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592 Commits

Author SHA1 Message Date
rmackay9 1cd4b08fac AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9 4bca609b9f AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
Andrew Tridgell 83e061d564 APM: fixed build warning 2012-09-25 07:21:03 +10:00
Andrew Tridgell 812ed3d8bf APM: change to one low priority status buffer per GCS instance 
this allows us to operate the low priority messages on each link
independently.

Thanks to David Buzz for the suggestion!
 2012-09-24 17:39:19 +10:00
Andrew Tridgell f599962b90 APM: prepare for 2.65 2012-09-24 07:14:30 +10:00
Andrew Tridgell 061c676cc6 APM: fixed stick mixing for STABILISE mode 
this is embarrassing
 2012-09-24 07:14:30 +10:00
Andrew Tridgell bf9e2149df APM: prepare for 2.64 release 2012-09-23 19:32:56 +10:00
Andrew Tridgell 1f827d848b APM: fixed stick mixing in CIRCLE mode on throttle failsafe 
Many thanks to Andke for finding this bug!
 2012-09-23 19:27:42 +10:00
Andrew Tridgell 26e526c3ab APM: removed unnecessary waypoint_sending flag 2012-09-22 20:17:19 +10:00
Andrew Tridgell 0a1f428669 APM: send right parameter index when possible 2012-09-22 20:17:17 +10:00
Andrew Tridgell e6c6161e1a APM: fixed mission reset by setting waypoint to zero 
this does a full mission reset (equivalent to rebooting)
 2012-09-22 20:17:13 +10:00
Andrew Tridgell 8c1766f5df APM: added THR_SUPP_MAN option 
this allows for manual throttle control during auto throttle
suppression. This is useful for keeping a petrol engine idling before
takeoff
 2012-09-22 20:17:06 +10:00
Andrew Tridgell 060b7dd5d4 APM: allow RawSensors stream rate to be saved if <= 5 
this makes it possible to configure all stream rates via a parameter
file
 2012-09-22 20:17:02 +10:00
Andrew Tridgell 04111ebcdf APM: don't send GPS_STATUS MAVLink message 
it now provides no useful information as satellites_visible is in
GPS_RAW_INT in MAVLink 1.0
 2012-09-22 20:12:43 +10:00
Andrew Tridgell 3f9bd65d2f APM: send airspeed sensor value, not estimate, when enabled 
this solves the problem of people reporting that airspeed is not shown
when ARSPD_USE is zero.
 2012-09-20 08:00:54 +10:00
Andrew Tridgell a84a08d2a4 APM: make it possible to fetch parameters by index 2012-09-20 07:42:46 +10:00
Andrew Tridgell e28ddb0f3d APM: much faster parameter fetching 
allow up to 30% of bandwidth to be used for parameter send
 2012-09-20 07:29:23 +10:00
Andrew Tridgell 41a4490c5a APM: tweak the default options for an APM1 1280 board 
this allows a few more things to fit in
 2012-09-19 19:36:19 +10:00
Andrew Tridgell 7d84666b9d APM: removed the unused sonar code 
when we start supporting a sonar we'll add a AP_Sonar library, like
AP_Airspeed
 2012-09-19 19:35:22 +10:00
Andrew Tridgell 1cdb3a8dba APM: added ALT_OFFSET parameter 
useful to adjust for barometric pressure changes during a long flight
 2012-09-19 16:23:25 +10:00
Andrew Tridgell a00e00519f APM: save another few bytes 2012-09-18 13:58:50 +10:00
Andrew Tridgell bd2eae8a18 APM: fixed a comment 2012-09-18 13:58:49 +10:00
Andrew Tridgell f32fcb7495 APM: save 100 bytes of memory 
remove flight_mode_strings array
 2012-09-18 13:58:49 +10:00
Andrew Tridgell 8f91728d65 APM: preparing for 2.63 release 2012-09-17 17:32:13 +10:00
Andrew Tridgell 62f1034965 APM: updates for new GPS detection 2012-09-17 14:45:47 +10:00
Andrew Tridgell 73340a5e5d APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
Andrew Tridgell d403465212 APM: tidy up a comment 2012-09-16 15:51:13 +10:00
Andrew Tridgell 8e656a60f2 APM: only copy manual channels in failsafe 
this prevents non-manual channels changing value away from the trim
value on startup
 2012-09-16 15:51:01 +10:00
Andrew Tridgell cf9dd9281c APM: ensure DO_SET_SERVO channels are enabled 2012-09-16 15:08:14 +10:00
Andrew Tridgell 1e51988ecc APM: allow update of last waypoint 
fixed off by one error
 2012-09-16 15:06:26 +10:00
Michael Oborne f9c11627a5 fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
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