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528 Commits

Author SHA1 Message Date
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
Jason Short f89fed02c3 made it so nav is called in Simple mode 2011-12-10 23:31:37 -08:00
Jason Short 4659a9ffce Adjust Simple mode on the fly. 2011-12-10 23:29:29 -08:00
Jason Short af0ae6a10f Set Nav_WP as home 2011-12-10 23:26:10 -08:00
Jason Short 1f3abcf048 eased up on the i term blocker 2011-12-10 23:25:52 -08:00
Jason Short 069bcbf5e6 Made landing slower 2011-12-10 19:33:19 -08:00
Jason Short 873daae095 Allows you to clear the stored mission when in Auto 2011-12-10 19:32:46 -08:00
Jason Short 29554b7d73 Will add a landing command to last WP if we are on the ground. 2011-12-10 19:29:42 -08:00
Jason Short 648ab5f4ae Switched to Gyro only startup 2011-12-10 15:13:20 -08:00
Jason Short f3ff7aa0a8 rework of inflight trim. 2011-12-10 15:05:53 -08:00
Jason Short 5e12924907 Removed Instant PWM from disarmed output 2011-12-10 10:33:25 -08:00
Jason Short 0289e35347 Ground course saved as long for SIM compat 2011-12-10 10:19:20 -08:00
Jason Short 84b72b627b Added SIMPLE mode reset outside of bounding box of 10M, will do more testing before enabling. 2011-12-10 10:19:20 -08:00
Jason Short 7cecca74bc Made Baro_alt int32_t 
Added home to copter bearing, home to copter distance
Added Land mode
 2011-12-10 10:19:20 -08:00
Jason Short 69f1841d8e Debugging some motor issues 2011-12-10 10:19:20 -08:00
Jason Short 76d60a2111 Added Home Bearing 2011-12-10 10:19:20 -08:00
Jason Short d9347290a4 Added notes to Imu.ax, ay, az 2011-12-10 10:19:20 -08:00
Jason Short 2b8280e533 Added enumeration for Land 2011-12-10 10:19:20 -08:00
Jason Short 307723960d Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short 3ff7b047d5 Added Bearing to home, distance to home calcs 2011-12-10 10:19:20 -08:00
Jason Short 49806d93d9 Added Land FLight mode definition 2011-12-10 10:19:20 -08:00
Randy Mackay 0b24914066 OptFlow - turning on optical by default 2011-12-10 23:22:40 +09:00
Randy Mackay fa0723f115 ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Pat Hickey cc38189f71 ArduCopter config: Correct LOGGING_ENABLED defaults to force disable for 1280 
Per email, this is what Jason meant to do in aeb92870, but previous code
forced logging enable for all non-1280 users.
 2011-12-09 15:06:10 -08:00
Randy Mackay 4dc2956ca9 Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i 2011-12-09 22:13:37 +09:00
Randy Mackay 42421a09e2 TradHeli - Attitude.pde - made yaw contol use jason's stability patch 
Quad - fixed small bug in pitch control (was using roll's stabilise controller)
 2011-12-08 22:23:50 +09:00
Randy Mackay 68e6be5eeb TradHeli - fixed roll/pitch so it's not scaled when throttle is scaled 2011-12-08 21:30:47 +09:00
Doug Weibel 502a98dda1 Add hook to dump log filesystem index for debugging 2011-12-07 08:13:30 -07:00
Jason Short 6dfdd754ea Stability patch updates, 
Cleanup
 2011-12-06 21:03:56 -08:00
Jason Short 05409b8c1c made RateP range a little more sensible 
removed unused var
 2011-12-06 21:03:07 -08:00
Jason Short a632c49b44 Alt_hold_patch, removed Z dampening from Manual override. Fixed integrator conversion to throttle_cruise 2011-12-04 21:32:33 -08:00
Jason Short e8a14c8d93 simple patch to improve alt hold based on stability patch 2011-12-04 21:32:33 -08:00
Jason Short 9bc6fce3b8 Function call defs commented with // so the preprocessor doesn't get confused 2011-12-03 17:55:44 -08:00
Jason Short 0d8071a401 Added new gain and clamp value for DCM 2011-12-03 17:55:11 -08:00
Jason Short 54c8e1033c Fixing reversed Simple mode switch 2011-12-03 17:54:57 -08:00
Jason Short aad45c692f Stability patch from 55 2011-12-03 17:54:38 -08:00
Jason Short 778393c4a7 Enabled the compass test 2011-12-03 15:39:02 -08:00
Jason Short 5ed300db7e disabled Flash logs in 1280 by default 
Added stability patch I values and limits
 2011-12-03 15:38:46 -08:00
Jason Short c99da66506 Formatting, swicth Omega to raw IMU rates 2011-12-03 15:29:33 -08:00
Jason Short 401c985572 Added Deg to rad, rad to deg * 100 to save a float calc 2011-12-03 15:29:33 -08:00
Jason Short d7cc241f85 formatting 2011-12-03 15:29:33 -08:00
Michael Oborne 4c61462dfd Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 06:32:27 +08:00
Michael Oborne edf3195384 add 1hz mavlink loop. 2011-12-04 06:32:08 +08:00
Andrew Tridgell 39a36fe946 fixed the "reboot on GPS lock" bug 
the problem was that with APM2 we may not have a 2nd GCS instance. The
"gps alt: xxx" message was being unconditionally sent to both GCS
instances, which caused a crash
 2011-12-04 09:06:58 +11:00
Andrew Tridgell aaac6212ab MAVLink: use the configured system ID for ArduCopter 2011-12-03 07:54:36 +11:00
Jason Short 9931cacec7 Enabled Ch7 simple mode switching 2011-11-28 22:41:12 -08:00
Jason Short 69dd8264e6 adding flag for finished mission 2011-11-28 22:28:51 -08:00
Jason Short b92b4e9092 cleanup 2011-11-28 21:40:22 -08:00
Jason Short eb6d34e1fc Fix error with calc_nav_pitch_roll 2011-11-28 21:27:29 -08:00
Doug Weibel 88ab4f7d70 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 b03de3095e 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 b4a0d8a275 Fixed navigation bug 2011-11-28 14:22:05 -08:00
Jason Short ce5ad442fc Git Test 2011-11-28 10:54:20 -08:00
Jason Short 62ed256fca made the crosstrack use the previous WP instead of the current loc to get a better line in AP. 2011-11-28 10:33:06 -08:00
Jason Short 82adf1df6b removed need to send increment flag to update commands 
constrained climb_rate value
 2011-11-28 10:33:06 -08:00
Jason Short 504b4b52d6 slight refactoring to avoid the increment issue when changing commands 2011-11-28 10:33:06 -08:00
Jason Short 4a6feb3acb better comments out of some old unused functions to avoid compiler errors 2011-11-28 10:33:06 -08:00
Jason Short 909e5796eb Logging input to find this freeze bug 2011-11-28 10:33:06 -08:00
Jason Short df57380adc Erasing Logs causing major havoc. Users getting infinite loop. 2011-11-28 10:33:05 -08:00
Jason Short cc1593d16d made Logs dump with dump 0 or -1 2011-11-27 22:23:02 -08:00
Jason Short b3bd4bd3c9 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Jason Short fb5302c50b No longer resetting ch7 wp index with mode change, requires reboot 2011-11-27 22:23:02 -08:00
Andrew Tridgell 2cabb11307 mavlink: don't force CLI and HIL with mavlink10 build 2011-11-28 16:22:33 +11:00
Jason Short 940fa9621c Added minimum Altitude for RTL failsafe 2011-11-26 16:39:29 -08:00
Jason Short 44cb73c9fa added safety checks for RTL 2011-11-26 16:39:29 -08:00
Jason Short d0af4e7200 CH7 with params 2011-11-26 16:39:29 -08:00
Jason Short ec5b080167 Enable RTL 2011-11-26 16:39:29 -08:00
Jason Short ca5e4bb802 Allow output of system type 2011-11-26 16:39:28 -08:00
Jason Short 1621f3a638 allow CH7 to be set via params 2011-11-26 16:39:28 -08:00
Jason Short ea911e0bcb updated failsafe code 2011-11-26 16:39:28 -08:00
Jason Short 19c3c27ed0 Erasing Logs at new FW version detection 2011-11-26 16:39:28 -08:00
Jason Short 52297679c4 sending Mavlink system type 2011-11-26 16:39:28 -08:00
Andrew Tridgell a048709828 Logs: don't print hundreds of bogus log boundaries 
this can take quite a long time
 2011-11-26 17:02:55 +11:00
Andrew Tridgell a99bcec762 desktop: report motors armed in desktop build too 
this helps in autotest
 2011-11-25 20:00:19 -08:00
Pat Hickey 6ee477bd8d ArduCopter: rev version number from 2.0.51 to 2.1.0 Alpha 2011-11-25 20:00:19 -08:00
Andrew Tridgell 38c85c44ae ArduCopter: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 3a542b3ef3 USB-MUX: enable USB MUX switching for ArduCopter 2011-11-25 20:00:19 -08:00
Andrew Tridgell 338445e60c ArduCopter-HIL: fixed HIL build 
Logging isn't always enabled
 2011-11-25 20:00:18 -08:00
Andrew Tridgell ffba37d599 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Andrew Tridgell aa558eb033 fixed a valgrind error 
this error is harmless, but false positives can disguise real errors
 2011-11-25 20:00:18 -08:00
Pat Hickey eee2da01ac Arducopter: each motors_ pde uses APM_RC.SetFastOutputChannels 2011-11-25 20:00:18 -08:00
Pat Hickey ea4c220ee9 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell 6093db948b compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 41caa949ca fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 1d50bb80fd hil-sensors ArduCopter: fixes to make hil-sensors build work properly 
* requires new stub libraries for InertialSensor and PeriodicProcess.
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1e41b4b2b0 timer_scheduler doesn't exist in HIL_MODE_ATTITUDE 2011-11-25 20:00:18 -08:00
Andrew Tridgell a3701e521a build: added hlsensors target 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1c20efe4b8 re-organiser sensor declarations 
this tries to make the #ifdef nesting easier to understand
 2011-11-25 20:00:17 -08:00
Andrew Tridgell 2a5a15abce test: fixed test code for HIL build 2011-11-25 20:00:17 -08:00
Andrew Tridgell 3072fdda85 adc.Init() needs timer_scheduler 2011-11-25 20:00:17 -08:00
Andrew Tridgell c0898ab3b9 purple: timer_scheduler should be in all builds 2011-11-25 20:00:17 -08:00
Andrew Tridgell 2d8cfc0c3f test: neaten up the output of the dcm test 2011-11-25 20:00:17 -08:00
Pat Hickey 3131ab16ef remove BROKEN_SLIDER code 
use the new CLI_SLIDER_ENABLED option and the "hit ENTER 3 times"
method
 2011-11-25 20:00:17 -08:00
Pat Hickey 475afd6ac2 purple: enable dcm test, and fixed imu test to test the IMU API 2011-11-25 20:00:17 -08:00
Pat Hickey c2972ff1f9 purple: fixed CLI code for non-ADC hardware and no sonar 
purple hardware does not use the ADC driver
 2011-11-25 20:00:17 -08:00
Pat Hickey 63393b206a purple: added ins test 
this tests the InertialSensor library API
 2011-11-25 20:00:17 -08:00
Pat Hickey f1bad83d21 purple: fixed system init for purple sensor objects 2011-11-25 20:00:16 -08:00
Pat Hickey e3027fe54e purple: pass isr_registry to APM_RC.Init() 2011-11-25 20:00:16 -08:00
Pat Hickey 660174e610 purple: switch ArduCopter to new sensor objects 
this uses the new sensor abstractions for the purple/APM1 hardware
choice
 2011-11-25 20:00:16 -08:00
Pat Hickey 4869ac3385 purple: use the new LED_ON/LED_OFF macros for LED level 
this gets this right on both APM1 and purple for ArduCopter
 2011-11-25 20:00:16 -08:00
Pat Hickey 3f2692d1da purple: added configuration logic for APM1 versus purple hardware 
This abstracts the names for LED on/off (due to the different wiring
of LEDs on APM1 and purple), and adds the needed config defines for
the two hardware types
 2011-11-25 20:00:16 -08:00
Pat Hickey 90c5eb8487 purple: added defines for APM hardware selection 
we can now choose APM_HARDWARE_APM1 or APM_HARDWARE_PURPLE
 2011-11-25 20:00:16 -08:00
Pat Hickey cc67062442 build: added new command line build targets 
this makes it more convenient to build common options
 2011-11-25 20:00:16 -08:00
Pat Hickey 5ee5036fa1 purple: added comment for enabling purple hardware 2011-11-25 20:00:16 -08:00
Andrew Tridgell 89d2f0f849 mod barometer.Init() based on hardware 2011-11-25 20:00:15 -08:00
Michael Oborne 0a0b2d32f4 Add rc input to cli planner mode 2011-11-26 11:23:14 +08:00
Jason Short abe4758c3b no longer using the raw pressure 2011-11-25 11:34:05 -08:00
Doug Weibel 9ecfac1156 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 c5c5884006 v number 2011-11-21 22:13:18 -08:00
Jason Short 89e014c06a Added alternate alt hold, 
New ESC Calibration Routine
 2011-11-21 22:12:19 -08:00
Jason Short 85a5647f5d cleanup 2011-11-21 22:11:06 -08:00
Jason Short 6d99e78887 removed unused function 2011-11-20 21:59:55 -08:00
Jason Short 95b797d359 removed the init_esc - reworking the method to avoid the use of the CLI. 2011-11-20 21:24:32 -08:00
Jason Short 5c797e91b5 Better function definition 2011-11-20 20:32:46 -08:00
Jason Short beeba99b92 Missed a function definition for no_logs option 2011-11-20 20:29:58 -08:00
Jason Short 2600f19172 RTL Yaw hold as default 2011-11-20 12:50:13 -08:00
Jason Short fbf09dbf2d Made save WP the default 
Cosmetic updates
 2011-11-20 12:50:12 -08:00
Randy Mackay f397bae793 ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 
Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
 2011-11-20 22:30:42 +09:00
Jason Short 17041e5346 my take at a merge to give tridge a head start at Mav1.0 2011-11-20 00:23:40 -08:00
Jason Short 556db68d2d Made loiter rad smaller in storage 2011-11-20 00:22:53 -08:00
Jason Short 7feecf3220 renamed WP mask 2011-11-20 00:22:53 -08:00
Jason Short 185c2a50ce added some params from Arduplane to make Mavlink upgrade easier 
made loiter radius smaller in storage
 2011-11-20 00:22:53 -08:00
Jason Short 94ef8a91ff removed typo 2011-11-20 00:22:52 -08:00
Jason Short 1e855503da renamed MASK_OPTIONS_RELATIVE_ALT 2011-11-20 00:22:52 -08:00
Jason Short c6f9c532af renamed set_command_with_index 2011-11-20 00:22:52 -08:00
Jason Short b883ff937c renamed the options_mask 2011-11-20 00:22:52 -08:00
Jason Short 77da1227bb renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short 10a24f22fa renamed set_cmd function 2011-11-20 00:22:52 -08:00
Jason Short aef4db8263 Logging stabilization KP to hunt bug 2011-11-19 16:59:54 -08:00
Jason Short 194778a6f9 Logging APVar saves 2011-11-19 16:59:54 -08:00
Jason Short 90bc03ef99 new DataLog message 2011-11-19 16:59:54 -08:00
Jason Short 56179a24e1 Added Arbitrary data logging 2011-11-19 16:59:54 -08:00
Jason Short b6adfdb62f missed == 2011-11-19 14:42:57 -08:00
Jason Short eef04a5a54 removed some tests 2011-11-19 14:02:00 -08:00
Jason Short 8e1f311c36 s 
shortened strings, logging defines updated
 2011-11-19 14:01:47 -08:00
Jason Short 8e509b63a7 shortened strings for mem 2011-11-19 14:00:55 -08:00
Jason Short d02b4342ae removed some unused code, made output min by default 2011-11-19 14:00:42 -08:00
Jason Short d1c161ecd0 Upped version 
added new logging params
added crosstrack gain
re-ordered param inits
 2011-11-19 14:00:23 -08:00
Jason Short 39d0df4cef added param for crosstrack gain defaulted to 4 2011-11-19 13:59:37 -08:00
Jason Short 9bc4328724 Added crosstrack gain and lowered alt hold rate gain 2011-11-19 13:59:15 -08:00
Jason Short e4f2ad1809 remove PI_crosstrack 2011-11-19 13:58:53 -08:00
Jason Short 579096cd2e return to prev climb rate calc 2011-11-19 13:58:41 -08:00
Jason Short 35524f6da7 Added optimizations for radian calls to remove a division. 
added a protection for entering AP modes without Home being set by GPS lock.
 2011-11-19 11:08:13 -08:00
Jason Short 791fd194a4 added logging of raw baro 2011-11-19 11:08:13 -08:00
Jason Short 802dd6994a PM restored to normal output 2011-11-17 10:37:01 -08:00
Jason Short 7ebab2a9fe Log type error fix 2011-11-17 10:27:02 -08:00