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561 Commits

Author SHA1 Message Date
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 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
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
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
Andrew Tridgell b374f604d6 APM: simplify radio_trim code 
this removes the duplicate code. Throttle trim is not changed.
 2012-09-09 19:39:09 +10:00
Andrew Tridgell a90182b9d8 APM: fixed throttle nudging 
The nudge value depended on RC3_TRIM, which is not a reliable
value. It tried to only take effect when the throttle stick was above
50%, but if RC3_TRIM was high for some reason (say 1500) then it would
actually depress the throttle by a large amount, which could cause the
plane to stall.

This also adds a boolean option THROTTLE_NUDGE to allow disabling of
throttle nudging
 2012-09-09 19:39:04 +10:00
Andrew Tridgell 966c1988c3 APM: preparing for 2.61 release 2012-09-08 18:36:17 +10:00
Andrew Tridgell 95e4316c72 APM: updated for new RC_Channel_aux API 2012-09-08 15:14:41 +10:00
Andrew Tridgell c50103ac35 APM: added mtk and mtk16 build targets 
useful for testing non-auto gps detection
 2012-09-08 12:43:36 +10:00
Andrew Tridgell 39346eac32 APM: prevent crosstrack from takeoff point after takeoff completion 2012-09-08 11:37:14 +10:00
Andrew Tridgell 4219cb55ce APM: use ahrs.airspeed_estimate() in two more places 
this applies the wind constraint
 2012-09-08 11:37:11 +10:00
Andrew Tridgell 9ffeecdf2f APM: fixed some compiler warnings 2012-09-08 10:14:32 +10:00
Andrew Tridgell 63ca982f21 APM: tidy up an if() statement 2012-09-08 10:14:20 +10:00
Andrew Tridgell b2a74951d1 APM: added RUDDER_STEER option 
when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
 2012-09-08 10:07:03 +10:00
Andrew Tridgell 9b2a2b2c2e APM: support DO_SET_SERVO command 2012-09-08 10:06:53 +10:00
Andrew Tridgell 12c5e00db9 APM: added XTRK_MIN_DIST option 
this allows you to disable crosstrack correction on short legs
 2012-09-08 10:06:44 +10:00
Andrew Tridgell 88f4a3bc4a APM: allow serial buffer size to be configured 
very useful for packet forwarding setups
 2012-09-08 10:06:35 +10:00
Andrew Tridgell 880404d062 APM: added forwarding of unknown MAVLink types 2012-09-08 10:06:15 +10:00
Andrew Tridgell a71cee4579 APM: accumulate mag readings during spare cycles in ArduPlane 
With this change we average over 100 mag readings per compass.read()
call, which means we are reading the compass at over 1kHz instead of
10Hz. The noise reduction is huge.
 2012-09-08 10:05:58 +10:00
Michael Oborne 35a8bf961c AP fix takeoff alt issue 
issue 733
 2012-09-06 20:19:12 +08:00
Pat Hickey b52738662a APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
Andrew Tridgell 0be8349678 APM: obey pitch limits in FBWA as well 
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
 2012-08-30 20:15:42 +10:00
Andrew Tridgell ae74db15e1 APM: fixed docs for LIM_PITCH_MIN 2012-08-30 14:55:08 +10:00
Michael Oborne 188cc69008 AP fix attitude hil. 
we where waiting on new_data that had no way of getting there.
 2012-08-30 07:54:20 +08:00
Andrew Tridgell 332ad921cc APM: added new TELEM_DELAY parameter 
number of seconds to delay telemetry
 2012-08-30 08:59:39 +10:00
Craig Elder 3403e1b78d Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
Andrew Tridgell 7ab7770c3d APM: added the ability to forcibly crash the plane on OBC failsafe breach 
this allows a user to setup the OBC failsafe system to forcibly crash
the plane (surfaces at limits, zero throttle) when the failsafe system
triggers. This is to allow APM to be used in the Outback Challenge. In
the OBC an external failsafe board also does this using the heartbeat
control pin, so this is an extra safety mechanism.

To prevent users accidentially triggering a crash, this code only
activates if FS_TERM_ACTION is set to to the magic value 42.
 2012-08-28 20:18:24 +10:00
Andrew Tridgell 3f54b83238 APM: added ALT_CTRL_ALG parameter 
this allows you to select different altitude control algorithms. The
current choices are for the default (automatic based on if airspeed is
available), or to force a non-airspeed algorithm

The idea is to make it possible to use airspeed for some things (like
wind speed, speed scaling) but not for alt control
 2012-08-28 20:18:24 +10:00
Andrew Tridgell 16dd911547 APM: fixed another problem with DO_JUMP 
off by one error!
 2012-08-28 20:18:24 +10:00
Andrew Tridgell 4945d66c80 APM: check for geofence fence total of 0 2012-08-28 20:18:24 +10:00
Andrew Tridgell fc942b2ff9 APM: removed reset_I() and instead auto-reset integrator in PID library 
this prevents us resetting key integrators on waypoint change, while
still preventing old integrators being used when a PID starts to be
used again
 2012-08-28 20:18:23 +10:00
Andrew Tridgell ac2ad44c3c APM: cleanup throttle suppression code and don't use airspeed to unsupress 
this removes the throttle suppression when any of the conditions are
met once, as otherwise flying slow below 10m could zero the throttle.

It also removes the use of airspeed for disabling throttle
supression. Otherwise a strong gust of wind can cause ArduPlane to
try to takeoff!
 2012-08-28 20:18:23 +10:00
Amilcar Lucas 90aa5f2004 ArduPlane: Fix 1280 builds 
Added fine-granular features in the AP_Mount class to reduce code size on 1280 chips
Remove camera trigger support on 1280 chips
 2012-08-27 01:33:45 +02:00
Amilcar Lucas 25916e9a92 Improve comments, no functional changes 2012-08-27 01:32:27 +02:00
Andrew Tridgell a6a583650c APM: report estimated airspeed if airspeed not available 2012-08-25 17:49:26 +10:00
Andrew Tridgell 2b30561171 APM: use airspeed estimate for speed scaling if available 2012-08-25 17:49:26 +10:00
Andrew Tridgell 9cf8cc590f APM: added XTRK_USE_WIND parameter 
when enabled this will use the wind estimation code to adjust the
navigation bearing, allowing the navigation code to cope with much
higher levels of wind while using a compass
 2012-08-25 17:49:26 +10:00
Andrew Tridgell f1ba9c08e5 APM: support forcing MANUAL of FBWA mode over MAVLink 2012-08-24 15:18:22 +10:00
Andrew Tridgell 1e6ce649ad APM: ensure fence_total is positive 
thanks to David Buzz for the suggestion
 2012-08-24 14:56:46 +10:00
Andrew Tridgell fbbd94118f APM: fixed wheeled takeoff with Jons new controllers 2012-08-22 17:34:01 +10:00
Andrew Tridgell 517e6b2b9d APM: prepare for ArduPlane 2.60 2012-08-22 16:28:38 +10:00
Andrew Tridgell d091311196 APM: removed factor of 0.5 in non-airspeed takeoff pitch 
this limited the pitch far below the specified target pitch
 2012-08-22 16:28:38 +10:00