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680 Commits

Author SHA1 Message Date
Andrew Tridgell 704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Andrew Tridgell 8f108e2eb3 APM: added AMP_OFFSET option 
thanks to Alexey Kozin!
 2012-11-21 13:34:27 +11:00
Andrew Tridgell 61f2e18e2e APM: allow ailerons to move fully during servo demo 2012-11-21 13:34:27 +11:00
Andrew Tridgell fcbd3a823b APM: added a new type of auxilary aileron, with rc input 
a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
 2012-11-21 13:34:26 +11:00
Michael Oborne a5e3ce4655 remove cli planner mode - no longer used 2012-11-21 07:45:45 +08:00
Andrew Tridgell a600ccece5 APM: support 16 character parameter names 2012-11-20 21:36:13 +11:00
Andrew Tridgell a5ed0de2cf APM: set MANUAL_LEVEL to 1 on successful accel calibration 2012-11-20 19:27:52 +11:00
Andrew Tridgell fd3993287d INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell 2f287846b5 APM: don't use mavlink msgs for accel cal in cli 2012-11-20 18:32:27 +11:00
Andrew Tridgell 3aeaf2ece6 APM: k_param_imu is now unused 2012-11-20 18:32:27 +11:00
Andrew Tridgell 69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
Andrew Tridgell f80783665f APM: fixed throttle display to always be between 0 and 100 
when rc3 is below RC3_MIN, don't give an invalid value
 2012-11-20 13:50:19 +11:00
Andrew Tridgell 7b733cd12b APM: fixed altitude_filter for new LowPassFilter syntax 2012-11-19 08:09:44 +11:00
Andrew Tridgell 8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
Andrew Tridgell 531e62d3b5 MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
rmackay9 cdfd3f9ccc ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
Andrew Tridgell fddfb0b1a3 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9 2df7a407da ArduPlane: fix HIL build 2012-11-07 21:23:07 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 ef727bbb3c ArduPlane: move to use new INS library instead of IMU library 2012-11-07 19:21:03 +09:00
Andrew Tridgell 8652bfee8d APM: added RSSI_PIN option for receiver RSSI 
this allows you to configure the pin for receiver RSSI without
recompiling
 2012-11-06 22:04:41 +11:00
Andrew Tridgell c7b47a0e47 APM: allow for arbitrary ranges and reversal on 2nd aileron 
this ensures you can setup a 2nd aileron with different reversal from
main aileron
 2012-11-05 23:37:58 +11:00
Andrew Tridgell 9c140356f5 APM: remove unused variable 2012-11-05 15:22:56 +11:00
Andrew Tridgell 2793e432ff APM: use raw GPS velocity in GLOBAL_POSITION_INT 
a much more useful value to log
 2012-11-05 14:58:40 +11:00
Andrew Tridgell aa236c43f8 APM: prepare for 2.66 2012-10-31 13:25:19 +11:00
Andrew Tridgell 81d507d39e APM: fixed differential spoilers in manual mode 
make them follow the elevons
 2012-10-31 12:43:53 +11:00
Andrew Tridgell 8c0296b27a APM: fixed additional aileron channels in manual mode 2012-10-31 12:43:53 +11:00
Xichen Shi 8c46fced16 APM: Added functionality to use differential spoilers in elevon mode 
spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
 2012-10-31 12:43:42 +11:00
Andrew Tridgell e479af67ff APM: fixed loiter radius docs to reflect new limit 2012-10-30 16:19:24 +11:00
Pat Hickey d4bb8a10d7 Update ArduCopter and ArduPlane dependencies on AP_Menu 2012-10-18 20:53:39 -07:00
Andrew Tridgell 07c291bb73 APM: fixed a comment typo 2012-10-16 17:21:04 +11:00
Andrew Tridgell f828956cb8 battery: use set_pin() to allow pins to be changed at runtime 2012-10-16 17:20:49 +11:00
rmackay9 775489d658 ArduPlane: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery monitor 2012-10-13 20:51:41 +09:00
Andrew Tridgell 0bc1f89f27 APM: fixed typo 2012-10-11 15:03:52 +11:00
Andrew Tridgell c9f10f0e00 APM: fixed auto-takeoff with zero lat/lng 
consider a non-zero altitude to mean that we should use the relative
altitude specified
 2012-10-11 15:03:00 +11:00
Andrew Tridgell 0495a0debc APM: make error msg clearer 2012-10-11 11:51:24 +11:00
rmackay9 f695db61ea ArduPlane: added AP_Semaphore.h to list of includes 2012-10-06 13:14:28 +09:00
Michael Oborne a38fef65c7 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
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
Andrew Tridgell bbec662483 APM: fixed build warning 2012-09-25 07:21:03 +10:00
Andrew Tridgell fbc053e6e4 APM: change to one low priority status buffer per GCS instance 
this allows us to operate the low priority messages on each link
independently.

Thanks to David Buzz for the suggestion!
 2012-09-24 17:39:19 +10:00
Andrew Tridgell 51aeb2dd4c APM: prepare for 2.65 2012-09-24 07:14:30 +10:00
Andrew Tridgell d5c35fcc8b APM: fixed stick mixing for STABILISE mode 
this is embarrassing
 2012-09-24 07:14:30 +10:00
Andrew Tridgell a4c3c5973d APM: prepare for 2.64 release 2012-09-23 19:32:56 +10:00
Andrew Tridgell 56c354eb4f APM: fixed stick mixing in CIRCLE mode on throttle failsafe 
Many thanks to Andke for finding this bug!
 2012-09-23 19:27:42 +10:00
Andrew Tridgell 41017442f8 APM: removed unnecessary waypoint_sending flag 2012-09-22 20:17:19 +10:00
Andrew Tridgell f0f47f929a APM: send right parameter index when possible 2012-09-22 20:17:17 +10:00
Andrew Tridgell 764d86216e APM: fixed mission reset by setting waypoint to zero 
this does a full mission reset (equivalent to rebooting)
 2012-09-22 20:17:13 +10:00
Andrew Tridgell 6bae5ecd51 APM: added THR_SUPP_MAN option 
this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
 2012-09-22 20:17:06 +10:00
Andrew Tridgell 5c402fa398 APM: allow RawSensors stream rate to be saved if <= 5 
this makes it possible to configure all stream rates via a parameter
file
 2012-09-22 20:17:02 +10:00
Andrew Tridgell 63940d3ab6 APM: don't send GPS_STATUS MAVLink message 
it now provides no useful information as satellites_visible is in
GPS_RAW_INT in MAVLink 1.0
 2012-09-22 20:12:43 +10:00
Andrew Tridgell cbc4a57abb APM: send airspeed sensor value, not estimate, when enabled 
this solves the problem of people reporting that airspeed is not shown
when ARSPD_USE is zero.
 2012-09-20 08:00:54 +10:00
Andrew Tridgell 832c5e996e APM: make it possible to fetch parameters by index 2012-09-20 07:42:46 +10:00
Andrew Tridgell 3077de0d33 APM: much faster parameter fetching 
allow up to 30% of bandwidth to be used for parameter send
 2012-09-20 07:29:23 +10:00
Andrew Tridgell 68f1b6336f APM: tweak the default options for an APM1 1280 board 
this allows a few more things to fit in
 2012-09-19 19:36:19 +10:00
Andrew Tridgell cebb67e1df APM: removed the unused sonar code 
when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed
 2012-09-19 19:35:22 +10:00
Andrew Tridgell 2324997e16 APM: added ALT_OFFSET parameter 
useful to adjust for barometric pressure changes during a long flight
 2012-09-19 16:23:25 +10:00
Andrew Tridgell 37cb56f3e1 APM: save another few bytes 2012-09-18 13:58:50 +10:00
Andrew Tridgell df962d25a8 APM: fixed a comment 2012-09-18 13:58:49 +10:00
Andrew Tridgell 12dc2e79cf APM: save 100 bytes of memory 
remove flight_mode_strings array
 2012-09-18 13:58:49 +10:00
Andrew Tridgell 86face0a03 APM: preparing for 2.63 release 2012-09-17 17:32:13 +10:00
Andrew Tridgell 4d4a95501f APM: updates for new GPS detection 2012-09-17 14:45:47 +10:00
Andrew Tridgell 7e8ef0ae95 APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
Andrew Tridgell c8e84d18a4 APM: tidy up a comment 2012-09-16 15:51:13 +10:00
Andrew Tridgell c0798730a8 APM: only copy manual channels in failsafe 
this prevents non-manual channels changing value away from the trim
value on startup
 2012-09-16 15:51:01 +10:00
Andrew Tridgell 127117b640 APM: ensure DO_SET_SERVO channels are enabled 2012-09-16 15:08:14 +10:00
Andrew Tridgell 208b878988 APM: allow update of last waypoint 
fixed off by one error
 2012-09-16 15:06:26 +10:00
Michael Oborne 94f956a0ca fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
Andrew Tridgell b55e7903aa APM: prepare for 2.62 release 2012-09-13 12:02:18 +10:00
Andrew Tridgell bad73b0686 APM: fixed elevon mixing 
this was broken in 2.61
 2012-09-13 12:01:40 +10:00
Andrew Tridgell 6e9abb616a APM: show real raw RC input, not mixed input 
this makes it easier to diagnose elevon mixing issues
 2012-09-13 12:00:49 +10:00
Andrew Tridgell 589c8fcc12 APM: report throttle and ground speed mission changes 2012-09-12 13:09:32 +10:00
Andrew Tridgell b1408008c9 APM: allow for landing pitch control until final stage 2012-09-12 13:09:16 +10:00
Andrew Tridgell 05e72c6e68 APM: fixed roll in landing approach 2012-09-12 11:53:17 +10:00
Andrew Tridgell 5f3ffe4839 APM: switch to Randys new IMU rate control method 
this drives the speed of the 50Hz loop by the number of samples
accumulated in the IMU. This should give much more consistent timing
in DCM.

Thanks to Randy for introducing this scheme in ArduCopter!
 2012-09-11 16:39:36 +10:00
Andrew Tridgell 7e672628ea APM: removed the GPS_enabled flag 
this fixes using GPS_PROTOCOL to specify a specific GPS with a GPS
that takes a few updates before it works (eg. needing baud rate
changes).

This makes it easier to use an APM1-1280 with more features enabled
 2012-09-11 13:37:34 +10:00
Andrew Tridgell c9a299665c APM: added speed scaling to wheeled steering 
this allows for a larger amount of steering control at low speeds
without causing osciallation after takeoff
 2012-09-11 13:37:34 +10:00
Andrew Tridgell 0812fc4890 APM: reboot only works on the APM2 2012-09-10 11:50:48 +10:00
Andrew Tridgell cb88681914 APM: added support for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 
this allows for remote reboot of APM
 2012-09-10 11:42:30 +10:00
Andrew Tridgell e2779523ea APM: fixed fetch of relative altitude waypoints 
when we fetch relative altitude waypoints from APM to a file, we need
to preserve the altitude
 2012-09-10 09:40:29 +10:00
Andrew Tridgell feb3fe77ce APM: simplify radio_trim code 
this removes the duplicate code. Throttle trim is not changed.
 2012-09-09 19:39:09 +10:00
Andrew Tridgell 5c3595e0dc APM: fixed throttle nudging 
The nudge value depended on RC3_TRIM, which is not a reliable
value. It tried to only take effect when the throttle stick was above
50%, but if RC3_TRIM was high for some reason (say 1500) then it would
actually depress the throttle by a large amount, which could cause the
plane to stall.

This also adds a boolean option THROTTLE_NUDGE to allow disabling of
throttle nudging
 2012-09-09 19:39:04 +10:00
Andrew Tridgell 657dd5969f APM: preparing for 2.61 release 2012-09-08 18:36:17 +10:00
Andrew Tridgell 49468953a3 APM: updated for new RC_Channel_aux API 2012-09-08 15:14:41 +10:00
Andrew Tridgell a6422be8fb APM: added mtk and mtk16 build targets 
useful for testing non-auto gps detection
 2012-09-08 12:43:36 +10:00
Andrew Tridgell f26b9ab286 APM: prevent crosstrack from takeoff point after takeoff completion 2012-09-08 11:37:14 +10:00
Andrew Tridgell dec12c7370 APM: use ahrs.airspeed_estimate() in two more places 
this applies the wind constraint
 2012-09-08 11:37:11 +10:00
Andrew Tridgell cde7d8c5e7 APM: fixed some compiler warnings 2012-09-08 10:14:32 +10:00
Andrew Tridgell d07d42403e APM: tidy up an if() statement 2012-09-08 10:14:20 +10:00
Andrew Tridgell 164c60d25f APM: added RUDDER_STEER option 
when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
 2012-09-08 10:07:03 +10:00
Andrew Tridgell 130b26e1f9 APM: support DO_SET_SERVO command 2012-09-08 10:06:53 +10:00
Andrew Tridgell 96ea350143 APM: added XTRK_MIN_DIST option 
this allows you to disable crosstrack correction on short legs
 2012-09-08 10:06:44 +10:00
Andrew Tridgell a446a7a9ed APM: allow serial buffer size to be configured 
very useful for packet forwarding setups
 2012-09-08 10:06:35 +10:00
Andrew Tridgell 9b2ad55773 APM: added forwarding of unknown MAVLink types 2012-09-08 10:06:15 +10:00
Andrew Tridgell 68705fe7e6 APM: accumulate mag readings during spare cycles in ArduPlane 
With this change we average over 100 mag readings per compass.read()
call, which means we are reading the compass at over 1kHz instead of
10Hz. The noise reduction is huge.
 2012-09-08 10:05:58 +10:00
Michael Oborne cd08420c3e AP fix takeoff alt issue 
issue 733
 2012-09-06 20:19:12 +08:00
Pat Hickey b02340fe10 APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
Andrew Tridgell 83153eebd4 APM: obey pitch limits in FBWA as well 
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
 2012-08-30 20:15:42 +10:00
Andrew Tridgell 9a987ce116 APM: fixed docs for LIM_PITCH_MIN 2012-08-30 14:55:08 +10:00