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5122 Commits

Author SHA1 Message Date
Andrew Tridgell 9c3c1c4f54 APM: fixed hil build 2012-08-16 12:53:37 +10:00
Andrew Tridgell 5ebcf425cf APM: allow telemetry send during parameter and waypoint fetch 
this slows down telemetry by a factor of 4 during parameter or
waypoint transmit. That ensures that mode changes and gps position are
still updated during a long parameter fetch
 2012-08-16 10:50:12 +10:00
Andrew Tridgell 0a7d8a4933 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Andrew Tridgell 41a974683e Quaternion: we no longer support acceleration in the GPS driver 
remove the linear acceleration compensation code
 2012-08-15 20:07:53 +10:00
Andrew Tridgell 79aae2114c GPS: support getting raw velocity values from a UBlox 
this may give better velocity numbers than the value from COG
 2012-08-15 20:06:35 +10:00
Andrew Tridgell a1107602e9 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 efee2b1557 APM: added LAND_FLARE_ALT and LAND_FLARE_SEC 
these allow you to configure the altitude and time before touchdown to
flare the plane and lock the heading. Useful on larger planes.
 2012-08-15 18:11:16 +10:00
Andrew Tridgell 455e088c9f APM: rename RDRSTEER to WHEELSTEER 
thanks to Jon for the suggestion
 2012-08-15 16:28:59 +10:00
Andrew Tridgell c652538516 APM: use AHRS position for geo-fence 
this allows it to take account of dead-reckoning
 2012-08-15 14:31:10 +10:00
Andrew Tridgell 3f76a4cc61 SITL: use rudder steering in APM autotest 2012-08-15 12:53:05 +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 b8521ff9ae 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 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 a361a3aebd AP_AnalogSource: make read_average() return a float 
this allows it to take advantage of better than 1 bit resolution by
averaging
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 4b5d98e65b 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 ce5f3dcfe2 APM: report speed changes via MAVLink 2012-08-15 12:39:35 +10:00
Andrew Tridgell 1b152ef9e0 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 7bb8fa1e58 MAVLink: added FENCE_ACTION_REPORT 2012-08-15 12:39:35 +10:00
Andrew Tridgell 44852276da AHRS: added ahrs.yaw_initialised() 
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 90bf9c62bb SITL: added a test script for starting in Kingaroy 
we use this for OBC testing
 2012-08-15 12:39:34 +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
Andrew Tridgell b54ab2d72a 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 dd17302def APM: show waypoint number in jump message 2012-08-15 12:39:34 +10:00
Andrew Tridgell c525b6b997 APM: minor formatting fix 2012-08-15 12:39:34 +10:00
Andrew Tridgell b018d7ba77 SITL: make it easier to start ArduPlane SITL at any location 
this generates a jsbsim startup XML file from a template
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 93f45f232f 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 98015636d9 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 98d5a49717 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 26749a7486 Failsafe: only read RC on new data 2012-08-15 12:39:33 +10:00
Andrew Tridgell 9c19ff1a2c Failsafe: added COMPETITION_MODE 2012-08-15 12:39:33 +10:00
Andrew Tridgell b499d1cc00 Failsafe: prototype of APM2 based failsafe system 2012-08-15 12:39:33 +10:00
Jason Short 2cc27b9804 ACM: Switched to filtered loc 2012-08-14 14:11:52 -07:00
Jason Short 5d64942f01 ACM: Switched to filtered_loc for distance calcs 2012-08-14 14:11:52 -07:00
Jason Short cbd4661b96 ACM: Added a filtered version of Location for GPS lag. 
I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
 2012-08-14 14:11:51 -07:00
Jason Short ba6ec9ae45 ACM: Revved the version 2012-08-14 14:11:51 -07:00
rmackay9 95c59fd4a4 ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT. 
Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
 2012-08-14 12:14:35 +09:00
rmackay9 71710b4514 AutoTest: set RTL's APPROACH_ALT to zero to force the copter to land instead of hanging out at 2m and causing the auto test to time out 2012-08-14 12:03:32 +09:00
rmackay9 34517349db AutoTest: update failsafe timeout to 180 to give it more time to pass. 2012-08-14 11:25:10 +09:00
Pat Hickey 394a3059b7 APM_RC_APM2: updated comments for clarity 2012-08-13 15:34:17 -07:00
rmackay9 b5480daa69 ArduRover: deleting this. Please see APMRover2 for latest Rover code. 2012-08-14 00:31:50 +09:00
rmackay9 9edda1407a ArduRover: latest rover code is in APMRover2 directory 2012-08-14 00:31:12 +09:00
rmackay9 4e7e78d091 AP_RC_Channel: deleted this library as nobody seems to be using it. 
Everyone is using RC_Channel instead which includes parameters.
 2012-08-13 16:36:10 +09:00
rmackay9 c22f3ae563 GPS_IMU: deleted this empty library as nobody seems to be using it. 2012-08-13 16:35:29 +09:00
rmackay9 cb71edb427 Waypoints: deleted this library as nobody seems to be using it. 2012-08-13 16:35:08 +09:00
rmackay9 8f475f9d38 Trig_LUT: deleted this library as nobody seems to be using it 2012-08-13 16:34:50 +09:00
rmackay9 1115dde0d4 AP_EEPROMB: deleted this library as nobody seems to be using it. 2012-08-13 16:34:33 +09:00
rmackay9 a3a56c488a APM_RC: rename example sketch directories for APM2 so they can be opened easily from arduino ide 2012-08-13 11:50:53 +09:00
Andrew Tridgell 562069cbd7 AHRS: avoid a compiler bug in quaternion code 
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
 2012-08-13 11:08:10 +10:00
Jason Short 455cfa4caa ACM: Toy mode updates - added second toy mode 2012-08-11 22:37:27 -07:00
Jason Short 4eb66699e1 ACM : Toy mode updates 2012-08-11 22:37:27 -07:00