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167 Commits

Author SHA1 Message Date
Andrew Tridgell
3fe5b3151b 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
252a2d0c9b 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
faa098b2b6 adapt mainline APM code to AP_Param 2012-02-13 16:22:51 +11:00
Michael Oborne
9dafc668cd fix SITL attitude hil 2012-01-20 16:04:49 +08:00
analoguedevices
40f37c1037 Increment version number in anticipation of a firmware hex push. 2012-01-16 22:48:46 +00:00
Doug Weibel
78ac65d6c3 Additional commenting on global variables 
First pass done.
 2012-01-16 10:28:03 -07:00
Doug Weibel
a3f9fee3d2 Additional commenting on global variables 2012-01-16 09:45:42 -07:00
Doug Weibel
17b3e514dc Just a little more commenting work on global variables 2012-01-15 16:11:02 -07:00
Doug Weibel
fd8dc84fac 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
6f9c6a3b8e Adding comments for global variables 2012-01-11 12:37:43 -07:00
Doug Weibel
35fba5d4a3 Tweak to FBW min altitude 
Patch from Yury
 2011-12-31 15:44:40 -07:00
Andrew Tridgell
5aca951438 APM: added error checking on barometer read 
if the barometer is dead and the GPS has a fix, use the GPS for
altitude
 2011-12-28 20:41:53 +11:00
Andrew Tridgell
2c41264a9b APM: added error checking on compass read 2011-12-28 20:41:53 +11:00
Andrew Tridgell
c6b8a08918 APM: convert to new I2C library 2011-12-28 20:41:53 +11:00
analoguedevices
fefda548d2 Added contributor names, removed "alpha" from firmware name 2011-12-26 17:13:37 +00:00
Andrew Tridgell
0aab4da1a1 mainloop_count should be uint16_t 2011-12-21 23:31:38 +11:00
Andrew Tridgell
61b2b2e32a always declare a timer_scheduler 
we should always run this code
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
5d2301ef47 fixed airspeed sensor for ArduPlane on APM2 
we were trying to use a non-existant ADC chip!
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
b3327c64de geofence: added fence status reporting and faster altitude check 2011-12-16 20:11:51 +11:00
Andrew Tridgell
1b64185b18 geofence: main geo-fence code 
this implements the primary logic of geo-fencing
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
1455ff4a91 removed an unused variable 2011-12-16 20:09:49 +11:00
Andrew Tridgell
4e4a4a685c fixed two more CONFIG_HARDWARE #ifdef bugs 2011-12-13 17:05:48 +11:00
Andrew Tridgell
80a0dfe862 fixed hardware config check for barometer 2011-12-12 15:14:55 +11:00
Andrew Tridgell
faf58a355b airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Pat Hickey
85b82e75f6 ArduPlane: update AP_Baro construtors and initializers 2011-12-11 15:21:10 -08:00
Pat Hickey
63d3b6a278 ArduPlane: Rename APM_BMP085 classes to AP_Baro_BMP085 classes 2011-12-11 15:21:09 -08:00
Doug Weibel
f34333d42b 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
Pat Hickey
0fa8ce9a52 ArduPlane: rev version number from 2.26 to 2.27 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell
7467bf649c ArduPlane: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell
0604f2c667 USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane 
when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from
EEPROM
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell
446a9aac84 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell
992fc87112 purple: always declare timer_scheduler 2011-11-25 20:00:17 -08:00
Pat Hickey
d3a45a053d purple: declare sensors for purple library rework 
we need some different declarations to match the new APIs
 2011-11-25 20:00:17 -08:00
analoguedevices
1a610ba450 Rev version number 2011-11-19 23:43:47 +00:00
Doug Weibel
a11ea12ca8 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
analoguedevices
fa4896ee91 Rev version number 2011-11-16 05:04:36 +00:00
analoguedevices
b4ccf3b41b Rev version number to 2.25 2011-11-14 05:31:27 +00:00
Amilcar Lucas
01df18b292 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00
Andrew Tridgell
3991f9eff3 move g_rc_function[] to RC_Channel library 
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
 2011-10-29 18:42:18 +11:00
Doug Weibel
1cd3c21774 Initial rewrite of command logic. 
Changes mission structure so that conditional and immediate commands are located between associated waypoints instead of after the second waypoint.
 2011-10-27 13:45:52 -06:00
Doug Weibel
86ea3a9558 Add a feature for a minimum altitude parameter while flying in FBW-B 
This patch written by YureZzZ - Thank you!
 2011-10-16 23:11:40 -06:00
Michael Oborne
392160314e Sensor hil fix's 2011-10-13 22:22:03 +08:00
Andrew Tridgell
657367426b avoid the need for compiler optimisation for HIL build 
read_airspeed() is only available when in a non-HIL build. The
optimiser normally removes this call, but when debugging in a desktop
build, it is nice to avoid using the optimiser
 2011-10-09 22:08:58 +11:00
Amilcar Lucas
4b35757a1e Moved relay control functions to it's own library 2011-10-02 01:00:27 +02:00
Amilcar Lucas
213e731061 Correct/update channel assigment comment 2011-10-02 00:06:44 +02:00
Doug Weibel
dd8367eae4 Add auto flap functionality to FBW-B 2011-09-30 07:25:36 -06:00
Andrew Tridgell
e7bc74a38e remove unused climb_rate code 2011-09-19 11:04:02 +10:00
Andrew Tridgell
de18df06b5 GCS: make the two GCS links gcs0 and gcs3 
the artifical separation between 'gcs' and 'hil' just leads to
confusion. This also simplifies the code a bit more, and saves us a
bit more text
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
35fcd6dae7 GCS: simplify the API for sending messages 
this makes the code clearer, and saves us another 100 bytes of text
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
9fed709be2 removed some more dead messages, and convert MSG_* to an enum 
this make it safer to add a new message while keeping deferred queue
the right size
 2011-09-19 11:04:02 +10:00
Andrew Tridgell
bc1bfed22d HIL: first step in simplifying the HIL/GCS code 
this gets rid of the messy #ifdefs around HIL_PORT, and removes
non-MAVLink GCS and HIL support
 2011-09-19 11:04:01 +10:00
Andrew Tridgell
4fed88ffbf ArduPilot updates for new DCM code 
G_Dt is no longer needed, and scale ADC values by 8 to match old
constants
 2011-09-17 14:58:02 +10:00
Amilcar Lucas
ef955eace4 These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy 2011-09-13 01:54:47 +02:00
Amilcar Lucas
dd843d18ec Added support for routing any function to any of the aux. servos. 
This is a manual merge from the APM_Camera branch.
It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0
 2011-09-13 01:24:06 +02:00
Amilcar Lucas
f7f745055d Use the G_RC_AUX macro when possible. Added more comments. Remove unused code 2011-09-12 20:21:12 +02:00
Amilcar Lucas
69a9f44fee This is ugly, but it fixes compilation on arduino 2011-09-11 23:25:06 +02:00
Amilcar Lucas
5a27954e26 Moved update_aux_servo_function() to the RC_Channel_aux.* files. 
This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong
 2011-09-11 23:07:30 +02:00
Amilcar Lucas
966f9f962a Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ? 2011-09-11 19:13:01 +02:00
Amilcar Lucas
55e6ac5fe6 Fix RC range reversal 2011-09-11 04:12:04 +02:00
Amilcar Lucas
42de4efc40 Revert "Fix RC range reversal" 
This reverts commit d5046b1097b0b5455aa1a59e9dd80533e589432e.
 2011-09-11 04:07:36 +02:00
Amilcar Lucas
f53364bf41 Fix RC range reversal 2011-09-11 04:04:02 +02:00
Amilcar Lucas
5454cd503b For now point the camera manually via the RC inputs 2011-09-11 02:40:13 +02:00
Amilcar Lucas
ada409855a Moved a camera mount function call, out of the servos update function 2011-09-10 13:47:09 +02:00
Amilcar Lucas
9e80f2e920 This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port 2011-09-09 16:18:38 +02:00
Andrew Tridgell
6e2f231688 rename main pde file for arduino requirements 2011-09-09 11:52:25 +10:00