Replacement firmware for an inexpensive APM2 board. This firmware converts the APM2 into a standalone sensors module and adds a full suite of inertial and position sensors to any host computer or application. This firmware maintains APM2 support for reading RC receiver values in, and driving output servos so for some applications it could serve as a robot controller.
v2.60 release notes -
(v2.53) Add apm2 micros() timestamp to IMU output. The apm2 runs at a really consistent rate and this can be used to create a consistent imu packet timestamp and filter dt on the host side. (Changes IMU packet definition, so bumped up intermediate firmware rev number.)
(v2.52) Fixed a mistake I only discovered now. The wrong gyro/accel scaling was being used in the external communication protocol. This resulted in a loss of available resolution by a factor of 4 for the gyros and factor of 2 for the accels. The results have and will always be correct. The fix means that now they won't artificially lose available resolution. Note: this change requires a corresponding change at the aura-core driver level due to changing the packet encoding/decoding semantics with a different scale factor.
v2.50 release notes - May 31, 2016
- Add magnetometer (raw) readings to IMU packet.
- Validate (with one small fix) flaperon mixing.
- If no gps detected within 20 seconds of main loop start, give up on the gps. The gps polling/init imposes a timing hit periodically that can lead to hesitations and stuttering if no gps is connected, so just give up and assume no (ublox) gps is connected if no messages are detected within some reasonable amount of time. This enables the host system to run well without an apm2-connected gps if it has a separate gps source.
v2.40 release notes - February 13, 2016
- SBUS (in) support via UART2 (and an inverter cable.)
- Fixed a long standing bug where the airdata system didn't properly output climb rate.
v2.30 release notes - December 13, 2015
Tighter main loop timing, synced with IMU samples. (Removes a free-running loop which leads to timing jitter and indeterminant latencies.)
Reduced code size by 10%.
Quite a few changes to remove prog_char from the libraries and remove FastSerial in favor of HardwareSerial.
Support for compiling with newer version of the arduino IDE.
Make PWM center and range match Futaba 'standard'.
Add commands to setup SAS mode and adjust gains from host computer.
Updated several packet formats and ID numbers.
Report bytes transfer rate to host in the config/status message.
Better support for saving configuration parameters in the EEPROM.
v2.20 release notes - April 21, 2015
Add a simple 3-axis stability augmentation system. Essentially it is:
aileron_cmd += roll_gyro * gain elevator_cmd += elevator_gyro * gain rudder_cmd += yaw_gyro * gain
Each axis can be enabled/disabled independently and each has it's own unique gain value.
The stability augmentation is performed by manipulating the normalized input 'commands' and thus will work with any downstream mixing modes that may be active for any particular airframe.
The SAS will also work identically in manual or autopilot mode because it is downstream of the flight commands (reciever or autopilot), but upstream of the actuator mixing.
Add support for reading/writing the setup/configuration/gain values to eeprom and loading them automatically at power up. This eliminates the need to send the configuration values to the device every boot. Presumably this would enable the device to survive an inflight reboot without losing it's config, or even run 'headless' without a host computer once it has been setup (i.e. as in a smart RC receiver mode.)
v2.10 release notes - February 16, 2015
The major functionality change in this release is a move towards doing all mixing modes onboard the APM2 rather than on the RC transmitter (and attempting to match in the upstream autopilot code.) This simplifies and standardizes the mixing mode operation (elevons, flaperons, vtail, etc.) so that actuator behavior in response to control commands is identical in autonomous flight and manual flight.
Internally, flight commands (either from the RC transmitter or the autopilot) are normalized to a range of [-1.0, 1.0] for symmetrical inputs and [0.0, 1.0] for other inputs (like throttle, flaps)
The mixing operations are done using floating point math in normalized space. Then the final result is converted back to PWM pulses and sent to the actuators.
The convention used (at the APM2 input side) is:
- Ch1: aileron
- Ch2: elevator
- Ch3: throttle
- Ch4: rudder
- Ch5: gear
- Ch6: flaps
- Ch7: Aux1
- Ch8: Manual/Auto selection switch.
Elevon mixing drives output channels 1 & 2.
Flaperon mixing drives output channels 1 & 6. (Each aileron servo is plugged into it's own actuator output channel.)
Vtail mixing drives output channels 2 & 4.
This set of mixing changes also incorporate extensions to the two-way communication protocol between the host and the APM2. There is a new message type to enable/disable specific mixing modes and set the gains. These configuration commands can be sent at anytime during the flight if the specific use case warrents such a thing.
In addition, all successful configuration commands result in an ACK packet being sent to the host. This ACK packet has been extended to two bytes so mixing mode configuration commands can respond with the specific mode ACK that was received. The host can know which specific mix mode command was received, not just that "a" mixing mode config command was received.
There was some small nuance changes to the main loop processing order. Hopefully the servo outputs will be written a small fraction sooner. Probably not enough to make any noticable difference, but the code is now setup to minimize latency as much as possible.
All code is licensed under the GPLv3 except where otherwise noticed in a source file header.