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888 Commits

Author SHA1 Message Date
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
uncrustify 8c2d604971 uncrustify ArduPlane/test.pde 2012-08-21 19:19:51 -07:00
uncrustify d504ae680a uncrustify ArduPlane/setup.pde 2012-08-21 19:19:51 -07:00
uncrustify f7b8fecad9 uncrustify ArduPlane/GCS_Mavlink.pde 2012-08-21 19:19:51 -07:00
uncrustify 0e8a76ccdd uncrustify ArduPlane/ArduPlane.pde 2012-08-21 19:19:51 -07:00
uncrustify ff4afa767b uncrustify ArduPlane/commands.pde 2012-08-21 19:19:51 -07:00
uncrustify 43991712be uncrustify ArduPlane/radio.pde 2012-08-21 19:19:50 -07:00
uncrustify d5767ef817 uncrustify ArduPlane/Attitude.pde 2012-08-21 19:19:50 -07:00
uncrustify 0f415bbc6a uncrustify ArduPlane/Parameters.pde 2012-08-21 19:19:50 -07:00
uncrustify 39ab309b87 uncrustify ArduPlane/Log.pde 2012-08-21 19:19:50 -07:00
uncrustify b960619195 uncrustify ArduPlane/defines.h 2012-08-21 18:59:05 -07:00
uncrustify 2c56e5c690 uncrustify ArduPlane/APM_Config.h 2012-08-21 18:59:05 -07:00
uncrustify bd0146f776 uncrustify ArduPlane/GCS.h 2012-08-21 18:58:53 -07:00
uncrustify 5267ea6aad uncrustify ArduPlane/sensors.pde 2012-08-21 18:58:40 -07:00
uncrustify e212c152f7 uncrustify ArduPlane/geofence.pde 2012-08-21 18:58:31 -07:00
uncrustify 326ca1b7cd uncrustify ArduPlane/failsafe.pde 2012-08-21 18:58:24 -07:00
uncrustify 4e795d4f1e uncrustify ArduPlane/commands_process.pde 2012-08-21 18:58:17 -07:00
uncrustify 909e39d667 uncrustify ArduPlane/navigation.pde 2012-08-21 18:58:17 -07:00
uncrustify 4793162a9d uncrustify ArduPlane/commands_logic.pde 2012-08-21 18:58:11 -07:00
uncrustify 9b133019b3 uncrustify ArduPlane/events.pde 2012-08-21 18:57:59 -07:00
uncrustify 0683be294b uncrustify ArduPlane/climb_rate.pde 2012-08-21 18:57:21 -07:00
uncrustify c69772388b uncrustify ArduPlane/control_modes.pde 2012-08-21 18:57:21 -07:00
Andrew Tridgell 343f7d2de0 APM: removed DMP support from ArduPlane 
Without centripetal correction the DMP code will almost certainly
crash a plane
 2012-08-22 11:46:35 +10:00
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell bf2319a0fc AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Andrew Tridgell c5b77f3909 APM: reset steering PID integrator in reset_I() 2012-08-21 15:01:01 +10:00
rmackay9 11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9 360c1198a6 ArduPlane: more "int" to "int16_t" and added cast to (int) in printf statements. 
Also modified dump_log function's last_log_num to be int16_t which matches return type from DataFlash's find_last_log method.
 2012-08-18 18:55:14 +09:00
rmackay9 6d489947cf ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t" 2012-08-18 18:26:13 +09:00
rmackay9 9773c8ce93 ArduPlane: commented out two unused variables to remove compiler warning 2012-08-18 13:20:34 +09:00
Andrew Tridgell 0868bb76e5 APM: fixed SITL build 2012-08-17 16:28:45 +10:00
Andrew Tridgell 5e690d5680 APM: added parameter FBWB_ELEV_REV 
this fixes issue 343
 2012-08-17 15:04:53 +10:00
Andrew Tridgell 6300fa7399 math: more abs() fixes 
abs() is 16 bit
 2012-08-16 15:17:42 +10:00
Andrew Tridgell 034fb5b194 APM: fixed hil build 2012-08-16 12:53:37 +10:00
Andrew Tridgell d27e51f20a APM: allow telemetry send during parameter and waypoint fetch 
this slows down telemetry by a factor of 4 during parameter or
waypoint transmit. That ensures that mode changes and gps position are
still updated during a long parameter fetch
 2012-08-16 10:50:12 +10:00
Andrew Tridgell ed064b2506 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Andrew Tridgell c960db7af5 APM: allow for separate calibration of airspeed/barometer 
this is useful just before takeoff, to account for temperature changes
 2012-08-15 19:49:09 +10:00
Andrew Tridgell ad73c229ab APM: added LAND_FLARE_ALT and LAND_FLARE_SEC 
these allow you to configure the altitude and time before touchdown to
flare the plane and lock the heading. Useful on larger planes.
 2012-08-15 18:11:16 +10:00
Andrew Tridgell 1252ddfe0c APM: rename RDRSTEER to WHEELSTEER 
thanks to Jon for the suggestion
 2012-08-15 16:28:59 +10:00
Andrew Tridgell ffbd229841 APM: use AHRS position for geo-fence 
this allows it to take account of dead-reckoning
 2012-08-15 14:31:10 +10:00
Andrew Tridgell df3c8a5bc0 APM: when land_complete is true, use land_pitch 
this gives a flare on final landing
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 2d7fcbd14b APM: reload airspeed and throttle after landing 
this allows for restarting a mission after landing with reasonable
airspeed values
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 47be6d8ad1 AP_Airspeed: remove airspeed filter and run at 10Hz 
this saves on the filter memory, and gives just as good a result
 2012-08-15 12:39:35 +10:00
Andrew Tridgell e26e8b3b67 APM: added RDRSTEER_ PID for steering on ground 
this allows for rolling takeoff with steering, and use of rudder in
landing
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 52064772ee APM: report speed changes via MAVLink 2012-08-15 12:39:35 +10:00
Andrew Tridgell 817017658d APM: implement FENCE_ACTION_REPORT 
when FENCE_ACTION is set to FENCE_ACTION_REPORT a fence breach is
reported, but the flight mode is not changed
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 8cb55eb75a APM: keep the time of the last heartbeat message 
this will be used for failsafe processing
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 0584017aff APM: expose change_command() and geofence_breached() to libraries 
this makes a failsafe library easier
 2012-08-15 12:39:34 +10:00
Andrew Tridgell ff6301fb46 APM: show waypoint number in jump message 2012-08-15 12:39:34 +10:00
Andrew Tridgell 92bdc23ab6 APM: minor formatting fix 2012-08-15 12:39:34 +10:00
Andrew Tridgell 2865434d02 APM: added 'OBC' failsafe module for ArduPlane 
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.

This includes:

 - manual pin
 - heartbeat pin
 - waypoint for heartbeat failure
 - waypoint for GPS failure
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 5631b90222 APM: interpret zero lat/lng as being current location 
this makes it easy to have a "loiter in current position" mission
element
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 93f1d5645b APM: fixed LOITER_TIME and LOITER_TURNS 
These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 3bdc7d41be INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Andrew Tridgell c31eef59ae Mavlink: log wind estimation result 2012-08-11 22:06:03 +10:00
Andrew Tridgell d9b09d2c93 APM: allow for navigation by dead-reckoning 
we now ask AHRS if we have a position estimate, and use that if
available
 2012-08-11 12:01:08 +10:00
Andrew Tridgell 9fea3e3ac1 APM: pass airspeed sensor to AHRS 2012-08-11 08:57:44 +10:00
Andrew Tridgell 0ffc89d512 APM: support the MISSION_WRITE_PARTIAL_LIST command 
this allows missions to be partially updated in flight
 2012-08-09 17:13:36 +10:00
Andrew Tridgell dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell 2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Andrew Tridgell 5498d347f3 APM: Added RST_MISSION_CH option 
this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
 2012-08-09 10:33:16 +10:00
Andrew Tridgell e2c8ec2c9e APM: removed THROTTLE_REVERSE option 
Better to use RC3_REV
 2012-08-09 10:04:44 +10:00
Andrew Tridgell e133900c68 APM: Added STICK_MIXING option 
this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
 2012-08-09 08:53:29 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Andrew Tridgell dc99586981 APM: removed pointless load() call 2012-08-08 16:51:23 +10:00
Andrew Tridgell dcc50b5705 AP_Airspeed: removed values passed to constructor 2012-08-08 16:38:39 +10:00
Andrew Tridgell 2114acddf1 APM: fixed default flap speed 
the default of 255 translates to -1 as a AP_Int8, so use zero to mean
no flaps
 2012-08-08 13:04:21 +10:00
Andrew Tridgell 5bfd1200d6 APM: change variables to use _cm, _cd and _ms suffix for units 
this makes it less likely that we mix up units
 2012-08-08 12:12:30 +10:00
Andrew Tridgell a823c9ceae APM: removed cli slider and dipswitch options 
use mavlink/eeprom for all config
 2012-08-08 12:12:29 +10:00
Andrew Tridgell 12cd6b68ff AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Jonathan Challinger 7815e3d810 APM: fixed rounding of altitude 
the cast was rounding to the nearest meter
 2012-08-08 12:07:35 +10:00
Amilcar Lucas f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas 9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 95f2af6d2d Implement set ROI 2012-08-04 18:44:29 +02:00
Amilcar Lucas 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas 50b5d33745 Enable camera triggering by default 2012-08-04 16:32:47 +02:00
Amilcar Lucas 82b82283be ATmega1280 does not have enough memory for mount support so disable AUTO GPS support, to allow mount support to fit. 
This should almost have no side effects, because the most users use MTK anyways.
If the user defined a GPS protocol, than we will NOT overwrite it
 2012-08-04 16:32:20 +02:00
Andrew Tridgell 301ab00c5b APM: added control switch debouncer 
this adds a switch debouncer, similar to the one used in
ArduCopter. I'm adding this after a flight on the weekend where noise
on the control mode channel caused a mode change away from auto.

To prevent this change adding excessive mode switch latency, it also
moves the reading of the control switch to the 10Hz loop, away from
the 3.3Hz loop. That gives us 0.2s delay in mode switch changes and
allows for spikes in the control mode for 0.1 seconds without changing
mode.
 2012-08-01 13:59:37 +10:00
rmackay9 176e6fdd68 ArduPlane: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:34 +09:00
Andrew Tridgell 0b49ac0ed0 APM: fixed overflow in geofence code for altitudes above 327 meters 2012-07-31 15:46:47 +10:00
Andrew Tridgell cb61c3be96 APM: fixed case of 'LAND_PITCH_CD' 
mavlink parameters are uppercase by convention
 2012-07-29 17:07:38 +10:00
rmackay9 06e35820e5 ArduPlane: allow MPU6000's DMP to be used for attitude estimation. 
Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
 2012-07-28 19:50:40 +09:00
rmackay9 842ce47219 ArduPlane: change to Parameters.pde to support moving var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:31:01 +09:00
Michael Oborne cb0eacca37 AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell 9eb05a2e1a APM: update version for 2.50 release 2012-07-26 11:36:17 +10:00
Andrew Tridgell 6bcfe913f7 APM: added a SCALING_SPEED parameter 
this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
 2012-07-26 11:30:23 +10:00
Andrew Tridgell 3c2fc72654 APM: fixed HIL build 2012-07-26 10:09:07 +10:00
Andrew Tridgell 07992bc943 APM: fixed build 
the SET_ROI commands are not supported yet
 2012-07-26 10:03:36 +10:00
Andrew Tridgell 7e697e4abd APM: switch back to old nav_roll calculation 
the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
 2012-07-26 10:03:36 +10:00
Michael Oborne 39ad8b5eec AP fix sitl hil attitude mode. 2012-07-24 07:18:25 +08:00
Andrew Tridgell 9e72d4c3f4 APM: fixed a problem with wayoints completing early 
when a user forces a waypoint jump, we may need to reset prev_WP to
prevent us thinking the waypoint is complete before we have started
 2012-07-21 20:32:07 +10:00
Andrew Tridgell 85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short 98237a0e00 Added Oilpan INS group object param 2012-07-18 23:07:50 -07:00
Jason Short e574f3c8cf Arduplane: Fixed unsigned int comparison warning 2012-07-18 23:07:34 -07:00
Jeff Taylor d02655ac56 APM: Fixed bug where landing_pitch wasnt initialized properly 
this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
 2012-07-19 13:59:30 +10:00
Andrew Tridgell d6e370886f APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer 
it is in cm/s, not m/s
 2012-07-19 11:50:41 +10:00
Andrew Tridgell 1cf5057c61 APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled. 
This gives our best approximation for auto flight
 2012-07-19 11:50:41 +10:00
Jonathan Challinger c7da63509b APM: Removed unused YAW_DAMPENER code. 
YAW_DAMPENER was defined as zero
 2012-07-19 11:50:21 +10:00
Jonathan Challinger d9d055ef78 APM: Removed incorrect nav_gain_scaler from nav_roll calculation. 
nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
 2012-07-19 11:50:06 +10:00
Amilcar Lucas 3d385c0fb4 ArduPlane parameters: re-order the files, looks like the second file gets ignored :( 2012-07-18 22:52:17 +02:00
Amilcar Lucas 8a8e11fa7f ArduPlane parameters: Add base class info as well 2012-07-18 22:39:49 +02:00
Amilcar Lucas 610fdeacc1 Support up to 11 servos in APM2 
Conflicts:

	ArduPlane/ArduPlane.pde
 2012-07-18 22:01:19 +02:00
Michael Oborne 636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Jonathan Challinger fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andrew Tridgell de3c9ce56d Airspeed: change APM to use new AP_Airspeed library 
the next step is AHRS dead reckoning
 2012-07-16 11:21:50 +10:00
Michael Oborne 67ecaa9252 AP fix duplicate keys in param config 2012-07-13 07:06:01 +08:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell c80a88766f APM: added credit for FBW altitude limit code 
thanks Yuri!
 2012-07-10 08:36:50 +10:00
Andreas M. Antonopoulos de64c05f8e param_parser: cosmetic 
Arduplane: doc fixes
 2012-07-08 21:45:26 -07:00
Andrew Tridgell 78c51b945f APM: fixed DisplayName/Description mixups in parameter docs 2012-07-07 17:40:43 +10:00
Andrew Tridgell f6d7d1bc59 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell 58fd91165f APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell 5abd26a142 APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell 21f06f8a39 GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andrew Tridgell 0385932afb MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell 95d9569b35 Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell 60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell fb66899414 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell 6ee9f1ae97 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell 99b11e4f19 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Michael Oborne b2d73d8f68 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Andrew Tridgell 82ede937e7 AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
Andrew Tridgell 55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell 5bccfbd94c Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 3a2594fa1a APM: ArduPlane updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 6639294c72 APM: update for new barometer interface 
the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 2934b4173b APM: set_centripetal() is now set_fly_forward() 
this controls more than just centripetal correction
 2012-06-27 16:01:49 +10:00
rmackay9 621e020dac ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). 2012-06-26 22:59:24 +09:00
Amilcar Lucas b072a59843 Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Andrew Tridgell 4a50686c3e APM: prepare for 2.40 release 2012-06-16 10:11:26 +10:00
Andrew Tridgell 58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
Andrew Tridgell 619bcc00d9 APM: parameter enums should not be conditionally compiled 2012-06-15 11:57:00 +10:00
Andrew Tridgell 0900751bcd APM: added longer comment on k_format_version 2012-06-15 11:55:09 +10:00
Amilcar Lucas 6d2ac62006 Let's keep the same format version until CAMERA is activated by default 2012-06-13 21:28:13 +02:00
Amilcar Lucas 07a18904fc With CLI and MOUNT active, the linker says: region `text' overflowed by 3858 bytes 
So disable CLI when MOUNT is active. Sorry I did not detect it before, but the APM_Camera branch worked in a different way.
 2012-06-13 21:08:09 +02:00
Amilcar Lucas 1906e06b69 Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Amilcar Lucas a32b7c200b Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Amilcar Lucas 5ffd489d87 Spellcheck 2012-06-13 20:44:35 +02:00
Jason Short 448e4d8728 Added CLI level command 2012-06-11 23:01:25 -07:00
Jason Short c804860243 Cosmetic changes only. 2012-06-10 13:10:07 -07:00
Jason Short 4e50db2f6e Added missing Manual_level config 2012-06-10 13:08:48 -07:00
Jason Short 37d8f86d33 Added missing Manual Level initializer 2012-06-10 13:08:22 -07:00
Andrew Tridgell 940d994efb GPS: Use appropiate GPS_ENGINE settings in APM, ACM and rover 2012-06-10 16:36:18 +10:00
Andrew Tridgell 99b39aef93 APM: ready for 2.40-beta 2012-06-08 18:03:21 +10:00
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
Andrew Tridgell 1a861b3de5 allow for lower serial baud rates 
not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
 2012-02-04 19:07:18 +11:00
Pat Hickey dfece8e3ff ArduPlane: Call APM_RC.enable_out for all channels in init_rc_out. 2012-01-22 12:03:11 -08:00
Michael Oborne 6b949511ca change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
Michael Oborne 9ca6668c1b fix SITL attitude hil 2012-01-20 16:04:49 +08:00
analoguedevices 418f5ea31e Increment version number in anticipation of a firmware hex push. 2012-01-16 22:48:46 +00:00
Doug Weibel 797e0e27a9 Additional commenting on global variables 
First pass done.
 2012-01-16 10:28:03 -07:00
Doug Weibel b4e58b50ee Additional commenting on global variables 2012-01-16 09:45:42 -07:00
Doug Weibel ed9f7cb1b6 Update battery monitoring code for ArduCopter 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
changed
 2012-01-15 17:10:02 -07:00
Doug Weibel 762a5550de Remove a debugging print 2012-01-15 16:37:07 -07:00
Doug Weibel 4b24d865bf Stashing some battery monitoring ratio values in the comments for future use. 2012-01-15 16:35:46 -07:00
Doug Weibel e22a83eec0 Add a CLI setup action to reset the magnetometer offsets 
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI.  Useful if you somehow get bad offsets or if you change magnetometer.  If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values.  I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
 2012-01-15 16:15:08 -07:00
Doug Weibel 6e8ac99ed6 Fix airspeed sensor support for APM2. 
Airspeed sensor should be attached to Analog input 0
 2012-01-15 16:12:08 -07:00
Doug Weibel 0306bf97a0 Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Doug Weibel 69c7598db2 Update battery monitoring code for ArduPlane 
Fixes compatibility for APM2.  Also a significant update to the battery monitoring code:  We previously had monitoring modes for individual cell voltages for 3 and 4 cell lipos.  These have been removed as they were never really supported (the cell voltages were computed but were not reported or recorded anywhere).  Also, some clean-up/prep work was done for supporting monitoring 2 separate battery packs.  The CLI battery and current monitoring tests were consolidated into 1 test.
 2012-01-15 16:10:28 -07:00
Doug Weibel 9846822748 Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
Doug Weibel 892f24ac5c Adding comments for global variables 2012-01-11 12:37:43 -07:00
analoguedevices ee18748565 Put in commented-out APM2 # defines, to save people the trouble of having to type them in themselves. 2012-01-09 02:00:46 +00:00