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Commit Graph

484 Commits

Author SHA1 Message Date
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
62844d8ddc ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey
8d878a2cae ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey
2e200834e1 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short
5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short
e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short
c1aa015ef1 added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short
a685e5b575 fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay
fe336fb749 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay
67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short
f89fed02c3 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short
4659a9ffce Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short
af0ae6a10f Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short
1f3abcf048 eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short
069bcbf5e6 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short
873daae095 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short
29554b7d73 Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short
648ab5f4ae Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short
f3ff7aa0a8 rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short
5e12924907 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short
0289e35347 Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short
84b72b627b Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short
7cecca74bc Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short
69f1841d8e Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short
76d60a2111 Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short
d9347290a4 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short
2b8280e533 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short
307723960d Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short
3ff7b047d5 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short
49806d93d9 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay
0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay
fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey
cc38189f71 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay
4dc2956ca9 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay
42421a09e2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay
68e6be5eeb TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel
502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short
6dfdd754ea Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short
05409b8c1c made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short
a632c49b44 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short
e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short
9bc6fce3b8 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short
0d8071a401 Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short
54c8e1033c Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short
aad45c692f Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short
778393c4a7 Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short
5ed300db7e disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short
c99da66506 Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short
401c985572 Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short
d7cc241f85 formatting 2011-12-03 15:29:33 -08:00
Michael Oborne
4c61462dfd Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne
edf3195384 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell
39a36fe946 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
aaac6212ab MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short
9931cacec7 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short
69dd8264e6 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short
b92b4e9092 cleanup 2011-11-28 21:40:22 -08:00
Jason Short
eb6d34e1fc Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel
88ab4f7d70 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
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
Jason Short
b4a0d8a275 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short
ce5ad442fc Git Test 2011-11-28 10:54:20 -08:00
Jason Short
62ed256fca made the crosstrack use the previous WP instead of the current loc to get a better line in AP. 2011-11-28 10:33:06 -08:00
Jason Short
82adf1df6b removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Jason Short
504b4b52d6 slight refactoring to avoid the increment issue when changing commands 2011-11-28 10:33:06 -08:00
Jason Short
4a6feb3acb better comments out of some old unused functions to avoid compiler errors 2011-11-28 10:33:06 -08:00
Jason Short
909e5796eb Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short
df57380adc Erasing Logs causing major havoc. Users getting infinite loop. 2011-11-28 10:33:05 -08:00
Jason Short
cc1593d16d made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Jason Short
b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short
fb5302c50b No longer resetting ch7 wp index with mode change, requires reboot 2011-11-27 22:23:02 -08:00
Andrew Tridgell
2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Jason Short
940fa9621c Added minimum Altitude for RTL failsafe 2011-11-26 16:39:29 -08:00
Jason Short
44cb73c9fa added safety checks for RTL 2011-11-26 16:39:29 -08:00
Jason Short
d0af4e7200 CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short
ec5b080167 Enable RTL 2011-11-26 16:39:29 -08:00
Jason Short
ca5e4bb802 Allow output of system type 2011-11-26 16:39:28 -08:00
Jason Short
1621f3a638 allow CH7 to be set via params 2011-11-26 16:39:28 -08:00
Jason Short
ea911e0bcb updated failsafe code 2011-11-26 16:39:28 -08:00
Jason Short
19c3c27ed0 Erasing Logs at new FW version detection 2011-11-26 16:39:28 -08:00
Jason Short
52297679c4 sending Mavlink system type 2011-11-26 16:39:28 -08:00
Andrew Tridgell
a048709828 Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Andrew Tridgell
a99bcec762 desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Pat Hickey
6ee477bd8d ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell
38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell
338445e60c ArduCopter-HIL: fixed HIL build 
Logging isn't always enabled
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
ffba37d599 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
aa558eb033 fixed a valgrind error 
this error is harmless, but false positives can disguise real errors
 2011-11-25 20:00:18 -08:00
Pat Hickey
eee2da01ac Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels 2011-11-25 20:00:18 -08:00
Pat Hickey
ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -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
41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey
1d50bb80fd hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell
a3701e521a build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell
1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
2a5a15abce test: fixed test code for HIL build 2011-11-25 20:00:17 -08:00
Andrew Tridgell
3072fdda85 adc.Init() needs timer_scheduler 2011-11-25 20:00:17 -08:00