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1074 Commits

Author SHA1 Message Date
Andrew Tridgell
91a04ab654 Plane: fixed headers for mode logging 2013-05-31 14:04:03 +10:00
Andrew Tridgell
cae1079747 Plane: auto-convert the old RLL2SRV* parameters to the new CTL_RLL_* parameters 2013-05-31 07:58:29 +10:00
Andrew Tridgell
e48b8c7b4a Plane: improve RTL altitude docs 2013-05-31 07:58:29 +10:00
Andrew Tridgell
6e0f1f56de Plane: update docs on volt/current pin 2013-05-31 07:57:15 +10:00
Andrew Tridgell
fa9eb84542 Plane: added more parameter docs (flaps and GCS control) 2013-05-30 09:44:09 +10:00
Andrew Tridgell
de904468b2 Plane: added BATT_MONITOR and VOLT_DIVIDER docs 2013-05-30 09:06:36 +10:00
Andrew Tridgell
eba7d6da9a Plane: removed the old crash_timer code 
This code is less relevent with the new L1 navigation, and could cause
issues with the pilot not having control after a long dive.

Thanks to Soren for pointing out the issues

See issue #305
 2013-05-28 11:19:28 +10:00
Andrew Tridgell
f9a1b4f0e3 Plane: improve ALT_MIX docs 2013-05-28 10:10:22 +10:00
Andrew Tridgell
767d9d0eb5 Plane: fixed stick mixing in AUTO modes 
the mixing was asymmetric. Many thanks to Soren Kuula for noticing this!
 2013-05-27 08:24:35 +10:00
Andrew Tridgell
c481ac8745 Plane: use a default mixing gain of 0.5 
this ensures compatibility with existing configs
 2013-05-25 19:15:47 +10:00
Andrew Tridgell
c81421e275 Plane: added MIXING_GAIN parameter 
this allows for the full range of output on both channels, but can
saturate
 2013-05-25 18:28:13 +10:00
Andrew Tridgell
a22f5e3bc4 Plane: enable wind estimation 2013-05-24 11:21:42 +10:00
Andrew Tridgell
dd633fcf3f Plane: make voltage and battery capacity failsafe settable at runtime 
this also fixes issue #292
 2013-05-22 20:33:57 +10:00
Randy Mackay
4c08e32bf6 Plane: param update for AP_Baro 2013-05-21 14:22:23 +09:00
Randy Mackay
84909ee56a Plane: add parameter description for LOG_BITMASK 2013-05-21 11:22:11 +09:00
Randy Mackay
c7961a72fc Plane: send_text_P bug fix for short messages 2013-05-20 12:51:16 +09:00
Andrew Tridgell
bd4b7d136f Plane: mark ArduPlane 2.74beta 2013-05-13 17:32:33 +10:00
Andrew Tridgell
001d18b51d Plane: removed scaling of pitot source 2013-05-13 15:19:05 +10:00
Andrew Tridgell
97b6aaac77 Plane: use voltage_average() for RSSI 
this fixes it on PX4
 2013-05-13 15:19:05 +10:00
Andrew Tridgell
b940c4b28e Plane: use library gcs_severity 2013-05-09 09:28:57 +10:00
Andrew Tridgell
635b3fabda Plane: fixed APM1-1280 build 2013-05-08 21:44:45 +10:00
Andrew Tridgell
81c1fd5fc4 Plane: support 3D accel calibration over MAVLink 2013-05-08 16:25:35 +10:00
Andrew Tridgell
c5f1570f32 Plane: fixed flash logging of ATT 
fixed types to be int16
 2013-05-08 14:21:32 +10:00
priseborough
854c50501d Plane: Added a constraint to demanded bank angle during FBW-A mode to prevent roll limits being exceeded 2013-05-07 11:01:05 +10:00
Andrew Tridgell
fdd509a7c1 Plane: move baro init earlier in startup 
this ensures it is initialised when CLI takeover by MP happens

Thanks to Prof Avi Levi for reporting this bug
 2013-05-06 10:57:57 +10:00
Andrew Tridgell
0cf49308af Plane: mark a 2.73beta release 2013-05-05 22:36:22 +10:00
Andrew Tridgell
0e6a64fc14 Plane: reset roll/pitch integrators for APM_Control in takeoff 
when airspeed is below airspeed minimum. This is consistent with the
previous controllers

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 22:03:13 +10:00
Andrew Tridgell
9c6f80c42b Plane: moved some default values to Parameters.pde 2013-05-05 21:51:09 +10:00
Andrew Tridgell
6251d0510a Plane: obey pitch trim and throttle pitch feed forward in new controllers 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 21:51:09 +10:00
Andrew Tridgell
e87a6d5564 Plane: added links to new APM controller docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell
11ad9d5a2d Plane: auto-invert pitch control when upside down 
this helps to recover when flying inverted, for example when in manual
and hitting the lower altitude geofence
 2013-05-05 21:51:09 +10:00
Andrew Tridgell
4e2b88f6e6 Plane: added ATT_CONTROLLER option to select attitude controller 
set to 1 for the new APM_Control library
 2013-05-05 21:51:09 +10:00
Andrew Tridgell
55f7d18979 Plane: avoid copying the DCM matrix 2013-05-05 21:51:09 +10:00
priseborough
3663426550 Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions. 
Use the component of velocity in the forward direction rather than the magnitude
 2013-05-05 21:51:08 +10:00
Paul Riseborough
663951d9a7 Plane: rename APM_Control parameters 
this groups the parameters more logically
 2013-05-05 21:51:08 +10:00
Paul Riseborough
8c5b603848 Plane: use new APM_Control API 2013-05-05 21:51:08 +10:00
Andrew Tridgell
b43712e4d2 Plane: fixed APM1-1280 build 2013-05-03 12:40:43 +10:00
Andrew Tridgell
9f0a4dd553 Plane: log GCS text messages to flash log 
useful for seeing more complex actions
 2013-05-03 11:16:50 +10:00
Andrew Tridgell
bb8f9d5443 Plane: simplify setHIL for baro 2013-05-02 15:27:02 +10:00
Andrew Tridgell
3cd52a9689 Plane: fixes for AP_Baro_HIL 2013-05-02 15:09:27 +10:00
Andrew Tridgell
0d97f417ec Plane: enable compass on all boards by default 
if not present, then mag init will fail and it will disable
 2013-05-02 15:01:33 +10:00
Andrew Tridgell
0aa38a5bd4 Plane: use new HIL compass API 2013-05-02 15:00:59 +10:00
Andrew Tridgell
5ba171af9a Plane: fixed mavlink levelling 
this was broken by a recent commit (after 2.72 was released)
 2013-05-02 13:38:28 +10:00
Andrew Tridgell
a019e3740e Plane: updates for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell
9584aa89d9 Plane: replaced constrain() with constrain_float() 2013-05-02 10:27:10 +10:00
Randy Mackay
b0f5b9a4cf Plane: use renamed RCInput valid_channels 2013-04-29 15:06:38 +09:00
Andrew Tridgell
de3fcbc413 Plane: removed the MANUAL_LEVEL option 
levelling on every startup is far too error prone. This was just
another parameter that everyone changed.
 2013-04-29 14:19:53 +10:00
Andrew Tridgell
3d7a4d0e6e Plane: added ELEVON_OUTPUT option 
this is like the vtail mixer, but for elevons
 2013-04-29 12:13:59 +10:00
Andrew Tridgell
855277fa85 Plane: get ready for 2.72 release 2013-04-28 15:56:30 +10:00
Andrew Tridgell
bdf0a2da69 Plane: log mode number as well as mode string 
this makes graphing mode changes easier
 2013-04-28 14:58:13 +10:00
Andrew Tridgell
b53e3bb1fc Plane: log GPS messages as they come in 
stops us logging duplicate messages
 2013-04-28 14:56:31 +10:00
Andrew Tridgell
1956d9c2dc Plane: show modes as strings in log 2013-04-28 14:47:59 +10:00
Randy Mackay
f47a2e951a Plane: add I2C error count to PM message 2013-04-26 22:39:56 +09:00
Andrew Tridgell
0b8c2da4df Plane: support 12 output channels on PX4 2013-04-25 20:10:53 +10:00
Andrew Tridgell
4f225eff57 Plane: if airspeed enabled, require 5m/s to unsuppress throttle 2013-04-25 20:10:53 +10:00
Andrew Tridgell
ac7561c5d5 Plane: mark 2.72beta version 2013-04-24 16:19:18 +10:00
Andrew Tridgell
8ec1eaa8b1 build: removed obsolete cmake rules 
these have not been maintained for over a year
 2013-04-23 11:07:53 +10:00
Andrew Tridgell
e446f375a7 Plane: set loiter.direction for GUIDED mode 2013-04-21 23:46:35 +10:00
Bill Bonney
3ec891265f Plane: Enable CURRENT logging by default onto Dataflash 2013-04-21 07:24:02 +10:00
Andrew Tridgell
02ed37e750 Plane: fixed APM1-1280 build 2013-04-20 18:21:19 +10:00
Andrew Tridgell
2e5834cc7f Plane: print flight mode as string in logs 2013-04-20 15:18:10 +10:00
Andrew Tridgell
3b90c6c386 Plane: log parameter changes 2013-04-20 13:52:36 +10:00
Andrew Tridgell
991d6598ef Plane: log board voltage 2013-04-20 13:52:36 +10:00
Andrew Tridgell
5c553852ed Plane: when logging is disabled don't include DataFlash at all 2013-04-20 13:52:36 +10:00
Andrew Tridgell
0c5b393919 Plane: added compass logging 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c56f338fe0 Plane: convert to new logging system 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c8af70a18d Plane: make the plane code compatible with the new logging system 
not actually converted yet
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
a329e32ccb Plane: added gps status to flashlog 2013-04-19 10:24:20 +10:00
Andrew Tridgell
abe4dba871 Plane: added PX4 flash logging 2013-04-17 21:35:27 +10:00
Andrew Tridgell
a12323c9fd Plane: fixed logging for new API 2013-04-17 21:34:56 +10:00
Andrew Tridgell
42344455c9 Plane: fixed structure init for arduino compiler 2013-04-15 21:59:07 +10:00
Andrew Tridgell
9f0f482dd7 Plane: fixed LOITER_TIME to start when loiter starts 
thanks to Paul Riseborough for finding this bug!
 2013-04-15 21:39:14 +10:00
Andrew Tridgell
75f4a43e2d Plane: fixed LOITER_TURNS command 
and cleanup more loiter variables
 2013-04-15 21:31:11 +10:00
Andrew Tridgell
82cd391cf8 Plane: use RADIUS_OF_EARTH define 2013-04-15 14:55:58 +10:00
Andrew Tridgell
8f091e70c8 Plane: move elevon variables into a structure 2013-04-15 14:53:56 +10:00
Andrew Tridgell
79c6f32400 Plane: made variables static and remove initial rc overrides 
minor code size savings
 2013-04-15 14:46:01 +10:00
Andrew Tridgell
e918293e86 Plane: explain verify_*() commands 2013-04-15 14:41:15 +10:00
Andrew Tridgell
19b92b5bd8 Plane: removed "circle waypoint" completion test 
this is redundent with the location_passed_point() test
 2013-04-15 14:39:18 +10:00
Andrew Tridgell
994d8e354a Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter 
this follows the same convention as missions
 2013-04-15 10:52:32 +10:00
Andrew Tridgell
78538d0543 Plane: removed old HDNG2RLL PID control 
not used with L1
 2013-04-15 10:52:32 +10:00
Andrew Tridgell
b2ad43f625 Plane: removed ahrs.set_barometer() 2013-04-15 10:52:32 +10:00
Andrew Tridgell
8d2cf6f3e5 Plane: update author list 2013-04-12 22:01:41 +10:00
priseborough
70a186464b Plane: added LEVEL_ROLL_LIMIT parameter 
this replaces both TKOFF_HEAD_HOLD and RUDDER_STEER, allowing users to
instead select a roll limit for takeoff and landing
 2013-04-12 21:59:52 +10:00
Andrew Tridgell
575f346e85 Plane: removed HIL_MODE_ATTITUDE 
we really need full sensors for HIL with the L1 controller. The flight
is also _much_ better with sensors HIL.
 2013-04-12 17:44:40 +10:00
Andrew Tridgell
11eb0cfce1 Plane: update for new AP_Navigation controller class 
this switches ArduPlane over to use the L1 navigation controller, via
a generic nav_controller object pointer.

Note that the nav_controller controls all types of navigation now,
including level flight and heading hold. This provides a cleaner
abstraction than the old method of special case navigation handling

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-04-12 12:48:09 +10:00
Andrew Tridgell
c47bc09a3c Plane: avoid doing radio trim if less than 20% of travel available 
this prevents problems with awful trim on bootup due to RC TX being
off
 2013-04-12 12:47:59 +10:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell
71f6287388 Plane: fixed spelling 2013-04-06 17:42:20 +11:00
Andrew Tridgell
dcbe144c7e Plane: prepare for release of 2.71 2013-04-06 17:27:21 +11:00
Andrew Tridgell
e58f49aeaf Plane: copy rudder out in TRAINING mode 
we were doing rudder mixing in training mode, which shouldn't be done
 2013-04-05 19:38:43 +11:00
Andrew Tridgell
993154ea59 Plane: expand the VTAIL_OUTPUT docs for APM1 2013-04-05 16:38:46 +11:00
Andrew Tridgell
bd2b9fbe9d Plane: simplify the VTail mixer to be more like a hardware mixer 
this should make it easier to trim the vtail
 2013-04-05 15:47:51 +11:00
Andrew Tridgell
17cbcd1bf6 Plane: fixed failsafe with VTAIL_OUTPUT 2013-04-05 15:35:26 +11:00
Andrew Tridgell
406921faf1 Plane: added VTAIL_OUTPUT option 
this allows for software vtail mixing
 2013-04-05 15:22:11 +11:00
Randy Mackay
21a51c8333 Plane: update GCS_Mavlink parameter documentation 2013-04-03 22:58:25 +09:00
Andrew Tridgell
a69c9ff674 Plane: added logging of DIGICAM events 2013-04-02 13:08:38 +11:00
Andrew Tridgell
ddfcafe80f Plane: fixed DIGICAM camera trigger 2013-04-02 13:08:38 +11:00
Andrew Tridgell
683a2919d1 Plane: prevent stick mixing when throttle is below failsafe threshold 
this fixes issue #40
 2013-04-02 10:42:56 +11:00
Andrew Tridgell
c5e2cfcc3e Plane: preparing for 2.71-beta 2013-04-02 09:25:24 +11:00
Andrew Tridgell
2506c216dd Plane: added a second type of stick mixing 
this changes STICK_MIXING from a boolean to a tri-state. With
STICK_MIXING=1 it now uses FBW style mixing. With STICK_MIXING=2 it
uses the old style of direct stick mixing.
 2013-04-02 08:52:56 +11:00
Andrew Tridgell
5d54215221 Plane: use int16_t() not int() to ensure simulator matches AVR 2013-04-01 22:17:05 +11:00
Andrew Tridgell
e390726bdd Plane: prevent overflow on large PID gains 
this uses get_pid_4500() to prevent overflow of servo_out on large PID gains
 2013-04-01 22:17:04 +11:00
Andrew Tridgell
624ebced38 Plane: document INVERTEDFLT_CH 2013-04-01 22:17:04 +11:00
Andrew Tridgell
dfb14d760b Plane: added HIL_SERVOS option 
this allows for real servo output in HIL
 2013-03-30 14:38:43 +11:00
Andrew Tridgell
6cc4aadc06 Plane: report compass health in SYS_STATUS 2013-03-29 13:48:40 +11:00
Andrew Tridgell
a165f0d138 Plane: removed old angle wrap code 2013-03-29 13:13:50 +11:00
Andrew Tridgell
7db7d7db77 Plane: change FBWB altitude control algorithm 
this makes FBWB much less sensitive to airframe tuning. When the
elevator stick first goes neutral it locks in the current altitude as
the target altitude. When the elevator stick is off neutral, it moves
the target altitude in proportion to the elevator, at a rate goverened
by the new FBWB_CLIMB_RATE parameter

This prevents the aircraft from slowly drifting in altitude in FBWB,
and gives a more intuitive control mechanism for altitude.

Thanks to Chris Miser from Falcon UAV for help in designing this
change
 2013-03-28 10:27:25 +11:00
Andrew Tridgell
fcde3ceb24 Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0 2013-03-27 16:36:39 +11:00
Randy Mackay
a49fe272ad Plane: replace gps fix with status 
Required to ensure 3d fix is used for initialising home
 2013-03-27 11:42:02 +09:00
Randy Mackay
c2055557f5 Plane: add support for GPS fix type 2D 2013-03-27 11:41:51 +09:00
Andrew Tridgell
f077f54e6a Plane: added TKOFF_HEAD_HOLD option 
this allows control over whether ArduPlane tries to hold heading
during auto takeoff. For hand launches it can be better to hold the
wings level and not attempt to hold heading during takeoff to prevent
the possibility of a stall during the climb out.

Thanks to Chris Miser from Falcon UAV for the feedback that led to
this option.
 2013-03-27 10:27:14 +11:00
Andrew Tridgell
1d983b3f2e Plane: fixed X accel triggering of auto 2013-03-22 11:53:45 +11:00
Andrew Tridgell
1a36c3684b Plane: fixed GPS test (detection of uBlox needs 10Hz poll) 2013-03-21 22:45:17 +11:00
Andrew Tridgell
6948e0c473 Plane: only enter CLI is link is idle when 3 enters are hit 
this will prevent binary contents of RADIO packets being interpreted
as CLI enter line-feeds
 2013-03-21 21:57:54 +11:00
Andrew Tridgell
0e37ae4400 Plane: change CLI timeout to 20s 2013-03-21 17:34:34 +11:00
John Stäck
c9576e59f9 Add set command to setup menu (and changed show command), same as for ArduCopter. Not included when building for 1280. 2013-03-19 11:40:25 +09:00
Randy Mackay
36834e77b5 Copter: remove support for CLI Slider 2013-03-18 14:07:04 +09:00
Andrew Tridgell
36ff950b12 Plane: fixed MAVLink target IDs in fence point message 
thanks to Kevin Hester for finding this
 2013-03-12 15:04:48 +11:00
Andrew Tridgell
0a385cc0ff Plane: added TKOFF_THR_MINACC option 
this is used for triggering auto takeoff with a hand launched plane
 2013-03-09 14:41:04 +11:00
Michael Warren
9697ff5d6d Plane: Added extra parameter to specify at what speed in auto-takeoff throttle should engage 
This adds TKOFF_THR_MINSPD in m/s
 2013-03-09 14:19:48 +11:00
Andrew Tridgell
87c6545ac6 Plane: don't trigger GCS failsafe if GCS never connected 
The we have never received a heartbeat message from the GCS then don't
use the lack of heartbeat to trigger a failsafe event
 2013-03-09 13:48:39 +11:00
Andrew Tridgell
e93888dee9 Plane: make a throttle_cruise of 0 mean always zero throttle 
this can be used for parachute landing missions

Thanks to Chris Miser for the suggestion
 2013-03-09 13:48:39 +11:00
Andrew Tridgell
e0e22b63a7 Plane: removed INPUT_VOLTS parameter 
no longer needed
 2013-03-08 10:01:33 +11:00
Andrew Tridgell
2331c84423 Plane: use voltage_average() to not depend on INPUT_VOLTS 2013-03-03 16:16:01 +11:00
Andrew Tridgell
de55e19eec Plane: updates for new dataflash API 2013-03-01 07:18:26 +11:00
Andrew Tridgell
b3213b7113 Plane: fixes for new DataFlash API 2013-03-01 07:18:25 +11:00
Andrew Tridgell
5f4c5f8201 Plane: update SERIAL0_BAUD parameter description 2013-02-22 08:39:02 +11:00
Andrew Tridgell
139acc0530 Plane: ignore control mode changes when in throttle failsafe 
this prevents the receiver causing a temporary mode change
 2013-02-21 11:21:39 +11:00
Andrew Tridgell
1ebaa14a99 Plane: prepare for 2.70 release 2013-02-21 09:49:15 +11:00
Andrew Tridgell
0a0b51cc63 Plane: reset AHRS trim after a level operation 2013-02-20 11:56:02 +11:00
Andrew Tridgell
24826c0c74 Plane: default the stream rates to 1Hz 2013-02-20 10:08:49 +11:00
Andrew Tridgell
1007f2ef07 Plane: fixed a bug with setting stream rates 
this is what caused the "no sensors" problem in the 2.69 release
 2013-02-20 09:32:01 +11:00
Randy Mackay
9c984b18db Plane: integrate automatic roll and pitch trims 2013-02-19 13:30:51 +09:00
Andrew Tridgell
c989099665 Plane: enable PX4IO dual telemetry devices 2013-02-18 13:56:21 +11:00
Andrew Tridgell
e8806b14ec Plane: enable MAV_CMD_DO_DIGICAM_CONTROL 2013-02-14 09:35:56 +11:00
Andrew Tridgell
8c0f065ee4 Plane: fixed an integer multiply error that caused poor altitude on landing 
the control of altitude between waypoints was broken due to an integer
overflow
 2013-02-13 19:32:44 +11:00
Andrew Tridgell
2f677acf3b Plane: update firmware version to 2.69 2013-02-11 15:02:08 +11:00
Andrew Tridgell
9f70c6c70d Plane: make CIRCLE mode hold altitude 
this will prevent us losing a lot of altitude during the initial
failsafe phase
 2013-02-11 13:52:25 +11:00
Andrew Tridgell
9d3224ef34 Plane: fixed target speed reload on landing 
thanks to Doug for this fix!
 2013-02-11 11:40:36 +11:00
Michael Oborne
88840eb759 Send FS state to gcs for AP 2013-02-09 10:11:26 +08:00
Andrew Tridgell
c41b927a15 Plane: added shell command for px4 
used to launch nsh for PX4IO firmware upgrades
 2013-02-07 15:04:33 +11:00
Andrew Tridgell
3913c42183 Plane: fixed bit combination 
bitwise, not arithmetic
 2013-02-05 10:33:10 +11:00
Jochen Tuchbreiter
c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Brandon Jones
fa7839941f After Plane: cleanup driver declaration 4d9a74d, HIL_MODE_ATTITUDE with MAG_ENABLE=1 set results in continuous reboot/APM crash. Added define for AP_COMPASS_HIL when HIL_MODE_ATTITUDE is enabled. 2013-02-05 09:04:34 +11:00
Michael
b9a5be6c8b Plane: added secondary elevator support 2013-02-05 08:57:58 +11:00
Andrew Tridgell
e762c43312 Plane: switch to an array for stream rates 
this saves a couple of hundred bytes of flash.
 2013-02-05 08:20:41 +11:00
Pat Hickey
85d783d5a9 ArduPlane: fixed memory unsafe member access in GCS_MAVLINK 2013-02-02 22:43:59 -08:00
Andrew Tridgell
ebb7f27962 Plane: minor signed/type fixups 2013-01-27 13:16:26 +11:00
Andrew Tridgell
3caaa27526 Plane: fixed build errors in logging 2013-01-27 12:58:50 +11:00
Randy Mackay
7297a1ff83 Plane: renamed RAW dataflash message to IMU 2013-01-26 17:29:29 +09:00
Randy Mackay
e674626fd6 Plane: rename CUR and CURR to CURRENT for logging 
Based on user complaint that log was enabled/disabled using CUR while
message that appeared in log was CURR.
 2013-01-26 17:19:42 +09:00
Randy Mackay
6f46f4a7d0 Plane: logging changes to use new faster packet method 
also RAW message renamed to IMU
 2013-01-26 17:07:21 +09:00
Randy Mackay
d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Andrew Tridgell
9178022a73 Plane: don't change trims if radio_in is zero 2013-01-25 20:44:36 +11:00
Andrew Tridgell
7ab3d93ed4 Plane: fixed typo 2013-01-23 10:06:22 +11:00
Andrew Tridgell
49356b790b Plane: limit number of bytes read per GCS check 2013-01-23 09:35:06 +11:00
Andrew Tridgell
9813468640 Plane: fixed mavlink fetch of 16 character parameter 2013-01-21 16:52:08 +11:00
Andrew Tridgell
4d9a74d742 Plane: cleanup driver declaration 
remove a lot of the #if nesting
 2013-01-21 16:08:55 +11:00
Andrew Tridgell
4deee014d6 Plane: setup PX4 airspeed analog port 2013-01-21 13:56:28 +11:00
Andrew Tridgell
96b87e3b44 Plane: fixed test baro printout 2013-01-20 22:13:21 +11:00
Andrew Tridgell
2e04d4827a Plane: run PX4 console at 57600 2013-01-20 22:13:21 +11:00
Andrew Tridgell
f9cb9e08ae Plane: fixed orientation of PX4 compass 2013-01-17 17:23:34 +11:00
Andrew Tridgell
9058949558 Plane: fixed some warnings 2013-01-16 14:19:25 +11:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell
fa3a4c68b6 Plane: use common log reading function 2013-01-15 14:03:51 +11:00
Andrew Tridgell
28352b3548 Plane: ensure ahrs.init() is called 2013-01-13 17:32:48 +11:00
Andrew Tridgell
92c9a4c1ce Plane: start update logging for new API 2013-01-13 17:31:42 +11:00
Andrew Tridgell
bfaf91affe Plane: use an enum for flash log message types 2013-01-13 17:31:42 +11:00
Andrew Tridgell
86f667f6cc Plane: added new SERIAL0_BAUD parameter 
this is useful on PX4
 2013-01-13 07:39:40 +11:00
Andrew Tridgell
bea9a9d558 Plane: move memcheck_init() earlier in setup() 2013-01-11 10:25:09 +11:00
James Bielman
ab37f833db MS5611: Fix CONFIG_MS5611_SERIAL definitions. 
- Make sure the values are defined as integers.  We were always using
  SPI rather than using I2C when desired.
 2013-01-09 11:19:51 -08:00
Andrew Tridgell
e0f052dd9a Plane: update for new AP_Param API 2013-01-09 13:30:55 +11:00
Andrew Tridgell
38f56be2c4 Plane: enable hardware sensors on PX4 2013-01-04 21:07:56 +11:00
Andrew Tridgell
2e2f96d721 Plane: cope with a HIL_STATE packet before GPS init 2013-01-04 12:47:08 +11:00
Andrew Tridgell
9e0096ddb5 Plane: fix handling of sensors HIL startup 2013-01-04 12:34:35 +11:00
James Bielman
264db3670e AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C. 
- Update ArduCopter and ArduPlane modules to pass the correct serial
  driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
 2013-01-03 13:48:06 -08:00
Andrew Tridgell
868269e037 Plane: switch PX4 to attitude HIL for now 
a bit easier to debug
 2013-01-03 13:38:54 +11:00
Andrew Tridgell
e8075b1657 Plane: for HIL_SENSORS for PX4 for now 
until we have sensor drivers
 2013-01-03 11:03:24 +11:00
Andrew Tridgell
07eed60ae4 Plane: use new apm.mk 2013-01-02 17:28:21 +11:00
Andrew Tridgell
2fe77fa6fa Plane: check for APPDIR to pull in px4 build logic 2013-01-02 17:06:44 +11:00
Andrew Tridgell
4cdb3cd390 Plane: use GRAVITY_MSS 2013-01-02 14:45:08 +11:00
Andrew Tridgell
1a49549e3e Plane: start port of main ArduPlane code to AP_HAL_PX4 2013-01-02 14:45:08 +11:00
Andrew Tridgell
b6295c12e1 Plane: fixes for new AP_Relay interface 2013-01-02 10:18:45 +11:00
Craig@3DR
0ed25cf719 Global change all references from 
GPS_PROTOCOL_MTK16
to
GPS_PROTOCOL_MTK19
 2013-01-02 09:24:31 +11:00
Andrew Tridgell
edad43611d Plane: reset last heartbeat time on startup completion 
this gives more time for the GCS to send its first heartbeat
 2012-12-26 08:46:36 +11:00
Andrew Tridgell
85e4f67e68 Plane: added a note about the dangers of the FS_GCS_ENABL option 2012-12-25 21:18:39 +11:00
Andrew Tridgell
cf8e648558 CLI: fixed accel setup 
disable mavlink callback in CLI
 2012-12-24 08:51:33 +11:00
Andrew Tridgell
d54c6989ab Plane: fixed the last build warnings 
we now build with no warnings for APM1, APM2 and SITL. Yay!
 2012-12-20 22:46:48 +11:00
Andrew Tridgell
dc2b11704f Plane: fixed a build warning 2012-12-20 22:42:44 +11:00
Andrew Tridgell
feca411943 Plane: added new TRAINING mode 
this mode gives manual control when the roll or pitch is within the
set limits (the same limits as FBW mode), and prevents the pilot from
flying beyond those limits, essentially a "attitude limited manual"
mode
 2012-12-20 22:41:58 +11:00
Andrew Tridgell
1cb4724b7f Plane: fixes for 1280 build 2012-12-20 14:53:24 +11:00
Andrew Tridgell
9a2e77b797 Plane: fully disable relay and mount code on APM1-1280 
this saves some more flash space
 2012-12-20 14:53:23 +11:00
Andrew Tridgell
772f93ea10 Plane: fixed config for 1280 2012-12-20 14:53:23 +11:00
Pat Hickey
5231e5a959 ArduPlane: fixes for AP_InertialSensor_UserInteract 2012-12-20 14:53:23 +11:00
Andrew Tridgell
3c0440b0b4 Math: use common degrees() and radians() functions 2012-12-20 14:53:22 +11:00
Andrew Tridgell
c63c4f22e2 Plane: fixed formatting 2012-12-20 14:53:22 +11:00
Andrew Tridgell
cf18534163 Plane: use new functions 2012-12-20 14:53:22 +11:00
Pat Hickey
2ad4fed8cd Rover/Copter/Plane: change from vsnprintf to vsnprintf_P 2012-12-20 14:52:38 +11:00
Pat Hickey
edb076a6c5 ArduPlane: use hal's vsnprintf 2012-12-20 14:52:38 +11:00
Andrew Tridgell
62d7fd1a26 Plane: fixed HIL builds 2012-12-20 14:52:37 +11:00
Andrew Tridgell
940cbc900f Plane: use targets.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell
4913aff8cd Plane: remove unused send_text() function 2012-12-20 14:52:35 +11:00
Pat Hickey
eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell
c20481dc94 Plane: SITL has a I2C driver now 2012-12-20 14:52:34 +11:00
Andrew Tridgell
761ab5c3e8 Plane: use AP_HAL_BOARD_DRIVER 2012-12-20 14:52:33 +11:00
Andrew Tridgell
a3e20324ac Plane: added CONFIG_INS_STUB 2012-12-20 14:52:32 +11:00
Andrew Tridgell
41272614ce Plane: simplify board config defines 2012-12-20 14:52:32 +11:00
Andrew Tridgell
73f70cc596 Plane: moved to new GPS init syntax 2012-12-20 14:52:32 +11:00
Andrew Tridgell
18db7b2efd GPS: move _port setting to init() 
this is needed to avoid constructor ordering dependencies
 2012-12-20 14:52:32 +11:00
Pat Hickey
a70a299c49 ArduPlane: refactor Makefile targets in terms of Arduino.mk targets 2012-12-20 14:52:31 +11:00
Andrew Tridgell
7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Andrew Tridgell
d473203737 Build: added global board targets 2012-12-20 14:52:30 +11:00
Andrew Tridgell
678947c65d Plane: more fixes for SITL and new AP_Param startup 2012-12-20 14:52:29 +11:00
Pat Hickey
1e48d0fc69 Makefile Targets rewritten to use per-target extension style 2012-12-20 14:52:29 +11:00
Andrew Tridgell
e82deca305 Plane: updates to support AP_HAL SITL 2012-12-20 14:51:40 +11:00
Andrew Tridgell
a78699113d Plane: fixed Makefile for new AP_HAL build approach 2012-12-20 14:51:39 +11:00
Andrew Tridgell
7046fc05e2 Plane: change to send_text_P() for progmem strings 2012-12-20 14:51:39 +11:00
Andrew Tridgell
7c6dd0736e Plane: use hal.storage for eeprom access 2012-12-20 14:51:39 +11:00
Andrew Tridgell
81d77d2bf4 Plane: fixed Makefile targets for AP_HAL 2012-12-20 14:51:38 +11:00
Pat Hickey
f8dec9ae4a ArduPlane: fixes to use CONFIG_HAL_BOARD instead of CONFIG_APM_HARDWARE 2012-12-20 14:51:37 +11:00
Pat Hickey
c441f02426 ArduPlane: init DataFlash obj 2012-12-20 14:51:37 +11:00
Pat Hickey
a14621534c ArduPlane: port from hal.dataflash to old DataFlash api 2012-12-20 14:51:36 +11:00
Pat Hickey
92b0c302f2 ArduPlane: Ported to AP_HAL 2012-12-20 14:51:36 +11:00
Pat Hickey
a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey
3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Andrew Tridgell
898aa0b260 Plane: fixed spelling error 2012-12-04 11:38:29 +11:00
Andrew Tridgell
e4949291e5 Plane: preparing for 2.68 release 2012-12-04 11:24:24 +11:00
Andrew Tridgell
805a340350 Plane: enable attitude and raw logging in HIL modes 2012-12-04 11:13:33 +11:00
Andrew Tridgell
cbb97f7294 Plane: added apm2 hilsensors target 2012-12-04 09:05:02 +11:00
Andrew Tridgell
24e1af1c82 Plane: fixed sensors and attitude HIL 
we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
 2012-12-03 23:26:39 +11:00
Andrew Tridgell
53951f995a Plane: fixed GPS course in HIL 2012-12-03 17:38:55 +11:00
Andrew Tridgell
567cb47d35 Plane: fixed SERVO_OUTPUT_RAW for HIL 2012-12-03 17:38:31 +11:00
Andrew Tridgell
1104287aa2 Plane: use enum FlightMode in more places 2012-12-01 08:15:48 +11:00
Andrew Tridgell
f5abc2c25e Plane: switch to an enum for flight modes 2012-12-01 08:08:54 +11:00
Andrew Tridgell
a6d8dbeac2 Plane: update ArduPlane for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell
0260559147 Plane: fixed throttle slew limit code 
starting at 1000 is a very bad idea - a petrol engine could cut out
 2012-11-28 12:13:09 +11:00
Andrew Tridgell
697c386075 Plane: use correct throttle range in slewrate 2012-11-28 11:42:05 +11:00
Andrew Tridgell
845dd88091 Plane: make THR_SLEWRATE docs clearer 2012-11-28 11:41:39 +11:00
Andrew Tridgell
92cd631ce5 Plane: added THR_PASS_STAB parameter 
this allows direct passthru of throttle in STABILIZE and FBWA, which
is useful for nitro planes wher you have a throttle cut switch that
drops the throttle below normal minimum.
 2012-11-26 23:33:05 +11:00
Andrew Tridgell
1059ef2a54 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Andrew Tridgell
a87394fff2 Plane: don't do accel calibration in HIL mode 
this should fix the hang on startup
 2012-11-25 21:53:37 +11:00
Andrew Tridgell
56e4cbfb1d Plane: allow reboot on APM1, and add reboot to main CLI menu 2012-11-24 18:20:37 +11:00
Andrew Tridgell
f8a95e4084 APM: preparing for 2.67 release 2012-11-21 22:28:30 +11:00
Andrew Tridgell
84300c85d6 APM: make it possible to run the CLI on any serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell
704da2a5d9 MAVLink: make it possible to enter the CLI over the radio 
this only works on the APM2, where UART0 is also the radio port
 2012-11-21 14:11:05 +11:00
Andrew Tridgell
8f108e2eb3 APM: added AMP_OFFSET option 
thanks to Alexey Kozin!
 2012-11-21 13:34:27 +11:00
Andrew Tridgell
61f2e18e2e APM: allow ailerons to move fully during servo demo 2012-11-21 13:34:27 +11:00
Andrew Tridgell
fcbd3a823b APM: added a new type of auxilary aileron, with rc input 
a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
 2012-11-21 13:34:26 +11:00
Michael Oborne
a5e3ce4655 remove cli planner mode - no longer used 2012-11-21 07:45:45 +08:00
Andrew Tridgell
a600ccece5 APM: support 16 character parameter names 2012-11-20 21:36:13 +11:00