Andrew Tridgell
f740f6e94d
APM: removed some config file cruft
...
these options are now settable via MAVLink
2012-03-18 13:34:40 +11:00
Michael Oborne
80b356367e
update AP version to 2.30
2012-03-18 10:27:49 +08:00
Amilcar Lucas
a203282779
correct small typos in comments
2012-03-11 21:30:09 +01:00
Andrew Tridgell
1e47ab26f2
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
2e1cacd67f
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
566bbed7ad
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
f39d8dbde8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
4f739ea28f
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
d17a7e81e3
APM: removed quaternion special cases
2012-03-10 10:34:32 +11:00
Andrew Tridgell
3239a00b23
APM: avoid fetching the DCM matrix twice
...
also no special case for quaternions
2012-03-10 10:34:32 +11:00
Andrew Tridgell
04826065ef
Quaternion: show "Quaternion test" on startup if enabled
2012-03-10 10:34:29 +11:00
Andrew Tridgell
aa4beb9753
APM: make it possible to build ArduPlane with quaternion support
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a54d6f744e
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
8e162ec35b
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
46c91fa0c4
APM: added logging of DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
82dd1cd7ce
APM: added board_voltage() function
2012-03-02 15:48:27 +11:00
Pat Hickey
00180e7084
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
630de04bd1
ArduPlane - updated to use new filter library
2012-02-28 21:03:04 +09:00
rmackay9
4501c488b4
ArduPlane - added Filter.h to unbreak the build!
2012-02-26 17:05:56 +09:00
rmackay9
6363da2829
ArduPlane - switch sonar to use new mode filter from filter library
2012-02-26 15:35:42 +09:00
Andrew Tridgell
3fe5b3151b
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
17718720b1
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
b231112957
DCM: renorm_sqrt_count is now called renorm_range_count
2012-02-23 08:16:08 +11:00
Andrew Tridgell
1fc24b506e
AP_Param: update users of AP_Param for ParamToken
2012-02-19 17:05:28 +11:00
Andrew Tridgell
b6fdf626e4
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
6b357fc66b
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
8355823bc7
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
f8ed9f0e8d
APM: Fix rudder in elevon mode.
...
elevon planes can have rudders too
2012-02-16 14:43:24 +11:00
Andrew Tridgell
2dcb594f4a
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
c6b6320b43
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
252a2d0c9b
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
c93dedc955
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
df2ef6ff47
APM: fixed some build warnings
2012-02-14 08:58:56 +11:00
Andrew Tridgell
3907cf81f8
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
da16ccf993
fixed some printf casts
2012-02-14 08:34:10 +11:00
Andrew Tridgell
c6f3f7065c
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
153575a01c
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
781617cae0
token size for first()/next() is now 16 bits
2012-02-13 16:22:52 +11:00
Andrew Tridgell
50f9d12ad5
go back to 1024 bytes for variables in EEPROM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
f5f6e2d4ec
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00
Andrew Tridgell
a8140d9524
expand parameter area for ArduPlane
...
this ensures all parameters can be saved without overflow
2012-02-13 16:22:52 +11:00
Andrew Tridgell
bbc876fcdf
tidy up a comment
2012-02-13 16:22:52 +11:00
Andrew Tridgell
9fe8c079e7
fixed two parameter names
2012-02-13 16:22:51 +11:00
Andrew Tridgell
922139b824
expose mavlink stream rates as parameters
2012-02-13 16:22:51 +11:00
Andrew Tridgell
edfb8fe0b7
imported new Parameters code to APM
2012-02-13 16:22:51 +11:00
Andrew Tridgell
c4bd17052e
import new Parameters.h for AP_Param to APM
2012-02-13 16:22:51 +11:00
Andrew Tridgell
ab057d9801
implement dump of all vars in CLI using AP_Param
2012-02-13 16:22:51 +11:00
Andrew Tridgell
faa098b2b6
adapt mainline APM code to AP_Param
2012-02-13 16:22:51 +11:00
Sandro Benigno
3932e8b2a1
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
c95a295fd6
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
5cdee95516
ArduPlane: Call APM_RC.enable_out for all channels in init_rc_out.
2012-01-22 12:03:11 -08:00
Michael Oborne
e71266c258
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
Michael Oborne
9dafc668cd
fix SITL attitude hil
2012-01-20 16:04:49 +08:00
analoguedevices
40f37c1037
Increment version number in anticipation of a firmware hex push.
2012-01-16 22:48:46 +00:00
Doug Weibel
78ac65d6c3
Additional commenting on global variables
...
First pass done.
2012-01-16 10:28:03 -07:00
Doug Weibel
a3f9fee3d2
Additional commenting on global variables
2012-01-16 09:45:42 -07:00
Doug Weibel
2ea9db84e0
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
82338f2571
Remove a debugging print
2012-01-15 16:37:07 -07:00
Doug Weibel
3b2196354f
Stashing some battery monitoring ratio values in the comments for future use.
2012-01-15 16:35:46 -07:00
Doug Weibel
e109992c12
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
17b31d0b5b
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
17b3e514dc
Just a little more commenting work on global variables
2012-01-15 16:11:02 -07:00
Doug Weibel
fd8dc84fac
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
622217357c
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
6f9c6a3b8e
Adding comments for global variables
2012-01-11 12:37:43 -07:00
analoguedevices
47197891e3
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
0fb4082581
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
5d5800ee1f
fix relay on apm 1 AP
2012-01-05 07:51:01 +08:00
Andrew Tridgell
645eac6f38
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
35fba5d4a3
Tweak to FBW min altitude
...
Patch from Yury
2011-12-31 15:44:40 -07:00
Jason Short
bc7f0a567c
Small issue with newline formatting
2011-12-29 23:02:02 -08:00
Michael Oborne
0c75c863de
add circle to output modes
2011-12-29 18:21:32 +08:00
Andrew Tridgell
5aca951438
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
2c41264a9b
APM: added error checking on compass read
2011-12-28 20:41:53 +11:00
Andrew Tridgell
c6b8a08918
APM: convert to new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
c91827ee09
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
b108b907e0
APM: Update for DataFlash changes
2011-12-28 16:00:49 +11:00
analoguedevices
fefda548d2
Added contributor names, removed "alpha" from firmware name
2011-12-26 17:13:37 +00:00
Andrew Tridgell
4cd4987ae7
APM: fixed some unsigned/signed warnings
2011-12-26 19:17:11 +11:00
Andrew Tridgell
d09c344ab8
APM-log: fixed reading of GPS logs
2011-12-26 19:17:11 +11:00
Andrew Tridgell
94cbbf6f28
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
7779dff355
Correct a bug in throttle failsafe feature
2011-12-24 15:34:31 -07:00
Doug Weibel
c40093a1a7
Remove old debug print
2011-12-24 14:26:35 -07:00
Doug Weibel
4009018167
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
66029af574
setup the main loop failsafe after RC library is setup
2011-12-23 11:13:01 +11:00
Andrew Tridgell
f7dda9f413
added comment on using GPS ground course
2011-12-23 11:13:01 +11:00
Andrew Tridgell
968ad78df0
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
ef3c5c071a
failsafe: make sure we clear any RC override in manual failsafe
2011-12-22 10:55:43 +11:00
Andrew Tridgell
c6633d7bc9
fixed HIL build
2011-12-21 23:31:39 +11:00
Andrew Tridgell
ad63c10ab7
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
0aab4da1a1
mainloop_count should be uint16_t
2011-12-21 23:31:38 +11:00
Andrew Tridgell
61b2b2e32a
always declare a timer_scheduler
...
we should always run this code
2011-12-21 23:31:38 +11:00
Andrew Tridgell
73146bae5d
APM: show temperature in airpressure test
...
useful for tracking down baro bugs
2011-12-19 18:52:56 +11:00
Andrew Tridgell
98406e842b
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
226470c614
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
54b8aab0ac
Log: fixed logging dependence on compiler arg eval order
2011-12-18 17:31:45 +11:00
Andrew Tridgell
8a7d064842
APM: run mavlink loop while erasing logs
2011-12-18 10:19:52 +11:00
Andrew Tridgell
ce035fc324
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
5d2301ef47
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
4bbd5392ef
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
ed17f64459
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
eed0eea13b
apm 1280 disables
2011-12-16 22:26:39 +08:00
Andrew Tridgell
1ab2b416a3
geofence: store fence points as int32_t
...
this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
Andrew Tridgell
b3327c64de
geofence: added fence status reporting and faster altitude check
2011-12-16 20:11:51 +11:00
Andrew Tridgell
a6e451c1b2
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
1b64185b18
geofence: main geo-fence code
...
this implements the primary logic of geo-fencing
2011-12-16 20:11:51 +11:00
Andrew Tridgell
238c25c05e
geofence: added geo-fencing control parameters
2011-12-16 20:11:51 +11:00
Andrew Tridgell
1455ff4a91
removed an unused variable
2011-12-16 20:09:49 +11:00
Andrew Tridgell
e1e9002fad
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
a77f91fa4e
Changes to logging file system to avoid problems with 0 and 1 page logs
2011-12-13 20:09:07 -07:00
Andrew Tridgell
e8617fc929
DCM: reset the DCM matrix after a ground start
2011-12-13 21:33:07 +11:00
Andrew Tridgell
b0aa1deac2
MAVLink: fixed link flood on waypoint upload
2011-12-13 20:39:04 +11:00
Andrew Tridgell
d416013bd8
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
c007fb49b8
IMU: update ACM and APM for flash_leds change in IMU init
2011-12-13 18:19:41 +11:00
Andrew Tridgell
4e4a4a685c
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Andrew Tridgell
dd4498d113
desktop: fixed Wire.begin() build problem
2011-12-12 15:14:55 +11:00
Andrew Tridgell
80a0dfe862
fixed hardware config check for barometer
2011-12-12 15:14:55 +11:00
Andrew Tridgell
65ed8cc2c3
added sitl build target
2011-12-12 15:14:55 +11:00
Andrew Tridgell
4319d1ceb0
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
fa683c5718
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
faf58a355b
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
bb861117a3
apm2: fixed for new barometer code
2011-12-11 15:21:10 -08:00
Pat Hickey
85b82e75f6
ArduPlane: update AP_Baro construtors and initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
6710cf5c5a
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
5fd8fea957
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
6f27c4c779
ArduPlane: added config.h and defines.h to support CONFIG_BARO
2011-12-11 15:21:09 -08:00
Pat Hickey
63d3b6a278
ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes
2011-12-11 15:21:09 -08:00
Pat Hickey
c64e3f5772
ArduPlane: calibrate accel with imu.init_accel after imu.init
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* 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
f34333d42b
Minimum ground speed patch from Claudio Natoli. Thanks Claudio!
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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
77a7734111
Augment failsafe gcs_send_text message
2011-12-09 09:11:45 -07:00
Doug Weibel
4f6f9a6be4
Add hook to dump log filesystem index for debugging
2011-12-07 08:13:30 -07:00
Andrew Tridgell
c1569e49a8
fixed the "reboot on GPS lock" bug
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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
899c1364cc
test: removed the broken gyro test and merge it into the imu test
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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
b3b218fa40
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
aa6c336479
Add DataFlash.Init before doing a forced log erase on eeprom reset.
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Add progress indication during log erase
2011-11-28 19:42:27 -07:00
Andrew Tridgell
7f4c87eeec
mavlink: don't force CLI and HIL with mavlink10 build
2011-11-28 16:22:33 +11:00
Andrew Tridgell
e61d945874
mavlink: paranoia setting of failsafe when forcing AUTO mode
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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
833f5f5895
mavlink: move Mavlink_compat.h to common code
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this will allow it to be used by ArduCopter
2011-11-28 13:53:57 +11:00
Andrew Tridgell
d295b7d76c
build: CLI_SLIDER_ENABLED doesn't need to be forced off in apm2 build
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this is handled by config.h now
2011-11-28 13:53:57 +11:00
Doug Weibel
ca5560ef1c
Add Guided mode to failsafe handling
2011-11-26 21:10:53 -07:00
Andrew Tridgell
fb21e619fe
Logs: don't print hundreds of bogus log boundaries
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this can take quite a long time
2011-11-26 17:02:55 +11:00
Pat Hickey
0fa8ce9a52
ArduPlane: rev version number from 2.26 to 2.27 Alpha
2011-11-25 20:00:19 -08:00
Pat Hickey
a6bf2d9cd6
ArduPlane: LED digital writes use LED_OFF and LED_ON
2011-11-25 20:00:19 -08:00
Andrew Tridgell
7467bf649c
ArduPlane: rename purple to APM2
2011-11-25 20:00:19 -08:00
Andrew Tridgell
0604f2c667
USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane
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when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from
EEPROM
2011-11-25 20:00:19 -08:00
Andrew Tridgell
2bed1dcfd5
desktop: first version of register level SITL support
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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
c8b592f8a7
purple: there are no dipswitches on the purple board
2011-11-25 20:00:18 -08:00
Andrew Tridgell
67e5c89226
compass: added AP_COMPASS_APM2_SHIELD
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this makes the orientation clearer
2011-11-25 20:00:18 -08:00
Andrew Tridgell
b6bab1d92d
purple: adc test not useful if no ADC
2011-11-25 20:00:18 -08:00
Andrew Tridgell
6c856dde4e
purple: fixed LED and IO pin defintitions
2011-11-25 20:00:18 -08:00
Andrew Tridgell
2db5a2b5e2
purple: add the remaining hw defines for purple hardware
2011-11-25 20:00:18 -08:00
Andrew Tridgell
01cfd64327
timer_scheduler doesn't exist in HIL_MODE_ATTITUDE
2011-11-25 20:00:18 -08:00
Andrew Tridgell
0d3e07c2f7
build: added hlsensors target
2011-11-25 20:00:18 -08:00
Andrew Tridgell
446a9aac84
re-organiser sensor declarations
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this tries to make the #ifdef nesting easier to understand
2011-11-25 20:00:17 -08:00
Andrew Tridgell
ee3254ef8f
adc.Init() takes timer_scheduler
2011-11-25 20:00:17 -08:00
Andrew Tridgell
992fc87112
purple: always declare timer_scheduler
2011-11-25 20:00:17 -08:00
Pat Hickey
c93d7a9560
purple: added new parameters to Init() functions
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this adapts the test code for the purple API changes
2011-11-25 20:00:17 -08:00
Pat Hickey
ed74d1c987
test: added new passthru test
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this passes radio inputs direct to servo outputs, which is useful for
hardware testing
2011-11-25 20:00:17 -08:00
Pat Hickey
71ebf1f543
removed old commented out code
2011-11-25 20:00:17 -08:00
Pat Hickey
fefc7da1d1
purple: added new parameters needed for new library APIs
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new APIs pass in timer_scheduler. We also to init the isr_registry
2011-11-25 20:00:17 -08:00
Pat Hickey
5626f4a127
purple: fixed APM_RC.Init() to add isr_registry parameter
2011-11-25 20:00:17 -08:00
Pat Hickey
d3a45a053d
purple: declare sensors for purple library rework
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we need some different declarations to match the new APIs
2011-11-25 20:00:17 -08:00
Pat Hickey
d5ebf30d74
purple: added config options for purple/APM1 hardware
2011-11-25 20:00:17 -08:00
Pat Hickey
f580a4bea0
purple: added hardware defines for ArduPlane
2011-11-25 20:00:17 -08:00
Pat Hickey
395f43bee8
build: added new command line build targets
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this makes it more convenient to build common options
2011-11-25 20:00:16 -08:00
Andrew Tridgell
32073eaa51
mod barometer.Init() based on hardware
2011-11-25 20:00:15 -08:00
Michael Oborne
f66a6b4308
Add rc input to cli planner mode
2011-11-26 11:23:14 +08:00
Doug Weibel
516216f159
Change type to support "dump all with -1"
2011-11-24 18:55:33 -07:00
Doug Weibel
4a07bb3127
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
06c88cf07b
Simplified logging logic for finding start/end of log files
2011-11-24 18:55:32 -07:00
Doug Weibel
e02d615c8a
Rework logging file system to be more robust
2011-11-22 20:20:17 -07:00
Andrew Tridgell
a69b4c2d7e
MAVLink: fixed throttle display in VFR_HUD
2011-11-21 20:29:19 +11:00
Andrew Tridgell
2cc0cd65b4
zero airspeed on ground start when initiated by MAVLink
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If the users asks for a new calibration, that should include the
airspeed sensor
2011-11-21 20:29:18 +11:00
Andrew Tridgell
2137e91ede
fixed disabling of GPS in ArduPlane
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we may need a new hex
2011-11-21 20:29:18 +11:00
Andrew Tridgell
d9f32ce5b8
Log: prevent looping forever
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this happened with an empty dataflash
2011-11-20 19:06:24 +11:00
analoguedevices
1a610ba450
Rev version number
2011-11-19 23:43:47 +00:00
Jason Short
014204409a
shortened strings
2011-11-19 14:02:45 -08:00
Doug Weibel
0bc31fa236
Remaining changes to the logging file system.
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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
a11ea12ca8
Change to logging file system.
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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
fc3e7767ba
Mission Scripting updates
2011-11-16 00:22:23 -08:00
analoguedevices
fa4896ee91
Rev version number
2011-11-16 05:04:36 +00:00
Doug Weibel
1c6469d25b
Fix Do_Jump bug. Also fix cross track bearing bug after Jump
2011-11-15 20:44:19 -07:00
Doug Weibel
b23dd36f6d
Missed hunk for last commit
2011-11-15 20:43:00 -07:00
Doug Weibel
b7494774f7
Add logging of DCM drift correction integrator in PM
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This may be a temporary feature… Mostly added to check new (lower) integrator limit.
2011-11-15 20:42:59 -07:00
analoguedevices
b4ccf3b41b
Rev version number to 2.25
2011-11-14 05:31:27 +00:00
Michael Oborne
0a2f67a235
modify crosstrack calc
2011-11-13 08:25:24 +08:00
Andrew Tridgell
49053a9721
fixed a valgrind warning
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need to initialise all fields
2011-11-08 17:26:53 +11:00
Andrew Tridgell
a045e4ec7e
Log: better way to check for -1 long portably
2011-11-08 07:58:34 +11:00
Andrew Tridgell
4113d04f70
Log: make find_last_log_page() portable
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this makes it work with platforms with a larger 'long'
2011-11-07 23:50:49 +11:00
Andrew Tridgell
0775f57a89
Log: fixed a bug where we could index outside an array
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when we first start up, num_existing_logs may be zero
2011-11-07 22:56:13 +11:00
Jason Short
80c7e135d5
renamed some command variables to align with Arduplane
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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
01df18b292
Added camera and/or antenna mount support.
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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
ac4c604a6b
GCS: fixed timeout loading waypoints
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while loading waypoints we could saturate the link
2011-10-31 21:25:35 +11:00
James Goppert
663ed536c4
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-30 23:12:53 -04:00
James Goppert
249ce91d78
Switching to new eclipse project style.
2011-10-30 22:57:34 -04:00
Michael Oborne
193940f2e2
Revert Changes
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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
95479e29ae
Add MAVLINK_MSG_ID_HIL_STATE message
2011-10-30 18:17:37 +08:00
Michael Oborne
6d2be49304
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
2011-10-30 14:27:13 +08:00
Andrew Tridgell
e6f7bf9df8
MAVLink: use new MAV_MODE_FLAG_CUSTOM_MODE_ENABLED flag
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this enables us to tell if custom_mode is set
2011-10-30 13:00:54 +11:00