466097b383
ArduCopter: use inertial nav for current altitude and climb rate
2013-01-02 09:22:51 +11:00
b786cf40f7
ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon
2013-01-02 09:19:39 +11:00
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
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* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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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
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
810da878e7
ArduCopter: performance monitoring - changed loop counters to uint16_t.
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Removed an unused items from dataflash logging of Performance.
2012-11-19 11:55:47 +09:00
07a7a1acd8
ArduCopter: replaced digitalRead and digitalWrite with faster calls
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improved performance logging to dataflash
2012-11-19 01:16:07 +09:00
be63481a8c
ACM : Logging.pde formatting
2012-11-11 18:06:50 -08:00
4b5e0a5046
ACM Logging Events
2012-11-09 22:15:16 -08:00
6dba79e3a7
ACM Log, formatting
2012-11-09 22:15:16 -08:00
b13264c884
AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors
2012-11-07 22:24:00 +09:00
1f801714e8
ArduCopter: incorporate new version of inertial navigation
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Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
2012-11-07 19:21:09 +09:00
9592be5af7
ACM: saved some more memory for strings
2012-10-22 18:57:08 +11:00
78316adf75
ArduCopter: replace Serial.print with Serial.print_P to save memory.
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Includes replacing flight_mode_strings with print_flight_mode function.
SendDebug macro replaced with direct Serial.print_P calls.
2012-10-22 16:45:24 +09:00
95763e610b
ArduCopter: allow DMP to run in parallel with DCM
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Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
280488fa5e
ArduCopter: bug fix to display ITERM enabled/disabled properly from cli
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Also changed header for this message type to ITERM instead of just IT to make it more clear what it is
2012-09-27 17:40:30 +09:00
6f32f52377
ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables.
2012-09-17 13:44:29 +09:00
834f961409
ACM : Fix enduf
2012-09-10 21:25:53 -07:00
4c8e257ea2
ACM : forced setup_show to dump params during log dump for better analysis.
2012-09-10 20:52:30 -07:00
34e07c826f
ACM : Added centralized Iterm logging at a lower rate. Logs all iterms.
2012-09-10 20:26:48 -07:00
51969dca22
ACM Log.pde : whitespace clean up
2012-08-28 21:22:07 -07:00
fd4bc69d77
ACM : Logging updates
2012-08-28 15:40:08 -07:00
c1ce689e38
uncrustify ArduCopter/Log.pde
2012-08-21 19:19:50 -07:00
99859ae42f
ArduCopter: added cast to (int) in printf statments.
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Also modified dump_log function's last_log_num to be int16_t to match return type from DataFlash's find_last_log method.
2012-08-18 18:58:15 +09:00
8c636ca263
ArduCopter: fix compiler error related to printing boarding type in dataflash logs.
2012-08-18 11:47:10 +09:00
0ac1373591
ACM Logging - added APM version #, stab_I term logging
2012-08-17 17:03:40 -07:00
0f9f72e8ab
ACM: added nav_yaw to att logging
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Removed unnecessary casting
2012-08-16 12:43:55 -07:00
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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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
99dcbd039d
ACM Log : fixed formatting
2012-08-15 21:04:24 -07:00
66ac438b9e
Arducopter
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Better logging for Raw Inertial values
2012-07-18 22:57:11 -07:00
782ebf5176
Arducopter:Log.pde Logging the calculated Climbrate
2012-07-10 21:53:38 -07:00
1070eea70b
Log.pde: formatting
2012-07-03 17:16:26 -07:00
33440567e6
ACM: ArduCopter updates for new compass interface
2012-06-27 16:01:50 +10:00
28829b0d60
Log.pde: removed nav_bearing reference and replaced with target_bearing ref
2012-06-25 23:06:28 -07:00
c42f9ece43
Inertial Control
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I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.
This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.
Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.
The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
dcdeae412e
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
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Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
2a216ce900
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
66544a5db2
Log: don't print '+' while erasing logs
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we no longer do page based erase, so printing a + every 128 pages
makes no sense
2012-05-22 20:10:29 -07:00
422dc82f32
MAVLink: allow parameter fetch during mavlink_delay()
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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
9c19138fb8
Log.pde : Updated Flash Logging to log Floats properly vs scaled integers.
2012-04-21 15:25:53 -07:00
e22832a832
Added a union for casting floats to ints and back when storing Floats to the DataFlash
2012-04-21 15:17:09 -07:00
8402a3d837
ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array.
2012-04-04 22:53:21 +09:00
1f4cfb9333
ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers.
2012-03-25 16:09:08 +09:00
547b4ed55b
AHRS: adapt ArduCopter for new AHRS framework
2012-03-19 17:29:02 +11:00
rmackay9
Pat Hickey
Jason Short
Andrew Tridgell
uncrustify