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405 Commits

Author SHA1 Message Date
Andrew Tridgell a684bddbda GPS: open the GPS serial port with a 256 byte buffer 
the UBLOX needs more than 128 bytes for reliable parsing
 2012-06-08 16:42:03 +10:00
Andrew Tridgell 25c17a5425 re-enable the AP_Mount build 2012-06-04 19:32:11 +10:00
Andrew Tridgell e7cf643386 added mavlink09 targets 
allows easier building with mavlink0.9
 2012-06-04 13:14:52 +10:00
Andrew Tridgell 3af29bd84e AP_Mount: disable AP_Mount until it works with MAVLINK10 2012-06-04 13:14:51 +10:00
Michael Oborne a71ed6c5ce enable mavlink10 by default 2012-06-04 08:02:08 +08:00
Michael Oborne b4a1b03fd3 AP: add fake satellite count for hil. 2012-06-02 16:38:20 +08:00
Pat Hickey 5766afa6c8 ArduPlane: Increment format number in Parameters.h 
* Force all users to reconfigure to take advantage of elevon patch
  ( 669e6867 )
 2012-05-28 20:51:12 -07:00
Pat Hickey 1c00d1ffe3 ArduPlane: Fix effect of ELEVON_REVERSE 
* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
  ELEVON_CH1_REVERSE parameter. These parameter values are found in
  g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
  channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
  the combination of pitch & roll into ch1 & ch2, as there are already
  parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
  not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
  instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
 2012-05-27 22:15:08 -07:00
Michael Oborne c307b69515 increase resolution on params 0.1 > 0.01 2012-05-24 06:22:57 +08:00
Andrew Tridgell d9457ecc38 MAVLink: send time of GPS fix accurately 
when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
 2012-05-23 17:33:33 +10:00
Andrew Tridgell 66544a5db2 Log: don't print '+' while erasing logs 
we no longer do page based erase, so printing a + every 128 pages
makes no sense
 2012-05-22 20:10:29 -07:00
Andrew Tridgell b3aa704c49 AirSpeed: added parameter ARSPD_USE 
setting ARSPD_ENABLE to 1 and ARSPD_USE to 0 allows the airspeed
sensor to be initialised and logged without it being used for flight
control. This is very useful when initially testing an airspeed sensor
in a new plane. It also makes it possible to enable/disable the use of
the airspeed sensor during a flight at any time.
 2012-05-22 20:02:23 +10:00
Andrew Tridgell 8e01bc3593 MAVlink: update ArduPlane for param fetch during DataFlash erase 
same changes as for ArduCopter
 2012-05-22 16:13:35 +10:00
Andrew Tridgell 251fe26875 GPS: added ublox build target 
useful for 1280 APM1s
 2012-05-18 22:31:50 +10:00
Andrew Tridgell 3ae1c6f9e0 APM: prepare for 2.34 2012-05-14 14:29:59 +10:00
Michael Oborne 218e70cd8b AP - fix attitude level hil mavlink 1.0 issue 2012-05-06 11:05:35 +08:00
Andrew Tridgell f43f5900bc Telemetry: make it possible to use UART2 on APM2 
building with TELEMETRY_UART2=ENABLED allows you to use the solder
bridge on the APM2 to enable telemetry on UART2. This allows both USB
telemetry and a radio at the same time.
 2012-05-04 10:39:44 +10:00
Michael Oborne 75f091cd9c more arduplane param info 2012-04-30 20:39:41 +08:00
Michael Oborne c1115d83c7 update some arduplane config items 2012-04-30 18:44:20 +08:00
Andrew Tridgell 8fab91e063 APM-nav: set NAV I value defaults to 0.1 
a small I value is good on most planes, so I think this is a better
default than 0. Thanks to Chris for asking about this.
 2012-04-30 12:27:30 +10:00
Andrew Tridgell 67afdc7485 autotest: fixes for MAVLink 1.0 in autotest 2012-04-27 15:15:53 +10:00
Andrew Tridgell b6a475f6a5 MAVLink: make APM build with MAVLink 1.0 possible with arduino GUI 2012-04-24 22:24:58 +10:00
Andrew Tridgell 95be2c5922 APM: updates for MAVLink 1.0 2012-04-24 19:54:20 +10:00
Andrew Tridgell 615defdc37 use build_all.sh to ensure we don't break the mount code 2012-04-24 10:57:43 +10:00
Andrew Tridgell 8e6fdb8981 APM: use OutputCh_current() in MAVLink servo logging 
this gives a more accurate picture of what is actually happening with
the servos
 2012-04-24 10:57:43 +10:00
Michael Oborne 8d797fec3c fix potential null pointer 2012-04-20 17:57:06 +08:00
Andrew Tridgell 1cc7adbac0 sitl: allow sitl build with MAVLink 1.0 2012-04-20 10:09:21 +10:00
James Goppert 5390467f3d Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
James Goppert 6fae800dc2 Working on ArduPlane options. 2012-04-19 02:23:54 -04:00
James Goppert 53c143a575 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert 0f90164f03 Changed default cmake port for ArduPlane. 2012-04-18 21:31:46 -04:00
James Goppert 0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
James Goppert a9f0bd24d7 Switched to project specific cmake lists. 
This is better since each project has very different options.
 2012-04-17 23:07:20 -04:00
James Goppert fb07cddd6f Making cmake local to projects. 2012-04-17 21:31:10 -04:00
Andrew Tridgell d07b77237e AHRS: enable AHRS_ group in ArduPlane 2012-04-16 20:55:13 +10:00
Andrew Tridgell 85ba978a65 ready for 2.33 release 2012-04-09 18:16:49 +10:00
Andrew Tridgell e1270401bf MAVLink: make parameter send use adaptive stream rate 
this makes it possible to fetch parameters with very low air data
rates
 2012-04-02 11:18:53 +10:00
Andrew Tridgell 7b50724f60 MAVLink: allow for find grained stream rate control 
streams can now be requested at any multiple of 20ms. So if you ask
for a stream at 7Hz then you will get it at close to 7Hz.
 2012-04-02 11:18:53 +10:00
Andrew Tridgell e0bb7e2777 MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information 
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.

This makes MAVLink work better at low baud rates
 2012-03-30 17:46:20 +11:00
Andrew Tridgell 87ed39ea46 APM: use set_blocking_writes(false) when we have done ground start 2012-03-30 17:46:20 +11:00
Andrew Tridgell b4107d35e8 MAVLink: raise the serial transmit buffer size to 256 bytes 
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient

As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
 2012-03-30 17:46:20 +11:00
Andrew Tridgell 86cc7a5e1d APM: enable AP_Declination by default 2012-03-30 14:25:27 +11:00
Andrew Tridgell 168c45ab12 AP_Declination: enabled auto declination by default in APM 2012-03-30 14:25:27 +11:00
Andrew Tridgell 9d193f06c9 APM: Change version to 2.32 2012-03-29 12:50:12 +11:00
Andrew Tridgell 4c4c38f69a APM: Added MANUAL_LEVEL option 
when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at
startup, and instead used the values saved in the EEPROM. This makes
it easier to do levelling on the bench, or once for a series of
flights for the day
 2012-03-29 12:39:53 +11:00
Andrew Tridgell 1c934dc7ef APM: increase ArduPlane version to 2.31 2012-03-27 16:13:29 +11:00
Andrew Tridgell 34506b170f Mavlink: fixed warnings about limits on int32 values 2012-03-27 15:37:25 +11:00
Andrew Tridgell 989304fb47 APM: enable the new offset nulling in APM 2012-03-27 15:37:24 +11:00
Andrew Tridgell 458d55e5bc MAVLink: constrain variable changes to the datatype range 
if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 8afd196907 APM: adapt ArduPlane for AHRS framework 2012-03-19 17:29:02 +11:00
Andrew Tridgell e81060a1a6 APM: removed some config file cruft 
these options are now settable via MAVLink
 2012-03-18 13:34:40 +11:00
Michael Oborne 3944c1e665 update AP version to 2.30 2012-03-18 10:27:49 +08:00
Amilcar Lucas 6e9ffb4249 correct small typos in comments 2012-03-11 21:30:09 +01:00
Andrew Tridgell 2a03a0584f AP_Declination: disable library when AUTOMATIC_DECLINATION is not ENABLED 
unfortunately this library was causing avrdude to fail to load the hex
to my APM2. Until we work out why, it's disabled.
 2012-03-11 21:46:41 +11:00
Adam M Rivera d3667faef4 AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Adam M Rivera 2524f9c8df AP_Declination: Added new config value to allow the user to have the declination overwritten on every 3D fix. 
Signed-off-by: Andrew Tridgell <tridge@samba.org>
 2012-03-11 20:59:47 +11:00
Andrew Tridgell d75e883fe8 GCS: get_integrator() is now get_gyro_drift() in DCM 2012-03-10 10:34:33 +11:00
Andrew Tridgell 9a06d35772 make 'ENABLE' and 'ENABLED' mean the same things 
users get this wrong far too often!
 2012-03-10 10:34:33 +11:00
Andrew Tridgell 13d5839778 APM: removed quaternion special cases 2012-03-10 10:34:32 +11:00
Andrew Tridgell 371677610d APM: avoid fetching the DCM matrix twice 
also no special case for quaternions
 2012-03-10 10:34:32 +11:00
Andrew Tridgell 7a9b3d3388 Quaternion: show "Quaternion test" on startup if enabled 2012-03-10 10:34:29 +11:00
Andrew Tridgell e39c3cb9d2 APM: make it possible to build ArduPlane with quaternion support 2012-03-10 10:34:29 +11:00
Andrew Tridgell 367947fd33 HWSTATUS: if we don't know the voltage, report it as zero 
this will tell us if board_voltage() is really working
 2012-03-10 10:34:28 +11:00
Andrew Tridgell 511f65e2ef APM: fixed reset of control switch when short_fs_action is disabled 
When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
 2012-03-10 10:34:28 +11:00
Andrew Tridgell b455443e2c APM: added logging of DCM, HWSTATUS and SIMSTATE 2012-03-10 10:34:27 +11:00
Andrew Tridgell b20084af7d APM: added board_voltage() function 2012-03-02 15:48:27 +11:00
Pat Hickey ff0fc26484 Cleanup: rename files with spaces in their names, replace with underscores 
* Skipped /Tools/ArdupilotMegaPlanner/Resources/new...
  and /archive/Configurator/Source/Utilities/TDMS/G...
  because I don't want to mess with that.
 2012-02-28 16:14:31 -08:00
rmackay9 02cf07bb6b ArduPlane - updated to use new filter library 2012-02-28 21:03:04 +09:00
rmackay9 e1114bf7f7 ArduPlane - added Filter.h to unbreak the build! 2012-02-26 17:05:56 +09:00
rmackay9 21d7a77009 ArduPlane - switch sonar to use new mode filter from filter library 2012-02-26 15:35:42 +09:00
Andrew Tridgell 0248b48d30 allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 690dc9052a GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell df8a557630 AP_Param: update users of AP_Param for ParamToken 2012-02-19 17:05:28 +11:00
Andrew Tridgell 16009777d9 APM: expanded parameter area to match ACM 
this ensures waypoints and basic eeprom layout remain in sync
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 718a5b70e3 AP_Param: fixed saving of sensor calibration 
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 78babd37fa APM: use set_and_save_ifchanged() for GCS stream rates 
this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
 2012-02-18 10:51:57 +11:00
Phil 9242c157ee APM: Fix rudder in elevon mode. 
elevon planes can have rudders too
 2012-02-16 14:43:24 +11:00
Andrew Tridgell c14097ffa1 APM: changed hold_course for landing to be based on yaw_sensor 
when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.

This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
 2012-02-15 08:50:45 +11:00
Andrew Tridgell c662140a2b APM: report the nav_bearing as hold_course when enabled 
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
 2012-02-15 08:50:45 +11:00
Andrew Tridgell 330ff5dc8b APM: added some comments related to hold_course 
hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.

It also resets hold_course in all non-auto modes, to ensure it isn't
used
 2012-02-15 08:50:45 +11:00
Andrew Tridgell 11835508a7 when setting airspeed and groundspeed in a mission, don't save to EEPROM 
If you include airspeed, throttle or groundspeed changes in a mission
then those should not be saved to EEPROM, as otherwise if you restart
and re-fly the mission you will be starting with different parameters
to the ones you used for the first flight.

This is particularly important for setting the target airspeed when
coming in for a landing. You typically set a low target, but if you
fly again the next day I think it would be a real surprise to find
that your loiter airspeed has then changed to the value from the
landing part of your last mission.

This one can be argued either way, but I think that not saving these
changes is the more conservative choice, and better fits the
'principal of least surprise'
 2012-02-14 15:20:44 +11:00
Andrew Tridgell c042ef1298 APM: fixed some build warnings 2012-02-14 08:58:56 +11:00
Andrew Tridgell 8d1729b3ba Mavlink: report the corrected pitch via MAVLink 
this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
 2012-02-14 08:58:56 +11:00
Andrew Tridgell cdf296d8f6 fixed some printf casts 2012-02-14 08:34:10 +11:00
Andrew Tridgell 35badbb97d APM: the CLI fits nicely on the 1280 again now 
I find the CLI very useful for testing, so enable it by default on the
1280. Logging is still off by default.
 2012-02-14 08:33:49 +11:00
Andrew Tridgell ecdbfd257a token is 16 bits now 2012-02-13 16:22:53 +11:00
Andrew Tridgell d55a0c3a71 added AP_Param::show_all() 
this moves the logic into common code
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 0f9adbdae0 token size for first()/next() is now 16 bits 2012-02-13 16:22:52 +11:00
Andrew Tridgell 617082769a go back to 1024 bytes for variables in EEPROM 2012-02-13 16:22:52 +11:00
Andrew Tridgell 0b3e3ec5c8 added group indexes to GCS_MAVLINK class 2012-02-13 16:22:52 +11:00
Andrew Tridgell e85da68fe6 expand parameter area for ArduPlane 
this ensures all parameters can be saved without overflow
 2012-02-13 16:22:52 +11:00
Andrew Tridgell 983192c5d5 tidy up a comment 2012-02-13 16:22:52 +11:00
Andrew Tridgell 2c3ec5de99 fixed two parameter names 2012-02-13 16:22:51 +11:00
Andrew Tridgell 676ca03977 expose mavlink stream rates as parameters 2012-02-13 16:22:51 +11:00
Andrew Tridgell f22988163e imported new Parameters code to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell e7174bc649 import new Parameters.h for AP_Param to APM 2012-02-13 16:22:51 +11:00
Andrew Tridgell 3d598c8caa implement dump of all vars in CLI using AP_Param 2012-02-13 16:22:51 +11:00
Andrew Tridgell bc0ed62aa9 adapt mainline APM code to AP_Param 2012-02-13 16:22:51 +11:00
Sandro Benigno 3200781f56 Battery monitor type 3 cannot calculate battery remaining properly, due it uses only voltage reading. This path set battery_remaining to a value out-of-band for that type of monitoring. It informs to external devices to not show that info. 2012-02-11 21:01:13 -02:00