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
Doug Weibel
44c66c2e8e
Bug fix for issue 438.
...
The rate in a change alt command does not need to be signed. The code will determine if the rate needs to be positive or negative
2012-01-08 18:24:55 -07:00
Michael Oborne
e1a544cc78
fix relay on apm 1 AP
2012-01-05 07:51:01 +08:00
Andrew Tridgell
cdd5589498
I2c: default to 5ms timeout, and faster bus speed
...
we will slow down the speed when we get a failure
2012-01-04 16:36:47 +11:00
Doug Weibel
4de2155845
Tweak to FBW min altitude
...
Patch from Yury
2011-12-31 15:44:40 -07:00
Jason Short
a6c09b3ea5
Small issue with newline formatting
2011-12-29 23:02:02 -08:00
Michael Oborne
cd145fd7a9
add circle to output modes
2011-12-29 18:21:32 +08:00
Andrew Tridgell
cd3729d993
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
98353b7ba8
APM: added error checking on compass read
2011-12-28 20:41:53 +11:00
Andrew Tridgell
3cb96fb8af
APM: convert to new I2C library
2011-12-28 20:41:53 +11:00
Andrew Tridgell
a6920d603d
geofence: re-breach if user changes mode outside the fence
...
if the user changes mode while outside the fence, and fencing is still
enabled, then declare a new breach
2011-12-28 17:28:35 +11:00
Andrew Tridgell
8d87aa41b9
APM: Update for DataFlash changes
2011-12-28 16:00:49 +11:00
analoguedevices
b8917b58bd
Added contributor names, removed "alpha" from firmware name
2011-12-26 17:13:37 +00:00
Andrew Tridgell
f5a3eed1a7
APM: fixed some unsigned/signed warnings
2011-12-26 19:17:11 +11:00
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
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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
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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()
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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
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* 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
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* 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
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* 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!
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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
Doug Weibel
2f962fe6da
Augment failsafe gcs_send_text message
2011-12-09 09:11:45 -07:00
Doug Weibel
502a98dda1
Add hook to dump log filesystem index for debugging
2011-12-07 08:13:30 -07:00
Andrew Tridgell
39a36fe946
fixed the "reboot on GPS lock" bug
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the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
2011-12-04 09:06:58 +11:00
Andrew Tridgell
4a057aefa0
test: removed the broken gyro test and merge it into the imu test
...
the gyro test assumed APM1 hardware, and would hang on APM2. The imu
test can just as easily display gyro and accelerometer data as well as
roll/pitch/yaw, so combine it in one test
2011-12-03 14:08:20 +11:00
Doug Weibel
88ab4f7d70
Fix for intermittent bug of log #1 starting on page 2 and confusing file system
2011-11-28 19:43:10 -07:00
Doug Weibel
b03de3095e
Add DataFlash.Init before doing a forced log erase on eeprom reset.
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Add progress indication during log erase
2011-11-28 19:42:27 -07:00
Andrew Tridgell
2cabb11307
mavlink: don't force CLI and HIL with mavlink10 build
2011-11-28 16:22:33 +11:00
Andrew Tridgell
838c57cd1a
mavlink: paranoia setting of failsafe when forcing AUTO mode
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this shouldn't be needed, but will do no harm, and I thought I saw
this fail in a test
2011-11-28 16:22:33 +11:00
Andrew Tridgell
4036604fb7
mavlink: move Mavlink_compat.h to common code
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this will allow it to be used by ArduCopter
2011-11-28 13:53:57 +11:00
Andrew Tridgell
5ae929ace9
build: CLI_SLIDER_ENABLED doesn't need to be forced off in apm2 build
...
this is handled by config.h now
2011-11-28 13:53:57 +11:00
Doug Weibel
7960e7963c
Add Guided mode to failsafe handling
2011-11-26 21:10:53 -07:00
Andrew Tridgell
a048709828
Logs: don't print hundreds of bogus log boundaries
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this can take quite a long time
2011-11-26 17:02:55 +11:00
Pat Hickey
ab56a764d3
ArduPlane: rev version number from 2.26 to 2.27 Alpha
2011-11-25 20:00:19 -08:00
Pat Hickey
f7a9b8a563
ArduPlane: LED digital writes use LED_OFF and LED_ON
2011-11-25 20:00:19 -08:00
Andrew Tridgell
86927ac0a5
ArduPlane: rename purple to APM2
2011-11-25 20:00:19 -08:00
Andrew Tridgell
7def0e98e8
USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane
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when USB is unplugged, switch baud rate to the SERIAL3_BAUD rate from
EEPROM
2011-11-25 20:00:19 -08:00
Andrew Tridgell
ffba37d599
desktop: first version of register level SITL support
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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
3a0b1d1903
purple: there are no dipswitches on the purple board
2011-11-25 20:00:18 -08:00
Andrew Tridgell
6093db948b
compass: added AP_COMPASS_APM2_SHIELD
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this makes the orientation clearer
2011-11-25 20:00:18 -08:00
Andrew Tridgell
649da8e05d
purple: adc test not useful if no ADC
2011-11-25 20:00:18 -08:00
Andrew Tridgell
40459653b5
purple: fixed LED and IO pin defintitions
2011-11-25 20:00:18 -08:00
Andrew Tridgell
ca76f6d0ec
purple: add the remaining hw defines for purple hardware
2011-11-25 20:00:18 -08:00
Andrew Tridgell
1e41b4b2b0
timer_scheduler doesn't exist in HIL_MODE_ATTITUDE
2011-11-25 20:00:18 -08:00
Andrew Tridgell
a3701e521a
build: added hlsensors target
2011-11-25 20:00:18 -08:00
Andrew Tridgell
1c20efe4b8
re-organiser sensor declarations
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this tries to make the #ifdef nesting easier to understand
2011-11-25 20:00:17 -08:00
Andrew Tridgell
3d175c449e
adc.Init() takes timer_scheduler
2011-11-25 20:00:17 -08:00
Andrew Tridgell
03c7d7bfb6
purple: always declare timer_scheduler
2011-11-25 20:00:17 -08:00
Pat Hickey
1895458dbf
purple: added new parameters to Init() functions
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this adapts the test code for the purple API changes
2011-11-25 20:00:17 -08:00
Pat Hickey
f9d6facdda
test: added new passthru test
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this passes radio inputs direct to servo outputs, which is useful for
hardware testing
2011-11-25 20:00:17 -08:00
Pat Hickey
bad177bfdc
removed old commented out code
2011-11-25 20:00:17 -08:00
Pat Hickey
ad0cac670c
purple: added new parameters needed for new library APIs
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new APIs pass in timer_scheduler. We also to init the isr_registry
2011-11-25 20:00:17 -08:00
Pat Hickey
4015cb0a40
purple: fixed APM_RC.Init() to add isr_registry parameter
2011-11-25 20:00:17 -08:00
Pat Hickey
9e47536924
purple: declare sensors for purple library rework
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we need some different declarations to match the new APIs
2011-11-25 20:00:17 -08:00
Pat Hickey
08675a91d8
purple: added config options for purple/APM1 hardware
2011-11-25 20:00:17 -08:00
Pat Hickey
3300032a89
purple: added hardware defines for ArduPlane
2011-11-25 20:00:17 -08:00
Pat Hickey
cc67062442
build: added new command line build targets
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this makes it more convenient to build common options
2011-11-25 20:00:16 -08:00
Andrew Tridgell
89d2f0f849
mod barometer.Init() based on hardware
2011-11-25 20:00:15 -08:00
Michael Oborne
0a0b2d32f4
Add rc input to cli planner mode
2011-11-26 11:23:14 +08:00
Doug Weibel
b05e1d90f5
Change type to support "dump all with -1"
2011-11-24 18:55:33 -07:00
Doug Weibel
0f428bd43a
Logging cleanup. Fixed missing cast, removed erase warning, added -1 to dump all option, and fix intermittent bug for log number 1.
2011-11-24 18:55:33 -07:00
Doug Weibel
27e68234b7
Simplified logging logic for finding start/end of log files
2011-11-24 18:55:32 -07:00
Doug Weibel
244eeea34a
Rework logging file system to be more robust
2011-11-22 20:20:17 -07:00
Andrew Tridgell
8ef364657b
MAVLink: fixed throttle display in VFR_HUD
2011-11-21 20:29:19 +11:00
Andrew Tridgell
4933c5bcdd
zero airspeed on ground start when initiated by MAVLink
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If the users asks for a new calibration, that should include the
airspeed sensor
2011-11-21 20:29:18 +11:00
Andrew Tridgell
faaaf11822
fixed disabling of GPS in ArduPlane
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we may need a new hex
2011-11-21 20:29:18 +11:00
Andrew Tridgell
9ea0fc9539
Log: prevent looping forever
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this happened with an empty dataflash
2011-11-20 19:06:24 +11:00
analoguedevices
b3716d988f
Rev version number
2011-11-19 23:43:47 +00:00
Jason Short
7ffa2c4347
shortened strings
2011-11-19 14:02:45 -08:00
Doug Weibel
88f5669104
Remaining changes to the logging file system.
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With these changes the logging system will allow overwriting of logs with no loss of functionality. I have tested (successfully) logging with the Dataflash being filled and overwriting previous files. I have also tested with a single long file that partially overwrites itself.
2011-11-17 21:25:51 -07:00
Doug Weibel
f752c4b799
Change to logging file system.
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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
Jason Short
ddd89e1849
Mission Scripting updates
2011-11-16 00:22:23 -08:00
analoguedevices
7535b8a3d5
Rev version number
2011-11-16 05:04:36 +00:00
Doug Weibel
e6542ec1a2
Fix Do_Jump bug. Also fix cross track bearing bug after Jump
2011-11-15 20:44:19 -07:00
Doug Weibel
0433cd6d69
Missed hunk for last commit
2011-11-15 20:43:00 -07:00
Doug Weibel
9fe554236b
Add logging of DCM drift correction integrator in PM
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This may be a temporary feature… Mostly added to check new (lower) integrator limit.
2011-11-15 20:42:59 -07:00
analoguedevices
e3ef9a2a36
Rev version number to 2.25
2011-11-14 05:31:27 +00:00