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94 Commits

Author SHA1 Message Date
rmackay9 0868917ff4 ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
Andrew Tridgell 03974fa9db ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT 
these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
 2012-11-05 15:23:41 +11:00
Pat Hickey 24dcbe1b0e ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors 
Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat
 2012-10-10 18:59:55 +08:00
Michael Oborne 939ee1f4a9 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
Jason Short 63aec7510e ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t 2012-09-10 20:22:57 -07:00
Andrew Tridgell 0b2cbbb677 ACM: added TELEM_DELAY to ArduCopter 2012-08-30 09:03:01 +10:00
uncrustify e8760bec78 uncrustify ArduCopter/GCS_Mavlink.pde 2012-08-21 18:56:01 -07:00
rmackay9 b80a3943aa ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9 221e4ea32a ArduCopter: changed "unsigned long" to "uint32_t" 2012-08-18 19:05:55 +09:00
rmackay9 48b7d26c5d ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t". 
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
 2012-08-16 20:04:46 +09:00
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 a7399c405d 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 16d63978f1 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 d8106cf20f AP_Param: update ArduCopter core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Michael Oborne 2d6d74f625 AC remove attitude hil unused extra (gps jump issue.) 2012-07-29 08:18:41 +08:00
Michael Oborne f83ca8b296 AC remove some attitude HIL limitations 2012-07-28 13:59:30 +08:00
rmackay9 5318da9e0e ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command 
do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
 2012-07-25 11:02:54 +09:00
Andrew Tridgell d0ebb4ca26 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jonathan Challinger e271f97b53 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andreas M. Antonopoulos b03e424fda AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling. 2012-07-16 11:46:43 -07:00
Andreas M. Antonopoulos 31fd74d94c AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Andrew Tridgell a71f567d28 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andrew Tridgell fe54329de2 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
Jason Short 42a321b76c GCS_Mavlink.pde 
removed Approach define
 2012-07-01 13:40:11 -07:00
Jason Short 7178da3538 GCS_Mavlink: added notes to #if malink10 2012-06-29 21:20:28 -07:00
Andrew Tridgell 1cb96e14a9 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell 7eb150a2f0 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
rmackay9 c034e38cbd ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Jason Short 711bbeb6f3 GCS_Mavlink.pde : mav_nav only used in legacy Mavlink. 2012-06-25 23:08:25 -07:00
Jason Short 81c684664b GCS Mavlink.pde: change reference to nav_bearing to target_bearing. 2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos 678b12af25 AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane 
http://code.google.com/p/arducopter/issues/detail?id=430
 2012-06-24 17:01:25 -07:00
Michael Oborne 1423810247 AC: add hilstate message 2012-06-04 16:24:08 +08:00
Andrew Tridgell 13ae16e0c5 ACM: MAVLINK10 uses HIL_STATE 
thanks to Michael for noticing this
 2012-06-04 13:31:07 +10:00
Andrew Tridgell 0721089acd ACM: fixed HIL build for MAVLINK10 2012-06-04 13:14:52 +10:00
Michael Oborne 45c3c101fe fix AC hil build 2012-06-04 11:12:52 +08:00
Andrew Tridgell 1fc8347af3 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 27e7d425af MAVLink: allow parameter fetch during mavlink_delay() 
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
 2012-05-22 16:13:35 +10:00
Andrew Tridgell 7866740d62 MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI 2012-04-24 22:24:58 +10:00
Andrew Tridgell 712b7184be ACM: added support for MAVLink 1.0 to ArduCopter 
most operations should now work
 2012-04-24 19:54:20 +10:00
rmackay9 86d2a9ffdb ArduCopter - GCS_Mavlink.pde - changed output to ground station to use new AP_Motor's class motors array inplace of the global "motor_out" array. 2012-04-04 22:52:26 +09:00
Andrew Tridgell 40d7b07789 MAVLink: port the new adaptive flow control to ArduCopter 
This allows for arbitrary stream rates, and supports flow control if
you are using a 3DR radio
 2012-04-02 11:18:53 +10:00
Andrew Tridgell 1e0a2fb0be 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 8ccf3a05f0 Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell dc71191f25 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 690ad58a64 AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +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 13bddf05b0 ACM: removed the special case for quaternions in GCS code 2012-03-10 10:34:31 +11:00
Andrew Tridgell 1591d41b33 ACM: make it possible to build ArduCopter with quaternions 2012-03-10 10:34:29 +11:00
Andrew Tridgell b07a3eb966 ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM 2012-03-10 10:34:27 +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