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5437 Commits

Author SHA1 Message Date
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 60a6fed34a APM_OBC: don't use _saved_wp when zero 2012-08-28 20:18:23 +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 93cde71180 autotest: removed the --wind options 
SIM_WIND_* options now control wind
 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
Andrew Tridgell aaa4e64238 SITL: zero wind for first 15s 
this allows for airspeed calibration on startup
 2012-08-28 20:18:23 +10:00
rmackay9 6f236f0c3b ArduCopter: increase SPI bus speed to 2Mhz after IMU initialisation has completed (MPU6000 accepts maximum of 1Mhz for some registers but up to 20Mhz for main sensor and interrupt registers) 2012-08-28 17:29:48 +09:00
rmackay9 67252c8a9b AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop 2012-08-28 17:02:07 +09:00
Craig Elder a4834b5219 Revert "APM1: Delay serial3 init to not brick Xbee radios" 
This reverts commit 25d14a9d6a4a1ea60eb78485296298c98c1595d0.
 2012-08-27 15:00:23 -07:00
Andrew Tridgell 7a99160ea2 autotest: loiter can be a bit slow to circle sometimes 2012-08-27 13:19:21 +10:00
Andrew Tridgell 5636d311c8 APM-autotest: fixed inside loop test 
pitch 80 may not be reached due to granularity of the MAVLink logging
 2012-08-27 11:45:07 +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
Amilcar Lucas 18c8389c26 Improve comment aligment 2012-08-27 00:37:10 +02:00
Michael Oborne bd180bcd3d Mission Planner 1.2.9 
add est distance traveled
add est flight time
AP_Mount now updated
add expermental firmware options.
fix hud avi record framerate
add 2 direction wp circle
tweak gridv2
 2012-08-26 12:59:21 +08:00
rmackay9 ccc659e8a9 ArduCopter: reduced Rate Roll and Pitch PID values 
RATE_ROLL_P, RATE_PITCH_P reduced to 0.165 (was 0.185)
RATE_ROLL_D, RATE_PITCH_D reduced to 0.004 (was 0.008)
 2012-08-26 10:45:45 +09:00
Michael Oborne b9fb1750d5 Mission Planner Cleanup 2012-08-25 21:48:06 +08:00
Andrew Tridgell 7715a2b75f APM_OBC: ensure pins are setup as outputs 
constructor is run before parameters are loaded
 2012-08-25 17:49:26 +10:00
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 be6f3aed72 AHRS: added airspeed_estimate() function 
this allows the APM code to use an airspeed estimate for navigation
 2012-08-25 17:49:26 +10:00
Andrew Tridgell b8decb4fd7 SITL: added SIM_WIND_* parameters 
this allows control of the simulated wind during a flight
 2012-08-25 17:49:26 +10:00
Craig Elder dc60fe5616 APM1: Delay serial3 init to not brick Xbee radios 2012-08-24 17:55:20 -07:00
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
Michael Oborne 989b799130 Mission Planner 1.2.8 
fix mjpeg stream from VLC.
add grid mode V2
fix hdop scaling
 2012-08-24 07:51:21 +08:00
Michael Oborne 61277af526 firmware build 2012-08-23 11:40:10 +08:00
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
Andrew Tridgell 487b909189 APM: ensure takeoff_complete is reset 2012-08-22 16:17:55 +10:00
Andrew Tridgell cf432c0ae0 APM: fixed bug in do_jump() navigation 
this avoids a problem where the jump can cause the next command to be
reset to 0
 2012-08-22 15:29:46 +10:00
Andrew Tridgell 56ada1a69c APM: added RSSI to RC_CHANNELS_RAW as well 
and prevent double read
 2012-08-22 13:58:25 +10:00
Andrew Tridgell 279e942581 APM: added RSSI in raw message too 2012-08-22 13:48:09 +10:00
Andrew Tridgell e74dab122a APM: added RECEIVER_RSSI_PIN option 
this allows for the receiver RSSI to be sent over MAVLink

Thanks to Burt Green for the suggestion
 2012-08-22 13:33:12 +10:00
Andrew Tridgell ca63e23ec3 build: added sitl-newcontrollers to build_all.sh 2012-08-22 12:45:14 +10:00
Andrew Tridgell 703ca469fe APM: added optional use of new APM_Control library 
thanks to Jon Challinger for the new controllers!
 2012-08-22 12:45:14 +10:00
Andrew Tridgell ba41612e7d AHRS: new functions to support APM_Control library 2012-08-22 12:42:37 +10:00
Andrew Tridgell 2bc2460c07 APM: optional build with new controller libs 2012-08-22 12:39:07 +10:00
Jonathan Challinger 10505093e1 APM_Control: added new APM controllers library 
See
http://www.challinger.us/2012/07/16/tuning-arduplane-roll-and-pitch-controllers/
for details
 2012-08-22 12:39:07 +10:00
uncrustify d45328c98c uncrustify libraries/DataFlash/DataFlash.h 2012-08-21 19:19:52 -07:00
uncrustify a935bf77ce uncrustify libraries/DataFlash/DataFlash.cpp 2012-08-21 19:19:52 -07:00
uncrustify e233e4d625 uncrustify libraries/AP_Motors/AP_MotorsHeli.h 2012-08-21 19:19:52 -07:00
uncrustify 24943e0ea7 uncrustify libraries/AP_Motors/AP_MotorsHeli.cpp 2012-08-21 19:19:52 -07:00
uncrustify 4189870bfb uncrustify libraries/AP_Limits/AP_Limit_Geofence.cpp 2012-08-21 19:19:52 -07:00
uncrustify e49b12ca2e uncrustify libraries/AP_GPS/GPS.h 2012-08-21 19:19:52 -07:00