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172 Commits

Author SHA1 Message Date
Andrew Tridgell 66a41bfe5f Plane: preparing for 2.68 release 2012-12-04 11:24:24 +11:00
Andrew Tridgell 3bac27b97f Plane: enable attitude and raw logging in HIL modes 2012-12-04 11:13:33 +11:00
Andrew Tridgell 5827c710e2 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 81660d07fd Plane: use enum FlightMode in more places 2012-12-01 08:15:48 +11:00
Andrew Tridgell bcef536f64 Plane: update ArduPlane for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell db357c932c APM: preparing for 2.67 release 2012-11-21 22:28:30 +11:00
Andrew Tridgell 937c485f91 APM: make it possible to run the CLI on any serial port 2012-11-21 21:41:34 +11:00
rmackay9 0907650456 ArduPlane: fix HIL build 2012-11-07 21:23:07 +09:00
rmackay9 9e3ae301b1 ArduPlane: move to use new INS library instead of IMU library 2012-11-07 19:21:03 +09:00
Andrew Tridgell efc2324666 APM: added RSSI_PIN option for receiver RSSI 
this allows you to configure the pin for receiver RSSI without
recompiling
 2012-11-06 22:04:41 +11:00
Andrew Tridgell 67ba1a6068 APM: prepare for 2.66 2012-10-31 13:25:19 +11:00
Pat Hickey 0dd0bd131a Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
rmackay9 49eb36e0cb ArduPlane: added AP_Semaphore.h to list of includes 2012-10-06 13:14:28 +09:00
rmackay9 4bca609b9f AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
Andrew Tridgell f599962b90 APM: prepare for 2.65 2012-09-24 07:14:30 +10:00
Andrew Tridgell bf9e2149df APM: prepare for 2.64 release 2012-09-23 19:32:56 +10:00
Andrew Tridgell 7d84666b9d APM: removed the unused sonar code 
when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed
 2012-09-19 19:35:22 +10:00
Andrew Tridgell 1cdb3a8dba APM: added ALT_OFFSET parameter 
useful to adjust for barometric pressure changes during a long flight
 2012-09-19 16:23:25 +10:00
Andrew Tridgell a00e00519f APM: save another few bytes 2012-09-18 13:58:50 +10:00
Andrew Tridgell bd2eae8a18 APM: fixed a comment 2012-09-18 13:58:49 +10:00
Andrew Tridgell f32fcb7495 APM: save 100 bytes of memory 
remove flight_mode_strings array
 2012-09-18 13:58:49 +10:00
Andrew Tridgell 8f91728d65 APM: preparing for 2.63 release 2012-09-17 17:32:13 +10:00
Andrew Tridgell 73340a5e5d APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
Andrew Tridgell 0d780baa00 APM: prepare for 2.62 release 2012-09-13 12:02:18 +10:00
Andrew Tridgell 972b8df052 APM: allow for landing pitch control until final stage 2012-09-12 13:09:16 +10:00
Andrew Tridgell 7a49515ee3 APM: fixed roll in landing approach 2012-09-12 11:53:17 +10:00
Andrew Tridgell 77926a6965 APM: switch to Randys new IMU rate control method 
this drives the speed of the 50Hz loop by the number of samples
accumulated in the IMU. This should give much more consistent timing
in DCM.

Thanks to Randy for introducing this scheme in ArduCopter!
 2012-09-11 16:39:36 +10:00
Andrew Tridgell 0a9070e4fe APM: removed the GPS_enabled flag 
this fixes using GPS_PROTOCOL to specify a specific GPS with a GPS
that takes a few updates before it works (eg. needing baud rate
changes).

This makes it easier to use an APM1-1280 with more features enabled
 2012-09-11 13:37:34 +10:00
Andrew Tridgell d08bd4214b APM: added support for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 
this allows for remote reboot of APM
 2012-09-10 11:42:30 +10:00
Andrew Tridgell 966c1988c3 APM: preparing for 2.61 release 2012-09-08 18:36:17 +10:00
Andrew Tridgell 4219cb55ce APM: use ahrs.airspeed_estimate() in two more places 
this applies the wind constraint
 2012-09-08 11:37:11 +10:00
Andrew Tridgell b2a74951d1 APM: added RUDDER_STEER option 
when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
 2012-09-08 10:07:03 +10:00
Andrew Tridgell a71cee4579 APM: accumulate mag readings during spare cycles in ArduPlane 
With this change we average over 100 mag readings per compass.read()
call, which means we are reading the compass at over 1kHz instead of
10Hz. The noise reduction is huge.
 2012-09-08 10:05:58 +10:00
Andrew Tridgell 0be8349678 APM: obey pitch limits in FBWA as well 
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
 2012-08-30 20:15:42 +10:00
Andrew Tridgell 7ab7770c3d APM: added the ability to forcibly crash the plane on OBC failsafe breach 
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.

To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
 2012-08-28 20:18:24 +10:00
Andrew Tridgell 3f54b83238 APM: added ALT_CTRL_ALG parameter 
this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm

The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
 2012-08-28 20:18:24 +10:00
Andrew Tridgell ac2ad44c3c APM: cleanup throttle suppression code and don't use airspeed to unsupress 
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.

It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
 2012-08-28 20:18:23 +10:00
Andrew Tridgell 517e6b2b9d APM: prepare for ArduPlane 2.60 2012-08-22 16:28:38 +10:00
Andrew Tridgell d091311196 APM: removed factor of 0.5 in non-airspeed takeoff pitch 
this limited the pitch far below the specified target pitch
 2012-08-22 16:28:38 +10:00
Andrew Tridgell 56ada1a69c APM: added RSSI to RC_CHANNELS_RAW as well 
and prevent double read
 2012-08-22 13:58:25 +10:00
Andrew Tridgell e74dab122a APM: added RECEIVER_RSSI_PIN option 
this allows for the receiver RSSI to be sent over MAVLink

Thanks to Burt Green for the suggestion
 2012-08-22 13:33:12 +10:00
Andrew Tridgell 2bc2460c07 APM: optional build with new controller libs 2012-08-22 12:39:07 +10:00
uncrustify 5e913c72c4 uncrustify ArduPlane/ArduPlane.pde 2012-08-21 19:19:51 -07:00
Andrew Tridgell 5d29d5e5a1 APM: removed DMP support from ArduPlane 
Without centripetal correction the DMP code will almost certainly
crash a plane
 2012-08-22 11:46:35 +10:00
Andrew Tridgell bd6581c523 AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
rmackay9 e5d8efdb7e ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t" 2012-08-18 18:26:13 +09:00
Andrew Tridgell 2fb8a13ac6 APM: added parameter FBWB_ELEV_REV 
this fixes issue 343
 2012-08-17 15:04:53 +10:00
Andrew Tridgell 20be77ab32 APM: when land_complete is true, use land_pitch 
this gives a flare on final landing
 2012-08-15 12:39:35 +10:00
Andrew Tridgell f4023d1b44 AP_Airspeed: remove airspeed filter and run at 10Hz 
this saves on the filter memory, and gives just as good a result
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 8c3b6f471f APM: keep the time of the last heartbeat message 
this will be used for failsafe processing
 2012-08-15 12:39:34 +10:00