aepko/Ardupilot2
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5,460 Commits 72 Branches 509 Tags 683 MiB
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572 Commits

Author SHA1 Message Date
Andrew Tridgell
37cb56f3e1 APM: save another few bytes 2012-09-18 13:58:50 +10:00
Andrew Tridgell
df962d25a8 APM: fixed a comment 2012-09-18 13:58:49 +10:00
Andrew Tridgell
12dc2e79cf APM: save 100 bytes of memory 
remove flight_mode_strings array
 2012-09-18 13:58:49 +10:00
Andrew Tridgell
86face0a03 APM: preparing for 2.63 release 2012-09-17 17:32:13 +10:00
Andrew Tridgell
4d4a95501f APM: updates for new GPS detection 2012-09-17 14:45:47 +10:00
Andrew Tridgell
7e8ef0ae95 APM: fixed handling of DO_REPEAT_SERVO and DO_REPEAT_RELAY 2012-09-17 14:45:47 +10:00
Andrew Tridgell
c8e84d18a4 APM: tidy up a comment 2012-09-16 15:51:13 +10:00
Andrew Tridgell
c0798730a8 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
127117b640 APM: ensure DO_SET_SERVO channels are enabled 2012-09-16 15:08:14 +10:00
Andrew Tridgell
208b878988 APM: allow update of last waypoint 
fixed off by one error
 2012-09-16 15:06:26 +10:00
Michael Oborne
94f956a0ca fix AP attitude hil - with randys help 2012-09-15 16:47:18 +08:00
Andrew Tridgell
b55e7903aa APM: prepare for 2.62 release 2012-09-13 12:02:18 +10:00
Andrew Tridgell
bad73b0686 APM: fixed elevon mixing 
this was broken in 2.61
 2012-09-13 12:01:40 +10:00
Andrew Tridgell
6e9abb616a 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
589c8fcc12 APM: report throttle and ground speed mission changes 2012-09-12 13:09:32 +10:00
Andrew Tridgell
b1408008c9 APM: allow for landing pitch control until final stage 2012-09-12 13:09:16 +10:00
Andrew Tridgell
05e72c6e68 APM: fixed roll in landing approach 2012-09-12 11:53:17 +10:00
Andrew Tridgell
5f3ffe4839 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
7e672628ea 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
c9a299665c 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
0812fc4890 APM: reboot only works on the APM2 2012-09-10 11:50:48 +10:00
Andrew Tridgell
cb88681914 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
e2779523ea 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
feb3fe77ce 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
5c3595e0dc 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
657dd5969f APM: preparing for 2.61 release 2012-09-08 18:36:17 +10:00
Andrew Tridgell
49468953a3 APM: updated for new RC_Channel_aux API 2012-09-08 15:14:41 +10:00
Andrew Tridgell
a6422be8fb APM: added mtk and mtk16 build targets 
useful for testing non-auto gps detection
 2012-09-08 12:43:36 +10:00
Andrew Tridgell
f26b9ab286 APM: prevent crosstrack from takeoff point after takeoff completion 2012-09-08 11:37:14 +10:00
Andrew Tridgell
dec12c7370 APM: use ahrs.airspeed_estimate() in two more places 
this applies the wind constraint
 2012-09-08 11:37:11 +10:00
Andrew Tridgell
cde7d8c5e7 APM: fixed some compiler warnings 2012-09-08 10:14:32 +10:00
Andrew Tridgell
d07d42403e APM: tidy up an if() statement 2012-09-08 10:14:20 +10:00
Andrew Tridgell
164c60d25f APM: added RUDDER_STEER option 
when enabled, this uses only the rudder to steer during takeoff and
landing, using aileron only for levelling
 2012-09-08 10:07:03 +10:00
Andrew Tridgell
130b26e1f9 APM: support DO_SET_SERVO command 2012-09-08 10:06:53 +10:00
Andrew Tridgell
96ea350143 APM: added XTRK_MIN_DIST option 
this allows you to disable crosstrack correction on short legs
 2012-09-08 10:06:44 +10:00
Andrew Tridgell
a446a7a9ed APM: allow serial buffer size to be configured 
very useful for packet forwarding setups
 2012-09-08 10:06:35 +10:00
Andrew Tridgell
9b2ad55773 APM: added forwarding of unknown MAVLink types 2012-09-08 10:06:15 +10:00
Andrew Tridgell
68705fe7e6 APM: accumulate mag readings during spare cycles in ArduPlane 
With this change we average over 100 mag readings per compass.read()
call, which means we are reading the compass at over 1kHz instead of
10Hz. The noise reduction is huge.
 2012-09-08 10:05:58 +10:00
Michael Oborne
cd08420c3e AP fix takeoff alt issue 
issue 733
 2012-09-06 20:19:12 +08:00
Pat Hickey
b02340fe10 APM_Config.h for ArduCopter/ArduPlane: better descr of APM2_BETA_HARDWARE 2012-09-05 15:36:57 -07:00
Andrew Tridgell
83153eebd4 APM: obey pitch limits in FBWA as well 
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
 2012-08-30 20:15:42 +10:00
Andrew Tridgell
9a987ce116 APM: fixed docs for LIM_PITCH_MIN 2012-08-30 14:55:08 +10:00
Michael Oborne
1e7adac365 AP fix attitude hil. 
we where waiting on new_data that had no way of getting there.
 2012-08-30 07:54:20 +08:00
Andrew Tridgell
f6c3197cd2 APM: added new TELEM_DELAY parameter 
number of seconds to delay telemetry
 2012-08-30 08:59:39 +10:00
Craig Elder
4ad516c445 Arducopter: increased MAVLINK delay to 6s to reduce the chance of xBee bricking 
Arduplane:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
Ardurover:  increased MAVLINK delay to 6s to reduce the chance of xBee bricking
 2012-08-28 20:09:10 -07:00
Andrew Tridgell
e2b8817a89 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
fce01464b1 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
85e9fa8c3b APM: fixed another problem with DO_JUMP 
off by one error!
 2012-08-28 20:18:24 +10:00
Andrew Tridgell
ded64fd9ea APM: check for geofence fence total of 0 2012-08-28 20:18:24 +10:00
Andrew Tridgell
d13d117e61 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