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613 Commits

Author SHA1 Message Date
Andrew Tridgell
03a16c6e45 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
433df08cb3 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell
73e6d5ee11 ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short
234121f3c3 Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell
4fe527aefa ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell
111d156a99 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell
ab64a689c8 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay
07041c2149 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short
1afa25d9ef Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay
c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
0dadbf932a removed "Please run setup" loop from ArduCopter 
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
 2011-12-24 18:12:51 +11:00
Jason Short
cc4f5e7c74 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short
0491d4feca added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short
d7af42c925 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short
0f91fbcee5 Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short
d9590a44d6 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short
e5a3899b7f added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short
73a73fbf35 moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short
5518882c69 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short
2d46022a2b This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short
58ad9faf6d initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short
5f03c62bd9 Too complicated 2011-12-23 14:46:08 -08:00
Jason Short
be4b031c7d added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short
ca8f71a705 used for testing 2011-12-23 14:42:50 -08:00
Jason Short
a966a178f8 increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Jason Short
a284fc222c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short
79fff0f096 the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short
62cb407558 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short
85b564c5eb removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey
c40fccbc26 Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey
f1624621b3 ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Randy Mackay
310f072d50 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen
106801a59c config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short
b53a6bd4b4 Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short
239eb53983 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell
ad9c0533d8 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short
8970948804 Sync logging 2011-12-16 22:02:41 -08:00
Jason Short
47e4c875e1 Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
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
Jason Short
2fc25d963d renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short
3019c35364 turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short
f11f2c6d97 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short
72605f846c renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short
88b3708dcf added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short
0ba8a9f30b Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short
4e280bb0dc More power to descend 2011-12-15 20:51:40 -08:00
Jason Short
3446744ae9 Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short
4d90058c90 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00
Jason Short
f48e394511 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short
1251e8105d Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short
c6657f4a93 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short
d2fd6c5ee5 added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Jason Short
8691b10ee9 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Doug Weibel
5d197ae337 Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel
8b78c4a4c5 Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne
e20d3a3676 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay
7f64080877 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
Andrew Tridgell
483bef35e5 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell
888d6226b2 fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Jason Short
edc3a731d4 Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short
ba8fc57bd8 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short
c9b317fc27 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short
f3e408e7e0 Added a simplified Log that is just GPS for my 1280 board 2011-12-12 17:47:45 -08:00
Jason Short
e4559bbf5c Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Jason Short
d83ad1acd4 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short
6bc90d6289 Just upped the nav_imax value 2011-12-12 10:10:33 -08:00
Andrew Tridgell
a22893124d fixed LOGGING_ENABLED default on ArduCopter 2011-12-12 23:40:43 +11:00
Andrew Tridgell
5760239670 quad: fixed the comments on the + motors 2011-12-12 21:01:58 +11:00
Andrew Tridgell
d076fb54b5 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Andrew Tridgell
f5e439554d fixed == that should be = 2011-12-12 15:19:50 +11:00
Andrew Tridgell
358dc91d41 fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Andrew Tridgell
07dba4eff7 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell
1b1c629167 added sitl build target 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
a48c65b5b5 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8 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
6dbd6b4181 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey
39fe9075d9 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey
b055aa6f81 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
d7f77aec93 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
62844d8ddc ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey
8d878a2cae ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey
2e200834e1 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short
5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short
e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short
c1aa015ef1 added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short
a685e5b575 fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay
fe336fb749 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay
67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Jason Short
f89fed02c3 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short
4659a9ffce Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short
af0ae6a10f Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short
1f3abcf048 eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short
069bcbf5e6 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short
873daae095 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short
29554b7d73 Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short
648ab5f4ae Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short
f3ff7aa0a8 rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short
5e12924907 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short
0289e35347 Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short
84b72b627b Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short
7cecca74bc Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short
69f1841d8e Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short
76d60a2111 Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short
d9347290a4 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short
2b8280e533 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short
307723960d Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short
3ff7b047d5 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short
49806d93d9 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay
0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay
fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey
cc38189f71 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay
4dc2956ca9 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay
42421a09e2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay
68e6be5eeb TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel
502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short
6dfdd754ea Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short
05409b8c1c made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short
a632c49b44 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short
e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short
9bc6fce3b8 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short
0d8071a401 Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short
54c8e1033c Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short
aad45c692f Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short
778393c4a7 Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short
5ed300db7e disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short
c99da66506 Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short
401c985572 Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short
d7cc241f85 formatting 2011-12-03 15:29:33 -08:00
Michael Oborne
4c61462dfd Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne
edf3195384 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell
39a36fe946 fixed the "reboot on GPS lock" bug 
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
aaac6212ab MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short
9931cacec7 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short
69dd8264e6 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short
b92b4e9092 cleanup 2011-11-28 21:40:22 -08:00
Jason Short
eb6d34e1fc Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel
88ab4f7d70 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
b03de3095e Add DataFlash.Init before doing a forced log erase on eeprom reset. 
Add progress indication during log erase
 2011-11-28 19:42:27 -07:00
Jason Short
b4a0d8a275 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short
ce5ad442fc Git Test 2011-11-28 10:54:20 -08:00
Jason Short
62ed256fca made the crosstrack use the previous WP instead of the current loc to get a better line in AP. 2011-11-28 10:33:06 -08:00
Jason Short
82adf1df6b removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Jason Short
504b4b52d6 slight refactoring to avoid the increment issue when changing commands 2011-11-28 10:33:06 -08:00
Jason Short
4a6feb3acb better comments out of some old unused functions to avoid compiler errors 2011-11-28 10:33:06 -08:00
Jason Short
909e5796eb Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short
df57380adc Erasing Logs causing major havoc. Users getting infinite loop. 2011-11-28 10:33:05 -08:00
Jason Short
cc1593d16d made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Jason Short
b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00