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1b1c629167
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441 Commits

Author SHA1 Message Date
Andrew Tridgell
1b1c629167 added sitl build target 2011-12-12 15:14:55 +11:00
Andrew Tridgell
011110e1dd airspeed: use floating point values and better averaging in zero_airspeed() 
this makes the calibration of airspeed a bit more accurate, and
prevents truncation of airspeed values
 2011-12-12 15:14:55 +11:00
Pat Hickey
a48c65b5b5 ArduCopter: update AP_Baro constructors & initializers 2011-12-11 15:21:10 -08:00
Pat Hickey
f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey
6dbd6b4181 ArduCopter: Get barometer data in terms of AP_Baro interface 
* Major change: Log.pde Log_Write_Control_Tuning has changed significantly
* MS5611 has no concept of RawPres and _offset_press
* Log the get_pressure() instead. (If we don't trust the barometer, what's the point?)
 2011-12-11 15:21:10 -08:00
Pat Hickey
39fe9075d9 ArduCopter Init: different call to barometer.init based on CONFIG_BARO 
* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
 2011-12-11 15:21:10 -08:00
Pat Hickey
b055aa6f81 ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
d7f77aec93 ArduCopter & ArduPlane: Added support for apm2beta build via APM2_BETA_HARDWARE define 
* This enables the BMA085 driver for compatibility with beta boards.
* The CLI_SLIDER_ENABLED=DISABLED line does not need to be in the makefile.
  config.h takes care of this default.
 2011-12-11 15:21:09 -08:00
Pat Hickey
62844d8ddc ArduCopter: added config.h and defines.h to support CONFIG_BARO 2011-12-11 15:21:09 -08:00
Pat Hickey
de6507a47d ArduCopter: Rename APM_BMP085 classes to AP_Baro_BMP085 classes. 2011-12-11 15:21:09 -08:00
Pat Hickey
8d878a2cae ArduCopter CLI: Add imu.init before imu.init_accel for "level" 
* Depending on when you entered the CLI, the imu might not be
  initialized yet, and init_accel would hang.
 2011-12-11 15:19:46 -08:00
Pat Hickey
2e200834e1 ArduCopter: Revert "Switched to Gyro only startup" 
This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.

I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.

It is no longer valid to call IMU::init_gyro() before IMU::init().
 2011-12-11 14:50:02 -08:00
Jason Short
5d0e3664ad Hack to prevent fly aways 
Cleanup to remove SIMPLE mode switch note
 2011-12-11 12:01:06 -08:00
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