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213 Commits

Author SHA1 Message Date
Andrew Tridgell
49356b790b Plane: limit number of bytes read per GCS check 2013-01-23 09:35:06 +11:00
Andrew Tridgell
9813468640 Plane: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:08 +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
e0f052dd9a Plane: update for new AP_Param API 2013-01-09 13:30:55 +11:00
Andrew Tridgell
2e2f96d721 Plane: cope with a HIL_STATE packet before GPS init 2013-01-04 12:47:08 +11:00
Andrew Tridgell
4cdb3cd390 Plane: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Andrew Tridgell
b6295c12e1 Plane: fixes for new AP_Relay interface 2013-01-02 10:18:45 +11:00
Andrew Tridgell
edad43611d Plane: reset last heartbeat time on startup completion 
this gives more time for the GCS to send its first heartbeat
 2012-12-26 08:46:36 +11:00
Andrew Tridgell
d54c6989ab Plane: fixed the last build warnings 
we now build with no warnings for APM1, APM2 and SITL. Yay!
 2012-12-20 22:46:48 +11:00
Andrew Tridgell
feca411943 Plane: added new TRAINING mode 
this mode gives manual control when the roll or pitch is within the
set limits (the same limits as FBW mode), and prevents the pilot from
flying beyond those limits, essentially a "attitude limited manual"
mode
 2012-12-20 22:41:58 +11:00
Andrew Tridgell
cf18534163 Plane: use new functions 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
edb076a6c5 ArduPlane: use hal's vsnprintf 2012-12-20 14:52:38 +11:00
Andrew Tridgell
4913aff8cd Plane: remove unused send_text() function 2012-12-20 14:52:35 +11:00
Andrew Tridgell
c20481dc94 Plane: SITL has a I2C driver now 2012-12-20 14:52:34 +11:00
Andrew Tridgell
678947c65d Plane: more fixes for SITL and new AP_Param startup 2012-12-20 14:52:29 +11:00
Andrew Tridgell
7046fc05e2 Plane: change to send_text_P() for progmem strings 2012-12-20 14:51:39 +11:00
Pat Hickey
92b0c302f2 ArduPlane: Ported to AP_HAL 2012-12-20 14:51:36 +11:00
Andrew Tridgell
805a340350 Plane: enable attitude and raw logging in HIL modes 2012-12-04 11:13:33 +11:00
Andrew Tridgell
24e1af1c82 Plane: fixed sensors and attitude HIL 
we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
 2012-12-03 23:26:39 +11:00
Andrew Tridgell
53951f995a Plane: fixed GPS course in HIL 2012-12-03 17:38:55 +11:00
Andrew Tridgell
567cb47d35 Plane: fixed SERVO_OUTPUT_RAW for HIL 2012-12-03 17:38:31 +11:00
Andrew Tridgell
1104287aa2 Plane: use enum FlightMode in more places 2012-12-01 08:15:48 +11:00
Andrew Tridgell
f5abc2c25e Plane: switch to an enum for flight modes 2012-12-01 08:08:54 +11:00
Andrew Tridgell
56e4cbfb1d Plane: allow reboot on APM1, and add reboot to main CLI menu 2012-11-24 18:20:37 +11:00
Andrew Tridgell
84300c85d6 APM: make it possible to run the CLI on any serial port 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
a600ccece5 APM: support 16 character parameter names 2012-11-20 21:36:13 +11:00
Andrew Tridgell
69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
Andrew Tridgell
f80783665f APM: fixed throttle display to always be between 0 and 100 
when rc3 is below RC3_MIN, don't give an invalid value
 2012-11-20 13:50:19 +11:00
Andrew Tridgell
8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
Andrew Tridgell
531e62d3b5 MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
rmackay9
cdfd3f9ccc ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
Andrew Tridgell
fddfb0b1a3 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9
ef727bbb3c ArduPlane: move to use new INS library instead of IMU library 2012-11-07 19:21:03 +09:00
Andrew Tridgell
9c140356f5 APM: remove unused variable 2012-11-05 15:22:56 +11:00
Andrew Tridgell
2793e432ff APM: use raw GPS velocity in GLOBAL_POSITION_INT 
a much more useful value to log
 2012-11-05 14:58:40 +11:00
Michael Oborne
a38fef65c7 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
Andrew Tridgell
bbec662483 APM: fixed build warning 2012-09-25 07:21:03 +10:00
Andrew Tridgell
fbc053e6e4 APM: change to one low priority status buffer per GCS instance 
this allows us to operate the low priority messages on each link
independently.

Thanks to David Buzz for the suggestion!
 2012-09-24 17:39:19 +10:00
Andrew Tridgell
41017442f8 APM: removed unnecessary waypoint_sending flag 2012-09-22 20:17:19 +10:00
Andrew Tridgell
f0f47f929a APM: send right parameter index when possible 2012-09-22 20:17:17 +10:00
Andrew Tridgell
5c402fa398 APM: allow RawSensors stream rate to be saved if <= 5 
this makes it possible to configure all stream rates via a parameter
file
 2012-09-22 20:17:02 +10:00
Andrew Tridgell
63940d3ab6 APM: don't send GPS_STATUS MAVLink message 
it now provides no useful information as satellites_visible is in
GPS_RAW_INT in MAVLink 1.0
 2012-09-22 20:12:43 +10:00
Andrew Tridgell
cbc4a57abb APM: send airspeed sensor value, not estimate, when enabled 
this solves the problem of people reporting that airspeed is not shown
when ARSPD_USE is zero.
 2012-09-20 08:00:54 +10:00
Andrew Tridgell
832c5e996e APM: make it possible to fetch parameters by index 2012-09-20 07:42:46 +10:00
Andrew Tridgell
3077de0d33 APM: much faster parameter fetching 
allow up to 30% of bandwidth to be used for parameter send
 2012-09-20 07:29:23 +10:00
Andrew Tridgell
7e8ef0ae95 APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
Andrew Tridgell
127117b640 APM: ensure DO_SET_SERVO channels are enabled 2012-09-16 15:08:14 +10:00
Andrew Tridgell
208b878988 APM: allow update of last waypoint 
fixed off by one error
 2012-09-16 15:06:26 +10:00
Andrew Tridgell
6e9abb616a APM: show real raw RC input, not mixed input 
this makes it easier to diagnose elevon mixing issues
 2012-09-13 12:00:49 +10:00
Andrew Tridgell
0812fc4890 APM: reboot only works on the APM2 2012-09-10 11:50:48 +10:00
Andrew Tridgell
cb88681914 APM: added support for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 
this allows for remote reboot of APM
 2012-09-10 11:42:30 +10:00
Andrew Tridgell
e2779523ea APM: fixed fetch of relative altitude waypoints 
when we fetch relative altitude waypoints from APM to a file, we need
to preserve the altitude
 2012-09-10 09:40:29 +10:00
Andrew Tridgell
d07d42403e APM: tidy up an if() statement 2012-09-08 10:14:20 +10:00
Andrew Tridgell
130b26e1f9 APM: support DO_SET_SERVO command 2012-09-08 10:06:53 +10:00
Andrew Tridgell
9b2ad55773 APM: added forwarding of unknown MAVLink types 2012-09-08 10:06:15 +10:00
Michael Oborne
cd08420c3e AP fix takeoff alt issue 
issue 733
 2012-09-06 20:19:12 +08:00
Andrew Tridgell
f6c3197cd2 APM: added new TELEM_DELAY parameter 
number of seconds to delay telemetry
 2012-08-30 08:59:39 +10:00
Andrew Tridgell
ecc6a52904 APM: report estimated airspeed if airspeed not available 2012-08-25 17:49:26 +10:00
Andrew Tridgell
abe5bbfa4d APM: support forcing MANUAL of FBWA mode over MAVLink 2012-08-24 15:18:22 +10:00
Andrew Tridgell
6ab2a861f7 APM: added RSSI to RC_CHANNELS_RAW as well 
and prevent double read
 2012-08-22 13:58:25 +10:00
Andrew Tridgell
2d5bb7c51b APM: added RSSI in raw message too 2012-08-22 13:48:09 +10:00
Andrew Tridgell
c0c0b8c976 APM: added RECEIVER_RSSI_PIN option 
this allows for the receiver RSSI to be sent over MAVLink

Thanks to Burt Green for the suggestion
 2012-08-22 13:33:12 +10:00
uncrustify
f7b8fecad9 uncrustify ArduPlane/GCS_Mavlink.pde 2012-08-21 19:19:51 -07:00
rmackay9
11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9
6d489947cf ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t" 2012-08-18 18:26:13 +09:00
rmackay9
9773c8ce93 ArduPlane: commented out two unused variables to remove compiler warning 2012-08-18 13:20:34 +09:00
Andrew Tridgell
d27e51f20a APM: allow telemetry send during parameter and waypoint fetch 
this slows down telemetry by a factor of 4 during parameter or
waypoint transmit. That ensures that mode changes and gps position are
still updated during a long parameter fetch
 2012-08-16 10:50:12 +10:00
Andrew Tridgell
ed064b2506 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Andrew Tridgell
c960db7af5 APM: allow for separate calibration of airspeed/barometer 
this is useful just before takeoff, to account for temperature changes
 2012-08-15 19:49:09 +10:00
Andrew Tridgell
8cb55eb75a APM: keep the time of the last heartbeat message 
this will be used for failsafe processing
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
0584017aff APM: expose change_command() and geofence_breached() to libraries 
this makes a failsafe library easier
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
93f1d5645b APM: fixed LOITER_TIME and LOITER_TURNS 
These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
c31eef59ae Mavlink: log wind estimation result 2012-08-11 22:06:03 +10:00
Andrew Tridgell
d9b09d2c93 APM: allow for navigation by dead-reckoning 
we now ask AHRS if we have a position estimate, and use that if
available
 2012-08-11 12:01:08 +10:00
Andrew Tridgell
0ffc89d512 APM: support the MISSION_WRITE_PARTIAL_LIST command 
this allows missions to be partially updated in flight
 2012-08-09 17:13:36 +10:00
Andrew Tridgell
dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell
2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +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
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
12cd6b68ff AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Michael Oborne
cb0eacca37 AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell
3c2fc72654 APM: fixed HIL build 2012-07-26 10:09:07 +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
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