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650 Commits

Author SHA1 Message Date
Andrew Tridgell
07c291bb73 APM: fixed a comment typo 2012-10-16 17:21:04 +11:00
Andrew Tridgell
f828956cb8 battery: use set_pin() to allow pins to be changed at runtime 2012-10-16 17:20:49 +11:00
rmackay9
775489d658 ArduPlane: added BATT_VOLT_PIN and BATT_CURR_PIN parameters to allow support for new 3DR IV battery monitor 2012-10-13 20:51:41 +09:00
Andrew Tridgell
0bc1f89f27 APM: fixed typo 2012-10-11 15:03:52 +11:00
Andrew Tridgell
c9f10f0e00 APM: fixed auto-takeoff with zero lat/lng 
consider a non-zero altitude to mean that we should use the relative
altitude specified
 2012-10-11 15:03:00 +11:00
Andrew Tridgell
0495a0debc APM: make error msg clearer 2012-10-11 11:51:24 +11:00
rmackay9
f695db61ea ArduPlane: added AP_Semaphore.h to list of includes 2012-10-06 13:14:28 +09:00
Michael Oborne
a38fef65c7 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
rmackay9
8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9
41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
Andrew Tridgell
bbec662483 APM: fixed build warning 2012-09-25 07:21:03 +10:00
Andrew Tridgell
fbc053e6e4 APM: change to one low priority status buffer per GCS instance 
this allows us to operate the low priority messages on each link
independently.

Thanks to David Buzz for the suggestion!
 2012-09-24 17:39:19 +10:00
Andrew Tridgell
51aeb2dd4c APM: prepare for 2.65 2012-09-24 07:14:30 +10:00
Andrew Tridgell
d5c35fcc8b APM: fixed stick mixing for STABILISE mode 
this is embarrassing
 2012-09-24 07:14:30 +10:00
Andrew Tridgell
a4c3c5973d APM: prepare for 2.64 release 2012-09-23 19:32:56 +10:00
Andrew Tridgell
56c354eb4f APM: fixed stick mixing in CIRCLE mode on throttle failsafe 
Many thanks to Andke for finding this bug!
 2012-09-23 19:27:42 +10:00
Andrew Tridgell
41017442f8 APM: removed unnecessary waypoint_sending flag 2012-09-22 20:17:19 +10:00
Andrew Tridgell
f0f47f929a APM: send right parameter index when possible 2012-09-22 20:17:17 +10:00
Andrew Tridgell
764d86216e APM: fixed mission reset by setting waypoint to zero 
this does a full mission reset (equivalent to rebooting)
 2012-09-22 20:17:13 +10:00
Andrew Tridgell
6bae5ecd51 APM: added THR_SUPP_MAN option 
this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
 2012-09-22 20:17:06 +10:00
Andrew Tridgell
5c402fa398 APM: allow RawSensors stream rate to be saved if <= 5 
this makes it possible to configure all stream rates via a parameter
file
 2012-09-22 20:17:02 +10:00
Andrew Tridgell
63940d3ab6 APM: don't send GPS_STATUS MAVLink message 
it now provides no useful information as satellites_visible is in
GPS_RAW_INT in MAVLink 1.0
 2012-09-22 20:12:43 +10:00
Andrew Tridgell
cbc4a57abb APM: send airspeed sensor value, not estimate, when enabled 
this solves the problem of people reporting that airspeed is not shown
when ARSPD_USE is zero.
 2012-09-20 08:00:54 +10:00
Andrew Tridgell
832c5e996e APM: make it possible to fetch parameters by index 2012-09-20 07:42:46 +10:00
Andrew Tridgell
3077de0d33 APM: much faster parameter fetching 
allow up to 30% of bandwidth to be used for parameter send
 2012-09-20 07:29:23 +10:00
Andrew Tridgell
68f1b6336f APM: tweak the default options for an APM1 1280 board 
this allows a few more things to fit in
 2012-09-19 19:36:19 +10:00
Andrew Tridgell
cebb67e1df APM: removed the unused sonar code 
when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed
 2012-09-19 19:35:22 +10:00
Andrew Tridgell
2324997e16 APM: added ALT_OFFSET parameter 
useful to adjust for barometric pressure changes during a long flight
 2012-09-19 16:23:25 +10:00
Andrew Tridgell
37cb56f3e1 APM: save another few bytes 2012-09-18 13:58:50 +10:00
Andrew Tridgell
df962d25a8 APM: fixed a comment 2012-09-18 13:58:49 +10:00
Andrew Tridgell
12dc2e79cf APM: save 100 bytes of memory 
remove flight_mode_strings array
 2012-09-18 13:58:49 +10:00
Andrew Tridgell
86face0a03 APM: preparing for 2.63 release 2012-09-17 17:32:13 +10:00
Andrew Tridgell
4d4a95501f APM: updates for new GPS detection 2012-09-17 14:45:47 +10:00
Andrew Tridgell
7e8ef0ae95 APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
Andrew Tridgell
c8e84d18a4 APM: tidy up a comment 2012-09-16 15:51:13 +10:00
Andrew Tridgell
c0798730a8 APM: only copy manual channels in failsafe 
this prevents non-manual channels changing value away from the trim
value on startup
 2012-09-16 15:51:01 +10:00
Andrew Tridgell
127117b640 APM: ensure DO_SET_SERVO channels are enabled 2012-09-16 15:08:14 +10:00
Andrew Tridgell
208b878988 APM: allow update of last waypoint 
fixed off by one error
 2012-09-16 15:06:26 +10:00
Michael Oborne
94f956a0ca fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
Andrew Tridgell
b55e7903aa APM: prepare for 2.62 release 2012-09-13 12:02:18 +10:00
Andrew Tridgell
bad73b0686 APM: fixed elevon mixing 
this was broken in 2.61
 2012-09-13 12:01:40 +10:00
Andrew Tridgell
6e9abb616a APM: show real raw RC input, not mixed input 
this makes it easier to diagnose elevon mixing issues
 2012-09-13 12:00:49 +10:00
Andrew Tridgell
589c8fcc12 APM: report throttle and ground speed mission changes 2012-09-12 13:09:32 +10:00
Andrew Tridgell
b1408008c9 APM: allow for landing pitch control until final stage 2012-09-12 13:09:16 +10:00
Andrew Tridgell
05e72c6e68 APM: fixed roll in landing approach 2012-09-12 11:53:17 +10:00
Andrew Tridgell
5f3ffe4839 APM: switch to Randys new IMU rate control method 
this drives the speed of the 50Hz loop by the number of samples
accumulated in the IMU. This should give much more consistent timing
in DCM.

Thanks to Randy for introducing this scheme in ArduCopter!
 2012-09-11 16:39:36 +10:00
Andrew Tridgell
7e672628ea APM: removed the GPS_enabled flag 
this fixes using GPS_PROTOCOL to specify a specific GPS with a GPS
that takes a few updates before it works (eg. needing baud rate
changes).

This makes it easier to use an APM1-1280 with more features enabled
 2012-09-11 13:37:34 +10:00
Andrew Tridgell
c9a299665c APM: added speed scaling to wheeled steering 
this allows for a larger amount of steering control at low speeds
without causing osciallation after takeoff
 2012-09-11 13:37:34 +10:00
Andrew Tridgell
0812fc4890 APM: reboot only works on the APM2 2012-09-10 11:50:48 +10:00
Andrew Tridgell
cb88681914 APM: added support for MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 
this allows for remote reboot of APM
 2012-09-10 11:42:30 +10:00
Andrew Tridgell
e2779523ea APM: fixed fetch of relative altitude waypoints 
when we fetch relative altitude waypoints from APM to a file, we need
to preserve the altitude
 2012-09-10 09:40:29 +10:00
Andrew Tridgell
feb3fe77ce APM: simplify radio_trim code 
this removes the duplicate code. Throttle trim is not changed.
 2012-09-09 19:39:09 +10:00
Andrew Tridgell
5c3595e0dc APM: fixed throttle nudging 
The nudge value depended on RC3_TRIM, which is not a reliable
value. It tried to only take effect when the throttle stick was above
50%, but if RC3_TRIM was high for some reason (say 1500) then it would
actually depress the throttle by a large amount, which could cause the
plane to stall.

This also adds a boolean option THROTTLE_NUDGE to allow disabling of
throttle nudging
 2012-09-09 19:39:04 +10:00
Andrew Tridgell
657dd5969f APM: preparing for 2.61 release 2012-09-08 18:36:17 +10:00
Andrew Tridgell
49468953a3 APM: updated for new RC_Channel_aux API 2012-09-08 15:14:41 +10:00
Andrew Tridgell
a6422be8fb APM: added mtk and mtk16 build targets 
useful for testing non-auto gps detection
 2012-09-08 12:43:36 +10:00
Andrew Tridgell
f26b9ab286 APM: prevent crosstrack from takeoff point after takeoff completion 2012-09-08 11:37:14 +10:00
Andrew Tridgell
dec12c7370 APM: use ahrs.airspeed_estimate() in two more places 
this applies the wind constraint
 2012-09-08 11:37:11 +10:00
Andrew Tridgell
cde7d8c5e7 APM: fixed some compiler warnings 2012-09-08 10:14:32 +10:00
Andrew Tridgell
d07d42403e APM: tidy up an if() statement 2012-09-08 10:14:20 +10:00
Andrew Tridgell
164c60d25f APM: added RUDDER_STEER option 
when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
 2012-09-08 10:07:03 +10:00
Andrew Tridgell
130b26e1f9 APM: support DO_SET_SERVO command 2012-09-08 10:06:53 +10:00
Andrew Tridgell
96ea350143 APM: added XTRK_MIN_DIST option 
this allows you to disable crosstrack correction on short legs
 2012-09-08 10:06:44 +10:00
Andrew Tridgell
a446a7a9ed APM: allow serial buffer size to be configured 
very useful for packet forwarding setups
 2012-09-08 10:06:35 +10:00
Andrew Tridgell
9b2ad55773 APM: added forwarding of unknown MAVLink types 2012-09-08 10:06:15 +10:00
Andrew Tridgell
68705fe7e6 APM: accumulate mag readings during spare cycles in ArduPlane 
With this change we average over 100 mag readings per compass.read()
call, which means we are reading the compass at over 1kHz instead of
10Hz. The noise reduction is huge.
 2012-09-08 10:05:58 +10:00
Michael Oborne
cd08420c3e AP fix takeoff alt issue 
issue 733
 2012-09-06 20:19:12 +08:00
Pat Hickey
b02340fe10 APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
Andrew Tridgell
83153eebd4 APM: obey pitch limits in FBWA as well 
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
 2012-08-30 20:15:42 +10:00
Andrew Tridgell
9a987ce116 APM: fixed docs for LIM_PITCH_MIN 2012-08-30 14:55:08 +10:00
Michael Oborne
1e7adac365 AP fix attitude hil. 
we where waiting on new_data that had no way of getting there.
 2012-08-30 07:54:20 +08:00
Andrew Tridgell
f6c3197cd2 APM: added new TELEM_DELAY parameter 
number of seconds to delay telemetry
 2012-08-30 08:59:39 +10:00
Craig Elder
4ad516c445 Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
Andrew Tridgell
e2b8817a89 APM: added the ability to forcibly crash the plane on OBC failsafe breach 
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.

To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
 2012-08-28 20:18:24 +10:00
Andrew Tridgell
fce01464b1 APM: added ALT_CTRL_ALG parameter 
this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm

The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
 2012-08-28 20:18:24 +10:00
Andrew Tridgell
85e9fa8c3b APM: fixed another problem with DO_JUMP 
off by one error!
 2012-08-28 20:18:24 +10:00
Andrew Tridgell
ded64fd9ea APM: check for geofence fence total of 0 2012-08-28 20:18:24 +10:00
Andrew Tridgell
d13d117e61 APM: removed reset_I() and instead auto-reset integrator in PID library 
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
 2012-08-28 20:18:23 +10:00
Andrew Tridgell
dcbd0fbd44 APM: cleanup throttle suppression code and don't use airspeed to unsupress 
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.

It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
 2012-08-28 20:18:23 +10:00
Amilcar Lucas
b48a1f1fc4 ArduPlane: Fix 1280 builds 
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
 2012-08-27 01:33:45 +02:00
Amilcar Lucas
769f04b7d6 Improve comments, no functional changes 2012-08-27 01:32:27 +02:00
Andrew Tridgell
ecc6a52904 APM: report estimated airspeed if airspeed not available 2012-08-25 17:49:26 +10:00
Andrew Tridgell
3c7d7ba228 APM: use airspeed estimate for speed scaling if available 2012-08-25 17:49:26 +10:00
Andrew Tridgell
c9cf483822 APM: added XTRK_USE_WIND parameter 
when enabled this will use the wind estimation code to adjust the
navigation bearing, allowing the navigation code to cope with much
higher levels of wind while using a compass
 2012-08-25 17:49:26 +10:00
Andrew Tridgell
abe5bbfa4d APM: support forcing MANUAL of FBWA mode over MAVLink 2012-08-24 15:18:22 +10:00
Andrew Tridgell
b4134de550 APM: ensure fence_total is positive 
thanks to David Buzz for the suggestion
 2012-08-24 14:56:46 +10:00
Andrew Tridgell
c35530c362 APM: fixed wheeled takeoff with Jons new controllers 2012-08-22 17:34:01 +10:00
Andrew Tridgell
c730d9072e APM: prepare for ArduPlane 2.60 2012-08-22 16:28:38 +10:00
Andrew Tridgell
2d8f99433c APM: removed factor of 0.5 in non-airspeed takeoff pitch 
this limited the pitch far below the specified target pitch
 2012-08-22 16:28:38 +10:00
Andrew Tridgell
4668f8b7db APM: ensure takeoff_complete is reset 2012-08-22 16:17:55 +10:00
Andrew Tridgell
95c941664f APM: fixed bug in do_jump() navigation 
this avoids a problem where the jump can cause the next command to be
reset to 0
 2012-08-22 15:29:46 +10:00
Andrew Tridgell
6ab2a861f7 APM: added RSSI to RC_CHANNELS_RAW as well 
and prevent double read
 2012-08-22 13:58:25 +10:00
Andrew Tridgell
2d5bb7c51b APM: added RSSI in raw message too 2012-08-22 13:48:09 +10:00
Andrew Tridgell
c0c0b8c976 APM: added RECEIVER_RSSI_PIN option 
this allows for the receiver RSSI to be sent over MAVLink

Thanks to Burt Green for the suggestion
 2012-08-22 13:33:12 +10:00
Andrew Tridgell
d445482ace APM: added optional use of new APM_Control library 
thanks to Jon Challinger for the new controllers!
 2012-08-22 12:45:14 +10:00
Andrew Tridgell
9e926eae51 APM: optional build with new controller libs 2012-08-22 12:39:07 +10:00
uncrustify
70048f3d6f uncrustify ArduPlane/Parameters.h 2012-08-21 19:19:51 -07:00
uncrustify
3bee769405 uncrustify ArduPlane/config.h 2012-08-21 19:19:51 -07:00
uncrustify
d0ed723c1e uncrustify ArduPlane/planner.pde 2012-08-21 19:19:51 -07:00
uncrustify
a8e5900624 uncrustify ArduPlane/system.pde 2012-08-21 19:19:51 -07:00