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210 Commits

Author SHA1 Message Date
Andrew Tridgell e0f052dd9a Plane: update for new AP_Param API 2013-01-09 13:30:55 +11:00
Andrew Tridgell 2e2f96d721 Plane: cope with a HIL_STATE packet before GPS init 2013-01-04 12:47:08 +11:00
Andrew Tridgell 4cdb3cd390 Plane: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Andrew Tridgell b6295c12e1 Plane: fixes for new AP_Relay interface 2013-01-02 10:18:45 +11:00
Andrew Tridgell edad43611d Plane: reset last heartbeat time on startup completion 
this gives more time for the GCS to send its first heartbeat
 2012-12-26 08:46:36 +11:00
Andrew Tridgell d54c6989ab Plane: fixed the last build warnings 
we now build with no warnings for APM1, APM2 and SITL. Yay!
 2012-12-20 22:46:48 +11:00
Andrew Tridgell feca411943 Plane: added new TRAINING mode 
this mode gives manual control when the roll or pitch is within the
set limits (the same limits as FBW mode), and prevents the pilot from
flying beyond those limits, essentially a "attitude limited manual"
mode
 2012-12-20 22:41:58 +11:00
Andrew Tridgell cf18534163 Plane: use new functions 2012-12-20 14:53:22 +11:00
Pat Hickey 2ad4fed8cd Rover/Copter/Plane: change from vsnprintf to vsnprintf_P 2012-12-20 14:52:38 +11:00
Pat Hickey edb076a6c5 ArduPlane: use hal's vsnprintf 2012-12-20 14:52:38 +11:00
Andrew Tridgell 4913aff8cd Plane: remove unused send_text() function 2012-12-20 14:52:35 +11:00
Andrew Tridgell c20481dc94 Plane: SITL has a I2C driver now 2012-12-20 14:52:34 +11:00
Andrew Tridgell 678947c65d Plane: more fixes for SITL and new AP_Param startup 2012-12-20 14:52:29 +11:00
Andrew Tridgell 7046fc05e2 Plane: change to send_text_P() for progmem strings 2012-12-20 14:51:39 +11:00
Pat Hickey 92b0c302f2 ArduPlane: Ported to AP_HAL 2012-12-20 14:51:36 +11:00
Andrew Tridgell 805a340350 Plane: enable attitude and raw logging in HIL modes 2012-12-04 11:13:33 +11:00
Andrew Tridgell 24e1af1c82 Plane: fixed sensors and attitude HIL 
we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
 2012-12-03 23:26:39 +11:00
Andrew Tridgell 53951f995a Plane: fixed GPS course in HIL 2012-12-03 17:38:55 +11:00
Andrew Tridgell 567cb47d35 Plane: fixed SERVO_OUTPUT_RAW for HIL 2012-12-03 17:38:31 +11:00
Andrew Tridgell 1104287aa2 Plane: use enum FlightMode in more places 2012-12-01 08:15:48 +11:00
Andrew Tridgell f5abc2c25e Plane: switch to an enum for flight modes 2012-12-01 08:08:54 +11:00
Andrew Tridgell 56e4cbfb1d Plane: allow reboot on APM1, and add reboot to main CLI menu 2012-11-24 18:20:37 +11:00
Andrew Tridgell 84300c85d6 APM: make it possible to run the CLI on any serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell 704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Andrew Tridgell a600ccece5 APM: support 16 character parameter names 2012-11-20 21:36:13 +11:00
Andrew Tridgell 69fbcc8683 MAVLink: fixed accel and gyro sensor offsets in MAVLink 2012-11-20 18:32:26 +11:00
Andrew Tridgell f80783665f APM: fixed throttle display to always be between 0 and 100 
when rc3 is below RC3_MIN, don't give an invalid value
 2012-11-20 13:50:19 +11:00
Andrew Tridgell 8d1905a40b APM: change WIND direction to match convention 
Thanks to Leo Hogg for pointing this out
 2012-11-19 07:16:47 +11:00
Andrew Tridgell 531e62d3b5 MAVLink: improve usefulness of logged GPS velocities 
we need them to align with time to use them for accelerations
 2012-11-17 17:45:30 +11:00
rmackay9 cdfd3f9ccc ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap' 
Changed ArduPlane to keep function consistent with ArduCopter
 2012-11-12 13:30:04 +09:00
Andrew Tridgell fddfb0b1a3 MAVLink: update compass health in SYS_STATUS 
this will make it easier to tell if a I2C error occurred in flight
 2012-11-12 11:26:54 +11:00
rmackay9 ef727bbb3c ArduPlane: move to use new INS library instead of IMU library 2012-11-07 19:21:03 +09:00
Andrew Tridgell 9c140356f5 APM: remove unused variable 2012-11-05 15:22:56 +11:00
Andrew Tridgell 2793e432ff APM: use raw GPS velocity in GLOBAL_POSITION_INT 
a much more useful value to log
 2012-11-05 14:58:40 +11:00
Michael Oborne a38fef65c7 AP,AC Add ability to override an altitude in any auto mode, on the current active target 2012-09-30 07:29:33 +08:00
Andrew Tridgell bbec662483 APM: fixed build warning 2012-09-25 07:21:03 +10:00
Andrew Tridgell fbc053e6e4 APM: change to one low priority status buffer per GCS instance 
this allows us to operate the low priority messages on each link
independently.

Thanks to David Buzz for the suggestion!
 2012-09-24 17:39:19 +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 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 7e8ef0ae95 APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +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
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 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 d07d42403e APM: tidy up an if() statement 2012-09-08 10:14:20 +10:00
Andrew Tridgell 130b26e1f9 APM: support DO_SET_SERVO command 2012-09-08 10:06:53 +10:00
Andrew Tridgell 9b2ad55773 APM: added forwarding of unknown MAVLink types 2012-09-08 10:06:15 +10:00
Michael Oborne cd08420c3e AP fix takeoff alt issue 
issue 733
 2012-09-06 20:19:12 +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
Andrew Tridgell ecc6a52904 APM: report estimated airspeed if airspeed not available 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 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
uncrustify f7b8fecad9 uncrustify ArduPlane/GCS_Mavlink.pde 2012-08-21 19:19:51 -07:00
rmackay9 11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +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 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 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 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 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 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 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
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 12cd6b68ff AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Michael Oborne cb0eacca37 AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell 3c2fc72654 APM: fixed HIL build 2012-07-26 10:09:07 +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
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
Andrew Tridgell 58fd91165f APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell 0385932afb MAVLink: added climb rate reporting 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 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
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 1906e06b69 Added camera trigger functionality 2012-06-13 21:00:20 +02:00
Michael Oborne b4a1b03fd3 AP: add fake satellite count for hil. 2012-06-02 16:38:20 +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 8e01bc3593 MAVlink: update ArduPlane for param fetch during DataFlash erase 
same changes as for ArduCopter
 2012-05-22 16:13:35 +10:00
Michael Oborne 218e70cd8b AP - fix attitude level hil mavlink 1.0 issue 2012-05-06 11:05:35 +08:00
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 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 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