Randy Mackay
dab4f032f9
Copter: integrate BattMonitor
2013-10-03 11:16:28 +09:00
Randy Mackay
e295d4555d
Copter: send frame type in mavlink heartbeat msg
2013-09-27 14:35:13 +09:00
Randy Mackay
7cc8a9038f
Copter: move failsafe flags into structure
2013-09-26 19:37:15 +09:00
Randy Mackay
284aa2217f
Copter: remove old comments
2013-09-24 21:45:43 +09:00
Andrew Tridgell
3ffeff04a7
Copter: removed logging of MAVLink parameter changes
...
not much point to this
2013-09-23 18:10:22 +10:00
Andrew Tridgell
35e3c887d2
Copter: use new baro API
2013-09-21 21:30:54 +10:00
Andrew Tridgell
b6a0577723
Copter: only send RC_CHANNELS_SCALED in HIL
...
saves a bit of telemetry bandwidth
2013-09-21 09:30:30 +10:00
Andrew Tridgell
46688454c4
Copter: removed flash_leds() calls
2013-09-19 18:38:28 +10:00
Andrew Tridgell
754bdbd25f
Copter: use new usb_connected() HAL function
2013-09-19 16:24:23 +10:00
Kevin Hester
240a9ccaf0
AC: if vehicle is !flying show hb state as MAV_STATE_STANDBY
...
This helps GCSes determine the appropriate UI for the current vehicle
mode.
2013-09-09 20:51:54 +09:00
Randy Mackay
1d55fa6818
Copter: add arm check of GPS hdop when in Loiter
2013-09-09 14:03:40 +09:00
Andrew Tridgell
979636936d
Copter: support reboot to bootloader
2013-09-04 11:59:02 +10:00
Andrew Tridgell
25d517f5d6
Copter: updates for new notify API
2013-08-30 13:01:35 +10:00
Andrew Tridgell
d5e28e72cc
Copter: support new RADIO_STATUS msg
2013-08-24 17:59:13 +10:00
Andrew Tridgell
01e19a32fe
Copter: use the new scheduler load_average() call
...
this also simplifies the main loop
2013-08-02 18:46:34 +10:00
Randy Mackay
7ea971d948
Copter: check set_mode for failure
...
Previously if set_mode failed it would return the copter to stabilize
mode. With this commit set_mode returns a true/false indicating whether
it succeeded or not so the caller can make the decision as to the
appropriate response which could be to stay in the current flight mode
or try another flight mode.
2013-07-20 11:01:10 +09:00
Randy Mackay
47ab02d686
Copter: bug fix to ROI to pull target from conditional command queue
2013-07-14 17:37:06 +09:00
Randy Mackay
5a40ee7a38
Copter: fix to gps present check in mavlink extended status 1 msg
2013-07-13 10:27:50 +09:00
Randy Mackay
66d7f7b026
Copter: GCS_mavlink only send waypoints to gcs3 if initialised
...
Also Load parameter defaults at initialisation (although defaults are
all zero anyway so should have no effect)
2013-07-13 10:12:01 +09:00
Andrew Tridgell
da4137b731
Copter: changes for GPS field changes
2013-07-10 14:04:22 +10:00
Randy Mackay
0460147a15
Copter: guided mode yaw fix
...
Nose of copter now points at next guided point if it is more than 10m
away
2013-06-02 11:25:35 +09:00
Andrew Tridgell
30df8796ce
Copter: fixed loading of waypoints
...
copter code assumes that command_total includes the home waypoint
2013-05-29 21:44:08 +10:00
Andrew Tridgell
903d5636bb
Copter: added support for partial mission load
...
this allows individual waypoints to be updated in missions
2013-05-29 16:25:05 +10:00
Randy Mackay
1dbe98b566
Copter: display reason for pre-arm-check failures in GCS
2013-05-20 13:03:18 +09:00
Randy Mackay
d10e3bc75f
Copter: send_text_P bug fix for short messages
2013-05-20 12:52:20 +09:00
Randy Mackay
28c37dd798
Copter: do pre-arm checks when arming from GCS
2013-05-17 11:22:32 +09:00
Andrew Tridgell
9feb46c834
Copter: use new accel cal interact over MAVLink
2013-05-08 16:19:26 +10:00
Andrew Tridgell
b6e3e59bc3
Copter: simplify setHIL for baro
2013-05-02 15:26:54 +10:00
Andrew Tridgell
db57c8d7c5
Copter: removed the deprecated HIL sensors interface
...
must use the new HIL_STATE message now
2013-05-02 15:00:50 +10:00
Andrew Tridgell
172d9724df
Copter: use new HIL compass API
2013-05-02 15:00:07 +10:00
Andrew Tridgell
25c576cad7
Copter: replaced constrain() with constrain_float()
2013-05-02 10:26:49 +10:00
Randy Mackay
bab9fa25e5
Copter: add GCS failsafe
2013-04-29 21:30:22 +09:00
Randy Mackay
58d1da2d80
Copter: integrate AC_Fence in place of limits
...
Lesser functionality than limits but saves more than 150 bytes and it
works
2013-04-27 11:14:07 +09:00
Andrew Tridgell
a0708460a4
Copter: convert to new logging system
2013-04-20 13:52:37 +10:00
Andrew Tridgell
67484a2ea1
Copter: make copter code compatible with the new logging system
...
not fully converted yet
2013-04-20 13:52:36 +10:00
Randy Mackay
d2bd818b2d
Copter: bug fix for auto_armed logic
...
Zero throttle when switching into an auto flight mode would cause the
motors to stop.
2013-04-17 21:28:42 +09:00
Randy Mackay
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
Randy Mackay
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
2013-04-14 10:37:55 +09:00
Randy Mackay
1dcd46bffc
Copter: reduce compiler warnings
2013-04-05 22:25:58 +09:00
Michael Oborne
541fa13291
cleanup comments
2013-03-31 17:14:54 +08:00
Michael Oborne
e80f2c094e
HIL fix location, alt, mag from hil state message
2013-03-31 16:42:16 +08:00
Andrew Tridgell
b280857025
Copter: use common angle wrap code
2013-03-29 13:14:31 +11:00
Randy Mackay
f7d977fe37
Copter: add support for GPS fix type 2D
2013-03-27 11:41:47 +09:00
Andrew Tridgell
d22a7c64c9
Copter: only enter CLI is link is idle when 3 enters are hit
...
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
2013-03-21 21:56:02 +11:00
Andrew Tridgell
ce8313e8fb
Copter: only allow CLI within 20s of startup and when motors not armed
2013-03-21 17:34:11 +11:00
Randy Mackay
dcf21eee8f
Copter: only allow entering the CLI within 30 seconds of start-up
2013-03-21 11:54:04 +09:00
Randy Mackay
a17421da27
Copter: scale HIL accels consistently with Plane code
2013-03-19 15:07:15 +09:00
Randy Mackay
b4b9d80c2f
Copter: bug fix to accept HIL accel values correctly
2013-03-19 11:33:58 +09:00
Andrew Tridgell
952c56e990
Copter: fixed barometer init in HIL sensors mode
2013-03-18 16:20:25 +11:00
Andrew Tridgell
ac06b5e62d
Copter: remove unused function
2013-03-18 16:20:25 +11:00
Randy Mackay
597a4b912a
Copter: fix to allow building HIL_MODE_SENSORS
2013-03-18 13:41:52 +09:00
Randy Mackay
61e29173e3
Copter: remove unused crosstrack variables and parameters
...
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
2013-03-17 16:46:31 +09:00
Randy Mackay
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
Randy Mackay
cb84ec9d9b
Copter: add current based compass compensation
2013-03-03 23:02:36 +09:00
Randy Mackay
6601bd37cf
Copter: integrate automatic roll and pitch trims
2013-02-19 12:51:24 +09:00
Michael Oborne
61e5b09f28
Send FS state to gcs for AC
2013-02-09 10:11:36 +08:00
Pat Hickey
d418197898
ArduCopter: fixed memory unsafe member access in GCS_MAVLINK
...
* Smokey, this is not 'Nam. this is bowling. there are rules
2013-02-02 22:43:56 -08:00
Andrew Tridgell
47cc247046
Copter: limit number of bytes read per GCS check
2013-01-23 09:34:54 +11:00
Andrew Tridgell
ae5f46abc9
Copter: fixed mavlink fetch of 16 character parameter
2013-01-21 16:52:01 +11:00
James Bielman
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Randy Mackay
177da0ca74
ArduCopter: fixed minor bug in logging of parameter changes to dataflash
...
It is questionable whether we should even bother writing these to the
dataflash as there is no way to recognise which parameter has been
affectded
2013-01-13 00:15:34 +09:00
Andrew Tridgell
dcb181d2d8
Copter: use new AP_Scheduler library
2013-01-12 12:02:57 +11:00
Andrew Tridgell
a237b6cc7b
Copter: update for new AP_Param API
2013-01-09 13:30:58 +11:00
Andrew Tridgell
860f4b2605
Copter: merge the latest 2.9 changes into master
2013-01-08 14:37:40 -08:00
Andrew Tridgell
647b3b09b6
Copter: ensure we process deferred mavlink messages
2013-01-07 11:07:39 +11:00
Andrew Tridgell
d952ccf968
Copter: added main_loop_ready() function
...
this tells us when the main loop is ready to run. MAVLink won't send a
message if the main loop could run.
2013-01-07 11:07:34 +11:00
Andrew Tridgell
b079a96eaf
Copter: removed GPS_STATUS message
...
this message is huge, and completely pointless now that we have
num_satellites in GPS_RAW_INT
2013-01-05 20:39:31 +11:00
rmackay9
861a66e26e
ArduCopter: remove @brief from GCS_MAVLINK class's comments because they mess up the mission planner's parsing of parameter descriptions
2013-01-03 00:34:10 +09:00
rmackay9
4ef7e7b1c6
ArduCopter: add parameter descriptions for GCS_Mavlink objects
2013-01-02 23:36:48 +09:00
Andrew Tridgell
94e3322e24
Copter: fixed build on px4
2013-01-02 22:09:02 +11:00
Andrew Tridgell
ead38f917f
Copter: use GRAVITY_MSS
2013-01-02 14:45:08 +11:00
rmackay9
68b62abd38
ArduCopter with the new Camera and Relay classes for APM1 and APM2.
...
All changes by Sandro Benigno
2013-01-02 09:55:37 +11:00
rmackay9
e77b54c7dc
ArduCopter: bug fix to GUIDED mode. Now checks that desired altitude was reached before deciding the waypoint is complete.
2013-01-02 09:24:31 +11:00
rmackay9
331a73c4ac
ArduCopter: remove duplicate (?) send of MSG_EXTENDED_STATUS1
2013-01-02 09:20:08 +11:00
rmackay9
6baddf4aee
ArduCopter: remove unused variable last_5hz
2013-01-02 09:20:08 +11:00
rmackay9
1f5fdcdaa8
ArduCopter: remove unnecessary "Initialising APM message..."
2013-01-02 09:20:08 +11:00
rmackay9
d926360e81
ArduCopter: move gcs updates to run only when there are 4ms of spare time before the next 100hz iteration starts
2013-01-02 09:14:31 +11:00
rmackay9
6da68c53a5
ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled
2013-01-02 09:13:42 +11:00
rmackay9
0ab82f8c4e
ArduCopter: clear ahrs roll and pitch trims after an accel level command
2013-01-02 09:12:17 +11:00
Andrew Tridgell
9931009db2
Math: use pythagorous2() in some more places
2012-12-20 15:16:18 +11:00
Pat Hickey
1878290510
ArduCopter: fixes for AP_InertialSenor_UserInteract
2012-12-20 14:53:23 +11:00
Pat Hickey
2ad4fed8cd
Rover/Copter/Plane: change from vsnprintf to vsnprintf_P
2012-12-20 14:52:38 +11:00
Pat Hickey
54b98c0a7c
ArduPlane: use hal's vsnprintf
2012-12-20 14:52:37 +11:00
Andrew Tridgell
9e986801c9
Copter: fixed SITL for ArduCopter
2012-12-20 14:52:34 +11:00
Pat Hickey
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
Pat Hickey
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
...
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
rmackay9
9dd978576b
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
68aa5e4682
AC add ability to start new accel_scale via mavlink
2012-11-28 21:38:58 +08:00
Andrew Tridgell
2949d58b71
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
5818aaad42
Copter: fixed build error
...
thanks to Marco for pointing this out
2012-11-24 20:39:35 +11:00
Andrew Tridgell
f6ec932d63
Copter: added reboot in CLI and over MAVLink
...
useful for getting out of CLI
2012-11-24 18:20:37 +11:00
Andrew Tridgell
cd07d965a7
Copter: ported RSSI_PIN option from ArduPlane
...
this is useful for OSD users
2012-11-22 20:59:33 +11:00
Andrew Tridgell
dbdb3e1194
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
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
Andrew Tridgell
704da2a5d9
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
bcf740a82f
ACM: support 16 character parameter names
2012-11-20 21:38:58 +11:00
Andrew Tridgell
69fbcc8683
MAVLink: fixed accel and gyro sensor offsets in MAVLink
2012-11-20 18:32:26 +11:00
Andrew Tridgell
531e62d3b5
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
cdfd3f9ccc
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
fddfb0b1a3
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
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
2012-11-11 22:42:10 +09:00
rmackay9
95f6357d35
ArduCopter: fix APM2 build
2012-11-10 22:06:23 +09:00
Jason Short
d2a5928c06
Ap state updates
2012-11-09 22:15:15 -08:00
rmackay9
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
Andrew Tridgell
e8ab62f6e5
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
bbc7f050e5
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
a38fef65c7
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
e8e8c27db4
ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t
2012-09-10 20:22:57 -07:00
Andrew Tridgell
e8d928cca4
ACM: added TELEM_DELAY to ArduCopter
2012-08-30 09:03:01 +10:00
uncrustify
f7a748d43b
uncrustify ArduCopter/GCS_Mavlink.pde
2012-08-21 18:56:01 -07:00
rmackay9
11e946eb54
ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long"
2012-08-18 20:34:41 +09:00
rmackay9
2e4e8bbf1a
ArduCopter: changed "unsigned long" to "uint32_t"
2012-08-18 19:05:55 +09:00
rmackay9
36f947acb9
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
ed064b2506
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
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
Andrew Tridgell
2a7b298bbc
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
c2a4d59132
AP_Param: update ArduCopter core for new AP_Param interface
2012-08-08 12:11:57 +10:00
Michael Oborne
e577b51e17
AC remove attitude hil unused extra (gps jump issue.)
2012-07-29 08:18:41 +08:00
Michael Oborne
ef870e3ca1
AC remove some attitude HIL limitations
2012-07-28 13:59:30 +08:00
rmackay9
8e5312a759
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
85465c9126
MAVLink: fixed another two places where micros() was used for a millisecond time
2012-07-20 11:57:15 +10:00
Jonathan Challinger
fc4f111d15
Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground.
2012-07-17 16:15:11 +10:00
Andreas M. Antonopoulos
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
Andreas M. Antonopoulos
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Andrew Tridgell
8220ae8096
MAVLink: climb_rate is in m/s
2012-07-05 13:20:26 +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
Jason Short
3cf16c1424
GCS_Mavlink.pde
...
removed Approach define
2012-07-01 13:40:11 -07:00
Jason Short
c276fe8fa0
GCS_Mavlink: added notes to #if malink10
2012-06-29 21:20:28 -07:00
Andrew Tridgell
55092c25a6
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +10:00
Andrew Tridgell
dae1a57dc5
ACM: adapt the ArduCopter code for new barometer interface
2012-06-27 16:01:50 +10:00
rmackay9
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
46fb3b783a
GCS_Mavlink.pde : mav_nav only used in legacy Mavlink.
2012-06-25 23:08:25 -07:00
Jason Short
c71c503c84
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
bef005b5f2
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
...
http://code.google.com/p/arducopter/issues/detail?id=430
2012-06-24 17:01:25 -07:00
Michael Oborne
14be88dd55
AC: add hilstate message
2012-06-04 16:24:08 +08:00
Andrew Tridgell
7c63d2c17b
ACM: MAVLINK10 uses HIL_STATE
...
thanks to Michael for noticing this
2012-06-04 13:31:07 +10:00
Andrew Tridgell
3f4e87cccc
ACM: fixed HIL build for MAVLINK10
2012-06-04 13:14:52 +10:00
Michael Oborne
9303a89573
fix AC hil build
2012-06-04 11:12:52 +08:00
Andrew Tridgell
d9457ecc38
MAVLink: send time of GPS fix accurately
...
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
2012-05-23 17:33:33 +10:00
Andrew Tridgell
422dc82f32
MAVLink: allow parameter fetch during mavlink_delay()
...
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
2012-05-22 16:13:35 +10:00
Andrew Tridgell
4fee26437b
MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
2012-04-24 22:24:58 +10:00
Andrew Tridgell
fe970221e2
ACM: added support for MAVLink 1.0 to ArduCopter
...
most operations should now work
2012-04-24 19:54:20 +10:00
rmackay9
e5710958bc
ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array.
2012-04-04 22:52:26 +09:00
Andrew Tridgell
c0a54762c6
MAVLink: port the new adaptive flow control to ArduCopter
...
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
2012-04-02 11:18:53 +10:00
Andrew Tridgell
e0bb7e2777
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
...
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
Andrew Tridgell
34506b170f
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
Andrew Tridgell
458d55e5bc
MAVLink: constrain variable changes to the datatype range
...
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
d75e883fe8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
7291dfc25a
ACM: removed the special case for quaternions in GCS code
2012-03-10 10:34:31 +11:00