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2,797 Commits 71 Branches 511 Tags 789 MiB
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225 Commits

Author SHA1 Message Date
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