2.0.12, minor fixes.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2463 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -576,8 +576,11 @@ void medium_loop()
 			medium_loopCounter++;
 
 			// hack to stop navigation in Simple mode
-			if (control_mode == SIMPLE)
+			if (control_mode == SIMPLE){
+				// clear GPS data
+				g_gps->new_data = false;
 				break;
+			}
 
 			// Auto control modes:
 			if(g_gps->new_data){
@@ -1240,15 +1243,15 @@ void update_alt()
 		//sonar_alt = sonar.read();
 
 		// decide if we're using sonar
-		//if ((baro_alt < 1200) || sonar_alt < 300){
-		if (baro_alt < 700){
+		if ((baro_alt < 1200) || sonar_alt < 300){
+		//if (baro_alt < 700){
 			// correct alt for angle of the sonar
 			float temp = cos_pitch_x * cos_roll_x;
 			temp = max(temp, 0.707);
 
 			sonar_alt = (float)sonar_alt * temp;
 
-			if(sonar_alt < 400){
+			if(sonar_alt < 450){
 				altitude_sensor = SONAR;
 				baro_alt_offset = sonar_alt - baro_alt;
 			}

ArduCopterMega/Mavlink_Common.h

@@ -8,16 +8,17 @@
 byte mavdelay = 0;
 
 
-// what does this do?
 static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
 {
 //Serial.print("target = "); Serial.print(sysid, DEC); Serial.print("\tcomp = "); Serial.println(compid, DEC);
     if (sysid != mavlink_system.sysid){
         return 1;
 
-    }else if(compid != mavlink_system.compid){
-		gcs.send_text_P(SEVERITY_LOW,PSTR("component id mismatch"));
-        return 0; // XXX currently not receiving correct compid from gcs
+	// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
+	// If it is addressed to our system ID we assume it is for us
+    //}else if(compid != mavlink_system.compid){
+	//	gcs.send_text_P(SEVERITY_LOW,PSTR("component id mismatch"));
+    //    return 1; // XXX currently not receiving correct compid from gcs
 
     }else{
     	return 0; // no error
@@ -70,7 +71,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 			}
 
 			uint8_t status 		= MAV_STATE_ACTIVE;
-			uint16_t battery_remaining = 10.0 * (float)(g.pack_capacity - current_total)/g.pack_capacity;	//Mavlink scaling 100% = 1000
+			uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total)/(float)g.pack_capacity;	//Mavlink scaling 100% = 1000
 			uint8_t motor_block = false;
 
 			mavlink_msg_sys_status_send(
@@ -80,7 +81,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					status,
 					load * 1000,
 					battery_voltage * 1000,
-					motor_block,
+					battery_remaining,
 					packet_drops);
 			break;
 		}

ArduCopterMega/config.h

@@ -508,10 +508,10 @@
 #endif
 
 // if we are using fast, Disable Medium
-#if LOG_ATTITUDE_FAST == ENABLED
-	#undef LOG_ATTITUDE_MED
-	#define LOG_ATTITUDE_MED 		DISABLED
-#endif
+//#if LOG_ATTITUDE_FAST == ENABLED
+//	#undef LOG_ATTITUDE_MED
+//	#define LOG_ATTITUDE_MED 		DISABLED
+//#endif
 
 #ifndef DEBUG_PORT
 # define DEBUG_PORT 0

ArduCopterMega/defines.h

@@ -267,12 +267,6 @@
 #define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
 #define CURRENT_AMPS(x) ((x*(INPUT_VOLTAGE/1024.0))-CURR_AMPS_OFFSET)*CURR_AMP_PER_VOLT
 
-#define	AIRSPEED_CH 7			// The external ADC channel for the airspeed sensor
-#define BATTERY_PIN1 0		        // These are the pins for the voltage dividers
-#define BATTERY_PIN2 1
-#define BATTERY_PIN3 2
-#define BATTERY_PIN4 3
-
 /* ************************************************************** */
 /* Expansion PIN's that people can use for various things. */
 
@@ -307,6 +301,14 @@
 
 #define RELAY_PIN 47
 
+#define	AIRSPEED_CH 7			// The external ADC channel for the airspeed sensor
+#define BATTERY_PIN1 0		        // These are the pins for the voltage dividers
+#define BATTERY_PIN2 1
+#define BATTERY_PIN3 2
+#define BATTERY_PIN4 3
+#define PIEZO_PIN AN5           //Last pin on the back ADC connector
+
+
 
 // sonar
 #define SonarToCm(x) (x*1.26)   // Sonar raw value to centimeters

ArduCopterMega/setup.pde

@@ -375,11 +375,14 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_batt_monitor(uint8_t argc, const Menu::arg *argv)
 {
-	if(argv[1].i >= 0 && argv[1].i <= 4){
+	if (!strcmp_P(argv[1].str, PSTR("off"))) {
+		g.battery_monitoring.set_and_save(0);
+
+	} else if(argv[1].i > 0 && argv[1].i <= 4){
 		g.battery_monitoring.set_and_save(argv[1].i);
 
 	} else {
-		Serial.printf_P(PSTR("\nOptions: 0-4"));
+		Serial.printf_P(PSTR("\nOptions: off, 1-4"));
 	}
 
 	report_batt_monitor();

ArduCopterMega/system.pde

@@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.21 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.22 Beta", main_menu_commands);
 
 void init_ardupilot()
 {