c8a83e17d0
Plane: remove old AIR_START code
...
this was never used or tested
2013-07-22 12:50:01 +10:00
51b9cf3e76
Plane: move failsafe variables into a structure
...
this makes the logic a bit easier to follow
2013-07-22 12:50:00 +10:00
113bc20f8a
Plane: added a new CRUISE flight mode
...
See
http://diydrones.com/group/apmusergroup/forum/topics/feature-request-hold-heading-mode
this fixes issue #438
2013-07-13 21:45:58 +10:00
826ad6c086
Plane: unlock roll and pitch when we enter ACRO mode
2013-07-13 12:34:34 +10:00
f300df5fd1
Plane: added FS_LONG_TIMEOUT and FS_SHORT_TIMEOUT parameters
...
this is to address the issue raised here:
http://diydrones.com/forum/topics/ardupilot-circle-mode
2013-07-12 11:56:04 +10:00
608007361b
Plane: added initial implementation of ACRO mode
...
rate based control with attitude locking
2013-07-11 09:10:41 +10:00
d30dd7c3f1
Plane: only run TECS when in an auto-throttle mode
...
this prevents integrator buildup in user controlled modes
2013-07-05 14:55:22 +10:00
4a0c90246e
Plane: make GPS UART blocking again
2013-06-11 18:50:23 +10:00
93cd0f9a31
Plane: switch to new AP_Scheduler
...
this gives us more accurate task scheduling in ArduPlane, plus better
monitoring of task timing (via SCHED_DEBUG)
2013-06-04 13:34:58 +10:00
4c9bc30f58
Plane: make it possible to change control channel ordering without reboot
...
this makes configuration a bit easier
2013-06-03 16:42:38 +10:00
fb9bf21522
Plane: allow channel mapping of first 4 channels
...
this makes it easier to support DSM and SBUS radios
2013-06-03 16:23:48 +10:00
515d726ee0
Plane: use RC_Channel::rc_channel() instead of rc_ch[]
2013-06-03 16:23:48 +10:00
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
d9bcfd913a
Plane: reset attitude integrators on mode change
2013-06-01 22:29:38 +10:00
eba7d6da9a
Plane: removed the old crash_timer code
...
This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.
Thanks to Soren for pointing out the issues
See issue #305
2013-05-28 11:19:28 +10:00
a22f5e3bc4
Plane: enable wind estimation
2013-05-24 11:21:42 +10:00
fdd509a7c1
Plane: move baro init earlier in startup
...
this ensures it is initialised when CLI takeover by MP happens
Thanks to Prof Avi Levi for reporting this bug
2013-05-06 10:57:57 +10:00
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
5ba171af9a
Plane: fixed mavlink levelling
...
this was broken by a recent commit (after 2.72 was released)
2013-05-02 13:38:28 +10:00
a019e3740e
Plane: updates for new compass API
2013-05-02 12:48:14 +10:00
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
2e5834cc7f
Plane: print flight mode as string in logs
2013-04-20 15:18:10 +10:00
c56f338fe0
Plane: convert to new logging system
2013-04-20 13:52:36 +10:00
79c6f32400
Plane: made variables static and remove initial rc overrides
...
minor code size savings
2013-04-15 14:46:01 +10:00
575f346e85
Plane: removed HIL_MODE_ATTITUDE
...
we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
2013-04-12 17:44:40 +10:00
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
dfb14d760b
Plane: added HIL_SERVOS option
...
this allows for real servo output in HIL
2013-03-30 14:38:43 +11:00
7db7d7db77
Plane: change FBWB altitude control algorithm
...
this makes FBWB much less sensitive to airframe tuning. When the
elevator stick first goes neutral it locks in the current altitude as
the target altitude. When the elevator stick is off neutral, it moves
the target altitude in proportion to the elevator, at a rate goverened
by the new FBWB_CLIMB_RATE parameter
This prevents the aircraft from slowly drifting in altitude in FBWB,
and gives a more intuitive control mechanism for altitude.
Thanks to Chris Miser from Falcon UAV for help in designing this
change
2013-03-28 10:27:25 +11:00
c2055557f5
Plane: add support for GPS fix type 2D
2013-03-27 11:41:51 +09:00
87c6545ac6
Plane: don't trigger GCS failsafe if GCS never connected
...
The we have never received a heartbeat message from the GCS then don't
use the lack of heartbeat to trigger a failsafe event
2013-03-09 13:48:39 +11:00
0a0b51cc63
Plane: reset AHRS trim after a level operation
2013-02-20 11:56:02 +11:00
9f70c6c70d
Plane: make CIRCLE mode hold altitude
...
this will prevent us losing a lot of altitude during the initial
failsafe phase
2013-02-11 13:52:25 +11:00
28352b3548
Plane: ensure ahrs.init() is called
2013-01-13 17:32:48 +11:00
86f667f6cc
Plane: added new SERIAL0_BAUD parameter
...
this is useful on PX4
2013-01-13 07:39:40 +11:00
9e0096ddb5
Plane: fix handling of sensors HIL startup
2013-01-04 12:34:35 +11:00
b6295c12e1
Plane: fixes for new AP_Relay interface
2013-01-02 10:18:45 +11:00
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
cf8e648558
CLI: fixed accel setup
...
disable mavlink callback in CLI
2012-12-24 08:51:33 +11:00
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
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
18db7b2efd
GPS: move _port setting to init()
...
this is needed to avoid constructor ordering dependencies
2012-12-20 14:52:32 +11:00
c441f02426
ArduPlane: init DataFlash obj
2012-12-20 14:51:37 +11:00
a14621534c
ArduPlane: port from hal.dataflash to old DataFlash api
2012-12-20 14:51:36 +11:00
92b0c302f2
ArduPlane: Ported to AP_HAL
2012-12-20 14:51:36 +11:00
1104287aa2
Plane: use enum FlightMode in more places
2012-12-01 08:15:48 +11:00
a6d8dbeac2
Plane: update ArduPlane for new ins interface
2012-11-30 07:15:18 +11:00
a87394fff2
Plane: don't do accel calibration in HIL mode
...
this should fix the hang on startup
2012-11-25 21:53:37 +11:00
56e4cbfb1d
Plane: allow reboot on APM1, and add reboot to main CLI menu
2012-11-24 18:20:37 +11:00
84300c85d6
APM: make it possible to run the CLI on any serial port
2012-11-21 21:41:34 +11:00
a5e3ce4655
remove cli planner mode - no longer used
2012-11-21 07:45:45 +08:00
ef727bbb3c
ArduPlane: move to use new INS library instead of IMU library
2012-11-07 19:21:03 +09:00
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
37cb56f3e1
APM: save another few bytes
2012-09-18 13:58:50 +10:00
12dc2e79cf
APM: save 100 bytes of memory
...
remove flight_mode_strings array
2012-09-18 13:58:49 +10:00
4d4a95501f
APM: updates for new GPS detection
2012-09-17 14:45:47 +10:00
94f956a0ca
fix AP attitude hil - with randys help
2012-09-15 16:47:18 +08:00
7e672628ea
APM: removed the GPS_enabled flag
...
this fixes using GPS_PROTOCOL to specify a specific GPS with a GPS
that takes a few updates before it works (eg. needing baud rate
changes).
This makes it easier to use an APM1-1280 with more features enabled
2012-09-11 13:37:34 +10:00
0812fc4890
APM: reboot only works on the APM2
2012-09-10 11:50:48 +10:00
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
a446a7a9ed
APM: allow serial buffer size to be configured
...
very useful for packet forwarding setups
2012-09-08 10:06:35 +10:00
dcbd0fbd44
APM: cleanup throttle suppression code and don't use airspeed to unsupress
...
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.
It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
2012-08-28 20:18:23 +10:00
d445482ace
APM: added optional use of new APM_Control library
...
thanks to Jon Challinger for the new controllers!
2012-08-22 12:45:14 +10:00
a8e5900624
uncrustify ArduPlane/system.pde
2012-08-21 19:19:51 -07:00
6d11940ada
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
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
9fea3e3ac1
APM: pass airspeed sensor to AHRS
2012-08-11 08:57:44 +10:00
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
a823c9ceae
APM: removed cli slider and dipswitch options
...
use mavlink/eeprom for all config
2012-08-08 12:12:29 +10:00
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
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
58fd91165f
APM: fixed some build warnings and type errors
2012-07-06 19:59:18 +10:00
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
3a2594fa1a
APM: ArduPlane updates for new compass interface
2012-06-27 16:01:50 +10:00
2934b4173b
APM: set_centripetal() is now set_fly_forward()
...
this controls more than just centripetal correction
2012-06-27 16:01:49 +10:00
940d994efb
GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover
2012-06-10 16:36:18 +10:00
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
87ed39ea46
APM: use set_blocking_writes(false) when we have done ground start
2012-03-30 17:46:20 +11:00
b4107d35e8
MAVLink: raise the serial transmit buffer size to 256 bytes
...
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
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
8afd196907
APM: adapt ArduPlane for AHRS framework
2012-03-19 17:29:02 +11:00
7a9b3d3388
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
...
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
b20084af7d
APM: added board_voltage() function
2012-03-02 15:48:27 +11:00
0248b48d30
allow MAG_ENABLE to be changed in flight
...
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled
This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
2012-02-25 14:51:09 +11:00
95ef9206dc
DCM: renorm_sqrt_count is now called renorm_range_count
2012-02-23 08:16:08 +11:00
bc0ed62aa9
adapt mainline APM code to AP_Param
2012-02-13 16:22:51 +11:00
1a861b3de5
allow for lower serial baud rates
...
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
9846822748
Bug fix for compass.
...
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge.
If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.
To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
cdd5589498
I2c: default to 5ms timeout, and faster bus speed
...
we will slow down the speed when we get a failure
2012-01-04 16:36:47 +11:00
3cb96fb8af
APM: convert to new I2C library
2011-12-28 20:41:53 +11:00
8d87aa41b9
APM: Update for DataFlash changes
2011-12-28 16:00:49 +11:00
8e17b8d6d4
Correct a bug in throttle failsafe feature
2011-12-24 15:34:31 -07:00
5e347854c3
setup the main loop failsafe after RC library is setup
2011-12-23 11:13:01 +11:00
26d5d3c385
fixed HIL build
2011-12-21 23:31:39 +11:00
29fa78214b
APM: added failsafe support
...
we now pass all channels through at 50Hz if the main loop stops
running, regardless of why. This gives us a reasonable failsafe, as
long as the low level RC library is still working, and interrupts
don't get completely disabled.
2011-12-21 23:31:39 +11:00
f25ee899f3
APM: run mavlink loop while erasing logs
2011-12-18 10:19:52 +11:00
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
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
1998908a05
DCM: reset the DCM matrix after a ground start
2011-12-13 21:33:07 +11:00
483bef35e5
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
07dba4eff7
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
a99a1dbc9a
ArduPlane: update AP_Baro construtors and initializers
2011-12-11 15:21:10 -08:00
f3ad7f3af8
Wire and SPI Init: move to sketch system.pde from libraries
...
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin removed from AP_Baro_MS5611::init()
* SPI.begin removed from AP_InertialSensor_MPU6000::hardware_init()
* Both Wire.begin and SPI.begin added very early in init_ardupilot in
ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
f2652d23bf
ArduPlane: calibrate accel with imu.init_accel after imu.init
...
* complements commit 73418559, where init_accel was eliminated
from AP_IMU_INS::init cold start.
2011-12-10 13:32:47 -08:00
b03de3095e
Add DataFlash.Init before doing a forced log erase on eeprom reset.
...
Add progress indication during log erase
2011-11-28 19:42:27 -07:00
f7a9b8a563
ArduPlane: LED digital writes use LED_OFF and LED_ON
2011-11-25 20:00:19 -08:00
86927ac0a5
ArduPlane: rename purple to APM2
2011-11-25 20:00:19 -08:00
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
ca76f6d0ec
purple: add the remaining hw defines for purple hardware
2011-11-25 20:00:18 -08:00
1e41b4b2b0
timer_scheduler doesn't exist in HIL_MODE_ATTITUDE
2011-11-25 20:00:18 -08:00
3d175c449e
adc.Init() takes timer_scheduler
2011-11-25 20:00:17 -08:00
bad177bfdc
removed old commented out code
2011-11-25 20:00:17 -08:00
ad0cac670c
purple: added new parameters needed for new library APIs
...
new APIs pass in timer_scheduler. We also to init the isr_registry
2011-11-25 20:00:17 -08:00
89d2f0f849
mod barometer.Init() based on hardware
2011-11-25 20:00:15 -08:00
4933c5bcdd
zero airspeed on ground start when initiated by MAVLink
...
If the users asks for a new calibration, that should include the
airspeed sensor
2011-11-21 20:29:18 +11:00
f752c4b799
Change to logging file system.
...
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this. Just making this commit in case I need to roll back
2011-11-17 21:25:51 -07:00
1118d26f03
fixed "Free RAM" display on bootup
2011-10-28 21:34:10 +11:00
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
e7e8165bc7
don't initialise DataFlash if logging is disabled
...
this fixes HIL without an IMU
2011-10-09 22:08:59 +11:00
63ac6bcd94
use memcheck_available_memory() instead of freeRAM()
...
this gives a more accurate view of free memory
2011-10-09 22:08:59 +11:00
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
220b941e31
removed some more dead messages, and convert MSG_* to an enum
...
this make it safer to add a new message while keeping deferred queue
the right size
2011-09-19 11:04:02 +10:00
3f37cce6c7
remove unused MESSAGE_COMMAND_LIST
2011-09-19 11:04:02 +10:00
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
227ce0a92d
Merge some small misc improvements from APM_Camera branch
2011-09-17 20:25:31 +02:00
e0dc1271d6
imported ArduPlane from ArduPilotMega svn
2011-09-09 11:29:39 +10:00
Andrew Tridgell
Randy Mackay
Pat Hickey
Michael Oborne
uncrustify
Doug Weibel
Amilcar Lucas