 2012-12-20 14:52:35 +11:00
Andrew Tridgell 45615e5698 Rover: merge in mavlink updates from ArduPlane 2012-12-20 14:52:35 +11:00
Andrew Tridgell d706f11be9 Rover: added nocore.inoflag 2012-12-20 14:52:35 +11:00
Andrew Tridgell 235369cfbc Rover: cleanup board config 2012-12-20 14:52:35 +11:00
Andrew Tridgell b284d4c21e Rover: first cut at porting rover to AP_HAL 2012-12-20 14:52:34 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Andrew Tridgell 33e47e2036 Rover: set throttle range from -100 to 100 
this allows for reverse
 2012-12-18 15:42:11 +11:00
Andrew Tridgell 898aa0b260 Plane: fixed spelling error 2012-12-04 11:38:29 +11:00
Andrew Tridgell 4484144228 Rover: removed INS print code 
its all in parameters now
 2012-12-04 09:11:55 +11:00
Andrew Tridgell cd5ad49417 Rover: switch to IMU driven timing, same as ArduPlane 2012-11-30 07:15:19 +11:00
Andrew Tridgell d89c213d42 Rover: update for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell ff9628accf Rover: removed some more plane specific variables 2012-11-29 20:53:21 +11:00
Andrew Tridgell 5768244671 Rover: more cleanups 
get rid of flight_mode_strings and cleanup unused code

switch to using ahrs for have_position
 2012-11-29 20:53:20 +11:00
Andrew Tridgell a9efe839d6 Rover: copy slew limit code from ArduPlane 2012-11-28 12:13:39 +11:00
Andrew Tridgell 1f8a61615c Rover: added more parameter docs 2012-11-28 11:42:51 +11:00
Andrew Tridgell 92026be9d6 Rover: use slewrate code from ArduPlane 2012-11-28 11:42:22 +11:00
Andrew Tridgell f9c5c94cc6 Rover: removed accel cal CLI command 
not really needed for a rover
 2012-11-28 10:42:34 +11:00
Andrew Tridgell aac088dc5b Rover: removed closed loop nav 
use a jump in the mission instead
 2012-11-28 10:42:10 +11:00
Andrew Tridgell 2bca51ed0f Rover: changed default WP radius to 2m 2012-11-28 09:35:42 +11:00
Andrew Tridgell ff41e057d9 Rover: added partial update of waypoints 2012-11-28 09:35:42 +11:00
Andrew Tridgell 691d19dd98 Rover: more cleanup, and fixed navigation code 
removed loiter code
 2012-11-28 09:35:42 +11:00
Andrew Tridgell a16ba57467 Rover: cleaned up a bunch more plane cruft 
removed elevon and flap support
 2012-11-28 09:35:42 +11:00
Andrew Tridgell b2899dc9c4 Rover: added in sitl object, needed for throttle control 2012-11-27 23:20:25 +11:00
Andrew Tridgell f3c077b76d Rover: fixed SITL build 2012-11-27 21:49:45 +11:00
Andrew Tridgell 54a722158a Rover: fixed cliSerial and clean out more gunk 2012-11-27 21:47:30 +11:00
Andrew Tridgell 24adc1aaa3 Rover: make it possible to run the CLI over a radio link 2012-11-21 21:41:34 +11:00
Andrew Tridgell 704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Andrew Tridgell 39836eabb2 Rover: support 16 character parameter names 2012-11-20 21:39:11 +11:00
Andrew Tridgell 69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
Andrew Tridgell 283fb7e606 Rover: added support for finish line waypoints 
this ensures waypoints complete, even with bad yaw from mag
interference
 2012-11-19 07:16:47 +11:00
Andrew Tridgell 16b5b00368 Rover: removed inverted flight support 2012-11-17 18:03:17 +11:00
Andrew Tridgell ebaf1a1ae9 Rover: fixed the sonar 
We were not initialising the analog source timer
 2012-11-17 18:02:28 +11:00