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505 Commits

Author SHA1 Message Date
Andrew Tridgell e81060a1a6 APM: removed some config file cruft 
these options are now settable via MAVLink
 2012-03-18 13:34:40 +11:00
Michael Oborne 3944c1e665 update AP version to 2.30 2012-03-18 10:27:49 +08:00
Amilcar Lucas 6e9ffb4249 correct small typos in comments 2012-03-11 21:30:09 +01:00
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
Adam M Rivera 2524f9c8df 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 d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell 9a06d35772 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 13d5839778 APM: removed quaternion special cases 2012-03-10 10:34:32 +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 7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell e39c3cb9d2 APM: make it possible to build ArduPlane with quaternion support 2012-03-10 10:34:29 +11:00
Andrew Tridgell 367947fd33 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 511f65e2ef 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 b455443e2c APM: added logging of DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell b20084af7d APM: added board_voltage() function 2012-03-02 15:48:27 +11:00
Pat Hickey ff0fc26484 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 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 690dc9052a 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 95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell 16009777d9 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 718a5b70e3 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 78babd37fa 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 9242c157ee APM: Fix rudder in elevon mode. 
elevon planes can have rudders too
 2012-02-16 14:43:24 +11:00
Andrew Tridgell c14097ffa1 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 c662140a2b 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 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 11835508a7 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 c042ef1298 APM: fixed some build warnings 2012-02-14 08:58:56 +11:00
Andrew Tridgell 8d1729b3ba 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 cdf296d8f6 fixed some printf casts 2012-02-14 08:34:10 +11:00
Andrew Tridgell 35badbb97d 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 ecdbfd257a token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 0f9adbdae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell 617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell 0b3e3ec5c8 added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell e85da68fe6 expand parameter area for ArduPlane 
this ensures all parameters can be saved without overflow
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 983192c5d5 tidy up a comment 2012-02-13 16:22:52 +11:00
Andrew Tridgell 2c3ec5de99 fixed two parameter names 2012-02-13 16:22:51 +11:00
Andrew Tridgell 676ca03977 expose mavlink stream rates as parameters 2012-02-13 16:22:51 +11:00
Andrew Tridgell f22988163e imported new Parameters code to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell e7174bc649 import new Parameters.h for AP_Param to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell 3d598c8caa implement dump of all vars in CLI using AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell bc0ed62aa9 adapt mainline APM code to AP_Param 2012-02-13 16:22:51 +11:00
Sandro Benigno 3200781f56 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 1a861b3de5 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 dfece8e3ff ArduPlane: Call APM_RC.enable_out for all channels in init_rc_out. 2012-01-22 12:03:11 -08:00
Michael Oborne 6b949511ca change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
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 ed9f7cb1b6 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 762a5550de Remove a debugging print 2012-01-15 16:37:07 -07:00
Doug Weibel 4b24d865bf Stashing some battery monitoring ratio values in the comments for future use. 2012-01-15 16:35:46 -07:00
Doug Weibel e22a83eec0 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 6e8ac99ed6 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 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 9846822748 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 892f24ac5c Adding comments for global variables 2012-01-11 12:37:43 -07:00
analoguedevices ee18748565 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 44c66c2e8e 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 e1a544cc78 fix relay on apm 1 AP 2012-01-05 07:51:01 +08:00
Andrew Tridgell cdd5589498 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 4de2155845 Tweak to FBW min altitude 
Patch from Yury
 2011-12-31 15:44:40 -07:00
Jason Short a6c09b3ea5 Small issue with newline formatting 2011-12-29 23:02:02 -08:00
Michael Oborne cd145fd7a9 add circle to output modes 2011-12-29 18:21:32 +08:00
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
Andrew Tridgell a6920d603d 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 8d87aa41b9 APM: Update for DataFlash changes 2011-12-28 16:00:49 +11:00
analoguedevices b8917b58bd Added contributor names, removed "alpha" from firmware name 2011-12-26 17:13:37 +00:00
Andrew Tridgell f5a3eed1a7 APM: fixed some unsigned/signed warnings 2011-12-26 19:17:11 +11:00
Andrew Tridgell d81dc21dfe APM-log: fixed reading of GPS logs 2011-12-26 19:17:11 +11:00
Andrew Tridgell 3f9f3f3416 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 8e17b8d6d4 Correct a bug in throttle failsafe feature 2011-12-24 15:34:31 -07:00
Doug Weibel a5df59eba3 Remove old debug print 2011-12-24 14:26:35 -07:00
Doug Weibel 7879efb8ae 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 5e347854c3 setup the main loop failsafe after RC library is setup 2011-12-23 11:13:01 +11:00
Andrew Tridgell 5bda871d60 added comment on using GPS ground course 2011-12-23 11:13:01 +11:00
Andrew Tridgell d0245b206a 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 c805f2a0c3 failsafe: make sure we clear any RC override in manual failsafe 2011-12-22 10:55:43 +11:00
Andrew Tridgell 26d5d3c385 fixed HIL build 2011-12-21 23:31:39 +11:00
Andrew Tridgell 29fa78214b 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 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 4bdc872595 APM: show temperature in airpressure test 
useful for tracking down baro bugs
 2011-12-19 18:52:56 +11:00
Andrew Tridgell c14d702912 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 e99db6526f 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 71c911f65d Log: fixed logging dependence on compiler arg eval order 2011-12-18 17:31:45 +11:00
Andrew Tridgell f25ee899f3 APM: run mavlink loop while erasing logs 2011-12-18 10:19:52 +11:00
Andrew Tridgell fc20aa9602 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 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 b9a88aac32 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 28d280562a apm 1280 disables 2011-12-16 22:26:39 +08:00
Andrew Tridgell 42522baf9f geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell fc495ce6a7 geofence: added fence status reporting and faster altitude check 2011-12-16 20:11:51 +11:00
Andrew Tridgell 64ae2ebec5 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 3b148c87d5 geofence: main geo-fence code 
this implements the primary logic of geo-fencing
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 82b615df50 geofence: added geo-fencing control parameters 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 84a694efb9 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 ca89857854 Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Andrew Tridgell 1998908a05 DCM: reset the DCM matrix after a ground start 2011-12-13 21:33:07 +11:00
Andrew Tridgell 8cd13749bd MAVLink: fixed link flood on waypoint upload 2011-12-13 20:39:04 +11:00
Andrew Tridgell dd9f3a3fa6 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 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
Andrew Tridgell 07dba4eff7 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell 78e8fbff9c fixed hardware config check for barometer 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 2bd18e937c 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 0a7332b6e3 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 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
Andrew Tridgell d5c23c83cf apm2: fixed for new barometer code 2011-12-11 15:21:10 -08:00
Pat Hickey a99a1dbc9a ArduPlane: update AP_Baro construtors and 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 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 1b2ebdff44 ArduPlane: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey 04ea979331 ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes 2011-12-11 15:21:09 -08:00
Pat Hickey f2652d23bf ArduPlane: calibrate accel with imu.init_accel after imu.init 
* 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 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
Doug Weibel 2f962fe6da Augment failsafe gcs_send_text message 2011-12-09 09:11:45 -07:00
Doug Weibel 502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
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 4a057aefa0 test: removed the broken gyro test and merge it into the imu test 
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 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
Andrew Tridgell 2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Andrew Tridgell 838c57cd1a mavlink: paranoia setting of failsafe when forcing AUTO mode 
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 4036604fb7 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Andrew Tridgell 5ae929ace9 build: CLI_SLIDER_ENABLED doesn't need to be forced off in apm2 build 
this is handled by config.h now
 2011-11-28 13:53:57 +11:00
Doug Weibel 7960e7963c Add Guided mode to failsafe handling 2011-11-26 21:10:53 -07:00
Andrew Tridgell a048709828 Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Pat Hickey ab56a764d3 ArduPlane: rev version number from 2.26 to 2.27 Alpha 2011-11-25 20:00:19 -08:00
Pat Hickey f7a9b8a563 ArduPlane: LED digital writes use LED_OFF and LED_ON 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 3a0b1d1903 purple: there are no dipswitches on the purple board 2011-11-25 20:00:18 -08:00
Andrew Tridgell 6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 649da8e05d purple: adc test not useful if no ADC 2011-11-25 20:00:18 -08:00
Andrew Tridgell 40459653b5 purple: fixed LED and IO pin defintitions 2011-11-25 20:00:18 -08:00
Andrew Tridgell ca76f6d0ec purple: add the remaining hw defines for purple hardware 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell a3701e521a build: added hlsensors target 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 3d175c449e adc.Init() takes timer_scheduler 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 1895458dbf purple: added new parameters to Init() functions 
this adapts the test code for the purple API changes
 2011-11-25 20:00:17 -08:00
Pat Hickey f9d6facdda test: added new passthru test 
this passes radio inputs direct to servo outputs, which is useful for
hardware testing
 2011-11-25 20:00:17 -08:00
Pat Hickey bad177bfdc removed old commented out code 2011-11-25 20:00:17 -08:00
Pat Hickey ad0cac670c purple: added new parameters needed for new library APIs 
new APIs pass in timer_scheduler. We also to init the isr_registry
 2011-11-25 20:00:17 -08:00
Pat Hickey 4015cb0a40 purple: fixed APM_RC.Init() to add isr_registry parameter 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
Pat Hickey 08675a91d8 purple: added config options for purple/APM1 hardware 2011-11-25 20:00:17 -08:00
Pat Hickey 3300032a89 purple: added hardware defines for ArduPlane 2011-11-25 20:00:17 -08:00
Pat Hickey cc67062442 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Andrew Tridgell 89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne 0a0b2d32f4 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Doug Weibel b05e1d90f5 Change type to support "dump all with -1" 2011-11-24 18:55:33 -07:00
Doug Weibel 0f428bd43a 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 27e68234b7 Simplified logging logic for finding start/end of log files 2011-11-24 18:55:32 -07:00
Doug Weibel 244eeea34a Rework logging file system to be more robust 2011-11-22 20:20:17 -07:00
Andrew Tridgell 8ef364657b MAVLink: fixed throttle display in VFR_HUD 2011-11-21 20:29:19 +11:00
Andrew Tridgell 4933c5bcdd zero airspeed on ground start when initiated by MAVLink 
If the users asks for a new calibration, that should include the
airspeed sensor
 2011-11-21 20:29:18 +11:00
Andrew Tridgell faaaf11822 fixed disabling of GPS in ArduPlane 
we may need a new hex
 2011-11-21 20:29:18 +11:00
Andrew Tridgell 9ea0fc9539 Log: prevent looping forever 
this happened with an empty dataflash
 2011-11-20 19:06:24 +11:00
analoguedevices b3716d988f Rev version number 2011-11-19 23:43:47 +00:00
Jason Short 7ffa2c4347 shortened strings 2011-11-19 14:02:45 -08:00
Doug Weibel 88f5669104 Remaining changes to the logging file system. 
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 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
Jason Short ddd89e1849 Mission Scripting updates 2011-11-16 00:22:23 -08:00
analoguedevices 7535b8a3d5 Rev version number 2011-11-16 05:04:36 +00:00
Doug Weibel e6542ec1a2 Fix Do_Jump bug. Also fix cross track bearing bug after Jump 2011-11-15 20:44:19 -07:00
Doug Weibel 0433cd6d69 Missed hunk for last commit 2011-11-15 20:43:00 -07:00
Doug Weibel 9fe554236b Add logging of DCM drift correction integrator in PM 
This may be a temporary feature…  Mostly added to check new (lower) integrator limit.
 2011-11-15 20:42:59 -07:00
analoguedevices e3ef9a2a36 Rev version number to 2.25 2011-11-14 05:31:27 +00:00
Michael Oborne 31159a7e1b modify crosstrack calc 2011-11-13 08:25:24 +08:00
Andrew Tridgell 407d66b41e fixed a valgrind warning 
need to initialise all fields
 2011-11-08 17:26:53 +11:00
Andrew Tridgell 92471aead2 Log: better way to check for -1 long portably 2011-11-08 07:58:34 +11:00
Andrew Tridgell 2bd451b445 Log: make find_last_log_page() portable 
this makes it work with platforms with a larger 'long'
 2011-11-07 23:50:49 +11:00
Andrew Tridgell ae1e1c940f Log: fixed a bug where we could index outside an array 
when we first start up, num_existing_logs may be zero
 2011-11-07 22:56:13 +11:00
Jason Short c8304114a3 renamed some command variables to align with Arduplane 
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 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 9eb27c2573 GCS: fixed timeout loading waypoints 
while loading waypoints we could saturate the link
 2011-10-31 21:25:35 +11:00
James Goppert 9d278ab355 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 23:12:53 -04:00
James Goppert 3f8603331d Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne c07d56ccbf Revert Changes 
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 3f3c04f95b Add MAVLINK_MSG_ID_HIL_STATE message 2011-10-30 18:17:37 +08:00
Michael Oborne ccd51fea2c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 14:27:13 +08:00
Andrew Tridgell d9ae4e4e6e MAVLink: use new MAV_MODE_FLAG_CUSTOM_MODE_ENABLED flag 
this enables us to tell if custom_mode is set
 2011-10-30 13:00:54 +11:00
Andrew Tridgell e722126843 fixed uninitialised variable warning 2011-10-30 11:48:56 +11:00
Andrew Tridgell 580647b1de use C++ tricks to minimise differences for MAVLink 1.0 
this should make maintainence/testing a bit easier
 2011-10-30 11:48:56 +11:00
Michael Oborne 9465617b02 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-30 07:35:10 +08:00
James Goppert 8102b31d8d Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-29 15:09:35 -04:00
James Goppert 1a8c4a2597 Working on cmake support. 2011-10-29 15:01:05 -04:00
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
Michael Oborne 374f8cbcd0 better crosstrack 2011-10-29 12:54:13 +08:00
Michael Oborne f70868348c Merge branch 'master' of https://code.google.com/r/meee146-hil 2011-10-29 11:37:54 +08:00
Andrew Tridgell 1118d26f03 fixed "Free RAM" display on bootup 2011-10-28 21:34:10 +11:00
Michael Oborne 835b585e03 APM track following change 2011-10-28 12:05:22 +08:00
Doug Weibel cbf59e96bd Bug fixes for command logic re-write 2011-10-27 13:45:57 -06:00
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
Andrew Tridgell 5a44298d57 CLI: enable "hit enter 3 times" support for CLI 
if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
 2011-10-27 21:54:07 +11:00
Andrew Tridgell 2b9daf65ff mavlink: fixed WP upload 
The previous code accepted arbitrary command codes here, and ACKed
them. Later we should specifically list which ones are OK
 2011-10-26 12:18:24 +11:00
Andrew Tridgell 5a089f98d2 MAVLink: MAVLink 1.0 support now builds 
not testing at all - so be careful!
 2011-10-24 12:21:26 +11:00
Andrew Tridgell f815a1b27b mavlink: started adding support for MAVLink 1.0 
this is nowhere near complete, and does not compile yet
 2011-10-24 10:20:36 +11:00
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 d38b289766 hil sensor cleanup 2011-10-14 18:14:32 +08:00
Michael Oborne 7ef51f723d Sensor hil fix's 2011-10-13 22:22:03 +08:00
Andrew Tridgell ea82b27fe5 support building with common Makefile.desktop 2011-10-11 17:49:40 +11:00
Michael Oborne 14dbc9523c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-11 08:05:14 +08:00
Michael Oborne 3bc793bb9b Merge branch 'desktop-wip' of https://code.google.com/r/tridge60-apm-wip 2011-10-10 07:22:57 +08:00
Andrew Tridgell 0939b51a4c added build makefiles 2011-10-10 07:18:38 +11:00
Amilcar Lucas 6484b83291 More optimizations 
I forgot these ones.
 2011-10-09 15:34:47 +02:00
Amilcar Lucas 865bb34657 Optimize the code a bit more, only perform calculations if they are necessary 2011-10-09 15:27:17 +02:00
Amilcar Lucas c624582c91 Use a single if instead of four 2011-10-09 15:27:17 +02:00
Amilcar Lucas e232a0936f Use the shorter macro call instead 2011-10-09 13:57:35 +02:00
Andrew Tridgell 5d0d1b6a6d fixed a crash in HIL 
The g_rc_function[RC_Channel_aux::k_flap_auto] ptr came out as NULL
during one HIL run on a desktop CPU, which led to ArduPlane
crashing. I am not yet sure if this can happen in real flight, but I
think the NULL check is worthwhile to be sure.
 2011-10-09 22:09:00 +11:00
Andrew Tridgell 6656847faa fixed some ambiguous if/else combinations 
gcc was complaining about the logic
 2011-10-09 22:09:00 +11:00
Andrew Tridgell e7e8165bc7 don't initialise DataFlash if logging is disabled 
this fixes HIL without an IMU
 2011-10-09 22:08:59 +11:00
Andrew Tridgell 63ac6bcd94 use memcheck_available_memory() instead of freeRAM() 
this gives a more accurate view of free memory
 2011-10-09 22:08:59 +11:00
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 f1d47982e2 Only use radio_in values if the channel is not used as flight_mode_channel 2011-10-08 22:15:54 +02:00
Amilcar Lucas ee4251baef Fix compilation 2011-10-02 14:52:02 +02:00
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
Doug Weibel 9396e3ab58 Fix missing capitalization 2011-09-30 07:25:35 -06:00
Doug Weibel adbe965f35 Rework prev commit a bit cleaner as suggested by Janne Mäntyharju 2011-09-30 07:25:35 -06:00
Doug Weibel 3fff788f95 Add code to disable throttle if we are on the ground and in FBW_B or higher 
Add code to disable throttle if we are on the ground and in FBW_B or higher.  We believe we are on the ground if speed < 5 and alt < 5.  Also check that we are not trying to perform a takeoff.
 2011-09-30 07:25:35 -06:00
James Goppert e20c279ca5 Added makefiles for ArduCopter/ArduPlane. 
These files are not generated by cmake. They are necessary for
the make based build to work. To build using this method
type make in the directoy such as ArudPlane/ArduCopter. Make
sure that you do not call cmake in the ArduPlane etc directory
as this will overwrite this Makefile with the autogenerated cmake
version. Cmake should be called from withing a build directory.
 2011-09-30 07:16:48 -04:00
Janne M 8aac89e549 Fixed board setting in cmake-file. Removed now autogenerated Makefile 2011-09-30 11:17:08 +03:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert 5e92e1f982 Corrected makefile. 2011-09-29 18:57:19 -04:00
James Goppert ed850d4e0c Added missing files. 2011-09-29 14:18:05 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
Jason Short 326cfef808 Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth. 2011-09-26 22:12:39 -07:00
Amilcar Lucas dca013965a Fix issue #285 2011-09-25 11:36:31 +02:00
Amilcar Lucas e5c248e2bf Moved mavlink_check_target() to the libraries/. 
This allows it to be reused by the other libraries and by other projects ArduPlane, ArduCopter, ArduRover ... etc.
It also reduces code duplication
 2011-09-24 14:40:07 +02:00
Doug Weibel 932e0fe45c Correct bug in auto flap handling 2011-09-22 20:50:15 -06:00