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232 Commits

Author SHA1 Message Date
Andrew Tridgell 5aca951438 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 2c41264a9b APM: added error checking on compass read 2011-12-28 20:41:53 +11:00
Andrew Tridgell c6b8a08918 APM: convert to new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell c91827ee09 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 b108b907e0 APM: Update for DataFlash changes 2011-12-28 16:00:49 +11:00
analoguedevices fefda548d2 Added contributor names, removed "alpha" from firmware name 2011-12-26 17:13:37 +00:00
Andrew Tridgell 4cd4987ae7 APM: fixed some unsigned/signed warnings 2011-12-26 19:17:11 +11:00
Andrew Tridgell d09c344ab8 APM-log: fixed reading of GPS logs 2011-12-26 19:17:11 +11:00
Andrew Tridgell 94cbbf6f28 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 7779dff355 Correct a bug in throttle failsafe feature 2011-12-24 15:34:31 -07:00
Doug Weibel c40093a1a7 Remove old debug print 2011-12-24 14:26:35 -07:00
Doug Weibel 4009018167 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 66029af574 setup the main loop failsafe after RC library is setup 2011-12-23 11:13:01 +11:00
Andrew Tridgell f7dda9f413 added comment on using GPS ground course 2011-12-23 11:13:01 +11:00
Andrew Tridgell 968ad78df0 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 ef3c5c071a failsafe: make sure we clear any RC override in manual failsafe 2011-12-22 10:55:43 +11:00
Andrew Tridgell c6633d7bc9 fixed HIL build 2011-12-21 23:31:39 +11:00
Andrew Tridgell ad63c10ab7 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 0aab4da1a1 mainloop_count should be uint16_t 2011-12-21 23:31:38 +11:00
Andrew Tridgell 61b2b2e32a always declare a timer_scheduler 
we should always run this code
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 73146bae5d APM: show temperature in airpressure test 
useful for tracking down baro bugs
 2011-12-19 18:52:56 +11:00
Andrew Tridgell 98406e842b 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 226470c614 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 54b8aab0ac Log: fixed logging dependence on compiler arg eval order 2011-12-18 17:31:45 +11:00
Andrew Tridgell 8a7d064842 APM: run mavlink loop while erasing logs 2011-12-18 10:19:52 +11:00
Andrew Tridgell ce035fc324 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 5d2301ef47 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 4bbd5392ef 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 ed17f64459 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 eed0eea13b apm 1280 disables 2011-12-16 22:26:39 +08:00
Andrew Tridgell 1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell b3327c64de geofence: added fence status reporting and faster altitude check 2011-12-16 20:11:51 +11:00
Andrew Tridgell a6e451c1b2 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 1b64185b18 geofence: main geo-fence code 
this implements the primary logic of geo-fencing
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 238c25c05e geofence: added geo-fencing control parameters 2011-12-16 20:11:51 +11:00
Andrew Tridgell 1455ff4a91 removed an unused variable 2011-12-16 20:09:49 +11:00
Andrew Tridgell e1e9002fad 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 a77f91fa4e Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Andrew Tridgell e8617fc929 DCM: reset the DCM matrix after a ground start 2011-12-13 21:33:07 +11:00
Andrew Tridgell b0aa1deac2 MAVLink: fixed link flood on waypoint upload 2011-12-13 20:39:04 +11:00
Andrew Tridgell d416013bd8 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 c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Andrew Tridgell 4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Andrew Tridgell dd4498d113 desktop: fixed Wire.begin() build problem 2011-12-12 15:14:55 +11:00
Andrew Tridgell 80a0dfe862 fixed hardware config check for barometer 2011-12-12 15:14:55 +11:00
Andrew Tridgell 65ed8cc2c3 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell 4319d1ceb0 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 fa683c5718 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 faf58a355b 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 bb861117a3 apm2: fixed for new barometer code 2011-12-11 15:21:10 -08:00