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773 Commits

Author SHA1 Message Date
Pat Hickey
2f63c636ad Rename ArduCopter/config_motors.h to config_channels.h 2012-01-09 21:57:02 -08:00
Pat Hickey
f5b6746ad7 ArduCopter: Change TRI_FRAME yaw servo output to CH_TRI_YAW define 2012-01-09 21:57:02 -08:00
Pat Hickey
c105f64dca ArduCopter Camera.pde: changed from CH_n to CH_CAM_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
e0e430895e motors_quad: translate from CH_ to MOT_ notation. 2012-01-09 21:57:02 -08:00
Pat Hickey
0b40f55334 ArduCopter: include config_motors.h in sketch 2012-01-09 21:57:01 -08:00
Pat Hickey
e5e8ed8a54 ArduCopter config_motors.h: stubs in for CH_CAM_PITCH and CH_CAM_ROLL 2012-01-09 21:57:01 -08:00
Pat Hickey
9eae2ec7fe ArduCopter config_motors.h: proper defs for APM1 MOT_[5..8] 2012-01-09 21:57:01 -08:00
Pat Hickey
a30558e9b2 ArduCopter config.h: add standard ifndef/define header macro wrappers 2012-01-09 21:57:01 -08:00
Pat Hickey
a7628b7f78 ArduCopter: add config_motors.h with MOT_n to CH_m mapping 
* APM1 values are not valid, but hopefully APM2 will stay that way?
 2012-01-09 21:57:01 -08:00
Pat Hickey
a19afd926a APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Jason Short
78255b722e Slowed Auto Descent 
Don't return true in Landing code to prevent flyways in Stabilize
 2012-01-08 23:01:22 -08:00
Randy Mackay
f68d23d91e ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow) 
Removed optical flow from regular loiter for now until it's tested.
 2012-01-09 13:53:54 +09:00
analoguedevices
d46f36e624 Put in commented-out APM2 #defines, to save people the trouble of having to type them in themselves 2012-01-09 01:59:55 +00:00
Jason Short
d45c0ce9f2 Added Acro to Rate_P 2012-01-08 14:52:10 -08:00
Randy Mackay
3dfa26920f ArduCopter - changed Sonar to use A1 (was AN4) 2012-01-08 17:48:30 +09:00
Jason Short
f4b530ebb1 R8 2012-01-07 22:28:03 -08:00
Jason Short
48c211e055 Added finish to missions - auto-land or stabilize 2012-01-07 22:27:26 -08:00
Jason Short
9c8122e061 converted auto land to use the mission planner version 
Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
 2012-01-07 22:27:26 -08:00
Jason Short
63be9c5f7b Moved wind comp into a define 2012-01-07 22:27:26 -08:00
Jason Short
06e032db68 Quad frame - X is default 
added wind comp stability option to config - off by default
 2012-01-07 22:27:26 -08:00
Jason Short
6678edf243 Auto-land updates - removed sonar option - not needed 
updates from JLN
 2012-01-07 22:27:26 -08:00
Jason Short
76dd79e7b5 Made RTL hold position until it reaches altitude 2012-01-07 22:27:26 -08:00
Jason Short
dd42f06275 Cleanup 2012-01-07 22:27:26 -08:00
Jason Short
faa9dd43cf scaled to 0-1023 2012-01-06 21:43:37 -08:00
Jason Short
ee0551037e Revved to R7 2012-01-06 10:22:53 -08:00
Jason Short
98f9a5f237 Forced Faildafe throttle mode to throttle Auto 2012-01-06 10:21:50 -08:00
Jason Short
5b66a09688 Added check for armed motors in failsafe 2012-01-06 10:21:23 -08:00
Jason Short
c9f60f239d Added Note 2012-01-06 10:20:59 -08:00
Jason Short
8f3c577e47 Made RTL go up 10m for failsafe 2012-01-06 10:20:48 -08:00
Jason Short
17873eb09c Changed default throttle type for failsafe to avoid checking 
changed timer to 20 seconds.
 2012-01-06 10:20:31 -08:00
Jason Short
e116636fe9 Auto_land update 2012-01-05 21:57:34 -08:00
Jason Short
e3c16fc1b1 Added auto_land to RTL 2012-01-05 21:15:12 -08:00
Jason Short
40ad164c8d Clears Auto_land timer 2012-01-05 21:15:12 -08:00
Jason Short
20661e5020 timer set to unsigned 2012-01-04 17:31:20 -08:00
Andrew Tridgell
df81a9459a ACM: reset all I terms on gyro calibration 2012-01-05 10:15:14 +11:00
Andrew Tridgell
2913948520 ACM: fixed a warning 
comment out some unused debug code
 2012-01-05 10:14:53 +11:00
Andrew Tridgell
c1c3115b42 ACM: fixed a alt hold bug 
== instead of =
 2012-01-05 10:14:30 +11:00
Andrew Tridgell
92f9c0b648 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Andrew Tridgell
596a1f43f4 ACM-simple: don't use uninitialised simple trig values 2012-01-05 10:13:36 +11:00
Jason Short
3cf77729ef Disabled stable mode wind comp by default for release 2012-01-04 09:28:38 -08:00
Jason Short
28262dd825 Added Xplane output option 2012-01-04 09:28:38 -08:00
Jason Short
467ef66a77 Added home offset for altitude 2012-01-04 09:28:38 -08:00
Jason Short
40c649a27b Made landing disarm the motors 2012-01-04 09:28:38 -08:00
Jason Short
ed1ff0b171 Upped Revision 2012-01-04 09:28:38 -08:00
Jason Short
76cfdca6cc Cleaned up and documented each global vavriable 
Added Wind compensation for Stability
Acro mode fixes
 2012-01-04 09:28:37 -08:00
Jason Short
2e83e42764 Added precalc for wind compensation when entering Stabilze mode 2012-01-04 09:28:37 -08:00
Jason Short
e36d2f6e96 Added Wind compensation for Stabilize 
moved speed calc to it's own function
decreased acceleration from WPs
 2012-01-04 09:28:37 -08:00
Jason Short
fe8c99c49b removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short
a2c8f5af15 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
de6325fb8a removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
cf9e744ed2 removed unused vars 2012-01-04 09:28:37 -08:00
Jason Short
8ed2d96396 removed unused var 2012-01-04 09:28:37 -08:00
Jason Short
59f22f0ca0 removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
ecb3241489 calc_wind_compensation called when exiting AP modes 
Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
 2012-01-04 09:28:37 -08:00
Jason Short
4e0e783e7c added Reset_Rate_I function 
Removed I term from Throttle rate calc
Added some basic constrains to Acro
 2012-01-04 09:28:37 -08:00
Jason Short
b8c0bdb66f removed airspeed 2012-01-04 09:28:37 -08:00
Jason Short
92eece79a4 cleanup - removed unused functions, made pressure reading Float to avoid extra cast 2012-01-04 09:28:36 -08:00
Jason Short
e1232e7b80 cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
e7b750074b Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Jason Short
37cda3c364 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
2fc6a645b4 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
b28ae04e0d Removed unused options 2012-01-04 09:28:36 -08:00
Jason Short
6513b12eb2 Cosmetic 2012-01-04 09:28:36 -08:00
Jason Short
67bf991598 removed unused Airspeed config 2012-01-04 09:28:36 -08:00
Jason Short
c7b5b747e8 change how Reset Nav params work - no longer clear I terms 2012-01-04 09:28:36 -08:00
Jason Short
580ad2c5ce Added JLN's landing patch, moved some variables local such as Jump counter 2012-01-04 09:28:36 -08:00
Jason Short
c0c2ea4ebb removed unused functions 2012-01-04 09:28:36 -08:00
Andrew Tridgell
ca39fc8b47 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell
9d1c4ecfcd ACM: don't set defaults in APM_Config.h 
defaults set here prevent Makefile overrides, which breaks autotest
for non-default frame types
 2012-01-04 19:35:05 +11:00
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
Jason Short
26d0bf93ff Added more constraints around velocity 2011-12-31 10:59:59 -08:00
Jason Short
b3cea96970 Cosmetic 2011-12-31 10:54:31 -08:00
Jason Short
74b203c7f2 Lowered Yaw to prevent overshoot based on feedback 2011-12-31 10:10:45 -08:00
Jason Short
ea832c0818 upped to r5 2011-12-31 10:05:13 -08:00
Jason Short
1ef7f9fe62 Loiter I reset 2011-12-31 09:45:25 -08:00
Jason Short
0ace8474d7 R4 2011-12-30 23:54:02 -08:00
Jason Short
c6586810cf New Style WP navigation for high wind 2011-12-30 23:48:05 -08:00
Jason Short
2cb09f46e9 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
6a8391f0a7 removing I term clearance 2011-12-30 23:48:04 -08:00
Jason Short
28984a72e4 no longer calling reset_nav 2011-12-30 23:48:04 -08:00
Jason Short
26267f75b2 Reverted to Crosstrack like in Arduplane, requires Degrees * 100 2011-12-30 23:48:04 -08:00
Jason Short
dac29af7ab Sync with Arduplane 2011-12-30 23:48:04 -08:00
Jason Short
c7f93f8718 Updated Configs based on field testing. 2011-12-30 23:48:04 -08:00
Jason Short
15a377d759 Added a default Yaw tracking setting 
Added Nav_Bearing
 2011-12-30 23:48:04 -08:00
Jason Short
84d3e3135f Added Nav_bearing, just like APlane 
added fix for LOITER in missions so we don't Yaw in circles
 2011-12-30 23:48:04 -08:00
Jason Short
cf48091d00 removed old loiter method option 2011-12-30 23:48:04 -08:00
Randy Mackay
3cb74cb459 ArduCopter - init_compass - fixed HIL build issue 2011-12-31 12:29:54 +09:00
Jason Short
3ea49e1415 updated rev 2011-12-29 23:02:41 -08:00
Jason Short
21460a57ae Yaw Performance tweaks 2011-12-29 23:02:03 -08:00
Jason Short
95a70cf32e lowered to nav_lat and nav_lon int16 
added a version that didn't have I term added to get a better indication of velocity estimation
 2011-12-29 23:02:03 -08:00
Jason Short
10abb7871e removed loiter I from Reset Nav 2011-12-29 23:02:03 -08:00
Jason Short
17acbc4572 updated Loiter gains 2011-12-29 23:02:03 -08:00
Jason Short
53c09774e5 removed Rate_I from Loiter, lowing Rate_P from Loiter too. Too aggressive leads to rapid oscillations in air, and not around loiter position. 2011-12-29 23:02:03 -08:00
Jason Short
2c1fe93856 cosmetic 2011-12-29 23:02:03 -08:00
Jason Short
6f42442e57 Added 5 sec Takeoff Timer to clear i terms when lifting 
Moved loiter relocation function to update_nav
moved User hooks to correct place
Added tuning for D term
 2011-12-29 23:02:03 -08:00
Jason Short
f41835d546 Added Stabilize_D parameter 2011-12-29 23:02:02 -08:00
Jason Short
bb954bc479 Upped Yaw speed to deal with performance complaints 
Added new Stabilize D term default of .25
 2011-12-29 23:02:02 -08:00
Jason Short
d055763947 Added second order, filtered derivative in stabilize. Works much better than the non-filtered one I used to have. 2011-12-29 23:02:02 -08:00
Jason Short
fa49aa5eec Fixes for Smooth Loiter 2011-12-29 23:02:02 -08:00
Jason Short
4f60fa412c Set Define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
8a921e869c Fixed a 1280 only test 2011-12-29 23:02:02 -08:00
Jason Short
db96b9ec7a added define for Max throttle 2011-12-29 23:02:02 -08:00
Jason Short
244ca98264 Added Dampening term for tuning 2011-12-29 23:02:02 -08:00
Jason Short
7e1e1f84b3 updated Loiter PIDs 2011-12-29 23:02:02 -08:00
Jason Short
4b5437afe8 Enable Magnetometer by default 2011-12-29 23:02:02 -08:00
Jason Short
51e6170ecb Missing ; 2011-12-29 23:02:01 -08:00
Jason Short
4353f60f60 removed takeoff complete flag from missions, not used and would be useful elsewhere. 2011-12-29 23:02:01 -08:00
Jason Short
fbb35928fe removed unused function 
Simplified the baro init filter
 2011-12-29 23:02:01 -08:00
Randy Mackay
bbe6dea980 OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell
955dfe0226 ACM: check compass health before using it 2011-12-28 20:41:53 +11:00
Andrew Tridgell
03a16c6e45 ACM: use new I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell
433df08cb3 ACM: enable compass by default on APM2 2011-12-28 20:30:35 +11:00
Andrew Tridgell
73e6d5ee11 ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Jason Short
234121f3c3 Fix for 11 channels of motors. 2011-12-26 14:39:01 -08:00
Andrew Tridgell
4fe527aefa ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Andrew Tridgell
111d156a99 ACM: fixed HIL build again 2011-12-26 19:17:11 +11:00
Andrew Tridgell
ab64a689c8 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay
07041c2149 TradHeli - modified the default collective min/max values to restrict movement to about half the full range. 2011-12-26 16:59:01 +09:00
Jason Short
1afa25d9ef Tweaks to fix Loiter 
Changed save location to int32
added some filtering and smoothing
 2011-12-25 15:44:49 -08:00
Randy Mackay
c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
0dadbf932a removed "Please run setup" loop from ArduCopter 
Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
 2011-12-24 18:12:51 +11:00
Jason Short
cc4f5e7c74 disabled some tests with warnings 2011-12-23 18:54:38 -08:00
Jason Short
0491d4feca added define for optflow 2011-12-23 18:45:01 -08:00
Jason Short
d7af42c925 Getting rid of Simple Logging 2011-12-23 18:44:30 -08:00
Jason Short
0f91fbcee5 Made WP radius 1 by default 2011-12-23 15:01:53 -08:00
Jason Short
d9590a44d6 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short
e5a3899b7f added ability to enter Loiter with only optflow available 2011-12-23 14:46:32 -08:00
Jason Short
73a73fbf35 moved some defines around 2011-12-23 14:46:32 -08:00
Jason Short
5518882c69 Fixed resolution issue with Xtrack 
Added stub for loiter based on estimation
integrated fix for tracking GPS at slow speeds for loiter
 2011-12-23 14:46:32 -08:00
Jason Short
2d46022a2b This is the test to deal with big props with lots of inertia. We use a low pass filter on positive acceleration. 2011-12-23 14:46:32 -08:00
Jason Short
58ad9faf6d initing z dampener at arming 2011-12-23 14:46:08 -08:00
Jason Short
5f03c62bd9 Too complicated 2011-12-23 14:46:08 -08:00
Jason Short
be4b031c7d added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Jason Short
ca8f71a705 used for testing 2011-12-23 14:42:50 -08:00
Jason Short
a966a178f8 increased crosstrack thanks to float math fix 
decreased loiter iterm, decreased throttle iterm based on simulator runs
 2011-12-23 14:42:50 -08:00
Jason Short
a284fc222c No longer blocking before initing home 2011-12-23 14:42:50 -08:00
Jason Short
79fff0f096 the second accel test is just for fun. 
Filtered output for Nav_throttle
 2011-12-23 14:42:50 -08:00
Jason Short
62cb407558 Begin to better integrate OptFlow, added necessary globals for Loiter estimation 2011-12-23 14:42:50 -08:00
Jason Short
85b564c5eb removed some unneeded HIL #defines 2011-12-23 14:42:49 -08:00
Pat Hickey
c40fccbc26 Log_simple uses identical implementation of do_erase_logs. 
* fix build1280.ArduCopter
 2011-12-22 13:31:28 -08:00
Pat Hickey
f1624621b3 ArduCopter Logging: DISABLED means DISABLED again; CONFIG_LOGGING added 
CONFIG_LOGGING selects LOGGING_SIMPLE and LOGGING_VERBOSE. Verbose
logging is the default, implemented in Log.pde. Simple logging is
optional, but the default for the 1280 build, implemented in
Log_simple.pde
 2011-12-19 21:04:51 -08:00
Randy Mackay
310f072d50 Arducopter - added "//#define APM2_BETA_HARDWARE" to AP_Config.h for developer's who received early version of the board with the old barometer 2011-12-19 22:57:00 +09:00
Jani Hirvinen
106801a59c config settings for jD motors 2011-12-19 09:29:05 +07:00
Jason Short
b53a6bd4b4 Hexa stability patch bug fix by borna.segulin 2011-12-18 16:38:07 -08:00
Jason Short
239eb53983 change Alpha name 2011-12-18 16:38:07 -08:00
Andrew Tridgell
ad9c0533d8 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short
8970948804 Sync logging 2011-12-16 22:02:41 -08:00
Jason Short
47e4c875e1 Cleanup 
removed Iterm experiment - no noticeable effect in actual flight
 2011-12-16 20:47:23 -08:00
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
Jason Short
2fc25d963d renamed super simple, added framework for auto calc of throttle cruise 2011-12-15 20:51:41 -08:00
Jason Short
3019c35364 turned off iterm for traverse 2011-12-15 20:51:41 -08:00
Jason Short
f11f2c6d97 added some more throttle imax range 
renamed Super Simple
 2011-12-15 20:51:41 -08:00
Jason Short
72605f846c renamed super simple 2011-12-15 20:51:41 -08:00
Jason Short
88b3708dcf added altitude to circle mission 2011-12-15 20:51:40 -08:00
Jason Short
0ba8a9f30b Allows user to specify just an altitude for Circle Mode 2011-12-15 20:51:40 -08:00
Jason Short
4e280bb0dc More power to descend 2011-12-15 20:51:40 -08:00
Jason Short
3446744ae9 Addition of nav mode that tries to maintain level 2011-12-14 22:08:42 -08:00
Jason Short
4d90058c90 dupe of landing logic for scripting 2011-12-14 22:08:41 -08:00
Jason Short
f48e394511 made the last step of landing stop navigating so we can drop straight down. 2011-12-14 22:08:41 -08:00
Jason Short
1251e8105d Added failsafe check 2011-12-14 22:08:41 -08:00
Jason Short
c6657f4a93 updated Loiter control to provide an alternative to GPS rate control for users with circling issues. Works in SIM, needs flight testing 2011-12-14 22:08:41 -08:00
Jason Short
d2fd6c5ee5 added loiter control to reset nav 2011-12-14 22:08:41 -08:00
Jason Short
8691b10ee9 added failsafe check, 
enable loiter repositioning
 2011-12-14 22:08:41 -08:00
Doug Weibel
5d197ae337 Change logging to default on for 2560 2011-12-13 20:53:44 -07:00
Doug Weibel
8b78c4a4c5 Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Michael Oborne
e20d3a3676 add method of detecting if motors are armed 2011-12-14 06:18:29 +08:00
Randy Mackay
7f64080877 Arducopter - Attitude.pde - fixed small bug in pitch stabilise 2011-12-13 22:10:51 +09:00
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
Jason Short
edc3a731d4 Adjustments for High Wind enviroments 2011-12-12 17:47:45 -08:00
Jason Short
ba8fc57bd8 Stability patch2 - Jose style. 2011-12-12 17:47:45 -08:00
Jason Short
c9b317fc27 Gain updates 2011-12-12 17:47:45 -08:00
Jason Short
f3e408e7e0 Added a simplified Log that is just GPS for my 1280 board 2011-12-12 17:47:45 -08:00
Jason Short
e4559bbf5c Added param option for Simple mode reset 2011-12-12 17:47:45 -08:00
Jason Short
d83ad1acd4 Upped the max pitch to deal with wind - based on T3 testing 2011-12-12 10:10:33 -08:00
Jason Short
6bc90d6289 Just upped the nav_imax value 2011-12-12 10:10:33 -08:00
Andrew Tridgell
a22893124d fixed LOGGING_ENABLED default on ArduCopter 2011-12-12 23:40:43 +11:00
Andrew Tridgell
5760239670 quad: fixed the comments on the + motors 2011-12-12 21:01:58 +11:00
Andrew Tridgell
d076fb54b5 fixed barometer detection on APM2 2011-12-12 15:45:36 +11:00
Andrew Tridgell
f5e439554d fixed == that should be = 2011-12-12 15:19:50 +11:00
Andrew Tridgell
358dc91d41 fixed hil ArduCopter build 2011-12-12 15:14:55 +11:00
Andrew Tridgell
07dba4eff7 desktop: fixed Wire.begin() build problem 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
011110e1dd 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
a48c65b5b5 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* 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
6dbd6b4181 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey
39fe9075d9 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey
b055aa6f81 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
d7f77aec93 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* 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
62844d8ddc ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey
8d878a2cae ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey
2e200834e1 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short
5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
Jason Short
e8e126a636 removed CLI switch by default, decreased Nav I 2011-12-11 09:53:44 -08:00
Jason Short
c1aa015ef1 added debug prints, broke out Angle val to debug 2011-12-11 09:53:44 -08:00
Jason Short
a685e5b575 fix for navigation scaleLongUp 2011-12-11 09:53:44 -08:00
Randy Mackay
fe336fb749 ArduCopter - small fixes to fix HIL compile errors 2011-12-11 23:25:03 +09:00
Randy Mackay
67855b207d Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00