Commit Graph

167 Commits

Author SHA1 Message Date
Andrew Tridgell a446a7a9ed APM: allow serial buffer size to be configured
very useful for packet forwarding setups
2012-09-08 10:06:35 +10:00
Andrew Tridgell dcbd0fbd44 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 d445482ace APM: added optional use of new APM_Control library
thanks to Jon Challinger for the new controllers!
2012-08-22 12:45:14 +10:00
uncrustify a8e5900624 uncrustify ArduPlane/system.pde 2012-08-21 19:19:51 -07:00
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell c960db7af5 APM: allow for separate calibration of airspeed/barometer
this is useful just before takeoff, to account for temperature changes
2012-08-15 19:49:09 +10:00
Andrew Tridgell 9fea3e3ac1 APM: pass airspeed sensor to AHRS 2012-08-11 08:57:44 +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 a823c9ceae APM: removed cli slider and dipswitch options
use mavlink/eeprom for all config
2012-08-08 12:12:29 +10:00
rmackay9 06e35820e5 ArduPlane: allow MPU6000's DMP to be used for attitude estimation.
Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
2012-07-28 19:50:40 +09:00
Andrew Tridgell de3c9ce56d Airspeed: change APM to use new AP_Airspeed library
the next step is AHRS dead reckoning
2012-07-16 11:21:50 +10:00
Andrew Tridgell 58fd91165f APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell 82ede937e7 AnalogSource: convert analogRead() calls to the new API
this should give us much better analog values, plus save a bunch of
CPU time
2012-07-01 15:01:05 +10:00
Andrew Tridgell 3a2594fa1a APM: ArduPlane updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 2934b4173b APM: set_centripetal() is now set_fly_forward()
this controls more than just centripetal correction
2012-06-27 16:01:49 +10:00
Andrew Tridgell 940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
Andrew Tridgell a684bddbda GPS: open the GPS serial port with a 256 byte buffer
the UBLOX needs more than 128 bytes for reliable parsing
2012-06-08 16:42:03 +10:00
Andrew Tridgell 87ed39ea46 APM: use set_blocking_writes(false) when we have done ground start 2012-03-30 17:46:20 +11:00
Andrew Tridgell b4107d35e8 MAVLink: raise the serial transmit buffer size to 256 bytes
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient

As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
Andrew Tridgell 4c4c38f69a APM: Added MANUAL_LEVEL option
when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at
startup, and instead used the values saved in the EEPROM. This makes
it easier to do levelling on the bench, or once for a series of
flights for the day
2012-03-29 12:39:53 +11:00
Andrew Tridgell 8afd196907 APM: adapt ArduPlane for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell 7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell 367947fd33 HWSTATUS: if we don't know the voltage, report it as zero
this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell b20084af7d APM: added board_voltage() function 2012-03-02 15:48:27 +11:00
Andrew Tridgell 0248b48d30 allow MAG_ENABLE to be changed in flight
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
2012-02-25 14:51:09 +11:00
Andrew Tridgell 95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell bc0ed62aa9 adapt mainline APM code to AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell 1a861b3de5 allow for lower serial baud rates
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
2012-02-04 19:07:18 +11:00
Doug Weibel 9846822748 Bug fix for compass.
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
2012-01-12 14:44:24 -07:00
Andrew Tridgell cdd5589498 I2c: default to 5ms timeout, and faster bus speed
we will slow down the speed when we get a failure
2012-01-04 16:36:47 +11:00
Andrew Tridgell 3cb96fb8af APM: convert to new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell 8d87aa41b9 APM: Update for DataFlash changes 2011-12-28 16:00:49 +11:00
Doug Weibel 8e17b8d6d4 Correct a bug in throttle failsafe feature 2011-12-24 15:34:31 -07:00
Andrew Tridgell 5e347854c3 setup the main loop failsafe after RC library is setup 2011-12-23 11:13:01 +11:00
Andrew Tridgell 26d5d3c385 fixed HIL build 2011-12-21 23:31:39 +11:00
Andrew Tridgell 29fa78214b APM: added failsafe support
we now pass all channels through at 50Hz if the main loop stops
running, regardless of why. This gives us a reasonable failsafe, as
long as the low level RC library is still working, and interrupts
don't get completely disabled.
2011-12-21 23:31:39 +11:00
Andrew Tridgell f25ee899f3 APM: run mavlink loop while erasing logs 2011-12-18 10:19:52 +11:00
Andrew Tridgell df094ce463 fixed airspeed sensor for ArduPlane on APM2
we were trying to use a non-existant ADC chip!
2011-12-17 07:29:09 +11:00
Andrew Tridgell b9a88aac32 geofence: added FENCE_TRIGGERED_PIN
this allows for a digital pin to be set high when the geofence
triggers. This pin can be connected to an external failsafe device
2011-12-17 07:29:08 +11:00
Andrew Tridgell 1998908a05 DCM: reset the DCM matrix after a ground start 2011-12-13 21:33:07 +11:00
Andrew Tridgell 483bef35e5 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell 07dba4eff7 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Pat Hickey a99a1dbc9a ArduPlane: update AP_Baro construtors and initializers 2011-12-11 15:21:10 -08:00
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
Pat Hickey f2652d23bf ArduPlane: calibrate accel with imu.init_accel after imu.init
* complements commit 73418559, where init_accel was eliminated
  from AP_IMU_INS::init cold start.
2011-12-10 13:32:47 -08:00
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
Pat Hickey f7a9b8a563 ArduPlane: LED digital writes use LED_OFF and LED_ON 2011-11-25 20:00:19 -08:00
Andrew Tridgell 86927ac0a5 ArduPlane: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 7def0e98e8 USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane
when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from
EEPROM
2011-11-25 20:00:19 -08:00
Andrew Tridgell ca76f6d0ec purple: add the remaining hw defines for purple hardware 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell 3d175c449e adc.Init() takes timer_scheduler 2011-11-25 20:00:17 -08:00
Pat Hickey bad177bfdc removed old commented out code 2011-11-25 20:00:17 -08:00
Pat Hickey ad0cac670c purple: added new parameters needed for new library APIs
new APIs pass in timer_scheduler. We also to init the isr_registry
2011-11-25 20:00:17 -08:00
Andrew Tridgell 89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Andrew Tridgell 4933c5bcdd zero airspeed on ground start when initiated by MAVLink
If the users asks for a new calibration, that should include the
airspeed sensor
2011-11-21 20:29:18 +11:00
Doug Weibel f752c4b799 Change to logging file system.
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
2011-11-17 21:25:51 -07:00
Andrew Tridgell 1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Andrew Tridgell 5a44298d57 CLI: enable "hit enter 3 times" support for CLI
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
2011-10-27 21:54:07 +11:00
Andrew Tridgell e7e8165bc7 don't initialise DataFlash if logging is disabled
this fixes HIL without an IMU
2011-10-09 22:08:59 +11:00
Andrew Tridgell 63ac6bcd94 use memcheck_available_memory() instead of freeRAM()
this gives a more accurate view of free memory
2011-10-09 22:08:59 +11:00
Andrew Tridgell e61d742345 GCS: make the two GCS links gcs0 and gcs3
the artifical separation between 'gcs' and 'hil' just leads to
confusion. This also simplifies the code a bit more, and saves us a
bit more text
2011-09-19 11:04:02 +10:00
Andrew Tridgell 220b941e31 removed some more dead messages, and convert MSG_* to an enum
this make it safer to add a new message while keeping deferred queue
the right size
2011-09-19 11:04:02 +10:00
Andrew Tridgell 3f37cce6c7 remove unused MESSAGE_COMMAND_LIST 2011-09-19 11:04:02 +10:00
Andrew Tridgell 9baab490f1 HIL: first step in simplifying the HIL/GCS code
this gets rid of the messy #ifdefs around HIL_PORT, and removes
non-MAVLink GCS and HIL support
2011-09-19 11:04:01 +10:00
Amilcar Lucas 227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Andrew Tridgell e0dc1271d6 imported ArduPlane from ArduPilotMega svn 2011-09-09 11:29:39 +10:00