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277 Commits

Author SHA1 Message Date
Michael Day 497c95de8e Plane: Add support for rally points. 
Added parameter RALLY_TOTAL.

Added handlers for new MAVLink messages RALLY_POINT and
RALLY_FETCH_POINT.

defines.h modified to make room in EEPROM to store rally points.

rally.pde added and is responsible for ensuring rally points get
stored in the correct spot in EEPROM.

Multiple Rally/RTL point support now done.  If rally points have
been defined, then when RTL mode is entered, the closest Rally
point is chosend and the plane loiters at that point.

Note only 10 rally points can be defined; this is to save space in
the APM's EEPROM.
 2013-10-03 12:21:08 +10:00
Randy Mackay 21360aeebf Plane: sent current as -1 to GCS when can't be monitored 2013-10-03 11:16:33 +09:00
Randy Mackay 9722276827 Plane: batt curr and remaining should be int16 2013-10-03 11:16:26 +09:00
Randy Mackay c64d444b5a Plane: integrate BattMonitor 2013-10-03 11:16:08 +09:00
Kevin Hester 996eda0080 Plane: Report MAV_STATE_ACTIVE if flying, MAV_STATE_STANDBY otherwise 
(There are also various error states MAV_STATE_CRITICAL that are unchanged
by this check in).

The is_flying() check is similar to the code in suppress_throttle, but
I wanted to make it very optimistic on thinking we are flying - which is
not what you want for set_throttle...

(AC has similar MAV_STATE_ACTIVE vs MAV_STATE_STANDBY behavior now)
 2013-09-21 21:57:07 +10:00
Andrew Tridgell bcce2e4fc5 Plane: use new Baro API 2013-09-21 21:31:03 +10:00
Andrew Tridgell 36466e91ed Plane: run SENSOR_OFFSETS message at 1/10 of the requested rate 
this message wastes bandwidth, as the values change very slowly
 2013-09-21 09:35:45 +10:00
Andrew Tridgell c4dcdcf5a2 Plane: only send RC_CHANNELS_SCALED in HIL 
saves a bit of telemetry bandwidth
 2013-09-21 09:30:29 +10:00
Andrew Tridgell 21a4da0d29 Plane: removed flash_leds() calls 2013-09-19 18:38:28 +10:00
Andrew Tridgell 4bd6b2f428 Plane: use new usb_connected() function 2013-09-19 16:23:58 +10:00
Andrew Tridgell 4a8c9a7765 Plane: support reboot to bootloader 2013-09-04 11:59:16 +10:00
Andrew Tridgell a93f7c39a9 Plane: updates for new notify API 2013-08-30 13:01:35 +10:00
Andrew Tridgell 8733391315 Plane: call airspeed MAVLink logging function 2013-08-30 13:01:34 +10:00
Andrew Tridgell 364790414c Plane: support new RADIO_STATUS msg 2013-08-24 17:59:13 +10:00
Andrew Tridgell d4ca3ebf65 Plane: check for parameter send at default of 10Hz 
50Hz can cause overruns, especially on PX4 which can drain the tx
buffer very rapidly
 2013-08-13 13:42:25 +10:00
Andrew Tridgell 62cc84aba3 Plane: use new scheduler load_average() function 
this also simplifies the main loop
 2013-08-02 18:46:28 +10:00
Andrew Tridgell 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
Andrew Tridgell ed20c4cbc8 Plane: fixed initial reporting of battery remaining 
we were not showing battery remaining 100% until we used some battery
 2013-07-14 21:59:15 +10:00
Andrew Tridgell e79023ceee Plane: fixed problem with slow ground station connects 
don't trigger the "scheduler out of time" code when in the delay
callback

Thanks to Marijm Slootweg for noticing this!
 2013-07-14 17:28:34 +10:00
Andrew Tridgell 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
Randy Mackay 1772a62415 Plane: fix to gps present check in mavlink extended status 1 msg 2013-07-13 10:27:39 +09:00
Andrew Tridgell 608007361b Plane: added initial implementation of ACRO mode 
rate based control with attitude locking
 2013-07-11 09:10:41 +10:00
Andrew Tridgell 3c97fad2ec Plane: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell 7aa360b176 Plane: added relative_altitude helper functions 
prevents some code duplication
 2013-07-10 14:04:22 +10:00
Andrew Tridgell 1355b6d89d Plane: break-up scheduling into smaller pieces 
ensure mavlink sends don't push us over a scheduling boundary
 2013-07-05 18:05:27 +10:00
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 515d726ee0 Plane: use RC_Channel::rc_channel() instead of rc_ch[] 2013-06-03 16:23:48 +10:00
Andrew Tridgell 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
Andrew Tridgell dd633fcf3f Plane: make voltage and battery capacity failsafe settable at runtime 
this also fixes issue #292
 2013-05-22 20:33:57 +10:00
Randy Mackay c7961a72fc Plane: send_text_P bug fix for short messages 2013-05-20 12:51:16 +09:00
Andrew Tridgell 635b3fabda Plane: fixed APM1-1280 build 2013-05-08 21:44:45 +10:00
Andrew Tridgell 81c1fd5fc4 Plane: support 3D accel calibration over MAVLink 2013-05-08 16:25:35 +10:00
Andrew Tridgell b43712e4d2 Plane: fixed APM1-1280 build 2013-05-03 12:40:43 +10:00
Andrew Tridgell 9f0a4dd553 Plane: log GCS text messages to flash log 
useful for seeing more complex actions
 2013-05-03 11:16:50 +10:00
Andrew Tridgell bb8f9d5443 Plane: simplify setHIL for baro 2013-05-02 15:27:02 +10:00
Andrew Tridgell 0aa38a5bd4 Plane: use new HIL compass API 2013-05-02 15:00:59 +10:00
Andrew Tridgell 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
Andrew Tridgell 9584aa89d9 Plane: replaced constrain() with constrain_float() 2013-05-02 10:27:10 +10:00
Andrew Tridgell 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
Andrew Tridgell 02ed37e750 Plane: fixed APM1-1280 build 2013-04-20 18:21:19 +10:00
Andrew Tridgell 3b90c6c386 Plane: log parameter changes 2013-04-20 13:52:36 +10:00
Andrew Tridgell c8af70a18d Plane: make the plane code compatible with the new logging system 
not actually converted yet
 2013-04-20 13:52:36 +10:00
Andrew Tridgell 82cd391cf8 Plane: use RADIUS_OF_EARTH define 2013-04-15 14:55:58 +10:00
Andrew Tridgell 994d8e354a Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter 
this follows the same convention as missions
 2013-04-15 10:52:32 +10:00
Andrew Tridgell 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
Andrew Tridgell 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
Randy Mackay 21a51c8333 Plane: update GCS_Mavlink parameter documentation 2013-04-03 22:58:25 +09:00
Andrew Tridgell ddfcafe80f Plane: fixed DIGICAM camera trigger 2013-04-02 13:08:38 +11:00
Andrew Tridgell 2506c216dd Plane: added a second type of stick mixing 
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
 2013-04-02 08:52:56 +11:00
Andrew Tridgell dfb14d760b Plane: added HIL_SERVOS option 
this allows for real servo output in HIL
 2013-03-30 14:38:43 +11:00
Andrew Tridgell 6cc4aadc06 Plane: report compass health in SYS_STATUS 2013-03-29 13:48:40 +11:00
Randy Mackay c2055557f5 Plane: add support for GPS fix type 2D 2013-03-27 11:41:51 +09:00
Andrew Tridgell 1d983b3f2e Plane: fixed X accel triggering of auto 2013-03-22 11:53:45 +11:00
Andrew Tridgell 6948e0c473 Plane: 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 21:57:54 +11:00
Andrew Tridgell 0e37ae4400 Plane: change CLI timeout to 20s 2013-03-21 17:34:34 +11:00
Andrew Tridgell 36ff950b12 Plane: fixed MAVLink target IDs in fence point message 
thanks to Kevin Hester for finding this
 2013-03-12 15:04:48 +11:00
Andrew Tridgell 24826c0c74 Plane: default the stream rates to 1Hz 2013-02-20 10:08:49 +11:00
Andrew Tridgell 1007f2ef07 Plane: fixed a bug with setting stream rates 
this is what caused the "no sensors" problem in the 2.69 release
 2013-02-20 09:32:01 +11:00
Michael Oborne 88840eb759 Send FS state to gcs for AP 2013-02-09 10:11:26 +08:00
Jochen Tuchbreiter c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Andrew Tridgell e762c43312 Plane: switch to an array for stream rates 
this saves a couple of hundred bytes of flash.
 2013-02-05 08:20:41 +11:00
Pat Hickey 85d783d5a9 ArduPlane: fixed memory unsafe member access in GCS_MAVLINK 2013-02-02 22:43:59 -08:00
Andrew Tridgell 7ab3d93ed4 Plane: fixed typo 2013-01-23 10:06:22 +11:00
Andrew Tridgell 49356b790b Plane: limit number of bytes read per GCS check 2013-01-23 09:35:06 +11:00
Andrew Tridgell 9813468640 Plane: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:08 +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
Andrew Tridgell e0f052dd9a Plane: update for new AP_Param API 2013-01-09 13:30:55 +11:00
Andrew Tridgell 2e2f96d721 Plane: cope with a HIL_STATE packet before GPS init 2013-01-04 12:47:08 +11:00
Andrew Tridgell 4cdb3cd390 Plane: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Andrew Tridgell b6295c12e1 Plane: fixes for new AP_Relay interface 2013-01-02 10:18:45 +11:00
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell 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
Andrew Tridgell cf18534163 Plane: use new functions 2012-12-20 14:53:22 +11:00
Pat Hickey 2ad4fed8cd Rover/Copter/Plane: change from vsnprintf to vsnprintf_P 2012-12-20 14:52:38 +11:00
Pat Hickey edb076a6c5 ArduPlane: use hal's vsnprintf 2012-12-20 14:52:38 +11:00
Andrew Tridgell 4913aff8cd Plane: remove unused send_text() function 2012-12-20 14:52:35 +11:00
Andrew Tridgell c20481dc94 Plane: SITL has a I2C driver now 2012-12-20 14:52:34 +11:00
Andrew Tridgell 678947c65d Plane: more fixes for SITL and new AP_Param startup 2012-12-20 14:52:29 +11:00
Andrew Tridgell 7046fc05e2 Plane: change to send_text_P() for progmem strings 2012-12-20 14:51:39 +11:00
Pat Hickey 92b0c302f2 ArduPlane: Ported to AP_HAL 2012-12-20 14:51:36 +11:00
Andrew Tridgell 805a340350 Plane: enable attitude and raw logging in HIL modes 2012-12-04 11:13:33 +11:00
Andrew Tridgell 24e1af1c82 Plane: fixed sensors and attitude HIL 
we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
 2012-12-03 23:26:39 +11:00
Andrew Tridgell 53951f995a Plane: fixed GPS course in HIL 2012-12-03 17:38:55 +11:00
Andrew Tridgell 567cb47d35 Plane: fixed SERVO_OUTPUT_RAW for HIL 2012-12-03 17:38:31 +11:00
Andrew Tridgell 1104287aa2 Plane: use enum FlightMode in more places 2012-12-01 08:15:48 +11:00
Andrew Tridgell f5abc2c25e Plane: switch to an enum for flight modes 2012-12-01 08:08:54 +11:00
Andrew Tridgell 56e4cbfb1d Plane: allow reboot on APM1, and add reboot to main CLI menu 2012-11-24 18:20:37 +11:00
Andrew Tridgell 84300c85d6 APM: make it possible to run the CLI on any serial port 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 a600ccece5 APM: support 16 character parameter names 2012-11-20 21:36:13 +11:00
Andrew Tridgell 69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
Andrew Tridgell f80783665f APM: fixed throttle display to always be between 0 and 100 
when rc3 is below RC3_MIN, don't give an invalid value
 2012-11-20 13:50:19 +11:00
Andrew Tridgell 8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +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 ef727bbb3c ArduPlane: move to use new INS library instead of IMU library 2012-11-07 19:21:03 +09:00
Andrew Tridgell 9c140356f5 APM: remove unused variable 2012-11-05 15:22:56 +11:00