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224 Commits

Author SHA1 Message Date
Andrew Tridgell 287db19119 Plane: updates for Stub -> HIL 2013-09-28 22:04:15 +10:00
Andrew Tridgell c3d0b315cf Plane: added HAL_LINUX includes 2013-09-28 21:24:02 +10:00
Mike McCauley 18c6b00b5b Plane: Added definitions for Flymaple 2013-09-24 13:51:28 +10:00
Andrew Tridgell 21a4da0d29 Plane: removed flash_leds() calls 2013-09-19 18:38:28 +10:00
Andrew Tridgell 4bd6b2f428 Plane: use new usb_connected() function 2013-09-19 16:23:58 +10:00
Andrew Tridgell b16e3e4c85 Plane: changed FBW min to 9 m/s 
6 m/s is too dangerous for widely used planes
 2013-08-18 11:42:23 +10:00
Andrew Tridgell 5cfdf52381 Plane: change default modes to FBWA not STABILIZE 2013-08-13 13:42:27 +10:00
Andrew Tridgell c083c15240 Plane: use a larger serial buffer 
this makes higher rate MAVLink possible again
 2013-08-02 18:46:54 +10:00
Andrew Tridgell b8fa83ff54 Plane: change default slewrate to 100%/second 2013-07-22 12:50:02 +10:00
Andrew Tridgell c8a83e17d0 Plane: remove old AIR_START code 
this was never used or tested
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 4087fde140 Plane: enable CTUN log message by default 2013-07-14 21:10:12 +10:00
Andrew Tridgell 3c177867a4 Plane: allow enable/disable of camera log messages in CLI 2013-07-10 12:23:36 +10:00
Paul Riseborough d62636d309 Plane: added new TECS altitude controller 
Includes improvements to takeoff/launch detect logic to support hand
launching for X-8 flight
 2013-07-04 16:56:57 +10:00
Andrew Tridgell f7697574db Plane: use the new airspeed driver interface 
the choice of analog source is now in the airspeed driver
 2013-06-03 11:51:09 +10:00
Andrew Tridgell dd633fcf3f Plane: make voltage and battery capacity failsafe settable at runtime 
this also fixes issue #292
 2013-05-22 20:33:57 +10:00
Andrew Tridgell 001d18b51d Plane: removed scaling of pitot source 2013-05-13 15:19:05 +10:00
Andrew Tridgell 9c6f80c42b Plane: moved some default values to Parameters.pde 2013-05-05 21:51:09 +10:00
Andrew Tridgell 4e2b88f6e6 Plane: added ATT_CONTROLLER option to select attitude controller 
set to 1 for the new APM_Control library
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 0d97f417ec Plane: enable compass on all boards by default 
if not present, then mag init will fail and it will disable
 2013-05-02 15:01:33 +10:00
Andrew Tridgell a019e3740e Plane: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell de3fcbc413 Plane: removed the MANUAL_LEVEL option 
levelling on every startup is far too error prone. This was just
another parameter that everyone changed.
 2013-04-29 14:19:53 +10:00
Bill Bonney 3ec891265f Plane: Enable CURRENT logging by default onto Dataflash 2013-04-21 07:24:02 +10:00
Andrew Tridgell 0c5b393919 Plane: added compass logging 2013-04-20 13:52:36 +10:00
Andrew Tridgell 11eb0cfce1 Plane: update for new AP_Navigation controller class 
this switches ArduPlane over to use the L1 navigation controller, via
a generic nav_controller object pointer.

Note that the nav_controller controls all types of navigation now,
including level flight and heading hold. This provides a cleaner
abstraction than the old method of special case navigation handling

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-04-12 12:48:09 +10:00
Andrew Tridgell dfb14d760b Plane: added HIL_SERVOS option 
this allows for real servo output in HIL
 2013-03-30 14:38:43 +11:00
Andrew Tridgell c989099665 Plane: enable PX4IO dual telemetry devices 2013-02-18 13:56:21 +11:00
Brandon Jones fa7839941f After Plane: cleanup driver declaration 4d9a74d, HIL_MODE_ATTITUDE with MAG_ENABLE=1 set results in continuous reboot/APM crash. Added define for AP_COMPASS_HIL when HIL_MODE_ATTITUDE is enabled. 2013-02-05 09:04:34 +11:00
Randy Mackay 7297a1ff83 Plane: renamed RAW dataflash message to IMU 2013-01-26 17:29:29 +09:00
Randy Mackay e674626fd6 Plane: rename CUR and CURR to CURRENT for logging 
Based on user complaint that log was enabled/disabled using CUR while
message that appeared in log was CURR.
 2013-01-26 17:19:42 +09:00
Andrew Tridgell 4d9a74d742 Plane: cleanup driver declaration 
remove a lot of the #if nesting
 2013-01-21 16:08:55 +11:00
Andrew Tridgell 4deee014d6 Plane: setup PX4 airspeed analog port 2013-01-21 13:56:28 +11:00
Andrew Tridgell 2e04d4827a Plane: run PX4 console at 57600 2013-01-20 22:13:21 +11:00
Andrew Tridgell f9cb9e08ae Plane: fixed orientation of PX4 compass 2013-01-17 17:23:34 +11:00
James Bielman ab37f833db MS5611: Fix CONFIG_MS5611_SERIAL definitions. 
- Make sure the values are defined as integers.  We were always using
  SPI rather than using I2C when desired.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell 38f56be2c4 Plane: enable hardware sensors on PX4 2013-01-04 21:07:56 +11:00
Andrew Tridgell 9e0096ddb5 Plane: fix handling of sensors HIL startup 2013-01-04 12:34:35 +11:00
James Bielman 264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell 868269e037 Plane: switch PX4 to attitude HIL for now 
a bit easier to debug
 2013-01-03 13:38:54 +11:00
Andrew Tridgell e8075b1657 Plane: for HIL_SENSORS for PX4 for now 
until we have sensor drivers
 2013-01-03 11:03:24 +11:00
Andrew Tridgell 1a49549e3e Plane: start port of main ArduPlane code to AP_HAL_PX4 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 9a2e77b797 Plane: fully disable relay and mount code on APM1-1280 
this saves some more flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell 772f93ea10 Plane: fixed config for 1280 2012-12-20 14:53:23 +11:00
Andrew Tridgell 41272614ce Plane: simplify board config defines 2012-12-20 14:52:32 +11:00
Andrew Tridgell e82deca305 Plane: updates to support AP_HAL SITL 2012-12-20 14:51:40 +11:00
Pat Hickey f8dec9ae4a ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE 2012-12-20 14:51:37 +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 a6d8dbeac2 Plane: update ArduPlane for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell 8f108e2eb3 APM: added AMP_OFFSET option 
thanks to Alexey Kozin!
 2012-11-21 13:34:27 +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 8652bfee8d APM: added RSSI_PIN option for receiver RSSI 
this allows you to configure the pin for receiver RSSI without
recompiling
 2012-11-06 22:04:41 +11:00
rmackay9 775489d658 ArduPlane: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery monitor 2012-10-13 20:51:41 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
Andrew Tridgell 68f1b6336f APM: tweak the default options for an APM1 1280 board 
this allows a few more things to fit in
 2012-09-19 19:36:19 +10:00
Andrew Tridgell cebb67e1df APM: removed the unused sonar code 
when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed
 2012-09-19 19:35:22 +10:00
Andrew Tridgell 5f3ffe4839 APM: switch to Randys new IMU rate control method 
this drives the speed of the 50Hz loop by the number of samples
accumulated in the IMU. This should give much more consistent timing
in DCM.

Thanks to Randy for introducing this scheme in ArduCopter!
 2012-09-11 16:39:36 +10:00
Andrew Tridgell a446a7a9ed APM: allow serial buffer size to be configured 
very useful for packet forwarding setups
 2012-09-08 10:06:35 +10:00
Andrew Tridgell f6c3197cd2 APM: added new TELEM_DELAY parameter 
number of seconds to delay telemetry
 2012-08-30 08:59:39 +10:00
Craig Elder 4ad516c445 Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
Amilcar Lucas b48a1f1fc4 ArduPlane: Fix 1280 builds 
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
 2012-08-27 01:33:45 +02:00
Amilcar Lucas 769f04b7d6 Improve comments, no functional changes 2012-08-27 01:32:27 +02:00
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
Andrew Tridgell 9e926eae51 APM: optional build with new controller libs 2012-08-22 12:39:07 +10:00
uncrustify 3bee769405 uncrustify ArduPlane/config.h 2012-08-21 19:19:51 -07:00
Andrew Tridgell 343f7d2de0 APM: removed DMP support from ArduPlane 
Without centripetal correction the DMP code will almost certainly
crash a plane
 2012-08-22 11:46:35 +10:00
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell 2865434d02 APM: added 'OBC' failsafe module for ArduPlane 
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.

This includes:

 - manual pin
 - heartbeat pin
 - waypoint for heartbeat failure
 - waypoint for GPS failure
 2012-08-15 12:39:34 +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 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 a823c9ceae APM: removed cli slider and dipswitch options 
use mavlink/eeprom for all config
 2012-08-08 12:12:29 +10:00
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
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
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 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 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
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
Jason Short 4e50db2f6e Added missing Manual_level config 2012-06-10 13:08:48 -07:00
Michael Oborne a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Andrew Tridgell f43f5900bc Telemetry: make it possible to use UART2 on APM2 
building with TELEMETRY_UART2=ENABLED allows you to use the solder
bridge on the APM2 to enable telemetry on UART2. This allows both USB
telemetry and a radio at the same time.
 2012-05-04 10:39:44 +10:00
Andrew Tridgell 8fab91e063 APM-nav: set NAV I value defaults to 0.1 
a small I value is good on most planes, so I think this is a better
default than 0. Thanks to Chris for asking about this.
 2012-04-30 12:27:30 +10:00
James Goppert 0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Andrew Tridgell 86cc7a5e1d APM: enable AP_Declination by default 2012-03-30 14:25:27 +11:00
Andrew Tridgell 168c45ab12 AP_Declination: enabled auto declination by default in APM 2012-03-30 14:25:27 +11:00
Amilcar Lucas 6e9ffb4249 correct small typos in comments 2012-03-11 21:30:09 +01:00
Adam M Rivera 2524f9c8df AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell 9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +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 35badbb97d APM: the CLI fits nicely on the 1280 again now 
I find the CLI very useful for testing, so enable it by default on the
1280. Logging is still off by default.
 2012-02-14 08:33:49 +11:00
Doug Weibel 4b24d865bf Stashing some battery monitoring ratio values in the comments for future use. 2012-01-15 16:35:46 -07:00
Doug Weibel 6e8ac99ed6 Fix airspeed sensor support for APM2. 
Airspeed sensor should be attached to Analog input 0
 2012-01-15 16:12:08 -07:00
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 e1a544cc78 fix relay on apm 1 AP 2012-01-05 07:51:01 +08:00
Andrew Tridgell d0245b206a APM2: default magnetometer to enabled 
all APM2s have a MAG at the moment

thanks to Chris for the suggestion
 2011-12-22 17:51:14 +11:00
Andrew Tridgell e99db6526f APM: added RST_SWITCH_CH parameter 
This is useful for switching back to the mode indicated by the control
switch after a failsafe or fence breach. I was just changing modes
each time, but it is far more elegant to have a spring loaded switch
for "I am ready to take control again", rather than continually
changing modes.
 2011-12-19 11:25:59 +11:00
Andrew Tridgell df094ce463 fixed airspeed sensor for ArduPlane on APM2 
we were trying to use a non-existant ADC chip!
 2011-12-17 07:29:09 +11:00
Andrew Tridgell b9a88aac32 geofence: added FENCE_TRIGGERED_PIN 
this allows for a digital pin to be set high when the geofence
triggers. This pin can be connected to an external failsafe device
 2011-12-17 07:29:08 +11:00
Michael Oborne 28d280562a apm 1280 disables 2011-12-16 22:26:39 +08:00
Andrew Tridgell 82b615df50 geofence: added geo-fencing control parameters 2011-12-16 20:11:51 +11:00
Pat Hickey d7f77aec93 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey 1b2ebdff44 ArduPlane: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Doug Weibel 2ef4c79a7c Minimum ground speed patch from Claudio Natoli. Thanks Claudio! 
This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed.  Airspeed is still limited to FBW-max.  Setting min_groundspeed to zero (default) disables the feature.
 2011-12-09 16:43:25 -07:00
Andrew Tridgell 86927ac0a5 ArduPlane: rename purple to APM2 2011-11-25 20:00:19 -08:00
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 6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 40459653b5 purple: fixed LED and IO pin defintitions 2011-11-25 20:00:18 -08:00
Andrew Tridgell ca76f6d0ec purple: add the remaining hw defines for purple hardware 2011-11-25 20:00:18 -08:00
Pat Hickey 08675a91d8 purple: added config options for purple/APM1 hardware 2011-11-25 20:00:17 -08:00
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 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
Doug Weibel 9cbc38b516 Add a feature for a minimum altitude parameter while flying in FBW-B 
This patch written by YureZzZ - Thank you!
 2011-10-16 23:11:40 -06:00
Michael Oborne 7ef51f723d Sensor hil fix's 2011-10-13 22:22:03 +08:00
Andrew Tridgell e2ed1f1c56 removed some more unused defines 
mavlink is now the only choice for HIL and GCS
 2011-09-19 11:04:02 +10:00
Andrew Tridgell 4437ff1046 get rid of the last active uses of the SendDebug macros 
please use gcs_send_text*() from now on, to ensure serial queueing
 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
Doug Weibel 119d006e03 Change default setting for auto_trim to disabled per user (JB) request. 2011-09-12 07:24:52 -06:00
Amilcar Lucas b7a0d8836a This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:18:38 +02:00
Andrew Tridgell 609ae8359d import APM_Camera branch from SVN 2011-09-09 11:45:13 +10:00
Andrew Tridgell e0dc1271d6 imported ArduPlane from ArduPilotMega svn 2011-09-09 11:29:39 +10:00