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5447 Commits

Author SHA1 Message Date
Andrew Tridgell c62197370a GPS: replaced the GPS auto-detect mechanism 
the old mechanism wasted most of the input bytes, and chewed a lot of
CPU, making it impractical to do GPS detection for a GPS attached
after startup

The new code is async, and detects a GPS by looking for a fully formed
packet with the right checksum for each GPS type
 2012-09-17 14:45:47 +10:00
Andrew Tridgell 73340a5e5d APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
rmackay9 d7a53e67ed ArduCopter: bug fix in Log_Read_Attitude. It was printing two uninitialised variables. 2012-09-17 13:44:29 +09:00
Andrew Tridgell d403465212 APM: tidy up a comment 2012-09-16 15:51:13 +10:00
Andrew Tridgell 8e656a60f2 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 08cf9823fd RC_Channel_aux: minor cleanups 
remove unused enable_out_ch() and enable k_manual channels. This
ensures k_manual channels used for bottle drop are initialised
correctly to trim output
 2012-09-16 15:50:13 +10:00
Andrew Tridgell cf9dd9281c APM: ensure DO_SET_SERVO channels are enabled 2012-09-16 15:08:14 +10:00
Andrew Tridgell 1e51988ecc APM: allow update of last waypoint 
fixed off by one error
 2012-09-16 15:06:26 +10:00
Andrew Tridgell 644b3c6e17 RC_Channel: support channel reversal on range channels 
this makes it possible to have a reverse throttle in ArduPlane
 2012-09-16 15:06:26 +10:00
rmackay9 9965dd8b1a HIL: changes to fix HIL for ArduCopter after recent timing changes. 
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
 2012-09-15 18:42:56 +09:00
Michael Oborne f9c11627a5 fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
rmackay9 94d4305cf3 ArduCopter: print firmware version of code instead of zero. 2012-09-13 21:49:11 +09:00
rmackay9 54d07f6d04 ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
rmackay9 3c0153e9dc AP_AHRS: fix to allow example sketch to compile 2012-09-13 16:45:52 +09:00
Hazy 821408ecee APM Planner 
a few UI translations
 2012-09-13 15:27:38 +08:00
Jason Short e4ec96e12f ACM : better debugging text 2012-09-12 23:06:06 -07:00
Jason Short ecf7e0e8bf ACM l Prevent pre-mature finish of mission 2012-09-12 23:06:06 -07:00
Michael Oborne 95b6b4eb2d firmware build 2012-09-13 10:36:43 +08:00
Andrew Tridgell 0d780baa00 APM: prepare for 2.62 release 2012-09-13 12:02:18 +10:00
Andrew Tridgell 9603236de4 APM: fixed elevon mixing 
this was broken in 2.61
 2012-09-13 12:01:40 +10:00
Andrew Tridgell 4f504b0729 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 efabf7403e GPS: NMEA bug fix from Alexey Kozin 
thanks Alexey!
 2012-09-12 15:04:24 +10:00
Andrew Tridgell 715541b508 AHRS: added AHRS_BARO_USE parameter 
allow disabling of the use of the barometer for vertical acceleration
compensation
 2012-09-12 14:42:04 +10:00
Andrew Tridgell 4a942bc45d APM: report throttle and ground speed mission changes 2012-09-12 13:09:32 +10:00
Andrew Tridgell 972b8df052 APM: allow for landing pitch control until final stage 2012-09-12 13:09:16 +10:00
Andrew Tridgell 7a49515ee3 APM: fixed roll in landing approach 2012-09-12 11:53:17 +10:00
Andrew Tridgell 77926a6965 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
Jason Short b56dc44e61 ACM : Fix enduf 2012-09-10 21:25:53 -07:00
Jason Short 24f80c632c ACM : forced setup_show to dump params during log dump for better analysis. 2012-09-10 20:52:30 -07:00
Andrew Tridgell 0a9070e4fe 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 72e9c31c17 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
Jason Short 65dc4ccc6d ACM : Added centralized Iterm logging at a lower rate. Logs all iterms. 2012-09-10 20:26:48 -07:00
Jason Short 63aec7510e ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t 2012-09-10 20:22:57 -07:00
Jason Short 2fcc7d3b22 ACM : Params - formatting cleanup 2012-09-10 20:22:11 -07:00
Andrew Tridgell f5efb25e62 APM: added wdt.h for SITL build of APM 2012-09-10 15:52:53 +10:00
Andrew Tridgell ea78121f1b ACM: use spare CPU cycles to read the magnetometer 2012-09-10 11:38:18 +09:00
rmackay9 8624b0138e AP_InertialSensor_Stub: added num_samples_available method to fix HIL build 2012-09-10 11:38:13 +09:00
rmackay9 d8142c2351 AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called 2012-09-10 11:38:08 +09:00
rmackay9 bd3eab7c0f AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete 2012-09-10 11:38:03 +09:00
rmackay9 b1b3b806ad AP_PeriodicProcess: queue_process changes to suspend other processes before running queued process 
Also restored suspend_timer to void return type
 2012-09-10 11:37:58 +09:00
rmackay9 7a0189fb2c ArduCopter: modified mainloop timing to be in sync with the arrival of new data from the IMU. 
This reduces the maximum delay between when new sensor data arrives and when it is actually used by about 5ms.
 2012-09-10 11:37:53 +09:00
rmackay9 4e85e545bf ArduCopter: added NUM_IMU_SAMPLES_FOR_XYZHZ definitions for MPU6000 and Oilpan to allow more syncing of the mainloop with the arrival of data from the IMU. 2012-09-10 11:37:48 +09:00
rmackay9 5a3645d36a AP_ADC: added num_samples_available to allow main loop to be synced with arrival of new sensor data for Oilpan. 2012-09-10 11:37:43 +09:00
rmackay9 38feee9c61 AP_IMU: added num_samples_available to allow main loop timing to be synced with arrival of new data from IMU. 2012-09-10 11:37:38 +09:00
rmackay9 3901387c8d AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately 
This reduces the delay between when data arrives and when it is used
by up to 1ms.

Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
 2012-09-10 11:37:33 +09:00
Andrew Tridgell 29344e688d APM: reboot only works on the APM2 2012-09-10 11:50:48 +10:00
Andrew Tridgell d08bd4214b 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 57ac3f59f2 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
Craig Elder b667c6eb8c APM_RC: fixed noisy PWM output on startup for APM2 
This reduces the number of rubbish pulses on the APM2 PWM output pins
on startup, which should help with booting some cheaper ESCs.

Thanks to Randy for the idea!
 2012-09-10 08:09:28 +10:00
rmackay9 8f993cde2b ArduCopter: bug fix for ROI not working if user did not have a camera mount 
Changed verify_nav_roi command to attempt to point at the target if our camera mount type is not pan_tilt nor pan_tilt_roll
 2012-09-10 02:03:32 +09:00