Andrew Tridgell
fce01464b1
APM: added ALT_CTRL_ALG parameter
...
this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm
The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
2012-08-28 20:18:24 +10:00
Andrew Tridgell
dcbd0fbd44
APM: cleanup throttle suppression code and don't use airspeed to unsupress
...
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.
It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
2012-08-28 20:18:23 +10:00
Andrew Tridgell
c730d9072e
APM: prepare for ArduPlane 2.60
2012-08-22 16:28:38 +10:00
Andrew Tridgell
2d8f99433c
APM: removed factor of 0.5 in non-airspeed takeoff pitch
...
this limited the pitch far below the specified target pitch
2012-08-22 16:28:38 +10:00
Andrew Tridgell
6ab2a861f7
APM: added RSSI to RC_CHANNELS_RAW as well
...
and prevent double read
2012-08-22 13:58:25 +10:00
Andrew Tridgell
c0c0b8c976
APM: added RECEIVER_RSSI_PIN option
...
this allows for the receiver RSSI to be sent over MAVLink
Thanks to Burt Green for the suggestion
2012-08-22 13:33:12 +10:00
Andrew Tridgell
9e926eae51
APM: optional build with new controller libs
2012-08-22 12:39:07 +10:00
uncrustify
0e8a76ccdd
uncrustify ArduPlane/ArduPlane.pde
2012-08-21 19:19:51 -07:00
Andrew Tridgell
343f7d2de0
APM: removed DMP support from ArduPlane
...
Without centripetal correction the DMP code will almost certainly
crash a plane
2012-08-22 11:46:35 +10:00
Andrew Tridgell
6d11940ada
AHRS: removed Quaternion build support from APM/ACM/rover
2012-08-22 10:42:21 +10:00
rmackay9
6d489947cf
ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t"
2012-08-18 18:26:13 +09:00
Andrew Tridgell
5e690d5680
APM: added parameter FBWB_ELEV_REV
...
this fixes issue 343
2012-08-17 15:04:53 +10:00
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
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
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
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
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
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
Amilcar Lucas
d34549f386
Add an optional second mount to ArduPlane and ArduCopter
2012-08-08 23:22:24 +02:00
Andrew Tridgell
dcc50b5705
AP_Airspeed: removed values passed to constructor
2012-08-08 16:38:39 +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
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
4ba847c449
The mount type must be updated periodically
2012-08-04 18:44:08 +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
06e35820e5
ArduPlane: allow MPU6000's DMP to be used for attitude estimation.
...
Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
2012-07-28 19:50:40 +09:00
Andrew Tridgell
9eb05a2e1a
APM: update version for 2.50 release
2012-07-26 11:36:17 +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
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
Amilcar Lucas
610fdeacc1
Support up to 11 servos in APM2
...
Conflicts:
ArduPlane/ArduPlane.pde
2012-07-18 22:01:19 +02:00
Andrew Tridgell
de3c9ce56d
Airspeed: change APM to use new AP_Airspeed library
...
the next step is AHRS dead reckoning
2012-07-16 11:21:50 +10:00
Andrew Tridgell
c80a88766f
APM: added credit for FBW altitude limit code
...
thanks Yuri!
2012-07-10 08:36:50 +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
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
Andrew Tridgell
55092c25a6
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +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
4a50686c3e
APM: prepare for 2.40 release
2012-06-16 10:11:26 +10:00
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
c804860243
Cosmetic changes only.
2012-06-10 13:10:07 -07:00
Andrew Tridgell
99b39aef93
APM: ready for 2.40-beta
2012-06-08 18:03:21 +10:00
Andrew Tridgell
25c17a5425
re-enable the AP_Mount build
2012-06-04 19:32:11 +10:00
Andrew Tridgell
3af29bd84e
AP_Mount: disable AP_Mount until it works with MAVLINK10
2012-06-04 13:14:51 +10:00
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
3ae1c6f9e0
APM: prepare for 2.34
2012-05-14 14:29:59 +10:00
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
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
85ba978a65
ready for 2.33 release
2012-04-09 18:16:49 +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
86cc7a5e1d
APM: enable AP_Declination by default
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
1c934dc7ef
APM: increase ArduPlane version to 2.31
2012-03-27 16:13:29 +11:00
Andrew Tridgell
989304fb47
APM: enable the new offset nulling in APM
2012-03-27 15:37:24 +11:00
Andrew Tridgell
8afd196907
APM: adapt ArduPlane for AHRS framework
2012-03-19 17:29:02 +11:00
Michael Oborne
3944c1e665
update AP version to 2.30
2012-03-18 10:27:49 +08:00
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
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
e39c3cb9d2
APM: make it possible to build ArduPlane with quaternion support
2012-03-10 10:34:29 +11:00
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
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
bc0ed62aa9
adapt mainline APM code to AP_Param
2012-02-13 16:22:51 +11:00
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
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
892f24ac5c
Adding comments for global variables
2012-01-11 12:37:43 -07:00
Doug Weibel
4de2155845
Tweak to FBW min altitude
...
Patch from Yury
2011-12-31 15:44:40 -07:00
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
analoguedevices
b8917b58bd
Added contributor names, removed "alpha" from firmware name
2011-12-26 17:13:37 +00:00
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
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
fc495ce6a7
geofence: added fence status reporting and faster altitude check
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
960d6ee38a
removed an unused variable
2011-12-16 20:09:49 +11:00
Andrew Tridgell
888d6226b2
fixed two more CONFIG_HARDWARE #ifdef bugs
2011-12-13 17:05:48 +11:00
Andrew Tridgell
78e8fbff9c
fixed hardware config check for barometer
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
Pat Hickey
a99a1dbc9a
ArduPlane: update AP_Baro construtors and initializers
2011-12-11 15:21:10 -08:00
Pat Hickey
04ea979331
ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes
2011-12-11 15:21:09 -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
Pat Hickey
ab56a764d3
ArduPlane: rev version number from 2.26 to 2.27 Alpha
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
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
03c7d7bfb6
purple: always declare timer_scheduler
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
analoguedevices
b3716d988f
Rev version number
2011-11-19 23:43:47 +00:00
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
analoguedevices
7535b8a3d5
Rev version number
2011-11-16 05:04:36 +00:00
analoguedevices
e3ef9a2a36
Rev version number to 2.25
2011-11-14 05:31:27 +00:00
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
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
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
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
7ef51f723d
Sensor hil fix's
2011-10-13 22:22:03 +08:00
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
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
Andrew Tridgell
6a9a85f184
remove unused climb_rate code
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
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
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
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
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
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
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
59cbb8ec6f
Moved a camera mount function call, out of the servos update function
2011-09-10 13:47:09 +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
Andrew Tridgell
ec398505a6
rename main pde file for arduino requirements
2011-09-09 11:52:25 +10:00