Initial commit, 3.0.1 R2

APMrover2/APMrover2.pde

@@ -79,6 +79,7 @@ version 2.1 of the License, or (at your option) any later version.
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
 #include <AP_HAL_PX4.h>
+#include <AP_HAL_MPNG.h>
 #include <AP_HAL_Empty.h>
 #include "compat.h"
 
@@ -129,6 +130,8 @@ static void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
 static DataFlash_APM1 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
 static DataFlash_APM2 DataFlash;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_MPNG
+static DataFlash_MPNG DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 //static DataFlash_File DataFlash("/tmp/APMlogs");
 static DataFlash_SITL DataFlash;
@@ -203,6 +206,8 @@ AP_GPS_HIL      g_gps_driver;
 
 #if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
 AP_InertialSensor_MPU6000 ins;
+#elif CONFIG_INS_TYPE == CONFIG_INS_MPU6000_I2C
+AP_InertialSensor_MPU6000_I2C ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_PX4
 AP_InertialSensor_PX4 ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_STUB

APMrover2/config.h

@@ -95,6 +95,21 @@
 # define USB_MUX_PIN 23
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
+#elif CONFIG_HAL_BOARD == HAL_BOARD_MPNG
+ # define A_LED_PIN        13
+ # define B_LED_PIN        31
+ # define C_LED_PIN        30
+ # define LED_ON           HIGH
+ # define LED_OFF          LOW
+ # define USB_MUX_PIN -1
+ # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
+ # define BATTERY_CURR_PIN      1      // Battery current on A1
+ # define CONFIG_INS_TYPE   CONFIG_INS_MPU6000_I2C
+ # define CONFIG_BARO       AP_BARO_MS5611
+ # define CONFIG_MS5611_SERIAL AP_BARO_MS5611_I2C
+ # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
+ # define MAGNETOMETER ENABLED
+ # define CONFIG_COMPASS  AP_COMPASS_HMC5843
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 # define CONFIG_INS_TYPE CONFIG_INS_STUB
 # define CONFIG_COMPASS  AP_COMPASS_HIL

APMrover2/defines.h

@@ -204,6 +204,7 @@ enum ap_message {
 #define CONFIG_INS_MPU6000 2
 #define CONFIG_INS_STUB    3
 #define CONFIG_INS_PX4     4
+#define CONFIG_INS_MPU6000_I2C 5
 
 // compass driver types
 #define AP_COMPASS_HMC5843   1

ArduCopter/APM_Config.h

@@ -5,12 +5,20 @@
 // If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
 // valid! You should switch to using a HAL_BOARD flag in your local config.mk.
 
+// If you have CRIUS V1 - Uncomment next line to disable logging
+#define LOGGING_ENABLED       DISABLED            // disable logging for boards without dataflash chip
+
+// If Arduino IDE hang while uploading firmware to your board, try to change string below, just enter some random characters
+#define BOOTLOADER_BUGFIX "234fs34567hf"
+
+// Currently not supported
+#define CONFIG_SONAR DISABLED
+
 //#define HIL_MODE              HIL_MODE_SENSORS    // build for hardware-in-the-loop simulation
-//#define LOGGING_ENABLED       DISABLED            // disable logging to save code space
-//#define DMP_ENABLED           ENABLED             // use MPU6000's DMP instead of DCM for attitude estimation
-//#define SECONDARY_DMP_ENABLED ENABLED             // allows running DMP in parallel with DCM for testing purposes
+//#define HIL_MODE              HIL_MODE_ATTITUDE    // build for hardware-in-the-loop simulation
 
-//#define FRAME_CONFIG QUAD_FRAME
+// QuadCopter selected by default
+//#define FRAME_CONFIG HEXA_FRAME
 /*
  *  options:
  *  QUAD_FRAME
@@ -26,9 +34,9 @@
 // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
 //#define USERHOOK_VARIABLES "UserVariables.h"
 // Put your custom code into the UserCode.pde with function names matching those listed below and ensure the appropriate #define below is uncommented below
-//#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
+//#define USERHOOK_INIT userhook_init();                    // for code to be run once at startup
 //#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
-//#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
+//#define USERHOOK_50HZLOOP userhook_50Hz();                // for code to be run at 50hz
 //#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
 //#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
 //#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz

ArduCopter/ArduCopter.pde

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "ArduCopter V3.0.1-rc2"
+#define THISFIRMWARE "ArduCopter-MPNG V3.0.1 R2"
 /*
  *  ArduCopter Version 3.0
  *  Creator:        Jason Short
@@ -67,6 +67,7 @@
 // AP_HAL
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
+#include <AP_HAL_MPNG.h>
 #include <AP_HAL_AVR_SITL.h>
 #include <AP_HAL_SMACCM.h>
 #include <AP_HAL_PX4.h>
@@ -156,6 +157,8 @@ static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
 static DataFlash_APM2 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 static DataFlash_APM1 DataFlash;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_MPNG
+static DataFlash_MPNG DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 //static DataFlash_File DataFlash("/tmp/APMlogs");
 static DataFlash_SITL DataFlash;
@@ -196,8 +199,10 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
 static AP_ADC_ADS7844 adc;
  #endif
 
- #if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
+#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
 static AP_InertialSensor_MPU6000 ins;
+#elif CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000_I2C
+static AP_InertialSensor_MPU6000_I2C ins;
 #elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
 static AP_InertialSensor_Oilpan ins(&adc);
 #elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
@@ -915,7 +920,7 @@ static void barometer_accumulate(void)
 }
 
 // enable this to get console logging of scheduler performance
-#define SCHEDULER_DEBUG 0
+#define SCHEDULER_DEBUG 1
 
 static void perf_update(void)
 {

ArduCopter/ReleaseNotes.txt

@@ -1,16 +1,16 @@
 ArduCopter Release Notes:
 ------------------------------------------------------------------
-ArduCopter 3.0.1-rc2 10-Jul-2013
+ArduCopter 3.0.1-rc2 / 3.0.1 11-Jul-2013
 Improvements over 3.0.1-rc1
 1) Rate Roll, Pitch and Yaw I fix when we hit motor limits
 2) pre-arm check changes:
     a) double flash arming light when pre-arm checks fail
     b) relax mag field checks to 35% min, 165% max of expected field
 3) loiter and auto changes:
-      a) reduced Loiter Pos P to 0.8 (was 1.0)
-      b) reduced Loiter speed to 5 m/s
-      c) reduced WP_ACCEL to 1 m/s/s (was 250  m/s/s)
-      d) rounding error fix in loiter controller
+      a) reduced Loiter speed to 5 m/s
+      b) reduced WP_ACCEL to 1 m/s/s (was 2.5 m/s/s)
+      c) rounding error fix in loiter controller
+      d) bug fix to stopping point calculation for RTL and loiter during missions
 4) Stability Patch fix which was freezing Rate Taw I term and allowing uncommanded Yaw
 ------------------------------------------------------------------
 ArduCopter 3.0.1-rc1 26-Jun-2013

ArduCopter/commands_logic.pde

@@ -351,6 +351,8 @@ static void do_land(const struct Location *cmd)
 // note: caller should set yaw_mode
 static void do_loiter_unlimited()
 {
+    Vector3f target_pos;
+
     // set roll-pitch mode (no pilot input)
     set_roll_pitch_mode(AUTO_RP);
 
@@ -361,26 +363,24 @@ static void do_loiter_unlimited()
     set_yaw_mode(YAW_HOLD);
 
     // get current position
-    // To-Do: change this to projection based on current location and velocity
-    Vector3f curr = inertial_nav.get_position();
+    Vector3f curr_pos = inertial_nav.get_position();
 
-    // default to use position provided
-    Vector3f pos = pv_location_to_vector(command_nav_queue);
+    // use current location if not provided
+    if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
+        wp_nav.get_stopping_point(curr_pos,inertial_nav.get_velocity(),target_pos);
+    }else{
+        // default to use position provided
+        target_pos = pv_location_to_vector(command_nav_queue);
+    }
 
     // use current altitude if not provided
     if( command_nav_queue.alt == 0 ) {
-        pos.z = curr.z;
-    }
-
-    // use current location if not provided
-    if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
-        pos.x = curr.x;
-        pos.y = curr.y;
+        target_pos.z = curr_pos.z;
     }
 
     // start way point navigator and provide it the desired location
     set_nav_mode(NAV_WP);
-    wp_nav.set_destination(pos);
+    wp_nav.set_destination(target_pos);
 }
 
 // do_circle - initiate moving in a circle
@@ -419,6 +419,8 @@ static void do_circle()
 // note: caller should set yaw_mode
 static void do_loiter_time()
 {
+    Vector3f target_pos;
+
     // set roll-pitch mode (no pilot input)
     set_roll_pitch_mode(AUTO_RP);
 
@@ -429,26 +431,24 @@ static void do_loiter_time()
     set_yaw_mode(YAW_HOLD);
 
     // get current position
-    // To-Do: change this to projection based on current location and velocity
-    Vector3f curr = inertial_nav.get_position();
+    Vector3f curr_pos = inertial_nav.get_position();
 
-    // default to use position provided
-    Vector3f pos = pv_location_to_vector(command_nav_queue);
+    // use current location if not provided
+    if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
+        wp_nav.get_stopping_point(curr_pos,inertial_nav.get_velocity(),target_pos);
+    }else{
+        // default to use position provided
+        target_pos = pv_location_to_vector(command_nav_queue);
+    }
 
     // use current altitude if not provided
     if( command_nav_queue.alt == 0 ) {
-        pos.z = curr.z;
-    }
-
-    // use current location if not provided
-    if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
-        pos.x = curr.x;
-        pos.y = curr.y;
+        target_pos.z = curr_pos.z;
     }
 
     // start way point navigator and provide it the desired location
     set_nav_mode(NAV_WP);
-    wp_nav.set_destination(pos);
+    wp_nav.set_destination(target_pos);
 
     // setup loiter timer
     loiter_time     = 0;

ArduCopter/config.h

@@ -80,6 +80,15 @@
  # define CONFIG_RELAY      DISABLED
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
+#elif CONFIG_HAL_BOARD == HAL_BOARD_MPNG
+ # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000_I2C
+ # define CONFIG_BARO       AP_BARO_MS5611
+ # define CONFIG_MS5611_SERIAL AP_BARO_MS5611_I2C
+ # define CONFIG_ADC        DISABLED
+ # define CONFIG_PUSHBUTTON DISABLED
+ # define CONFIG_RELAY      DISABLED
+ # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
+ # define MAGNETOMETER ENABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
  # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
  # define CONFIG_BARO       AP_BARO_MS5611
@@ -170,6 +179,16 @@
  # define USB_MUX_PIN      -1
  # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
  # define BATTERY_CURR_PIN      1      // Battery current on A1
+#elif CONFIG_HAL_BOARD == HAL_BOARD_MPNG
+ # define A_LED_PIN        13
+ # define B_LED_PIN        31
+ # define C_LED_PIN        30
+ # define LED_ON           HIGH
+ # define LED_OFF          LOW
+ # define PUSHBUTTON_PIN   (-1)
+ # define USB_MUX_PIN      (-1)
+ # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
+ # define BATTERY_CURR_PIN      1      // Battery current on A1
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
  # define A_LED_PIN        27
  # define B_LED_PIN        26
@@ -218,7 +237,7 @@
 //
 
 #ifndef COPTER_LEDS
- #define COPTER_LEDS ENABLED
+ #define COPTER_LEDS DISABLED
 #endif
 
 #define COPTER_LED_ON           HIGH
@@ -233,7 +252,7 @@
  #define COPTER_LED_6 AN9       // Motor LED
  #define COPTER_LED_7 AN10      // Motor LED
  #define COPTER_LED_8 AN11      // Motor LED
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || HAL_BOARD_SMACCM
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_MPNG || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || HAL_BOARD_SMACCM
  #define COPTER_LED_1 AN8       // Motor or Aux LED
  #define COPTER_LED_2 AN9       // Motor LED
  #define COPTER_LED_3 AN10      // Motor or GPS LED
@@ -435,7 +454,7 @@
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
 #if defined( __AVR_ATmega2560__ )       // determines if optical flow code is included
- #define OPTFLOW                        ENABLED
+ #define OPTFLOW                        DISABLED
 #endif
 #ifndef OPTFLOW                         // sets global enabled/disabled flag for optflow (as seen in CLI)
  # define OPTFLOW                       DISABLED
@@ -831,7 +850,7 @@
  # define RATE_YAW_P              	0.200f
 #endif
 #ifndef RATE_YAW_I
- # define RATE_YAW_I              	0.015f
+ # define RATE_YAW_I              	0.020f
 #endif
 #ifndef RATE_YAW_D
  # define RATE_YAW_D              	0.000f
@@ -873,7 +892,7 @@
 // Loiter position control gains
 //
 #ifndef LOITER_P
- # define LOITER_P             		0.8f
+ # define LOITER_P             		1.0f
 #endif
 #ifndef LOITER_I
  # define LOITER_I             		0.0f

ArduCopter/defines.h

@@ -403,6 +403,7 @@ enum ap_message {
 #define CONFIG_IMU_MPU6000 2
 #define CONFIG_IMU_SITL    3
 #define CONFIG_IMU_PX4     4
+#define CONFIG_IMU_MPU6000_I2C 5
 
 #define AP_BARO_BMP085    1
 #define AP_BARO_MS5611    2

ArduCopter/perf_info.pde

@@ -27,7 +27,9 @@ void perf_info_check_loop_time(uint32_t time_in_micros)
         perf_info_max_time = time_in_micros;
     }
     if( time_in_micros > PERF_INFO_OVERTIME_THRESHOLD_MICROS ) {
+		  hal.gpio->write(45,1); 
         perf_info_long_running++;
+		  hal.gpio->write(45,0); 
     }
 }
 

ArduCopter/setup.pde

@@ -189,7 +189,9 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
     }
 
     // initialise compass
+    hal.scheduler->suspend_timer_procs();
     init_compass();
+    hal.scheduler->resume_timer_procs();
 
     // disable motor compensation
     compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);

ArduCopter/system.pde

@@ -190,6 +190,7 @@ static void init_ardupilot()
     init_rc_in();               // sets up rc channels from radio
     init_rc_out();              // sets up motors and output to escs
 
+    cliSerial->println_P(PSTR(BOOTLOADER_BUGFIX)); 
     /*
      *  setup the 'main loop is dead' check. Note that this relies on
      *  the RC library being initialised.
@@ -208,8 +209,12 @@ static void init_ardupilot()
     // GPS Initialization
     g_gps->init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_1G);
 
-    if(g.compass_enabled)
+    if(g.compass_enabled) {
+			#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000_I2C && HIL_MODE == HIL_MODE_DISABLED
+    		ins.hardware_init_i2c_bypass();
+    	#endif
         init_compass();
+    }
 
     // init the optical flow sensor
     if(g.optflow_enabled) {