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290 Commits

Author SHA1 Message Date
Doug Weibel 6f9c6a3b8e Adding comments for global variables 2012-01-11 12:37:43 -07:00
analoguedevices 47197891e3 Put in commented-out APM2 # defines, to save people the trouble of having to type them in themselves. 2012-01-09 02:00:46 +00:00
Doug Weibel 0fb4082581 Bug fix for issue 438. 
The rate in a change alt command does not need to be signed.  The code will determine if the rate needs to be positive or negative
 2012-01-08 18:24:55 -07:00
Michael Oborne 5d5800ee1f fix relay on apm 1 AP 2012-01-05 07:51:01 +08:00
Andrew Tridgell 645eac6f38 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
Doug Weibel 35fba5d4a3 Tweak to FBW min altitude 
Patch from Yury
 2011-12-31 15:44:40 -07:00
Jason Short bc7f0a567c Small issue with newline formatting 2011-12-29 23:02:02 -08:00
Michael Oborne 0c75c863de add circle to output modes 2011-12-29 18:21:32 +08:00
Andrew Tridgell 5aca951438 APM: added error checking on barometer read 
if the barometer is dead and the GPS has a fix, use the GPS for
altitude
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 2c41264a9b APM: added error checking on compass read 2011-12-28 20:41:53 +11:00
Andrew Tridgell c6b8a08918 APM: convert to new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell c91827ee09 geofence: re-breach if user changes mode outside the fence 
if the user changes mode while outside the fence, and fencing is still
enabled, then declare a new breach
 2011-12-28 17:28:35 +11:00
Andrew Tridgell b108b907e0 APM: Update for DataFlash changes 2011-12-28 16:00:49 +11:00
analoguedevices fefda548d2 Added contributor names, removed "alpha" from firmware name 2011-12-26 17:13:37 +00:00
Andrew Tridgell 4cd4987ae7 APM: fixed some unsigned/signed warnings 2011-12-26 19:17:11 +11:00
Andrew Tridgell d09c344ab8 APM-log: fixed reading of GPS logs 2011-12-26 19:17:11 +11:00
Andrew Tridgell 94cbbf6f28 APM-log: changed to use df_NumPages 
this copes with different data flash sizes on APM1 and APM2
 2011-12-26 19:17:11 +11:00
Doug Weibel 7779dff355 Correct a bug in throttle failsafe feature 2011-12-24 15:34:31 -07:00
Doug Weibel c40093a1a7 Remove old debug print 2011-12-24 14:26:35 -07:00
Doug Weibel 4009018167 Fix scaling on "turn coordination" yaw PID so that P gain values fall in "usual" range 0.1 to 10. 2011-12-24 14:26:35 -07:00
Andrew Tridgell 66029af574 setup the main loop failsafe after RC library is setup 2011-12-23 11:13:01 +11:00
Andrew Tridgell f7dda9f413 added comment on using GPS ground course 2011-12-23 11:13:01 +11:00
Andrew Tridgell 968ad78df0 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 ef3c5c071a failsafe: make sure we clear any RC override in manual failsafe 2011-12-22 10:55:43 +11:00
Andrew Tridgell c6633d7bc9 fixed HIL build 2011-12-21 23:31:39 +11:00
Andrew Tridgell ad63c10ab7 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
Andrew Tridgell 0aab4da1a1 mainloop_count should be uint16_t 2011-12-21 23:31:38 +11:00
Andrew Tridgell 61b2b2e32a always declare a timer_scheduler 
we should always run this code
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 73146bae5d APM: show temperature in airpressure test 
useful for tracking down baro bugs
 2011-12-19 18:52:56 +11:00
Andrew Tridgell 98406e842b geofence: send fence status messages on fence events 
this ensures the fence status goes out as soon as possible, which
means the messages arrive in a sane order on the GCS
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 226470c614 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 54b8aab0ac Log: fixed logging dependence on compiler arg eval order 2011-12-18 17:31:45 +11:00
Andrew Tridgell 8a7d064842 APM: run mavlink loop while erasing logs 2011-12-18 10:19:52 +11:00
Andrew Tridgell ce035fc324 geofence: enable return to old control mode via FENCE_CHANNEL 
if you disable fencing with the fence channel switch while still in
GUIDED mode to the return point, then reset the control mode back to
the transmitter control mode
 2011-12-18 10:00:44 +11:00
Andrew Tridgell 5d2301ef47 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 4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell ed17f64459 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 eed0eea13b apm 1280 disables 2011-12-16 22:26:39 +08:00
Andrew Tridgell 1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell b3327c64de geofence: added fence status reporting and faster altitude check 2011-12-16 20:11:51 +11:00
Andrew Tridgell a6e451c1b2 geofence: don't trim control surfaces on geo-fence breach 
the user input is likely to be bad
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 1b64185b18 geofence: main geo-fence code 
this implements the primary logic of geo-fencing
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 238c25c05e geofence: added geo-fencing control parameters 2011-12-16 20:11:51 +11:00
Andrew Tridgell 1455ff4a91 removed an unused variable 2011-12-16 20:09:49 +11:00
Andrew Tridgell e1e9002fad 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
Doug Weibel a77f91fa4e Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Andrew Tridgell e8617fc929 DCM: reset the DCM matrix after a ground start 2011-12-13 21:33:07 +11:00
Andrew Tridgell b0aa1deac2 MAVLink: fixed link flood on waypoint upload 2011-12-13 20:39:04 +11:00
Andrew Tridgell d416013bd8 fixed a hang on 2nd run of IMU test 
we should not try to initialise the ISR handlers twice
 2011-12-13 18:28:50 +11:00
Andrew Tridgell c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell 4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Andrew Tridgell dd4498d113 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell 80a0dfe862 fixed hardware config check for barometer 2011-12-12 15:14:55 +11:00
Andrew Tridgell 65ed8cc2c3 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell 4319d1ceb0 throttle: only use throttle slew in auto throttle modes 
we don't want STABILISE and FBWA to have throttle change limits
 2011-12-12 15:14:55 +11:00
Andrew Tridgell fa683c5718 airspeed: smooth the airspeed value a bit more 
the value is very noisy in my tests. A bit more smoothing may help
 2011-12-12 15:14:55 +11:00
Andrew Tridgell faf58a355b airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Andrew Tridgell bb861117a3 apm2: fixed for new barometer code 2011-12-11 15:21:10 -08:00
Pat Hickey 85b82e75f6 ArduPlane: update AP_Baro construtors and initializers 2011-12-11 15:21:10 -08:00
Pat Hickey 6710cf5c5a 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
Pat Hickey 5fd8fea957 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 6f27c4c779 ArduPlane: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 63d3b6a278 ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes 2011-12-11 15:21:09 -08:00
Pat Hickey c64e3f5772 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
Doug Weibel f34333d42b 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
Doug Weibel 77a7734111 Augment failsafe gcs_send_text message 2011-12-09 09:11:45 -07:00
Doug Weibel 4f6f9a6be4 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Andrew Tridgell c1569e49a8 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 899c1364cc test: removed the broken gyro test and merge it into the imu test 
the gyro test assumed APM1 hardware, and would hang on APM2. The imu
test can just as easily display gyro and accelerometer data as well as
roll/pitch/yaw, so combine it in one test
 2011-12-03 14:08:20 +11:00
Doug Weibel b3b218fa40 Fix for intermittent bug of log #1 starting on page 2 and confusing file system 2011-11-28 19:43:10 -07:00
Doug Weibel aa6c336479 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
Andrew Tridgell 7f4c87eeec mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Andrew Tridgell e61d945874 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 833f5f5895 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Andrew Tridgell d295b7d76c build: CLI_SLIDER_ENABLED doesn't need to be forced off in apm2 build 
this is handled by config.h now
 2011-11-28 13:53:57 +11:00
Doug Weibel ca5560ef1c Add Guided mode to failsafe handling 2011-11-26 21:10:53 -07:00
Andrew Tridgell fb21e619fe Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Pat Hickey 0fa8ce9a52 ArduPlane: rev version number from 2.26 to 2.27 Alpha 2011-11-25 20:00:19 -08:00
Pat Hickey a6bf2d9cd6 ArduPlane: LED digital writes use LED_OFF and LED_ON 2011-11-25 20:00:19 -08:00
Andrew Tridgell 7467bf649c ArduPlane: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 0604f2c667 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 2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell c8b592f8a7 purple: there are no dipswitches on the purple board 2011-11-25 20:00:18 -08:00
Andrew Tridgell 67e5c89226 compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell b6bab1d92d purple: adc test not useful if no ADC 2011-11-25 20:00:18 -08:00
Andrew Tridgell 6c856dde4e purple: fixed LED and IO pin defintitions 2011-11-25 20:00:18 -08:00
Andrew Tridgell 2db5a2b5e2 purple: add the remaining hw defines for purple hardware 2011-11-25 20:00:18 -08:00
Andrew Tridgell 01cfd64327 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell 0d3e07c2f7 build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell 446a9aac84 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell ee3254ef8f adc.Init() takes timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell 992fc87112 purple: always declare timer_scheduler 2011-11-25 20:00:17 -08:00
Pat Hickey c93d7a9560 purple: added new parameters to Init() functions 
this adapts the test code for the purple API changes
 2011-11-25 20:00:17 -08:00
Pat Hickey ed74d1c987 test: added new passthru test 
this passes radio inputs direct to servo outputs, which is useful for
hardware testing
 2011-11-25 20:00:17 -08:00
Pat Hickey 71ebf1f543 removed old commented out code 2011-11-25 20:00:17 -08:00
Pat Hickey fefc7da1d1 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
Pat Hickey 5626f4a127 purple: fixed APM_RC.Init() to add isr_registry parameter 2011-11-25 20:00:17 -08:00
Pat Hickey d3a45a053d purple: declare sensors for purple library rework 
we need some different declarations to match the new APIs
 2011-11-25 20:00:17 -08:00
Pat Hickey d5ebf30d74 purple: added config options for purple/APM1 hardware 2011-11-25 20:00:17 -08:00
Pat Hickey f580a4bea0 purple: added hardware defines for ArduPlane 2011-11-25 20:00:17 -08:00