9dd978576b
ArduCopter: auto yaw changes to allow pilot override of yaw during missions
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Added set_yaw_mode to better control of yaw controller changes and variable initialisation.
Replaced AUTO_YAW mode with separate yaw controllers YAW_LOOK_AT_NEXT_WP, YAW_LOOK_AT_LOCATION, YAW_LOOK_AT_HEADING.
Pilot manual override of yaw causes yaw to change to YAW_HOLD (i.e. manual yaw) until next waypoint is reached.
Added get_yaw_slew function to control how quickly autopilot turns copter
Changed YAW_LOOK_AHEAD to use GPS heading and moved to new get_look_ahead_yaw function in Attitude.pde
Renamed variables: target_bearing->wp_bearing, original_target_bearing->original_wp_bearing.
Removed auto_yaw_tracking and auto_yaw variables and update_auto_yaw function as they are no longer needed.
Simplified MAV_CMD_CONDITION_YAW handling (do_yaw). We lose ability to control direction of turn and ability to do long panorama shots but it now works between waypoints and save 20bytes.
12 years ago
68aa5e4682
AC add ability to start new accel_scale via mavlink
12 years ago
2949d58b71
Copter: re-enable sending of GLOBAL_POSITION_INT message
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this gives important raw GPS velocity information, plus relative and
absolute height
12 years ago
5818aaad42
Copter: fixed build error
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thanks to Marco for pointing this out
12 years ago
f6ec932d63
Copter: added reboot in CLI and over MAVLink
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useful for getting out of CLI
12 years ago
cd07d965a7
Copter: ported RSSI_PIN option from ArduPlane
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this is useful for OSD users
12 years ago
dbdb3e1194
ACM: allow fetch of parameters by index
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this makes it more efficient to re-fetch parameters that are missing
12 years ago
bcae83c4f6
ACM: make it possible to run CLI on radio port in ArduCopter
12 years ago
704da2a5d9
MAVLink: make it possible to enter the CLI over the radio
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this only works on the APM2, where UART0 is also the radio port
12 years ago
bcf740a82f
ACM: support 16 character parameter names
12 years ago
69fbcc8683
MAVLink: fixed accel and gyro sensor offsets in MAVLink
12 years ago
531e62d3b5
MAVLink: improve usefulness of logged GPS velocities
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we need them to align with time to use them for accelerations
12 years ago
cdfd3f9ccc
ArduCopter, ArduPlane: rename ap variable in GCS_Mavlink.pde to resolve compiler warning re shadowing of variable 'ap'
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Changed ArduPlane to keep function consistent with ArduCopter
12 years ago
fddfb0b1a3
MAVLink: update compass health in SYS_STATUS
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this will make it easier to tell if a I2C error occurred in flight
12 years ago
bcb9519fd7
ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues
12 years ago
95f6357d35
ArduCopter: fix APM2 build
12 years ago
d2a5928c06
Ap state updates
12 years ago
a1b4ec6d0e
ArduCopter: move to use new INS library instead of IMU library
12 years ago
e8ab62f6e5
ACM: switch to GPS velocity numbers in GLOBAL_POSITION_INT
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these numbers are much more useful than the redundent rotated ground
speed. They tell us exactly what the GPS is giving to AHRS
12 years ago
bbc7f050e5
ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors
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Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
mavelous <mavelous@googlegroups.com>
Michael,
Per our discussion today,
In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm
Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!
Best
Pat
13 years ago
a38fef65c7
AP,AC Add ability to override an altitude in any auto mode, on the current active target
13 years ago
e8e8c27db4
ACM Mavlink - fixed comparison of unsigned to signed int by casting to uint8_t
13 years ago
e8d928cca4
ACM: added TELEM_DELAY to ArduCopter
13 years ago
f7a748d43b
uncrustify ArduCopter/GCS_Mavlink.pde
13 years ago
11e946eb54
ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long"
13 years ago
2e4e8bbf1a
ArduCopter: changed "unsigned long" to "uint32_t"
13 years ago
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
13 years ago
ed064b2506
MAVLink: enable fetching of single parameters
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this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
13 years ago
dc47074dbd
MAVLink: removed the need for Mavlink_compat.h
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we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
13 years ago
2a7b298bbc
MAVLink: moved mavlink variables back to library
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these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
13 years ago
c2a4d59132
AP_Param: update ArduCopter core for new AP_Param interface
13 years ago
e577b51e17
AC remove attitude hil unused extra (gps jump issue.)
13 years ago
ef870e3ca1
AC remove some attitude HIL limitations
13 years ago
8e5312a759
ArduCopter: add support for MAVLink's MAV_CMD_NAV_ROI command
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do_nav_roi and verify_nav_roi functions added to turn the copter and/or mount in response to a MAV_CMD_NAV_ROI way point
13 years ago
85465c9126
MAVLink: fixed another two places where micros() was used for a millisecond time
13 years ago
fc4f111d15
Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground.
13 years ago
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
13 years ago
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
13 years ago
8220ae8096
MAVLink: climb_rate is in m/s
13 years ago
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
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this simplifies the code a lot. We're not going back to 1.0
13 years ago
3cf16c1424
GCS_Mavlink.pde
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removed Approach define
13 years ago
c276fe8fa0
GCS_Mavlink: added notes to #if malink10
13 years ago
55092c25a6
SITL: enable the SIM_* parameters in ArduCopter and ArduPlane
13 years ago
dae1a57dc5
ACM: adapt the ArduCopter code for new barometer interface
13 years ago
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
13 years ago
46fb3b783a
GCS_Mavlink.pde : mav_nav only used in legacy Mavlink.
13 years ago
c71c503c84
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
13 years ago
bef005b5f2
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
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http://code.google.com/p/arducopter/issues/detail?id=430
13 years ago
14be88dd55
AC: add hilstate message
13 years ago
7c63d2c17b
ACM: MAVLINK10 uses HIL_STATE
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thanks to Michael for noticing this
13 years ago
rmackay9
Michael Oborne
Andrew Tridgell
Jason Short
Pat Hickey
Jonathan Challinger
Andreas M. Antonopoulos