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1320 Commits

Author SHA1 Message Date
Andrew Tridgell c9ebd6a175 Plane: improved RC failsafe handling 
this forces all primary control inputs to the trim value on loss of RC
input, and reduces the timeout for loss of RC input to 1 second from 2
 2014-03-08 16:20:54 +11:00
Andrew Tridgell 2cf98e476c Plane: added support for a separate steering channel 
good for ground steering on larger aircraft
 2014-03-05 12:57:50 +11:00
Andrew Tridgell 8d95b953c3 Plane: removed some unused functions 2014-03-05 09:17:50 +11:00
Andrew Tridgell 0d6064034a Plane: use percent_input() for flaps 2014-03-05 09:17:50 +11:00
Andrew Tridgell e3952112ad Plane: raise default LIM_PITCH_MAX to 20 degrees 
15 is often not enough to climb
 2014-03-03 15:49:04 +11:00
Andrew Tridgell e784c81f3e Plane: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:52 +11:00
Andrew Tridgell 6b9e1edf38 Plane: disable GPS2 in HIL 2014-02-27 08:16:28 +11:00
Andrew Tridgell 07826096a2 Plane: support a 2nd GPS 2014-02-26 09:24:23 +11:00
Andrew Tridgell 95dd252f29 Plane: pass fix type to gps->setHIL() 2014-02-25 21:11:15 +11:00
Andrew Tridgell 8a4289b56f Plane: remove unused variables 
thanks to Mike McCauley
 2014-02-24 18:49:14 +11:00
Andrew Tridgell 4bcf9b5d98 Plane: fixed logging of relative altitude 2014-02-23 08:18:43 +11:00
Andrew Tridgell 492e65acde Plane: fix for HIL API change 2014-02-23 08:18:31 +11:00
Randy Mackay a76e2ab02e Plane: reserve NavEKF slot in param list even when not used 
Although this wasn't a problem immediatley, if someone had added a
parameter after k_param_NavEKF it's position in eeprom could have moved
as AP_AHRS_NAVEKF_AVAILABLE was enabled/disabled
 2014-02-21 13:53:05 +09:00
Andrew Tridgell 2908beb9bd Plane: fixed Log when disarmed value in docs 2014-02-19 19:01:48 +11:00
Andrew Tridgell 33851030a4 Plane: use ahrs.get_armed() 2014-02-19 10:53:26 +11:00
Andrew Tridgell 9282c8d0d9 Plane: allow for a wider range of values on the control switch 2014-02-17 13:58:11 +11:00
Paul Riseborough 98f72a4864 Plane : changed useage of ahrs.set_correct_centrifugal 2014-02-16 22:34:52 +11:00
Andrew Tridgell 99f2c8387c Plane: change to Compass::learn_offsets 2014-02-16 13:22:06 +11:00
Andrew Tridgell 59a56c9b46 Plane: enable Baro logging 2014-02-15 07:29:39 +11:00
Andrew Tridgell 566b0ccc61 Plane: call esimate_wind() 2014-02-15 05:48:24 +11:00
Andrew Tridgell d7839aa4ab Plane: removed duplicate log description 2014-02-15 05:48:24 +11:00
Andrew Tridgell 1001df0e56 Plane: removed extra log enum 2014-02-15 05:48:23 +11:00
Andrew Tridgell 35a9201c9a Plane: fixed comma 2014-02-15 05:48:23 +11:00
Andrew Tridgell a7faa58879 Plane: fixed up merge errors 2014-02-15 05:48:23 +11:00
Andrew Tridgell a551703877 Plane: fixed parameter build for NavEKF 2014-02-15 05:48:22 +11:00
Paul Riseborough 8c4b0b9be9 Plane : NavEKF Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough 24f8f02942 Plane : disable AHRS centrifugal corrections when disarmed 2014-02-15 05:48:20 +11:00
Andrew Tridgell bb4789a875 Plane: use common EKF logging 2014-02-15 05:48:16 +11:00
Andrew Tridgell 4646682a31 Plane: use common send_ahrs2() 2014-02-15 05:48:16 +11:00
Andrew Tridgell 57e0eb4db5 Plane: use a const reference for home 2014-02-15 05:48:15 +11:00
Andrew Tridgell 2817a11f23 Plane: added AHR2 and SIM logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell 11337ab2df Plane: updates for AHRS holding home position 2014-02-15 05:29:47 +11:00
Andrew Tridgell df5195e2c9 Plane: change for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell e39247868c Plane: cleanup HIL defines 2014-02-15 05:29:46 +11:00
Andrew Tridgell 2cd6efa23e Plane: added DF logging of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell 99cfaf6097 Plane: switched to AHRS2 message for reporting 2014-02-15 05:29:45 +11:00
Andrew Tridgell 9ac886f58d Plane: use AP_AHRS_NavEKF when available 2014-02-15 05:28:09 +11:00
Paul Riseborough e0e4b1aefa Plane : Updated NavEKF flash data logging 2014-02-15 05:28:09 +11:00
Paul Riseborough d6ead64083 Plane : Additional NavEKF flash logging 2014-02-15 05:28:08 +11:00
Andrew Tridgell 006b9da6be Plane: only include NavEKF on fast CPUs 2014-02-15 05:28:08 +11:00
Andrew Tridgell ce9047cec5 Plane: added dataflash logging of EKF data 2014-02-15 05:28:07 +11:00
Andrew Tridgell 1fbae4dd44 Plane: enable NavEKF logging in plane 2014-02-15 05:28:07 +11:00
Andrew Tridgell cd9027adfd Plane: added NavEKF object 2014-02-15 05:27:52 +11:00
Paul Riseborough fb1345dd99 Plane : add suport for NavEKF 2014-02-15 05:27:52 +11:00
Andrew Tridgell 7de8be1956 Plane: log power status on Pixhawk 2014-02-15 05:00:09 +11:00
Andrew Tridgell dfa95b3464 Plane: moved the always log flag to 1<<16 
this prevent problems with transferring the bitmask as a float
 2014-02-14 21:51:00 +11:00
Andrew Tridgell 043c80dbe6 Plane: use new board_voltage() method 2014-02-14 21:50:59 +11:00
Andrew Tridgell ae9201342a Plane: allow FLAP_IN_CHANNEL to control k_flap and k_flap_auto too 2014-02-06 14:09:49 +11:00
Andrew Tridgell c3b7e76c28 Plane: added flaperon support 
this adds FLAPERON_OUTPUT and FLAP_IN_CHANNEL to allow both manual
and auto flap control for both normal flaps and flaperons
 2014-02-06 12:38:59 +11:00
Andrew Tridgell 04f2c07b2b Plane: use new RC_Channels API 2014-02-06 10:17:16 +11:00
Andrew Tridgell e42a10a764 Plane: allow printing of GUIDED mode in logs 2014-02-02 14:04:36 +11:00
Andrew Tridgell 48577ffbc2 Plane: check the parameter table on startup 2014-01-31 13:07:52 +11:00
Andrew Tridgell f06152530c Plane: prepare for 2.78b release 2014-01-31 12:15:27 +11:00
Andrew Tridgell 6cabca690e Plane: fixed RSSI_RANGE enum 
many thanks to Valince for spotting this
 2014-01-31 12:14:18 +11:00
Andrew Tridgell 7009c4aead Plane: prepare for 2.78 release 2014-01-30 14:26:46 +11:00
Andrew Tridgell 3a986474e0 Plane: added RSSI_RANGE parameter 2014-01-30 11:29:35 +11:00
Andrew Tridgell 6b12f13d64 Plane: prepare 2.78beta2 2014-01-29 22:05:21 +11:00
Andrew Tridgell 906fc17905 Plane: added baro and airspeed logging 
including raw temperature and pressure values
 2014-01-28 10:35:59 +11:00
Andrew Tridgell 9f683e6b9b Plane: prepare 2.78beta1 2014-01-27 14:08:43 +11:00
Andrew Tridgell 369c130c2d Plane: consider GPS unhealthy if it doesn't have 3D lock 2014-01-27 09:02:22 +11:00
Andrew Tridgell 11ece65656 Plane: update docs for RSSI_PIN for pixhawk 2014-01-24 11:18:28 +11:00
Andrew Tridgell e5e04d65ee Plane: improve LOG_BITMASK docs 2014-01-24 10:00:23 +11:00
Andrew Tridgell c37a7cd9e1 Plane: update AP_Notify flags for arming state 2014-01-23 21:40:34 +11:00
Andrew Tridgell ab4a5d676e Plane: ready for 2.77 release 2014-01-20 19:41:19 +11:00
Andrew Tridgell c16e3a035f Plane: fixed disarmed throttle in HIL 2014-01-20 19:41:19 +11:00
Andrew Tridgell 776b999f43 Plane: fixed disarmed PWM output 2014-01-20 17:34:50 +11:00
Andrew Tridgell cdd36b2c41 Plane: use AP_ServoRelayEvents library 2014-01-20 17:06:29 +11:00
Andrew Tridgell 2045591bed Plane: fixed servo and relay repeat code 2014-01-20 17:06:29 +11:00
Andrew Tridgell e4e5c92453 Plane: fixed relay handling 
the parameters were badly out of whack!
 2014-01-20 17:06:29 +11:00
Andrew Tridgell d3adf4c32c Plane: enable AP_BoardConfig 2014-01-20 17:06:28 +11:00
Andrew Tridgell ada0dd5504 Plane: check both ground and airspeed in autocal test 
when the airspeed ratio is far too low we were not raising it as the
airspeed was never getting above the minimum airspeed

Pair-Programmed-With: Jon Challinger
 2014-01-17 10:29:28 +11:00
Andrew Tridgell 30a210cfa6 Plane: setup PWM to be used on throttle when safety is safe on PX4 2014-01-15 22:28:00 +11:00
Andrew Tridgell 3a5fb46dc2 Plane: fixed integer size problem on APM2 2014-01-14 21:27:39 +11:00
Andrew Tridgell 91cc08a3ef Plane: log PX4Firmware and NuttX git revisions in logs 2014-01-14 15:37:03 +11:00
Andrew Tridgell cf09fef1db Plane: prevent log corruption when new log started 2014-01-14 14:29:14 +11:00
Andrew Tridgell a15336079e Plane: start logging when first needed 2014-01-14 13:51:49 +11:00
Andrew Tridgell 8755747da0 Plane: only log when armed by default 
use safety switch if arming not enabled
 2014-01-14 13:07:43 +11:00
Andrew Tridgell 874110b29d Plane: make LOG_BITMASK 32 bits 2014-01-14 13:06:52 +11:00
Andrew Tridgell def782c441 Plane: use uppercase names on microSD card where possible 2014-01-14 12:46:26 +11:00
Don Gagne e68cf2d1c5 Plane: Fix parameter documentation 
Fixes some problems with incorrect docs which would in turn generate
bad amp.pdef.xml files for ground stations.

merge with below
 2014-01-09 14:02:21 +09:00
Andrew Tridgell 9df5887aab Plane: fixed redundent logging 2013-12-31 15:55:33 +11:00
Andrew Tridgell d9cb101a03 Plane: default LOG_BITMASK to 32767 on non-APM 2013-12-31 10:28:38 +11:00
Michael Day d4f42d41f7 Plane: removed some compile warnings from rally.pde 2013-12-31 09:48:24 +11:00
Michael Day c87d72353f Plane: Introducing FENCE_RETALT parameter. 2013-12-31 09:48:20 +11:00
Michael Day 87c60ee293 Plane: Doc. update for ALT_HOLD_RTL with Rally Points. 2013-12-31 09:48:16 +11:00
Andrew Tridgell f35cf2beba Plane: use file based logs in SITL 2013-12-29 07:14:31 +11:00
Andrew Tridgell 3486b933c0 Plane: use common send_meminfo() 2013-12-28 16:02:06 +11:00
Andrew Tridgell 72473e4317 Plane: use AP_HAL available_memory() call 2013-12-28 14:51:37 +11:00
Andrew Tridgell 6856cc6e4b Plane: break up GPS and logging, allow GPS update at 50Hz 
this prevents mismatches in GPS message arrival and accel message
arrival from causing small DCM errors
 2013-12-28 14:25:54 +11:00
Randy Mackay a1d5c0a02a Plane: replace APM with board in cli 2013-12-28 10:42:30 +09:00
Andrew Tridgell 7ffbed24cc Plane: initialise scheduler callback after logging 
this could cause log corruption otherwise
 2013-12-28 10:24:46 +11:00
Andrew Tridgell 43a56151d7 Plane: reset mission on disarm 
this makes repeated missions easier
 2013-12-20 12:04:23 +11:00
Andrew Tridgell 89366a1ee1 Plane: fixed ARMING_REQUIRED=2 on APM2 to disable rc output on throttle 2013-12-20 11:59:45 +11:00
Andrew Tridgell ce773f085a Plane: make the defaut for FS_GCS_ENABL clearer 2013-12-20 11:44:44 +11:00
Andrew Tridgell 263f3b116b Plane: added FS_GCS_ENABL==2 option 
this allows GCS failsafe when the GCS isn't getting updates from the
aircraft
 2013-12-20 11:39:00 +11:00
Andrew Tridgell a4af83d454 Plane: only allow right rudder for arming 
copter users may try to use left rudder to ensure aircraft is
disarmed. Making left rudder arm could be dangerous
 2013-12-20 09:43:04 +11:00
Andrew Tridgell 77c6e51887 Plane: allow throttle failsafe on no RC input 
on PX4 we just stop getting input on loss of RC - we need to consider
this to be "throttle failsafe"
 2013-12-20 09:43:04 +11:00
Andrew Tridgell 4f242aedec Plane: fixed a bug where mode would not revert on geo-fence disable 
the mode would not revert if the switch was in position 0
 2013-12-17 14:14:13 +11:00
Michael Day dcfed13c87 Plane: Fence breach now sends to correct return point in Guided Mode. 2013-12-17 14:14:13 +11:00
Andrew Tridgell ca67c24eef Plane: removed common functions 2013-12-17 12:00:46 +11:00
Andrew Tridgell d93b95186d Plane: prevent a build warning 2013-12-17 11:51:36 +11:00
Andrew Tridgell 8b7fe3cf50 Plane: changes for new DataFlash API 2013-12-17 11:51:36 +11:00
Andrew Tridgell e0b511e367 Plane: enable new log download functions 2013-12-17 11:51:35 +11:00
Andrew Tridgell 508817d617 Plane: moved ap_message into GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell 4bad2cfb3a Plane: use common GCS.h 2013-12-17 11:51:35 +11:00
Andrew Tridgell 622a2053ff Plane: fixed parameters typo 2013-12-11 21:37:01 +11:00
Andrew Tridgell 3508a14542 Plane: small arming tidyups 2013-12-11 17:29:26 +11:00
Andrew Tridgell b0236610b2 Plane: fixed arming bit in MAVLink heartbeat message 2013-12-11 17:29:26 +11:00
Andrew Tridgell 103da0c889 Plane: when no GPS lock always send GPS messages 2013-12-11 17:29:26 +11:00
Michael Day b0a0316dd6 Plane: Now using AP_Arming library. 2013-12-11 17:29:23 +11:00
Andrew Tridgell 6ed21c12db Plane: added logging of 2nd compass 2013-12-10 15:32:11 +11:00
Andrew Tridgell 49f49648ec Plane: changes for compass healthy API 2013-12-09 17:47:38 +11:00
Andrew Tridgell 02af644010 Plane: report both sets of sensors in MAVLink 2013-12-09 17:34:07 +11:00
Andrew Tridgell b637ab35e4 Plane: lower the priority of mount update 2013-12-09 17:34:07 +11:00
Andrew Tridgell d642254f18 Plane: breakup one second loop into 3 pieces 
this prevents it not running when gimbal is active
 2013-12-09 17:34:07 +11:00
Andrew Tridgell 65c97a2f5f Plane: updates for compass API change 2013-12-09 17:34:06 +11:00
Randy Mackay b6462c23af Plane: disable external leds 2013-11-30 22:53:55 +09:00
Andrew Tridgell 1124e84ae0 Plane: fixed APM1 build 2013-11-30 06:56:16 +11:00
Andrew Tridgell 6b4a3ef98b Plane: added MAVLink sonar logging 2013-11-28 21:49:27 +11:00
Andrew Tridgell 5a0cb5dea4 Plane: added sonar logging to dataflash 2013-11-28 21:49:27 +11:00
Randy Mackay 45ab18f131 Plane: rename Log_Write_SERVO to Log_Write_RCOU 2013-11-27 20:18:16 +09:00
Andrew Tridgell 079d48f6cc Plane: use log system ID if available 2013-11-26 13:00:03 +11:00
Andrew Tridgell 8383abc1fe Plane: added SERIAL2_BAUD and rename SERIAL3_BAUD to SERIAL1_BAUD 2013-11-26 13:00:03 +11:00
Andrew Tridgell a05a32dbda Plane: added RCIN and SRVO logging 2013-11-26 09:04:43 +11:00
Andrew Tridgell 457183b6f5 Plane: cope with uartD being NULL 2013-11-23 21:44:45 +11:00
Andrew Tridgell 5f32f44366 Plane: fixed mavlink_queue[] size 2013-11-23 19:29:23 +11:00
Andrew Tridgell 2fa5e6310d Plane: added 3rd telemetry stream on platforms that have it 
this generalises the gcs object usage
 2013-11-23 19:29:22 +11:00
Andrew Tridgell 490a061c6f Plane: added HIL_ERR_LIMIT 
this allows DCM to recover if HIL attitude drifts too far from true attitude
 2013-11-23 18:50:57 +11:00
Andrew Tridgell 17c9cedac1 Plane: send out HIL servo updates as soon as we can 
this improves the servo responsiveness of HIL a lot
 2013-11-23 18:50:57 +11:00
Andrew Tridgell 1e36ebc31b Plane: reset HIL attitude if off by more than 5 degrees 2013-11-23 18:50:56 +11:00
Andrew Tridgell 8bfe59cea5 Plane: send SIMSTATE messages in HIL 
this allows better tracking of the simulator state, to see if issues
are caused by DCM failure
 2013-11-23 18:50:56 +11:00
Andrew Tridgell 58b767b8e4 Plane: rename geofence structure 
makes using gdb easier as it doesn't mix up the structure and the
pointer
 2013-11-23 18:50:55 +11:00
Randy Mackay c01a3debd6 Plane: log INS errors in PM message 2013-11-18 13:08:40 +09:00
Andrew Tridgell 56f574684d Plane: fixed throttle failsafe with reversed throttle 2013-11-17 15:32:53 +11:00
Andrew Tridgell 2af69b7131 Plane: make batter failsafe docs clearer 2013-11-09 18:14:02 +11:00
Andrew Tridgell 7e10811673 Plane: send firmware and git version in tlog 2013-11-09 10:09:20 +11:00
Andrew Tridgell eee1364f05 Plane: update comments on ALT_CTRL_ALG and NAV_CONTROLLER 2013-11-08 07:54:16 +11:00
Andrew Tridgell c1bc093cf5 Plane: removed unused variable 2013-11-07 13:54:25 +11:00
Andrew Tridgell 1aa29df52d Plane: report INS and airspeed health 2013-11-07 12:48:17 +11:00
Andrew Tridgell 53c3dff334 Plane: allow changing of loiter direction while loitering 
useful for causing path capture failures in the sim
 2013-11-07 11:54:28 +11:00
Andrew Tridgell 1328bbf040 Plane: log the AHRS error terms in dataflash 
also log raw IMU at 10Hz with default config
 2013-11-07 10:19:13 +11:00
Andrew Tridgell 691eaabe94 Plane: prepare for 2.76 release 2013-11-05 15:55:08 +11:00
Andrew Tridgell 78604bd84e Plane: only send GPS_RAW_INT if new data 
this reduces link load when asking for high rate telemetry
 2013-11-05 14:40:51 +11:00
Andrew Tridgell 5e4b243c7b Plane: make DataFlash objects static 2013-11-04 21:37:50 +11:00
Andrew Tridgell ae8ef344bf Plane: added time to most plane log messages 2013-11-04 21:37:30 +11:00
Andrew Tridgell 231b5ab793 Plane: prevent too large combined pitch/roll angles 
this reduces the roll limit by cos(pitch) and pitch minimum by
cos(roll). This prevents unreasonable attitudes in all stabilised
modes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-04 21:21:42 +11:00
Andrew Tridgell ff5f2ceae5 Plane: update for API changes 2013-11-04 21:21:42 +11:00
Andrew Tridgell b1c9b57c73 Plane: mark 2.76beta1 2013-11-02 21:48:17 +11:00
Andrew Tridgell 26a3860af2 Plane: fixed PM message 2013-11-02 21:41:30 +11:00
Andrew Tridgell 5a92ce4af6 Plane: added altitude and ground speed to NTUN logs 2013-11-02 21:41:11 +11:00