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84 Commits

Author SHA1 Message Date
Jason Short 66ac438b9e Arducopter 
Better logging for Raw Inertial values
 2012-07-18 22:57:11 -07:00
Jason Short 782ebf5176 Arducopter:Log.pde Logging the calculated Climbrate 2012-07-10 21:53:38 -07:00
Jason Short 1070eea70b Log.pde: formatting 2012-07-03 17:16:26 -07:00
Andrew Tridgell 33440567e6 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Jason Short 28829b0d60 Log.pde: removed nav_bearing reference and replaced with target_bearing ref 2012-06-25 23:06:28 -07:00
Jason Short c42f9ece43 Inertial Control 
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
rmackay9 dcdeae412e ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9 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
Andrew Tridgell 66544a5db2 Log: don't print '+' while erasing logs 
we no longer do page based erase, so printing a + every 128 pages
makes no sense
 2012-05-22 20:10:29 -07:00
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
Jason Short 9c19138fb8 Log.pde : Updated Flash Logging to log Floats properly vs scaled integers. 2012-04-21 15:25:53 -07:00
Jason Short 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
rmackay9 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
rmackay9 1f4cfb9333 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
Andrew Tridgell 547b4ed55b AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short 6201bdb8a7 ACM: Fixed comment 2012-03-16 14:10:19 -07:00
rmackay9 a869a01294 ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees 2012-03-12 12:09:04 +09:00
rmackay9 c7480f2281 ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Jason Short 1e254cbca0 Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
Andrew Tridgell 95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell a2d0900460 fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell f1a41b041f log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Randy Mackay f1a129c8ea ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Jason Short 90099d4a42 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short 7833cea9d4 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short f638a4b81d recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Doug Weibel ed9f7cb1b6 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Jason Short 84e001594d comma 2012-01-10 23:45:33 -08:00
Randy Mackay f68d23d91e ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
Andrew Tridgell 92f9c0b648 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Jason Short fe8c99c49b removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short 2c1fe93856 cosmetic 2011-12-29 23:02:03 -08:00
Randy Mackay bbe6dea980 OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 73e6d5ee11 ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Andrew Tridgell ab64a689c8 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Jason Short d9590a44d6 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short be4b031c7d added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Pat Hickey f1624621b3 ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Andrew Tridgell ad9c0533d8 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short 8970948804 Sync logging 2011-12-16 22:02:41 -08:00
Doug Weibel 8b78c4a4c5 Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Jason Short f3e408e7e0 Added a simplified Log that is just GPS for my 1280 board 2011-12-12 17:47:45 -08:00
Jason Short 0289e35347 Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Doug Weibel 502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
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 909e5796eb Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short cc1593d16d made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -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