Andrew Tridgell
85465c9126
MAVLink: fixed another two places where micros() was used for a millisecond time
2012-07-20 11:57:15 +10:00
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
Andrew Tridgell
58fd91165f
APM: fixed some build warnings and type errors
2012-07-06 19:59:18 +10:00
Andrew Tridgell
0385932afb
MAVLink: added climb rate reporting
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
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
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
1906e06b69
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
Michael Oborne
b4a1b03fd3
AP: add fake satellite count for hil.
2012-06-02 16:38:20 +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
8e01bc3593
MAVlink: update ArduPlane for param fetch during DataFlash erase
...
same changes as for ArduCopter
2012-05-22 16:13:35 +10:00
Michael Oborne
218e70cd8b
AP - fix attitude level hil mavlink 1.0 issue
2012-05-06 11:05:35 +08:00
Andrew Tridgell
b6a475f6a5
MAVLink: make APM build with MAVLink 1.0 possible with arduino GUI
2012-04-24 22:24:58 +10:00
Andrew Tridgell
95be2c5922
APM: updates for MAVLink 1.0
2012-04-24 19:54:20 +10:00
Andrew Tridgell
8e6fdb8981
APM: use OutputCh_current() in MAVLink servo logging
...
this gives a more accurate picture of what is actually happening with
the servos
2012-04-24 10:57:43 +10:00
Michael Oborne
8d797fec3c
fix potential null pointer
2012-04-20 17:57:06 +08:00
Andrew Tridgell
e1270401bf
MAVLink: make parameter send use adaptive stream rate
...
this makes it possible to fetch parameters with very low air data
rates
2012-04-02 11:18:53 +10:00
Andrew Tridgell
7b50724f60
MAVLink: allow for find grained stream rate control
...
streams can now be requested at any multiple of 20ms. So if you ask
for a stream at 7Hz then you will get it at close to 7Hz.
2012-04-02 11:18:53 +10:00
Andrew Tridgell
e0bb7e2777
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
...
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
Andrew Tridgell
4c4c38f69a
APM: Added MANUAL_LEVEL option
...
when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at
startup, and instead used the values saved in the EEPROM. This makes
it easier to do levelling on the bench, or once for a series of
flights for the day
2012-03-29 12:39:53 +11:00
Andrew Tridgell
34506b170f
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
Andrew Tridgell
458d55e5bc
MAVLink: constrain variable changes to the datatype range
...
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell
8afd196907
APM: adapt ArduPlane for AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
d75e883fe8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
13d5839778
APM: removed quaternion special cases
2012-03-10 10:34:32 +11:00
Andrew Tridgell
e39c3cb9d2
APM: make it possible to build ArduPlane with quaternion support
2012-03-10 10:34:29 +11:00
Andrew Tridgell
b455443e2c
APM: added logging of DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
690dc9052a
GCS: force scalar type in copy_name()
...
this enables access to compass offsets over MAVLink
2012-02-25 11:37:20 +11:00
Andrew Tridgell
df8a557630
AP_Param: update users of AP_Param for ParamToken
2012-02-19 17:05:28 +11:00
Andrew Tridgell
78babd37fa
APM: use set_and_save_ifchanged() for GCS stream rates
...
this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
2012-02-18 10:51:57 +11:00
Andrew Tridgell
c662140a2b
APM: report the nav_bearing as hold_course when enabled
...
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c042ef1298
APM: fixed some build warnings
2012-02-14 08:58:56 +11:00
Andrew Tridgell
8d1729b3ba
Mavlink: report the corrected pitch via MAVLink
...
this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
2012-02-14 08:58:56 +11:00
Andrew Tridgell
ecdbfd257a
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
0b3e3ec5c8
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00
Andrew Tridgell
bc0ed62aa9
adapt mainline APM code to AP_Param
2012-02-13 16:22:51 +11:00
Sandro Benigno
3200781f56
Battery monitor type 3 cannot calculate battery remaining properly, due it uses only voltage reading. This path set battery_remaining to a value out-of-band for that type of monitoring. It informs to external devices to not show that info.
2012-02-11 21:01:13 -02:00
Michael Oborne
6b949511ca
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
Doug Weibel
69c7598db2
Update battery monitoring code for ArduPlane
...
Fixes compatibility for APM2. Also a significant update to the battery monitoring code: We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos. These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere). Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs. The CLI battery and current monitoring tests were consolidated into 1 test.
2012-01-15 16:10:28 -07:00
Michael Oborne
cd145fd7a9
add circle to output modes
2011-12-29 18:21:32 +08:00
Andrew Tridgell
42522baf9f
geofence: store fence points as int32_t
...
this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
Andrew Tridgell
fc495ce6a7
geofence: added fence status reporting and faster altitude check
2011-12-16 20:11:51 +11:00
Andrew Tridgell
3b148c87d5
geofence: main geo-fence code
...
this implements the primary logic of geo-fencing
2011-12-16 20:11:51 +11:00
Andrew Tridgell
84a694efb9
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
Andrew Tridgell
8cd13749bd
MAVLink: fixed link flood on waypoint upload
2011-12-13 20:39:04 +11:00
Andrew Tridgell
d5c23c83cf
apm2: fixed for new barometer code
2011-12-11 15:21:10 -08:00
Andrew Tridgell
39a36fe946
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
838c57cd1a
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
7def0e98e8
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
8ef364657b
MAVLink: fixed throttle display in VFR_HUD
2011-11-21 20:29:19 +11:00
Amilcar Lucas
ab730ff919
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
9eb27c2573
GCS: fixed timeout loading waypoints
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while loading waypoints we could saturate the link
2011-10-31 21:25:35 +11:00
Michael Oborne
3f3c04f95b
Add MAVLINK_MSG_ID_HIL_STATE message
2011-10-30 18:17:37 +08:00
Andrew Tridgell
d9ae4e4e6e
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
580647b1de
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
Doug Weibel
645b9c1d48
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
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
Andrew Tridgell
2b9daf65ff
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
5a089f98d2
MAVLink: MAVLink 1.0 support now builds
...
not testing at all - so be careful!
2011-10-24 12:21:26 +11:00
Andrew Tridgell
f815a1b27b
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
Michael Oborne
d38b289766
hil sensor cleanup
2011-10-14 18:14:32 +08:00
Michael Oborne
7ef51f723d
Sensor hil fix's
2011-10-13 22:22:03 +08:00
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
Andrew Tridgell
6a9a85f184
remove unused climb_rate code
2011-09-19 11:04:02 +10:00
Andrew Tridgell
0f09bf6654
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
9351ef17a9
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
55cd7bcf1d
added gcs_severity enum
...
this makes it harder to mixup defines
2011-09-19 11:04:02 +10:00
Andrew Tridgell
66e4ae50bb
remove some more old cruft
2011-09-19 11:04:02 +10:00
Andrew Tridgell
73223ee458
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
de12ea429e
remove some more unused code in the GCS interface
2011-09-19 11:04:02 +10:00
Andrew Tridgell
e61d742345
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
2ca8e58bc2
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
17ebb311a7
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
9baab490f1
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
49d96726d5
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
e43b711e96
fix remote error value
2011-09-15 18:26:59 +08:00
Andrew Tridgell
e0dc1271d6
imported ArduPlane from ArduPilotMega svn
2011-09-09 11:29:39 +10:00