Andrew Tridgell
8c3b6f471f
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
b54ab2d72a
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
98d5a49717
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
3b9623a44c
Mavlink: log wind estimation result
2012-08-11 22:06:03 +10:00
Andrew Tridgell
9d9c7b0455
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
9bdf204e35
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
a7399c405d
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
16d63978f1
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
6e46db39a1
APM: Added STICK_MIXING option
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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
67f076a9db
APM: change variables to use _cm, _cd and _ms suffix for units
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this makes it less likely that we mix up units
2012-08-08 12:12:30 +10:00
Andrew Tridgell
f98b887dbe
AP_Param: update ArduPlane core for new AP_Param interface
2012-08-08 12:11:57 +10:00
Michael Oborne
eeac211b1d
AP Fix Hil Airspeed calc in m/s
2012-07-26 20:21:17 +08:00
Andrew Tridgell
caa16cbb54
APM: fixed HIL build
2012-07-26 10:09:07 +10:00
Andrew Tridgell
d0ebb4ca26
MAVLink: fixed another two places where micros() was used for a millisecond time
2012-07-20 11:57:15 +10:00
Jonathan Challinger
e271f97b53
Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground.
2012-07-17 16:15:11 +10:00
Andrew Tridgell
ead41670c4
Airspeed: change APM to use new AP_Airspeed library
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the next step is AHRS dead reckoning
2012-07-16 11:21:50 +10:00
Andrew Tridgell
6ced622da4
APM: fixed some build warnings and type errors
2012-07-06 19:59:18 +10:00
Andrew Tridgell
ba39738606
MAVLink: added climb rate reporting
2012-07-05 13:00:46 +10:00
Andrew Tridgell
fe54329de2
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
1cb96e14a9
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
2012-06-29 15:10:52 +10:00
Andrew Tridgell
57579e494b
Barometer: fixed airstart for APM
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we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
rmackay9
74d37a3713
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
a12cb8fd9a
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
Michael Oborne
7007d46761
AP: add fake satellite count for hil.
2012-06-02 16:38:20 +08:00
Andrew Tridgell
1fc8347af3
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
9eb3f44ce1
MAVlink: update ArduPlane for param fetch during DataFlash erase
...
same changes as for ArduCopter
2012-05-22 16:13:35 +10:00
Michael Oborne
922338e982
AP - fix attitude level hil mavlink 1.0 issue
2012-05-06 11:05:35 +08:00
Andrew Tridgell
9d56d28615
MAVLink: make APM build with MAVLink 1.0 possible with arduino GUI
2012-04-24 22:24:58 +10:00
Andrew Tridgell
a51593d4ad
APM: updates for MAVLink 1.0
2012-04-24 19:54:20 +10:00
Andrew Tridgell
0eadae9704
APM: use OutputCh_current() in MAVLink servo logging
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this gives a more accurate picture of what is actually happening with
the servos
2012-04-24 10:57:43 +10:00
Michael Oborne
71f9e33f2f
fix potential null pointer
2012-04-20 17:57:06 +08:00
Andrew Tridgell
b38d8c526f
MAVLink: make parameter send use adaptive stream rate
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this makes it possible to fetch parameters with very low air data
rates
2012-04-02 11:18:53 +10:00
Andrew Tridgell
222009002e
MAVLink: allow for find grained stream rate control
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streams can now be requested at any multiple of 20ms. So if you ask
for a stream at 7Hz then you will get it at close to 7Hz.
2012-04-02 11:18:53 +10:00
Andrew Tridgell
1e0a2fb0be
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
...
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
Andrew Tridgell
03800ec5f4
APM: Added MANUAL_LEVEL option
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when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at
startup, and instead used the values saved in the EEPROM. This makes
it easier to do levelling on the bench, or once for a series of
flights for the day
2012-03-29 12:39:53 +11:00
Andrew Tridgell
8ccf3a05f0
Mavlink: fixed warnings about limits on int32 values
2012-03-27 15:37:25 +11:00
Andrew Tridgell
dc71191f25
MAVLink: constrain variable changes to the datatype range
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if someone tries to set a AP_Int16 to a value of 300000, they now get
32767 instead of -27678
2012-03-19 17:29:02 +11:00
Andrew Tridgell
c1e4f63907
APM: adapt ArduPlane for AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
f39d8dbde8
GCS: get_integrator() is now get_gyro_drift() in DCM
2012-03-10 10:34:33 +11:00
Andrew Tridgell
d17a7e81e3
APM: removed quaternion special cases
2012-03-10 10:34:32 +11:00
Andrew Tridgell
aa4beb9753
APM: make it possible to build ArduPlane with quaternion support
2012-03-10 10:34:29 +11:00
Andrew Tridgell
46c91fa0c4
APM: added logging of DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
17718720b1
GCS: force scalar type in copy_name()
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this enables access to compass offsets over MAVLink
2012-02-25 11:37:20 +11:00
Andrew Tridgell
1fc24b506e
AP_Param: update users of AP_Param for ParamToken
2012-02-19 17:05:28 +11:00
Andrew Tridgell
8355823bc7
APM: use set_and_save_ifchanged() for GCS stream rates
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this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
2012-02-18 10:51:57 +11:00
Andrew Tridgell
c6b6320b43
APM: report the nav_bearing as hold_course when enabled
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this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
2012-02-15 08:50:45 +11:00
Andrew Tridgell
df2ef6ff47
APM: fixed some build warnings
2012-02-14 08:58:56 +11:00
Andrew Tridgell
3907cf81f8
Mavlink: report the corrected pitch via MAVLink
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this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
2012-02-14 08:58:56 +11:00
Andrew Tridgell
153575a01c
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
f5f6e2d4ec
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00