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126 Commits

Author SHA1 Message Date
Randy Mackay
3633ccb5bd Copter: fix to prevent cli from being entered more than 20seconds after reboot 2013-03-31 11:09:40 +09:00
Randy Mackay
4c40b44563 Copter: limit max ahrs trim to 10degrees 
Limit is applied as trims from accelerometer calibration are copied to
the ahrs object.
 2013-02-02 10:59:58 +09:00
Randy Mackay
5b50f31b8f Copter: integrate automatic roll and pitch trims 2013-01-30 20:48:42 +09:00
Andrew Tridgell
e0197a3f7c Copter: minor mavlink cleanup 2013-01-11 16:02:21 +11:00
Andrew Tridgell
593d689dc8 Copter: use AP_Param::copy_name_token() 2013-01-11 16:02:21 +11:00
Andrew Tridgell
3ec0381904 Copter: ensure we process deferred mavlink messages 2013-01-11 16:02:21 +11:00
Andrew Tridgell
578b1b68ad Copter: remove GPS_STATUS message 
this message is huge and slow, and is pointless as we have
num_satellites in GPS_RAW_INT
 2013-01-05 20:54:57 +11:00
rmackay9
d9873dcd7b ArduCopter with the new Camera and Relay classes for APM1 and APM2. 
All changes by Sandro Benigno
 2012-12-22 17:26:27 +09:00
rmackay9
c2b01e0d63 ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete. 2012-12-22 14:04:47 +09:00
rmackay9
d430903fcd ArduCopter: remove duplicate (?) send of MSG_EXTENDED_STATUS1 2012-12-20 12:57:07 +09:00
rmackay9
9706193463 ArduCopter: remove unused variable last_5hz 2012-12-20 11:37:06 +09:00
rmackay9
415029fdf5 ArduCopter: remove unnecessary "Initialising APM message..." 2012-12-20 11:35:04 +09:00
rmackay9
2656997714 ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts 2012-12-13 23:09:26 +09:00
rmackay9
2e78977499 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2012-12-13 16:07:34 +09:00
rmackay9
e9c1500f33 ArduCopter: clear ahrs roll and pitch trims after an accel level command 2012-12-12 17:17:09 +09:00
rmackay9
f62c377062 ArduCopter: auto yaw changes to allow pilot override of yaw during missions 
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw).  We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
 2012-12-08 14:23:32 +09:00
Michael Oborne
da3398d41d AC add ability to start new accel_scale via mavlink 2012-11-28 21:38:58 +08:00
Andrew Tridgell
b3f93eab7d Copter: re-enable sending of GLOBAL_POSITION_INT message 
this gives important raw GPS velocity information, plus relative and
absolute height
 2012-11-28 11:26:19 +11:00
Andrew Tridgell
901a5326a4 Copter: fixed build error 
thanks to Marco for pointing this out
 2012-11-24 20:39:35 +11:00
Andrew Tridgell
62edd146a3 Copter: added reboot in CLI and over MAVLink 
useful for getting out of CLI
 2012-11-24 18:20:37 +11:00
Andrew Tridgell
386ef45fbb Copter: ported RSSI_PIN option from ArduPlane 
this is useful for OSD users
 2012-11-22 20:59:33 +11:00
Andrew Tridgell
f9892fac60 ACM: allow fetch of parameters by index 
this makes it more efficient to re-fetch parameters that are missing
 2012-11-22 00:16:57 +11:00
Andrew Tridgell
76e9adb8d4 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
Andrew Tridgell
7436974e2f 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
d1ab9f59fd ACM: support 16 character parameter names 2012-11-20 21:38:58 +11:00
Andrew Tridgell
202513e327 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
Andrew Tridgell
604ec021ec 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
6a2cca3610 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
b556ebf8b2 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
eb25b917ad ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
rmackay9
c8bc64be61 ArduCopter: fix APM2 build 2012-11-10 22:06:23 +09:00
Jason Short
3e905ec750 Ap state updates 2012-11-09 22:15:15 -08:00
rmackay9
0868917ff4 ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell
03974fa9db ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT 
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
 2012-11-05 15:23:41 +11:00
Pat Hickey
24dcbe1b0e ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors 
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat
 2012-10-10 18:59:55 +08:00
Michael Oborne
939ee1f4a9 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
Jason Short
63aec7510e ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t 2012-09-10 20:22:57 -07:00
Andrew Tridgell
0b2cbbb677 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
uncrustify
e8760bec78 uncrustify ArduCopter/GCS_Mavlink.pde 2012-08-21 18:56:01 -07:00
rmackay9
b80a3943aa ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9
221e4ea32a ArduCopter: changed "unsigned long" to "uint32_t" 2012-08-18 19:05:55 +09:00
rmackay9
48b7d26c5d ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
Andrew Tridgell
0a7d8a4933 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
a7399c405d 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
16d63978f1 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
d8106cf20f AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Michael Oborne
2d6d74f625 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
Michael Oborne
f83ca8b296 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9
5318da9e0e ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command 
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
 2012-07-25 11:02:54 +09:00
Andrew Tridgell
d0ebb4ca26 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00