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81 Commits

Author SHA1 Message Date
Andrew Tridgell 7883c4a545 ACM: ArduCopter updates for new compass interface 2012-06-27 16:01:50 +10:00
Jason Short 900f169c44 Log.pde: removed nav_bearing reference and replaced with target_bearing ref 2012-06-25 23:06:28 -07:00
Jason Short 6dc1e02f76 Inertial Control 
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
 2012-06-13 22:34:45 -07:00
rmackay9 8f8e91a620 ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives. 
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
 2012-06-03 16:58:19 +09:00
rmackay9 df3fb5c041 ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx). 2012-06-02 12:51:12 +09:00
Andrew Tridgell 5b5d43f5d0 Log: don't print '+' while erasing logs 
we no longer do page based erase, so printing a + every 128 pages
makes no sense
 2012-05-22 20:10:29 -07:00
Andrew Tridgell 27e7d425af MAVLink: allow parameter fetch during mavlink_delay() 
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
 2012-05-22 16:13:35 +10:00
Jason Short cb863dd483 Log.pde : Updated Flash Logging to log Floats properly vs scaled integers. 2012-04-21 15:25:53 -07:00
Jason Short 2aca6c64ab Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9 acc24291f3 ArduCopter - Log.pde - changed MOT output to dataflash to take values from AP_Motors class's motor_out array instead of the global motor_out array. 2012-04-04 22:53:21 +09:00
rmackay9 441413f1c6 ArduCopter - added PID log type. Implemented for Yaw stabilize and rate controllers. 2012-03-25 16:09:08 +09:00
Andrew Tridgell 690ad58a64 AHRS: adapt ArduCopter for new AHRS framework 2012-03-19 17:29:02 +11:00
Jason Short d52b93849e ACM: Fixed comment 2012-03-16 14:10:19 -07:00
rmackay9 7cf635889d ArduCopter - Log.pde - added wrap_360 to compass heading field of ATT message to resolve overflow problem that caused heading to appear as being off by 70 degrees 2012-03-12 12:09:04 +09:00
rmackay9 a72b20f42d ArduCopter - fix to dataflash logging of Mag heading 2012-03-11 01:27:29 +09:00
Jason Short ab945f36df Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
Andrew Tridgell b231112957 DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell f363d0542c fixed warning in Log build 2012-02-13 16:22:52 +11:00
Andrew Tridgell 2133b9fb08 log: fixed some integer size errors 
need to be careful with the types passed to printf()
 2012-02-12 20:38:37 +11:00
Randy Mackay 54fe857236 ArduCopter - Log.pde - fixed Log_Read_Control_Tuning so that it doesn't read too many bytes. Also fixed up some comments 2012-02-05 16:56:51 +09:00
Jason Short 06d54bf0e8 ATT tuning update 2012-01-30 21:13:03 -08:00
Jason Short 0213f4dd88 2.2B6 - Please verify Heli still functions properly. 
Added AC_PID lib
Updated landing code
bug fixes
 2012-01-28 22:00:05 -08:00
Jason Short 8bd6cabdf1 recording nav_bearing rather than target bearing 
recording x and y speed rather than Iterms for nav since they are always 0 now
 2012-01-21 22:10:28 -08:00
Doug Weibel 2ea9db84e0 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
Jason Short 22ebe00773 comma 2012-01-10 23:45:33 -08:00
Randy Mackay 7b9701fdd5 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
Andrew Tridgell 3c965ff1a2 ACM: fixed a signed/unsigned warning 2012-01-05 10:14:12 +11:00
Jason Short 6b3094e053 removed PM test field 1 - not needed 2012-01-04 09:28:37 -08:00
Jason Short 2f657ebdbf cosmetic 2011-12-29 23:02:03 -08:00
Randy Mackay ff66a3417c 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 ef1d8eaeac ACM: update for DataFlash changes 2011-12-28 16:00:49 +11:00
Andrew Tridgell cb48bfd054 ACM-log: use DataFlash.df_NumLogs 
this fixes the flash size on APM2
 2011-12-26 19:17:11 +11:00
Randy Mackay c3ea1ca5dc 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
Jason Short f2d6708058 Fixed merge issues 2011-12-23 14:51:40 -08:00
Jason Short 778c9cd1db added back in the Disabled log - gave up on Log Simple idea 2011-12-23 14:45:56 -08:00
Pat Hickey 74530de4bb 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
Andrew Tridgell 1807585b98 ACM: run mavlink loop while erasing logs 2011-12-18 10:19:41 +11:00
Jason Short 35f0d31b9d Sync logging 2011-12-16 22:02:41 -08:00
Doug Weibel 2687f1c77d Changes to logging file system to avoid problems with 0 and 1 page logs 2011-12-13 20:09:07 -07:00
Jason Short a386ea5e06 Added a simplified Log that is just GPS for my 1280 board 2011-12-12 17:47:45 -08:00
Jason Short 34213e745c Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Doug Weibel 4f6f9a6be4 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Doug Weibel b3b218fa40 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 aa6c336479 Add DataFlash.Init before doing a forced log erase on eeprom reset. 
Add progress indication during log erase
 2011-11-28 19:42:27 -07:00
Jason Short 8e582b4169 Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short ab183e54a0 made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Andrew Tridgell fb21e619fe Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Doug Weibel 0d62fbd197 Change ArduCopter DataFlash log file system to new file system which allows overwriting logs. 
Also changed the feature to dump all DataFlash memory to occur when user requests dumping log "-1"
 2011-11-25 07:17:15 -07:00
Jason Short ad813059bb removed unused function 2011-11-20 21:59:55 -08:00
Jason Short 023034e9f5 Better function definition 2011-11-20 20:32:46 -08:00