Randy Mackay
8e08a1f8ab
Copter: remove debug
2014-02-15 05:27:36 +11:00
Randy Mackay
0a2adbac1b
Copter: renaming functions after moving xy control
2014-02-15 05:27:36 +11:00
Randy Mackay
5fd9410ff5
Copter: much renaming as xy pos controller moves
2014-02-15 05:27:36 +11:00
Randy Mackay
e69eeea246
Copter: log alt target from PosControl
2014-02-15 05:27:34 +11:00
Andrew Tridgell
2bf7a46c9b
Copter: log power status on Pixhawk
2014-02-15 05:00:09 +11:00
Andrew Tridgell
0a3476bbf1
Copter: change to new board_voltage() API
2014-02-14 21:50:59 +11:00
Andrew Tridgell
4f2ce31cb7
Copter: log PX4 and NuttX versions in logs
2014-01-14 15:38:51 +11:00
Andrew Tridgell
e52f8d6598
Copter: prevent log corruption during log creation
2014-01-14 14:37:48 +11:00
Randy Mackay
138c2803be
Copter: combine NTUN and INAV dataflash msgs
2014-01-13 22:00:11 +09:00
Randy Mackay
1e8a79eeaf
Copter: add TimeMS, InavAlt to CTUN df msg
2014-01-13 21:31:43 +09:00
Randy Mackay
97b18314ac
Copter: add time to ATT, MAG, CURR dataflash msgs
2014-01-13 20:46:54 +09:00
Randy Mackay
df9d1614e2
Copter: remove PID logging
...
Almost never used and eats up limited log description space
2014-01-13 17:23:39 +09:00
Randy Mackay
9f2f44f0f6
Copter: integrate shrunken optflow
2014-01-09 12:31:53 +09:00
Randy Mackay
84881470b1
Copter: suspend logging while disarmed
2014-01-07 22:43:47 +09:00
Andrew Tridgell
97df2f64c9
Copter: use common available_memory()
2013-12-28 16:02:32 +11:00
Andrew Tridgell
edda76623f
Copter: updates for DataFlash API changes
2013-12-17 11:51:36 +11:00
Andrew Tridgell
5802d7f86b
Copter: added logging of 2nd compass
2013-12-10 13:35:04 +11:00
Andrew Tridgell
cc3ee2ec0c
Copter: added dual compass logging when available
2013-12-10 13:31:42 +11:00
Andrew Tridgell
ffdcb715c3
Copter: updates for compass API change
2013-12-09 17:34:06 +11:00
Randy Mackay
4b3aff3f91
Copter: log flight mode to dataflash on start-up
2013-12-06 12:58:23 +09:00
Randy Mackay
9d92e46198
Copter: correct optflow logging
2013-12-02 11:58:28 +09:00
Randy Mackay
d7c636b4aa
Copter: remove yaw_in from ATT dataflash msg
2013-11-27 22:59:31 +09:00
Randy Mackay
7ef04bb73b
Copter: rename nav_yaw to control_yaw
2013-11-27 22:48:20 +09:00
Randy Mackay
10d6a9a34e
Copter: replace Log_Write_Motors with Log_Write_RCOU
2013-11-27 20:18:18 +09:00
Randy Mackay
af657d58b9
Copter: RCIN dataflash logging
2013-11-27 16:46:25 +09:00
Andrew Tridgell
21eac34cd1
Copter: log system ID if available
2013-11-26 13:00:03 +11:00
Randy Mackay
965af43121
Copter: add INAV error count to PM dataflash msg
2013-11-21 17:02:04 +09:00
Randy Mackay
7dd4ab835f
Copter: CURR dataflash msg to output throttle_out
...
Previously it was outputting throttle-in which is not as useful in
autonomous modes
2013-11-18 13:30:48 +09:00
Randy Mackay
1359a8fea5
Copter: log INS errors in PM message
2013-11-18 12:16:21 +09:00
Randy Mackay
5cc8772947
Copter: bug fix to Tricopter motor logging
...
Fourth motor taken from yaw channel's radio_out instead of random
location in memory
2013-11-16 10:48:02 +09:00
Randy Mackay
1f6bc7bd9c
Copter: log TradHeli ch7, ch8 in MOT message
2013-11-15 22:58:17 +09:00
Robert Lefebvre
9ae66c1773
TradHeli: add support for drive tail rotors
...
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
2013-11-15 22:58:04 +09:00
Randy Mackay
46118b59d7
TradHeli: integrate motor lib changes
2013-11-15 22:57:43 +09:00
Andrew Tridgell
6b1f59372c
Copter: show git and firmware version in tlog
2013-11-09 10:09:20 +11:00
Tobias
d6d5f0bbe4
Copter: Log.pde: replace unused copy with ref (saves again some bytes)
2013-10-27 13:40:40 +09:00
Andrew Tridgell
92bf4b9c89
Copter: added MAVLink SYSTEM_TIME message
2013-10-24 14:22:47 +11:00
Randy Mackay
ba92c4891a
Copter: make AutoTune a compile-time option
2013-10-04 15:50:50 +09:00
Randy Mackay
31cea0140d
Copter: Leonard's AutoTuning for Roll and Pitch
2013-10-04 15:50:47 +09:00
Randy Mackay
dab4f032f9
Copter: integrate BattMonitor
2013-10-03 11:16:28 +09:00
Randy Mackay
a53d28e018
Copter: remove support for dmp ahrs
2013-09-27 10:42:49 +09:00
Andrew Tridgell
a06f8a156d
Copter: fixed PX4 build
2013-08-19 21:12:41 +10:00
Randy Mackay
2696e160e6
Copter: surface tracking improvement
...
Separate correction speeds for pilot input vs altitude-above-ground
errors to allow slower correction to sonar signals.
Change SONAR_GAIN parameter to be altitude error -> desired speed. This
means it should be set 10x larger than before.
Replace hard-coded sonar cut-off percentage of 70% with
SONAR_RELIABLE_DISTANCE_PCT.
Reduce sonar cut-off percentage to 60%.
Add desired sonar altitude to dataflash log's CTUN message.
2013-08-19 09:52:59 +09:00
tobias
4e73cf810e
Copter: added cast to remove compiler warning
2013-07-08 12:07:50 +10:00
Randy Mackay
4ad395e7be
Copter: merge WPNAV into NTUN dataflash message
2013-05-19 22:53:35 +09:00
Randy Mackay
0a148cce19
Copter: log target alt in meters
2013-05-08 16:41:16 +09:00
Randy Mackay
cca05ee8ae
Copter: start dataflash logging when arming
...
Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
2013-05-03 14:49:55 +09:00
Randy Mackay
bab9fa25e5
Copter: add GCS failsafe
2013-04-29 21:30:22 +09:00
Randy Mackay
45aab0de92
Copter: add I2C error count to PM message
2013-04-26 22:39:22 +09:00
Andrew Tridgell
9cec664236
Copter: fixed format of PM message log
2013-04-21 23:46:35 +10:00
Andrew Tridgell
02c3083f60
Copter: print flight mode as string
2013-04-20 15:18:22 +10:00
Andrew Tridgell
ce3ee97e73
Copter: removed duplicate print_latlon() declarations
2013-04-20 13:57:45 +10:00
Andrew Tridgell
93d075404c
Copter: added board voltage to current message
2013-04-20 13:52:37 +10:00
Andrew Tridgell
a0708460a4
Copter: convert to new logging system
2013-04-20 13:52:37 +10:00
Andrew Tridgell
67484a2ea1
Copter: make copter code compatible with the new logging system
...
not fully converted yet
2013-04-20 13:52:36 +10:00
Randy Mackay
9b351feade
Copter: shorted INAV dataflash log message length
...
Velocities are now output in WPNav message
2013-04-17 22:39:30 +09:00
Randy Mackay
f7524e5741
Copter: remove unnecessary cast to float in Log
2013-04-17 22:35:02 +09:00
Randy Mackay
7c8527e6a6
Copter: resolve compiler warning
2013-04-17 22:14:47 +09:00
Andrew Tridgell
61c2befd4d
Copter: fixed logging for new API
2013-04-17 21:34:42 +10:00
Randy Mackay
8fe3e689f4
Copter: add WPNAV log message
2013-04-15 21:54:29 +09:00
Randy Mackay
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
2013-04-14 10:39:23 +09:00
Randy Mackay
4de5f67a91
Copter: replace wp_nav.get_target_alt with get_destination_alt
2013-04-14 10:38:17 +09:00
Randy Mackay
5b93990e41
Copter: removed next_WP
...
Use the wp_nav.get_target_alt or controller_desired_alt in it's place
2013-04-14 10:38:07 +09:00
tobias
217b8d7a59
cleanup: use const for struct Location pointers and references
...
this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
Randy Mackay
1dcd46bffc
Copter: reduce compiler warnings
2013-04-05 22:25:58 +09:00
Randy Mackay
40f6416b3d
Copter: update Log_Read_Compass comment
2013-04-02 11:02:14 +09:00
Randy Mackay
f9539384a1
Copter: rename failsafe to failsafe_radio
...
Makes way for separation of failsafes for throttle, gps and gcs
2013-03-16 17:14:21 +09:00
Randy Mackay
998511f506
Copter: use unsigned long for dataflash log for gps time
...
Updated some formatting of comments in the same file
2013-03-04 23:13:06 +09:00
Randy Mackay
6b2b69535f
Copter: Compass log stores/retrieves motor offsets
2013-03-02 00:03:20 +09:00
Andrew Tridgell
637ecd5279
Copter: updates for new dataflash API
2013-03-01 07:18:26 +11:00
Andrew Tridgell
9a3bd17cfb
Copter: fixes for new DataFlash API
2013-03-01 07:18:25 +11:00
Randy Mackay
c8f09ac219
Copter: fix compile error for PX4 re Compass logging
2013-02-25 13:26:58 +09:00
Randy Mackay
cbde042ec5
Copter: remove non-inav loiter and wp controllers
...
lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
2013-02-24 14:41:52 +09:00
Randy Mackay
609676e26c
Copter: add logging of compass values
...
Removed rarely used ITERM because we didn't have enough bits in the log
mask
2013-02-24 14:41:48 +09:00
Randy Mackay
67c69a19ee
Copter: remove baro-only alt hold
...
Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
2013-02-24 14:41:29 +09:00
Randy Mackay
ce370bab0c
Copter: rename CUR and CURR to CURRENT for logging
...
Based on user complaint that enable/disable was using CUR while message
was appearing as CURR
2013-01-26 17:20:41 +09:00
Randy Mackay
fb1358a629
Copter: make all message output csv
2013-01-26 17:05:38 +09:00
Jonathan Challinger
6565d83e73
InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz.
2013-01-22 18:37:45 +09:00
James Bielman
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
Andrew Tridgell
56f22f9226
Copter: use common log reading function
2013-01-15 14:03:51 +11:00
Andrew Tridgell
72c8a14e76
Copter: fix trad heli log build
2013-01-13 17:57:47 +11:00
Andrew Tridgell
78fd5bb23f
Copter: get rid of remaining Log.pde warnings
2013-01-13 17:53:39 +11:00
Andrew Tridgell
3039c37f95
Copter: use macros from common header
2013-01-13 17:31:42 +11:00
Pat Hickey
d7eeeab79e
ArduCopter: fix new style Log.pde build for PX4.
...
randy - you should please review these changes to make sure you wanted
to have the int16_t type in all of these structs, or how you want to
convert all these other integer types to int16_t if you do need it that
way.
2013-01-12 13:11:25 -08:00
Randy Mackay
87627d883b
ArduCopter: use new logging method for remaining packet types
...
Additional changes include renaming RAW dataflash type to IMU
2013-01-13 00:17:44 +09:00
Andrew Tridgell
af478d52bc
Copter: use the new logging methods for 2 packet types
...
the rest still need to be converted
2013-01-12 18:15:23 +11:00
Andrew Tridgell
91ad870f11
Copter: check bitmask in more logging functions
2013-01-09 23:06:40 +11:00
Andrew Tridgell
4236b10edc
Copter: fixed board ID string
2013-01-02 10:18:05 +11:00
Andrew Tridgell
17a63dc76a
Copter: fixes for AP_HAL merge
2013-01-02 09:55:55 +11:00
rmackay9
672fdfbf71
ArduCopter: added ERR dataflash message
...
Failsafe events changed to errors so they are more obvious.
Errors recorded to dataflash for failure to init compass and optical flow sensor.
Errors recorded for pwm failure.
Resolved a compile error when dataflash logging is disabled.
2013-01-02 09:55:37 +11:00
rmackay9
92e271e517
AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1
2013-01-02 09:55:37 +11:00
rmackay9
466097b383
ArduCopter: use inertial nav for current altitude and climb rate
2013-01-02 09:22:51 +11:00
rmackay9
b786cf40f7
ArduCopter: change GPS dataflash message to output unfiltered gps lat and lon
2013-01-02 09:19:39 +11:00
Pat Hickey
7af03127f6
ArduCopter: more work
2012-12-20 14:52:28 +11:00
Pat Hickey
d9e0bbbbab
ArduCopter: first pass at AP_HAL porting
...
* changed all the byte types to uint8_t
* fixed up much of the serial stuff
2012-12-20 14:52:27 +11:00
Jason Short
19ae5c30eb
ACM : Formatting
2012-12-13 20:12:39 -08:00
rmackay9
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
rmackay9
9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
...
Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
2012-12-08 14:23:32 +09:00
rmackay9
3a90fc77f9
ArduCopter: add dataflash logging of camera events
2012-12-07 00:57:08 +09:00
rmackay9
072ffec493
ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position
2012-12-06 10:31:41 +09:00
Andrew Tridgell
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
2012-11-21 21:41:34 +11:00
