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3961 Commits

Author SHA1 Message Date
Andrew Tridgell
df3c8a5bc0 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
2d7fcbd14b APM: reload airspeed and throttle after landing 
this allows for restarting a mission after landing with reasonable
airspeed values
 2012-08-15 12:39:35 +10:00
Andrew Tridgell
47be6d8ad1 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
e26e8b3b67 APM: added RDRSTEER_ PID for steering on ground 
this allows for rolling takeoff with steering, and use of rudder in
landing
 2012-08-15 12:39:35 +10:00
Andrew Tridgell
52064772ee APM: report speed changes via MAVLink 2012-08-15 12:39:35 +10:00
Andrew Tridgell
817017658d APM: implement FENCE_ACTION_REPORT 
when FENCE_ACTION is set to FENCE_ACTION_REPORT a fence breach is
reported, but the flight mode is not changed
 2012-08-15 12:39:35 +10:00
Andrew Tridgell
8cb55eb75a APM: keep the time of the last heartbeat message 
this will be used for failsafe processing
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
0584017aff APM: expose change_command() and geofence_breached() to libraries 
this makes a failsafe library easier
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
ff6301fb46 APM: show waypoint number in jump message 2012-08-15 12:39:34 +10:00
Andrew Tridgell
92bdc23ab6 APM: minor formatting fix 2012-08-15 12:39:34 +10:00
Andrew Tridgell
2865434d02 APM: added 'OBC' failsafe module for ArduPlane 
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.

This includes:

 - manual pin
 - heartbeat pin
 - waypoint for heartbeat failure
 - waypoint for GPS failure
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
5631b90222 APM: interpret zero lat/lng as being current location 
this makes it easy to have a "loiter in current position" mission
element
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
93f1d5645b APM: fixed LOITER_TIME and LOITER_TURNS 
These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
 2012-08-15 12:39:34 +10:00
Andrew Tridgell
3bdc7d41be INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Andrew Tridgell
c31eef59ae Mavlink: log wind estimation result 2012-08-11 22:06:03 +10:00
Andrew Tridgell
d9b09d2c93 APM: allow for navigation by dead-reckoning 
we now ask AHRS if we have a position estimate, and use that if
available
 2012-08-11 12:01:08 +10:00
Andrew Tridgell
9fea3e3ac1 APM: pass airspeed sensor to AHRS 2012-08-11 08:57:44 +10:00
Andrew Tridgell
0ffc89d512 APM: support the MISSION_WRITE_PARTIAL_LIST command 
this allows missions to be partially updated in flight
 2012-08-09 17:13:36 +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
2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Andrew Tridgell
5498d347f3 APM: Added RST_MISSION_CH option 
this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
 2012-08-09 10:33:16 +10:00
Andrew Tridgell
e2c8ec2c9e APM: removed THROTTLE_REVERSE option 
Better to use RC3_REV
 2012-08-09 10:04:44 +10:00
Andrew Tridgell
e133900c68 APM: Added STICK_MIXING option 
this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
 2012-08-09 08:53:29 +10:00
Amilcar Lucas
d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Andrew Tridgell
dc99586981 APM: removed pointless load() call 2012-08-08 16:51:23 +10:00
Andrew Tridgell
dcc50b5705 AP_Airspeed: removed values passed to constructor 2012-08-08 16:38:39 +10:00
Andrew Tridgell
2114acddf1 APM: fixed default flap speed 
the default of 255 translates to -1 as a AP_Int8, so use zero to mean
no flaps
 2012-08-08 13:04:21 +10:00
Andrew Tridgell
5bfd1200d6 APM: change variables to use _cm, _cd and _ms suffix for units 
this makes it less likely that we mix up units
 2012-08-08 12:12:30 +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
Andrew Tridgell
12cd6b68ff AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Jonathan Challinger
7815e3d810 APM: fixed rounding of altitude 
the cast was rounding to the nearest meter
 2012-08-08 12:07:35 +10:00
Amilcar Lucas
f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas
b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas
9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas
95f2af6d2d Implement set ROI 2012-08-04 18:44:29 +02:00
Amilcar Lucas
4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas
bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas
50b5d33745 Enable camera triggering by default 2012-08-04 16:32:47 +02:00
Amilcar Lucas
82b82283be ATmega1280 does not have enough memory for mount support so disable AUTO GPS support, to allow mount support to fit. 
This should almost have no side effects, because the most users use MTK anyways.
If the user defined a GPS protocol, than we will NOT overwrite it
 2012-08-04 16:32:20 +02:00
Andrew Tridgell
301ab00c5b APM: added control switch debouncer 
this adds a switch debouncer, similar to the one used in
ArduCopter. I'm adding this after a flight on the weekend where noise
on the control mode channel caused a mode change away from auto.

To prevent this change adding excessive mode switch latency, it also
moves the reading of the control switch to the 10Hz loop, away from
the 3.3Hz loop. That gives us 0.2s delay in mode switch changes and
allows for spikes in the control mode for 0.1 seconds without changing
mode.
 2012-08-01 13:59:37 +10:00
rmackay9
176e6fdd68 ArduPlane: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:34 +09:00
Andrew Tridgell
0b49ac0ed0 APM: fixed overflow in geofence code for altitudes above 327 meters 2012-07-31 15:46:47 +10:00
Andrew Tridgell
cb61c3be96 APM: fixed case of 'LAND_PITCH_CD' 
mavlink parameters are uppercase by convention
 2012-07-29 17:07:38 +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
rmackay9
842ce47219 ArduPlane: change to Parameters.pde to support moving var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:31:01 +09:00
Michael Oborne
cb0eacca37 AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell
9eb05a2e1a APM: update version for 2.50 release 2012-07-26 11:36:17 +10:00
Andrew Tridgell
6bcfe913f7 APM: added a SCALING_SPEED parameter 
this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
 2012-07-26 11:30:23 +10:00
Andrew Tridgell
3c2fc72654 APM: fixed HIL build 2012-07-26 10:09:07 +10:00
Andrew Tridgell
07992bc943 APM: fixed build 
the SET_ROI commands are not supported yet
 2012-07-26 10:03:36 +10:00
Andrew Tridgell
7e697e4abd APM: switch back to old nav_roll calculation 
the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
 2012-07-26 10:03:36 +10:00
Michael Oborne
39ad8b5eec AP fix sitl hil attitude mode. 2012-07-24 07:18:25 +08:00
Andrew Tridgell
9e72d4c3f4 APM: fixed a problem with wayoints completing early 
when a user forces a waypoint jump, we may need to reset prev_WP to
prevent us thinking the waypoint is complete before we have started
 2012-07-21 20:32:07 +10:00
Andrew Tridgell
85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short
98237a0e00 Added Oilpan INS group object param 2012-07-18 23:07:50 -07:00
Jason Short
e574f3c8cf Arduplane: Fixed unsigned int comparison warning 2012-07-18 23:07:34 -07:00
Jeff Taylor
d02655ac56 APM: Fixed bug where landing_pitch wasnt initialized properly 
this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
 2012-07-19 13:59:30 +10:00
Andrew Tridgell
d6e370886f APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer 
it is in cm/s, not m/s
 2012-07-19 11:50:41 +10:00
Andrew Tridgell
1cf5057c61 APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled. 
This gives our best approximation for auto flight
 2012-07-19 11:50:41 +10:00
Jonathan Challinger
c7da63509b APM: Removed unused YAW_DAMPENER code. 
YAW_DAMPENER was defined as zero
 2012-07-19 11:50:21 +10:00
Jonathan Challinger
d9d055ef78 APM: Removed incorrect nav_gain_scaler from nav_roll calculation. 
nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
 2012-07-19 11:50:06 +10:00
Amilcar Lucas
3d385c0fb4 ArduPlane parameters: re-order the files, looks like the second file gets ignored :( 2012-07-18 22:52:17 +02:00
Amilcar Lucas
8a8e11fa7f ArduPlane parameters: Add base class info as well 2012-07-18 22:39:49 +02:00
Amilcar Lucas
610fdeacc1 Support up to 11 servos in APM2 
Conflicts:

	ArduPlane/ArduPlane.pde
 2012-07-18 22:01:19 +02:00
Michael Oborne
636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Jonathan Challinger
fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
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
Michael Oborne
67ecaa9252 AP fix duplicate keys in param config 2012-07-13 07:06:01 +08:00
Amilcar Lucas
dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell
c80a88766f APM: added credit for FBW altitude limit code 
thanks Yuri!
 2012-07-10 08:36:50 +10:00
Andreas M. Antonopoulos
de64c05f8e param_parser: cosmetic 
Arduplane: doc fixes
 2012-07-08 21:45:26 -07:00
Andrew Tridgell
78c51b945f APM: fixed DisplayName/Description mixups in parameter docs 2012-07-07 17:40:43 +10:00
Andrew Tridgell
f6d7d1bc59 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell
58fd91165f APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell
5abd26a142 APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell
21f06f8a39 GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andrew Tridgell
0385932afb MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell
95d9569b35 Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell
60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
fb66899414 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
6ee9f1ae97 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell
99b11e4f19 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Michael Oborne
b2d73d8f68 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
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
55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell
5bccfbd94c Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
3a2594fa1a APM: ArduPlane updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell
6639294c72 APM: update for new barometer interface 
the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
 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
rmackay9
621e020dac ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). 2012-06-26 22:59:24 +09:00
Amilcar Lucas
b072a59843 Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Andrew Tridgell
4a50686c3e APM: prepare for 2.40 release 2012-06-16 10:11:26 +10:00
Andrew Tridgell
58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
Andrew Tridgell
619bcc00d9 APM: parameter enums should not be conditionally compiled 2012-06-15 11:57:00 +10:00
Andrew Tridgell
0900751bcd APM: added longer comment on k_format_version 2012-06-15 11:55:09 +10:00
Amilcar Lucas
6d2ac62006 Let's keep the same format version until CAMERA is activated by default 2012-06-13 21:28:13 +02:00
Amilcar Lucas
07a18904fc With CLI and MOUNT active, the linker says: region `text' overflowed by 3858 bytes 
So disable CLI when MOUNT is active. Sorry I did not detect it before, but the APM_Camera branch worked in a different way.
 2012-06-13 21:08:09 +02:00
Amilcar Lucas
1906e06b69 Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Amilcar Lucas
a32b7c200b Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Amilcar Lucas
5ffd489d87 Spellcheck 2012-06-13 20:44:35 +02:00
Jason Short
448e4d8728 Added CLI level command 2012-06-11 23:01:25 -07:00
Jason Short
c804860243 Cosmetic changes only. 2012-06-10 13:10:07 -07:00
Jason Short
4e50db2f6e Added missing Manual_level config 2012-06-10 13:08:48 -07:00
Jason Short
37d8f86d33 Added missing Manual Level initializer 2012-06-10 13:08:22 -07:00
Andrew Tridgell
940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
Andrew Tridgell
99b39aef93 APM: ready for 2.40-beta 2012-06-08 18:03:21 +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
25c17a5425 re-enable the AP_Mount build 2012-06-04 19:32:11 +10:00
Andrew Tridgell
e7cf643386 added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell
3af29bd84e AP_Mount: disable AP_Mount until it works with MAVLINK10 2012-06-04 13:14:51 +10:00
Michael Oborne
a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Michael Oborne
b4a1b03fd3 AP: add fake satellite count for hil. 2012-06-02 16:38:20 +08:00
Pat Hickey
5766afa6c8 ArduPlane: Increment format number in Parameters.h 
* Force all users to reconfigure to take advantage of elevon patch
  ( 669e6867 )
 2012-05-28 20:51:12 -07:00
Pat Hickey
1c00d1ffe3 ArduPlane: Fix effect of ELEVON_REVERSE 
* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
  ELEVON_CH1_REVERSE parameter. These parameter values are found in
  g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
  channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
  the combination of pitch & roll into ch1 & ch2, as there are already
  parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
  not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
  instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
 2012-05-27 22:15:08 -07:00
Michael Oborne
c307b69515 increase resolution on params 0.1 > 0.01 2012-05-24 06:22:57 +08:00
Andrew Tridgell
d9457ecc38 MAVLink: send time of GPS fix accurately 
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
 2012-05-23 17:33:33 +10:00
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
b3aa704c49 AirSpeed: added parameter ARSPD_USE 
setting ARSPD_ENABLE to 1 and ARSPD_USE to 0 allows the airspeed
sensor to be initialised and logged without it being used for flight
control. This is very useful when initially testing an airspeed sensor
in a new plane. It also makes it possible to enable/disable the use of
the airspeed sensor during a flight at any time.
 2012-05-22 20:02:23 +10:00
Andrew Tridgell
8e01bc3593 MAVlink: update ArduPlane for param fetch during DataFlash erase 
same changes as for ArduCopter
 2012-05-22 16:13:35 +10:00
Andrew Tridgell
251fe26875 GPS: added ublox build target 
useful for 1280 APM1s
 2012-05-18 22:31:50 +10:00
Andrew Tridgell
3ae1c6f9e0 APM: prepare for 2.34 2012-05-14 14:29:59 +10:00
Michael Oborne
218e70cd8b AP - fix attitude level hil mavlink 1.0 issue 2012-05-06 11:05:35 +08:00
Andrew Tridgell
f43f5900bc Telemetry: make it possible to use UART2 on APM2 
building with TELEMETRY_UART2=ENABLED allows you to use the solder
bridge on the APM2 to enable telemetry on UART2. This allows both USB
telemetry and a radio at the same time.
 2012-05-04 10:39:44 +10:00
Michael Oborne
75f091cd9c more arduplane param info 2012-04-30 20:39:41 +08:00
Michael Oborne
c1115d83c7 update some arduplane config items 2012-04-30 18:44:20 +08:00
Andrew Tridgell
8fab91e063 APM-nav: set NAV I value defaults to 0.1 
a small I value is good on most planes, so I think this is a better
default than 0. Thanks to Chris for asking about this.
 2012-04-30 12:27:30 +10:00
Andrew Tridgell
67afdc7485 autotest: fixes for MAVLink 1.0 in autotest 2012-04-27 15:15:53 +10:00
Andrew Tridgell
b6a475f6a5 MAVLink: make APM build with MAVLink 1.0 possible with arduino GUI 2012-04-24 22:24:58 +10:00
Andrew Tridgell
95be2c5922 APM: updates for MAVLink 1.0 2012-04-24 19:54:20 +10:00
Andrew Tridgell
615defdc37 use build_all.sh to ensure we don't break the mount code 2012-04-24 10:57:43 +10:00
Andrew Tridgell
8e6fdb8981 APM: use OutputCh_current() in MAVLink servo logging 
this gives a more accurate picture of what is actually happening with
the servos
 2012-04-24 10:57:43 +10:00
Michael Oborne
8d797fec3c fix potential null pointer 2012-04-20 17:57:06 +08:00
Andrew Tridgell
1cc7adbac0 sitl: allow sitl build with MAVLink 1.0 2012-04-20 10:09:21 +10:00
James Goppert
5390467f3d Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
James Goppert
6fae800dc2 Working on ArduPlane options. 2012-04-19 02:23:54 -04:00
James Goppert
53c143a575 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert
0f90164f03 Changed default cmake port for ArduPlane. 2012-04-18 21:31:46 -04:00
James Goppert
0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
James Goppert
a9f0bd24d7 Switched to project specific cmake lists. 
This is better since each project has very different options.
 2012-04-17 23:07:20 -04:00
James Goppert
fb07cddd6f Making cmake local to projects. 2012-04-17 21:31:10 -04:00
Andrew Tridgell
d07b77237e AHRS: enable AHRS_ group in ArduPlane 2012-04-16 20:55:13 +10:00
Andrew Tridgell
85ba978a65 ready for 2.33 release 2012-04-09 18:16:49 +10:00
Andrew Tridgell
e1270401bf MAVLink: make parameter send use adaptive stream rate 
this makes it possible to fetch parameters with very low air data
rates
 2012-04-02 11:18:53 +10:00
Andrew Tridgell
7b50724f60 MAVLink: allow for find grained stream rate control 
streams can now be requested at any multiple of 20ms. So if you ask
for a stream at 7Hz then you will get it at close to 7Hz.
 2012-04-02 11:18:53 +10:00
Andrew Tridgell
e0bb7e2777 MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information 
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.

This makes MAVLink work better at low baud rates
 2012-03-30 17:46:20 +11:00
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
86cc7a5e1d APM: enable AP_Declination by default 2012-03-30 14:25:27 +11:00
Andrew Tridgell
168c45ab12 AP_Declination: enabled auto declination by default in APM 2012-03-30 14:25:27 +11:00
Andrew Tridgell
9d193f06c9 APM: Change version to 2.32 2012-03-29 12:50:12 +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
1c934dc7ef APM: increase ArduPlane version to 2.31 2012-03-27 16:13:29 +11:00
Andrew Tridgell
34506b170f Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell
989304fb47 APM: enable the new offset nulling in APM 2012-03-27 15:37:24 +11:00
Andrew Tridgell
458d55e5bc MAVLink: constrain variable changes to the datatype range 
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
8afd196907 APM: adapt ArduPlane for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell
e81060a1a6 APM: removed some config file cruft 
these options are now settable via MAVLink
 2012-03-18 13:34:40 +11:00
Michael Oborne
3944c1e665 update AP version to 2.30 2012-03-18 10:27:49 +08:00
Amilcar Lucas
6e9ffb4249 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell
2a03a0584f AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera
d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera
2524f9c8df AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell
d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell
9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell
13d5839778 APM: removed quaternion special cases 2012-03-10 10:34:32 +11:00
Andrew Tridgell
371677610d APM: avoid fetching the DCM matrix twice 
also no special case for quaternions
 2012-03-10 10:34:32 +11:00
Andrew Tridgell
7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell
e39c3cb9d2 APM: make it possible to build ArduPlane with quaternion support 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
511f65e2ef APM: fixed reset of control switch when short_fs_action is disabled 
When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
 2012-03-10 10:34:28 +11:00
Andrew Tridgell
b455443e2c APM: added logging of DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell
b20084af7d APM: added board_voltage() function 2012-03-02 15:48:27 +11:00
Pat Hickey
ff0fc26484 Cleanup: rename files with spaces in their names, replace with underscores 
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
  and /archive/Configurator/Source/Utilities/TDMS/G...
  because I don't want to mess with that.
 2012-02-28 16:14:31 -08:00
rmackay9
02cf07bb6b ArduPlane - updated to use new filter library 2012-02-28 21:03:04 +09:00
rmackay9
e1114bf7f7 ArduPlane - added Filter.h to unbreak the build! 2012-02-26 17:05:56 +09:00
rmackay9
21d7a77009 ArduPlane - switch sonar to use new mode filter from filter library 2012-02-26 15:35:42 +09:00
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
690dc9052a GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +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
df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell
16009777d9 APM: expanded parameter area to match ACM 
this ensures waypoints and basic eeprom layout remain in sync
 2012-02-18 10:51:57 +11:00
Andrew Tridgell
718a5b70e3 AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Andrew Tridgell
78babd37fa APM: use set_and_save_ifchanged() for GCS stream rates 
this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
 2012-02-18 10:51:57 +11:00
Phil
9242c157ee APM: Fix rudder in elevon mode. 
elevon planes can have rudders too
 2012-02-16 14:43:24 +11:00
Andrew Tridgell
c14097ffa1 APM: changed hold_course for landing to be based on yaw_sensor 
when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.

This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
 2012-02-15 08:50:45 +11:00
Andrew Tridgell
c662140a2b APM: report the nav_bearing as hold_course when enabled 
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
 2012-02-15 08:50:45 +11:00
Andrew Tridgell
330ff5dc8b APM: added some comments related to hold_course 
hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.

It also resets hold_course in all non-auto modes, to ensure it isn't
used
 2012-02-15 08:50:45 +11:00
Andrew Tridgell
11835508a7 when setting airspeed and groundspeed in a mission, don't save to EEPROM 
If you include airspeed, throttle or groundspeed changes in a mission
then those should not be saved to EEPROM, as otherwise if you restart
and re-fly the mission you will be starting with different parameters
to the ones you used for the first flight.

This is particularly important for setting the target airspeed when
coming in for a landing. You typically set a low target, but if you
fly again the next day I think it would be a real surprise to find
that your loiter airspeed has then changed to the value from the
landing part of your last mission.

This one can be argued either way, but I think that not saving these
changes is the more conservative choice, and better fits the
'principal of least surprise'
 2012-02-14 15:20:44 +11:00
Andrew Tridgell
c042ef1298 APM: fixed some build warnings 2012-02-14 08:58:56 +11:00
Andrew Tridgell
8d1729b3ba Mavlink: report the corrected pitch via MAVLink 
this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
 2012-02-14 08:58:56 +11:00
Andrew Tridgell
cdf296d8f6 fixed some printf casts 2012-02-14 08:34:10 +11:00
Andrew Tridgell
35badbb97d APM: the CLI fits nicely on the 1280 again now 
I find the CLI very useful for testing, so enable it by default on the
1280. Logging is still off by default.
 2012-02-14 08:33:49 +11:00
Andrew Tridgell
ecdbfd257a token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell
d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
0f9adbdae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell
617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell
0b3e3ec5c8 added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell
e85da68fe6 expand parameter area for ArduPlane 
this ensures all parameters can be saved without overflow
 2012-02-13 16:22:52 +11:00
Andrew Tridgell
983192c5d5 tidy up a comment 2012-02-13 16:22:52 +11:00
Andrew Tridgell
2c3ec5de99 fixed two parameter names 2012-02-13 16:22:51 +11:00
Andrew Tridgell
676ca03977 expose mavlink stream rates as parameters 2012-02-13 16:22:51 +11:00
Andrew Tridgell
f22988163e imported new Parameters code to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell
e7174bc649 import new Parameters.h for AP_Param to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell
3d598c8caa implement dump of all vars in CLI using AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell
bc0ed62aa9 adapt mainline APM code to AP_Param 2012-02-13 16:22:51 +11:00
Sandro Benigno
3200781f56 Battery monitor type 3 cannot calculate battery remaining properly, due it uses only voltage reading. This path set battery_remaining to a value out-of-band for that type of monitoring. It informs to external devices to not show that info. 2012-02-11 21:01:13 -02:00
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
Pat Hickey
dfece8e3ff ArduPlane: Call APM_RC.enable_out for all channels in init_rc_out. 2012-01-22 12:03:11 -08:00
Michael Oborne
6b949511ca change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
Michael Oborne
9ca6668c1b fix SITL attitude hil 2012-01-20 16:04:49 +08:00
analoguedevices
418f5ea31e Increment version number in anticipation of a firmware hex push. 2012-01-16 22:48:46 +00:00
Doug Weibel
797e0e27a9 Additional commenting on global variables 
First pass done.
 2012-01-16 10:28:03 -07:00
Doug Weibel
b4e58b50ee Additional commenting on global variables 2012-01-16 09:45:42 -07:00
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
Doug Weibel
762a5550de Remove a debugging print 2012-01-15 16:37:07 -07:00
Doug Weibel
4b24d865bf Stashing some battery monitoring ratio values in the comments for future use. 2012-01-15 16:35:46 -07:00
Doug Weibel
e22a83eec0 Add a CLI setup action to reset the magnetometer offsets 
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI.  Useful if you somehow get bad offsets or if you change magnetometer.  If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values.  I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
 2012-01-15 16:15:08 -07:00
Doug Weibel
6e8ac99ed6 Fix airspeed sensor support for APM2. 
Airspeed sensor should be attached to Analog input 0
 2012-01-15 16:12:08 -07:00
Doug Weibel
0306bf97a0 Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Doug Weibel
69c7598db2 Update battery monitoring code for ArduPlane 
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.
 2012-01-15 16:10:28 -07:00
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
Doug Weibel
892f24ac5c Adding comments for global variables 2012-01-11 12:37:43 -07:00
analoguedevices
ee18748565 Put in commented-out APM2 # defines, to save people the trouble of having to type them in themselves. 2012-01-09 02:00:46 +00:00
Doug Weibel
44c66c2e8e Bug fix for issue 438. 
The rate in a change alt command does not need to be signed.  The code will determine if the rate needs to be positive or negative
 2012-01-08 18:24:55 -07:00
Michael Oborne
e1a544cc78 fix relay on apm 1 AP 2012-01-05 07:51:01 +08:00
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
Doug Weibel
4de2155845 Tweak to FBW min altitude 
Patch from Yury
 2011-12-31 15:44:40 -07:00
Jason Short
a6c09b3ea5 Small issue with newline formatting 2011-12-29 23:02:02 -08:00
Michael Oborne
cd145fd7a9 add circle to output modes 2011-12-29 18:21:32 +08:00
Andrew Tridgell
cd3729d993 APM: added error checking on barometer read 
if the barometer is dead and the GPS has a fix, use the GPS for
altitude
 2011-12-28 20:41:53 +11:00
Andrew Tridgell
98353b7ba8 APM: added error checking on compass read 2011-12-28 20:41:53 +11:00
Andrew Tridgell
3cb96fb8af APM: convert to new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
a6920d603d geofence: re-breach if user changes mode outside the fence 
if the user changes mode while outside the fence, and fencing is still
enabled, then declare a new breach
 2011-12-28 17:28:35 +11:00
Andrew Tridgell
8d87aa41b9 APM: Update for DataFlash changes 2011-12-28 16:00:49 +11:00
analoguedevices
b8917b58bd Added contributor names, removed "alpha" from firmware name 2011-12-26 17:13:37 +00:00
Andrew Tridgell
f5a3eed1a7 APM: fixed some unsigned/signed warnings 2011-12-26 19:17:11 +11:00
Andrew Tridgell
d81dc21dfe APM-log: fixed reading of GPS logs 2011-12-26 19:17:11 +11:00
Andrew Tridgell
3f9f3f3416 APM-log: changed to use df_NumPages 
this copes with different data flash sizes on APM1 and APM2
 2011-12-26 19:17:11 +11:00
Doug Weibel
8e17b8d6d4 Correct a bug in throttle failsafe feature 2011-12-24 15:34:31 -07:00
Doug Weibel
a5df59eba3 Remove old debug print 2011-12-24 14:26:35 -07:00
Doug Weibel
7879efb8ae Fix scaling on "turn coordination" yaw PID so that P gain values fall in "usual" range 0.1 to 10. 2011-12-24 14:26:35 -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
5bda871d60 added comment on using GPS ground course 2011-12-23 11:13:01 +11:00
Andrew Tridgell
d0245b206a APM2: default magnetometer to enabled 
all APM2s have a MAG at the moment

thanks to Chris for the suggestion
 2011-12-22 17:51:14 +11:00
Andrew Tridgell
c805f2a0c3 failsafe: make sure we clear any RC override in manual failsafe 2011-12-22 10:55:43 +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
e687ce9b3d mainloop_count should be uint16_t 2011-12-21 23:31:38 +11:00
Andrew Tridgell
89561d49d0 always declare a timer_scheduler 
we should always run this code
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
4bdc872595 APM: show temperature in airpressure test 
useful for tracking down baro bugs
 2011-12-19 18:52:56 +11:00
Andrew Tridgell
c14d702912 geofence: send fence status messages on fence events 
this ensures the fence status goes out as soon as possible, which
means the messages arrive in a sane order on the GCS
 2011-12-19 11:25:59 +11:00
Andrew Tridgell
e99db6526f APM: added RST_SWITCH_CH parameter 
This is useful for switching back to the mode indicated by the control
switch after a failsafe or fence breach. I was just changing modes
each time, but it is far more elegant to have a spring loaded switch
for "I am ready to take control again", rather than continually
changing modes.
 2011-12-19 11:25:59 +11:00
Andrew Tridgell
71c911f65d Log: fixed logging dependence on compiler arg eval order 2011-12-18 17:31:45 +11:00
Andrew Tridgell
f25ee899f3 APM: run mavlink loop while erasing logs 2011-12-18 10:19:52 +11:00
Andrew Tridgell
fc20aa9602 geofence: enable return to old control mode via FENCE_CHANNEL 
if you disable fencing with the fence channel switch while still in
GUIDED mode to the return point, then reset the control mode back to
the transmitter control mode
 2011-12-18 10:00:44 +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
f6f808357c removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 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
Michael Oborne
28d280562a apm 1280 disables 2011-12-16 22:26:39 +08:00
Andrew Tridgell
42522baf9f geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
fc495ce6a7 geofence: added fence status reporting and faster altitude check 2011-12-16 20:11:51 +11:00
Andrew Tridgell
64ae2ebec5 geofence: don't trim control surfaces on geo-fence breach 
the user input is likely to be bad
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
3b148c87d5 geofence: main geo-fence code 
this implements the primary logic of geo-fencing
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
82b615df50 geofence: added geo-fencing control parameters 2011-12-16 20:11:51 +11:00
Andrew Tridgell
960d6ee38a removed an unused variable 2011-12-16 20:09:49 +11:00
Andrew Tridgell
84a694efb9 only check for "enter 3 times" in first 20s after boot 
we don't want stray bytes on serial3 to make us enter the CLI during
flight!
 2011-12-16 20:09:32 +11:00
Doug Weibel
ca89857854 Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Andrew Tridgell
1998908a05 DCM: reset the DCM matrix after a ground start 2011-12-13 21:33:07 +11:00
Andrew Tridgell
8cd13749bd MAVLink: fixed link flood on waypoint upload 2011-12-13 20:39:04 +11:00
Andrew Tridgell
dd9f3a3fa6 fixed a hang on 2nd run of IMU test 
we should not try to initialise the ISR handlers twice
 2011-12-13 18:28:50 +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
888d6226b2 fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Andrew Tridgell
07dba4eff7 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell
78e8fbff9c fixed hardware config check for barometer 2011-12-12 15:14:55 +11:00
Andrew Tridgell
1b1c629167 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell
2bd18e937c throttle: only use throttle slew in auto throttle modes 
we don't want STABILISE and FBWA to have throttle change limits
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
0a7332b6e3 airspeed: smooth the airspeed value a bit more 
the value is very noisy in my tests. A bit more smoothing may help
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
011110e1dd airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Andrew Tridgell
d5c23c83cf apm2: fixed for new barometer code 2011-12-11 15:21:10 -08:00
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
d7f77aec93 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey
1b2ebdff44 ArduPlane: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
04ea979331 ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes 2011-12-11 15:21:09 -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
2ef4c79a7c Minimum ground speed patch from Claudio Natoli. Thanks Claudio! 
This patch will boost the target airspeed as necessary to keep the ground speed above a parameter value - param_min_groundspeed.  Airspeed is still limited to FBW-max.  Setting min_groundspeed to zero (default) disables the feature.
 2011-12-09 16:43:25 -07:00
Doug Weibel
2f962fe6da Augment failsafe gcs_send_text message 2011-12-09 09:11:45 -07:00
Doug Weibel
502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Andrew Tridgell
39a36fe946 fixed the "reboot on GPS lock" bug 
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
 2011-12-04 09:06:58 +11:00
Andrew Tridgell
4a057aefa0 test: removed the broken gyro test and merge it into the imu test 
the gyro test assumed APM1 hardware, and would hang on APM2. The imu
test can just as easily display gyro and accelerometer data as well as
roll/pitch/yaw, so combine it in one test
 2011-12-03 14:08:20 +11:00
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
Andrew Tridgell
2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Andrew Tridgell
838c57cd1a mavlink: paranoia setting of failsafe when forcing AUTO mode 
this shouldn't be needed, but will do no harm, and I thought I saw
this fail in a test
 2011-11-28 16:22:33 +11:00
Andrew Tridgell
4036604fb7 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Andrew Tridgell
5ae929ace9 build: CLI_SLIDER_ENABLED doesn't need to be forced off in apm2 build 
this is handled by config.h now
 2011-11-28 13:53:57 +11:00
Doug Weibel
7960e7963c Add Guided mode to failsafe handling 2011-11-26 21:10:53 -07:00
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
Pat Hickey
ab56a764d3 ArduPlane: rev version number from 2.26 to 2.27 Alpha 2011-11-25 20:00:19 -08:00
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
ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
3a0b1d1903 purple: there are no dipswitches on the purple board 2011-11-25 20:00:18 -08:00
Andrew Tridgell
6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
649da8e05d purple: adc test not useful if no ADC 2011-11-25 20:00:18 -08:00
Andrew Tridgell
40459653b5 purple: fixed LED and IO pin defintitions 2011-11-25 20:00:18 -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
a3701e521a build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell
1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
3d175c449e adc.Init() takes timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell
03c7d7bfb6 purple: always declare timer_scheduler 2011-11-25 20:00:17 -08:00
Pat Hickey
1895458dbf purple: added new parameters to Init() functions 
this adapts the test code for the purple API changes
 2011-11-25 20:00:17 -08:00
Pat Hickey
f9d6facdda test: added new passthru test 
this passes radio inputs direct to servo outputs, which is useful for
hardware testing
 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
Pat Hickey
4015cb0a40 purple: fixed APM_RC.Init() to add isr_registry parameter 2011-11-25 20:00:17 -08:00
Pat Hickey
9e47536924 purple: declare sensors for purple library rework 
we need some different declarations to match the new APIs
 2011-11-25 20:00:17 -08:00
Pat Hickey
08675a91d8 purple: added config options for purple/APM1 hardware 2011-11-25 20:00:17 -08:00
Pat Hickey
3300032a89 purple: added hardware defines for ArduPlane 2011-11-25 20:00:17 -08:00
Pat Hickey
cc67062442 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Andrew Tridgell
89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne
0a0b2d32f4 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Doug Weibel
b05e1d90f5 Change type to support "dump all with -1" 2011-11-24 18:55:33 -07:00
Doug Weibel
0f428bd43a Logging cleanup. Fixed missing cast, removed erase warning, added -1 to dump all option, and fix intermittent bug for log number 1. 2011-11-24 18:55:33 -07:00
Doug Weibel
27e68234b7 Simplified logging logic for finding start/end of log files 2011-11-24 18:55:32 -07:00
Doug Weibel
244eeea34a Rework logging file system to be more robust 2011-11-22 20:20:17 -07:00
Andrew Tridgell
8ef364657b MAVLink: fixed throttle display in VFR_HUD 2011-11-21 20:29:19 +11:00
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
Andrew Tridgell
faaaf11822 fixed disabling of GPS in ArduPlane 
we may need a new hex
 2011-11-21 20:29:18 +11:00
Andrew Tridgell
9ea0fc9539 Log: prevent looping forever 
this happened with an empty dataflash
 2011-11-20 19:06:24 +11:00
analoguedevices
b3716d988f Rev version number 2011-11-19 23:43:47 +00:00
Jason Short
7ffa2c4347 shortened strings 2011-11-19 14:02:45 -08:00
Doug Weibel
88f5669104 Remaining changes to the logging file system. 
With these changes the logging system will allow overwriting of logs with no loss of functionality.  I have tested (successfully) logging with the Dataflash being filled and overwriting previous files.  I have also tested with a single long file that partially overwrites itself.
 2011-11-17 21:25:51 -07:00
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
Jason Short
ddd89e1849 Mission Scripting updates 2011-11-16 00:22:23 -08:00
analoguedevices
7535b8a3d5 Rev version number 2011-11-16 05:04:36 +00:00
Doug Weibel
e6542ec1a2 Fix Do_Jump bug. Also fix cross track bearing bug after Jump 2011-11-15 20:44:19 -07:00
Doug Weibel
0433cd6d69 Missed hunk for last commit 2011-11-15 20:43:00 -07:00
Doug Weibel
9fe554236b Add logging of DCM drift correction integrator in PM 
This may be a temporary feature…  Mostly added to check new (lower) integrator limit.
 2011-11-15 20:42:59 -07:00
analoguedevices
e3ef9a2a36 Rev version number to 2.25 2011-11-14 05:31:27 +00:00
Michael Oborne
31159a7e1b modify crosstrack calc 2011-11-13 08:25:24 +08:00
Andrew Tridgell
407d66b41e fixed a valgrind warning 
need to initialise all fields
 2011-11-08 17:26:53 +11:00
Andrew Tridgell
92471aead2 Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Andrew Tridgell
2bd451b445 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell
ae1e1c940f Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short
c8304114a3 renamed some command variables to align with Arduplane 
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
 2011-11-04 21:41:51 -07:00
Amilcar Lucas
ab730ff919 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00
Andrew Tridgell
9eb27c2573 GCS: fixed timeout loading waypoints 
while loading waypoints we could saturate the link
 2011-10-31 21:25:35 +11:00
James Goppert
9d278ab355 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 23:12:53 -04:00
James Goppert
3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne
c07d56ccbf Revert Changes 
switch back to old nav_rol lcalc
switch back to old planner - non mavlink 1.0
 2011-10-31 07:23:20 +08:00
Michael Oborne
3f3c04f95b Add MAVLINK_MSG_ID_HIL_STATE message 2011-10-30 18:17:37 +08:00
Michael Oborne
ccd51fea2c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 14:27:13 +08:00
Andrew Tridgell
d9ae4e4e6e MAVLink: use new MAV_MODE_FLAG_CUSTOM_MODE_ENABLED flag 
this enables us to tell if custom_mode is set
 2011-10-30 13:00:54 +11:00
Andrew Tridgell
e722126843 fixed uninitialised variable warning 2011-10-30 11:48:56 +11:00
Andrew Tridgell
580647b1de use C++ tricks to minimise differences for MAVLink 1.0 
this should make maintainence/testing a bit easier
 2011-10-30 11:48:56 +11:00
Michael Oborne
9465617b02 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 07:35:10 +08:00
James Goppert
8102b31d8d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert
1a8c4a2597 Working on cmake support. 2011-10-29 15:01:05 -04:00
Andrew Tridgell
0211fc2f09 move g_rc_function[] to RC_Channel library 
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
 2011-10-29 18:42:18 +11:00
Michael Oborne
374f8cbcd0 better crosstrack 2011-10-29 12:54:13 +08:00
Michael Oborne
f70868348c Merge branch 'master' of https://code.google.com/r/meee146-hil 2011-10-29 11:37:54 +08:00
Andrew Tridgell
1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Michael Oborne
835b585e03 APM track following change 2011-10-28 12:05:22 +08:00
Doug Weibel
cbf59e96bd Bug fixes for command logic re-write 2011-10-27 13:45:57 -06:00
Doug Weibel
645b9c1d48 Initial rewrite of command logic. 
Changes mission structure so that conditional and immediate commands are located between associated waypoints instead of after the second waypoint.
 2011-10-27 13:45:52 -06:00
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
2b9daf65ff mavlink: fixed WP upload 
The previous code accepted arbitrary command codes here, and ACKed
them. Later we should specifically list which ones are OK
 2011-10-26 12:18:24 +11:00
Andrew Tridgell
5a089f98d2 MAVLink: MAVLink 1.0 support now builds 
not testing at all - so be careful!
 2011-10-24 12:21:26 +11:00
Andrew Tridgell
f815a1b27b mavlink: started adding support for MAVLink 1.0 
this is nowhere near complete, and does not compile yet
 2011-10-24 10:20:36 +11:00
Doug Weibel
9cbc38b516 Add a feature for a minimum altitude parameter while flying in FBW-B 
This patch written by YureZzZ - Thank you!
 2011-10-16 23:11:40 -06:00
Michael Oborne
d38b289766 hil sensor cleanup 2011-10-14 18:14:32 +08:00
Michael Oborne
7ef51f723d Sensor hil fix's 2011-10-13 22:22:03 +08:00
Andrew Tridgell
ea82b27fe5 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Michael Oborne
14dbc9523c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-11 08:05:14 +08:00
Michael Oborne
3bc793bb9b Merge branch 'desktop-wip' of https://code.google.com/r/tridge60-apm-wip 2011-10-10 07:22:57 +08:00
Andrew Tridgell
0939b51a4c added build makefiles 2011-10-10 07:18:38 +11:00
Amilcar Lucas
6484b83291 More optimizations 
I forgot these ones.
 2011-10-09 15:34:47 +02:00
Amilcar Lucas
865bb34657 Optimize the code a bit more, only perform calculations if they are necessary 2011-10-09 15:27:17 +02:00
Amilcar Lucas
c624582c91 Use a single if instead of four 2011-10-09 15:27:17 +02:00
Amilcar Lucas
e232a0936f Use the shorter macro call instead 2011-10-09 13:57:35 +02:00
Andrew Tridgell
5d0d1b6a6d fixed a crash in HIL 
The g_rc_function[RC_Channel_aux::k_flap_auto] ptr came out as NULL
during one HIL run on a desktop CPU, which led to ArduPlane
crashing. I am not yet sure if this can happen in real flight, but I
think the NULL check is worthwhile to be sure.
 2011-10-09 22:09:00 +11:00
Andrew Tridgell
6656847faa fixed some ambiguous if/else combinations 
gcc was complaining about the logic
 2011-10-09 22:09:00 +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
546b4df76d avoid the need for compiler optimisation for HIL build 
read_airspeed() is only available when in a non-HIL build. The
optimiser normally removes this call, but when debugging in a desktop
build, it is nice to avoid using the optimiser
 2011-10-09 22:08:58 +11:00
Amilcar Lucas
f1d47982e2 Only use radio_in values if the channel is not used as flight_mode_channel 2011-10-08 22:15:54 +02:00
Amilcar Lucas
ee4251baef Fix compilation 2011-10-02 14:52:02 +02:00
Amilcar Lucas
7b4ccffa53 Moved relay control functions to it's own library 2011-10-02 01:00:27 +02:00
Amilcar Lucas
dcef0f34e9 Correct/update channel assigment comment 2011-10-02 00:06:44 +02:00
Doug Weibel
5073acce3e Add auto flap functionality to FBW-B 2011-09-30 07:25:36 -06:00
Doug Weibel
9396e3ab58 Fix missing capitalization 2011-09-30 07:25:35 -06:00
Doug Weibel
adbe965f35 Rework prev commit a bit cleaner as suggested by Janne Mäntyharju 2011-09-30 07:25:35 -06:00
Doug Weibel
3fff788f95 Add code to disable throttle if we are on the ground and in FBW_B or higher 
Add code to disable throttle if we are on the ground and in FBW_B or higher.  We believe we are on the ground if speed < 5 and alt < 5.  Also check that we are not trying to perform a takeoff.
 2011-09-30 07:25:35 -06:00
James Goppert
e20c279ca5 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M
8aac89e549 Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:17:08 +03:00
James Goppert
5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert
5e92e1f982 Corrected makefile. 2011-09-29 18:57:19 -04:00
James Goppert
ed850d4e0c Added missing files. 2011-09-29 14:18:05 -04:00
James Goppert
d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short
326cfef808 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Amilcar Lucas
dca013965a Fix issue #285 2011-09-25 11:36:31 +02:00
Amilcar Lucas
e5c248e2bf Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
Doug Weibel
932e0fe45c Correct bug in auto flap handling 2011-09-22 20:50:15 -06:00
Andrew Tridgell
e2ed1f1c56 removed some more unused defines 
mavlink is now the only choice for HIL and GCS
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
4437ff1046 get rid of the last active uses of the SendDebug macros 
please use gcs_send_text*() from now on, to ensure serial queueing
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
6a9a85f184 remove unused climb_rate code 2011-09-19 11:04:02 +10:00
Andrew Tridgell
20bfe6b01d use gcs_send_text_fmt() and cleanup a few old debug lines 2011-09-19 11:04:02 +10:00
Andrew Tridgell
0f09bf6654 GCS: added new gcs_send_text_fmt() method 
this allows low priorty formatted messages to be sent to the ground
station, without causing a CPU stall on the serial send buffer
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
9351ef17a9 GCS: don't send low priority messages unless they fit 
check the serial transmit buffer, and don't send low priority messages
unless they can go straight out without blocking the CPU
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
55cd7bcf1d added gcs_severity enum 
this makes it harder to mixup defines
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
66e4ae50bb remove some more old cruft 2011-09-19 11:04:02 +10:00
Andrew Tridgell
73223ee458 remove Mavlink_Common.h and used deferred logic for params/waypoints 
this moves the mavlink send logic into GCS_Mavlink.pde, and also
ensures we only ever send parameters and waypoints when there is
sufficient space in the serial send buffer
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
de12ea429e remove some more unused code in the GCS interface 2011-09-19 11:04:02 +10:00
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
2ca8e58bc2 GCS: simplify the API for sending messages 
this makes the code clearer, and saves us another 100 bytes of text
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
17ebb311a7 MAVLink: use enum ap_message and remove unused param argument 
saves us another 200 bytes of 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
Andrew Tridgell
87ddd50c2a remove unsued MSG_LOCAL_LOCATION 
this saves us a bit of code
 2011-09-18 11:07:24 +10:00
Andrew Tridgell
5042ca8e9e rework the MAVLink send code to avoid excessive stack usage 
this avoids a varient of the gcc excessive stack usage bug, by
wrapping the send calls in NOINLINE functions. This saves us a lot of
stack space, and strangely enough produces slightly smaller code!
 2011-09-18 11:05:21 +10:00
Janne M
eb7bd2586c Merge branch 'divider' 2011-09-17 23:56:41 +03:00
Janne M
b5cfbd10ae Added voltage divider, input voltage and amps per volt to parameters. 2011-09-17 22:32:19 +03:00
Amilcar Lucas
227ce0a92d Merge some small misc improvements from APM_Camera branch 2011-09-17 20:25:31 +02:00
Andrew Tridgell
58fa51b680 ArduPilot updates for new DCM code 
G_Dt is no longer needed, and scale ADC values by 8 to match old
constants
 2011-09-17 14:58:02 +10:00
Andrew Tridgell
49d96726d5 MAVLink: only send HEARTBEAT and SYS_STATUS during initialisation 
I am concerned that some of the mavlink send routines may impact on
sensor calibration, so its safer to just send the minimum information
to keep the GCS happy
 2011-09-17 14:58:02 +10:00
Michael Oborne
e43b711e96 fix remote error value 2011-09-15 18:26:59 +08:00
unknown
7a70cb6169 Merge branch 'master' of https://code.google.com/p/ardupilot-mega/ 2011-09-14 16:02:21 +02:00
unknown
a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
Amilcar Lucas
1f29197771 Revert more of 6dcbc7f44bc0. 
Fix an issue with initialization of channels that on-line changed their function.
For the curious people that the code size overhead of having any aux channel do any function (with this code) is 44 bytes.
 To see wich code I'm talking about, do a git diff 05057ac2d455..this_commit (replace this commit with the commit hash of this commit)
 2011-09-13 14:01:35 +02:00
Amilcar Lucas
f08cea8044 These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy 2011-09-13 01:54:47 +02:00
Amilcar Lucas
5406991831 Added support for routing any function to any of the aux. servos. 
This is a manual merge from the APM_Camera branch.
It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0
 2011-09-13 01:24:06 +02:00
Amilcar Lucas
c7b3bfd295 Use the G_RC_AUX macro when possible. Added more comments. Remove unused code 2011-09-12 20:21:12 +02:00
Doug Weibel
f05f56f83f Correct bug in initialization of auxiliary channels 
The value of aux_servo_function[CH_x] was not being set before the radio init_rc_in() function was setting channel angle/range.
 2011-09-12 20:21:12 +02:00
Doug Weibel
119d006e03 Change default setting for auto_trim to disabled per user (JB) request. 2011-09-12 07:24:52 -06:00
Doug Weibel
8c9757a8d1 Correct state machine processing for long failsafe event following short failsafe from lower modes 2011-09-11 21:59:46 -06:00
Doug Weibel
251c5875fb Disable stick mixing if in failsafe 
If trim values differ from failsafe channel values then stick mixing will adversely affect performance while in failsafe
 2011-09-11 21:50:32 -06:00
Amilcar Lucas
77c798abd5 Use G_RC_AUX macro to simplify accessing the auxiliary servos 2011-09-12 00:02:47 +02:00
Amilcar Lucas
46f9d4cec8 This is ugly, but it fixes compilation on arduino 2011-09-11 23:25:06 +02:00
Amilcar Lucas
ce010b4e38 Moved update_aux_servo_function() to the RC_Channel_aux.* files. 
This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong
 2011-09-11 23:07:30 +02:00
Amilcar Lucas
213969202a Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ? 2011-09-11 19:13:01 +02:00
Amilcar Lucas
93cbe664d6 Only run camera code if camera support is enabled 2011-09-11 17:41:18 +02:00
Amilcar Lucas
2fa92aea4c Fix RC range reversal 2011-09-11 04:12:04 +02:00
Amilcar Lucas
46185ee5d8 Revert "Fix RC range reversal" 
This reverts commit d5046b1097b0b5455aa1a59e9dd80533e589432e.
 2011-09-11 04:07:36 +02:00
Amilcar Lucas
51a8ec0ba8 Fix RC range reversal 2011-09-11 04:04:02 +02:00
Amilcar Lucas
8aeee578b4 For now point the camera manually via the RC inputs 2011-09-11 02:40:13 +02:00
Amilcar Lucas
b36d0352f3 Added a comment about lower half of the array 2011-09-10 23:58:25 +02:00
Amilcar Lucas
d3280bdd16 Added comments explaining when should the function be used 2011-09-10 23:36:47 +02:00
Amilcar Lucas
7e0bff9cbe Egg_drop has a 0..100 range 2011-09-10 23:35:23 +02:00
Andrew Tridgell
0a793a1327 Revert "added support for AP_ADC MAVLink packet" 
This reverts commit a65a2dda2c1bfa95437880227a3abddc95b329f5.

I am reverting this not for any sane reason, but because my 3 APM
boards now lock up on any I2C operation, and I don't know why. I can't
see how this change could have caused it, but I don't want to take the
chance.
 2011-09-10 22:00:29 +02:00
Andrew Tridgell
c65d038ccf added support for AP_ADC MAVLink packet 
this adds AP_ADC, which sends raw ADC 16 bit values for all 6 ADC
channels at the Extra3 MAVLink stream rate. Extra3 was previously
unused
 2011-09-10 14:18:15 +02:00
Amilcar Lucas
59cbb8ec6f Moved a camera mount function call, out of the servos update function 2011-09-10 13:47:09 +02:00
Amilcar Lucas
f4998c3673 Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable 2011-09-10 13:26:29 +02:00
Amilcar Lucas
b7a0d8836a This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:18:38 +02:00
Amilcar Lucas
f40c85a601 This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:02:22 +02:00
Andrew Tridgell
ec398505a6 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00
Andrew Tridgell
609ae8359d import APM_Camera branch from SVN 2011-09-09 11:45:13 +10:00
Andrew Tridgell
e0dc1271d6 imported ArduPlane from ArduPilotMega svn 2011-09-09 11:29:39 +10:00