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Home Page: https://code.google.com/p/ardupilot-mega/
License: GNU General Public License v3.0
Fork: DO NOT SUBMIT PULL REQS/BUG REPORTS HERE
Home Page: https://code.google.com/p/ardupilot-mega/
License: GNU General Public License v3.0
Building using arduino -------------------------- To install the libraries: - copy Library Directories to your \arduino\hardware\libraries\ or arduino\libraries directory - Restart arduino IDE * Each library comes with a simple example. You can find the examples in menu File->Examples Building using make ----------------------------------------------- - go to directory of sketch and type "make". --type "make upload" to upload according to the parameters in config.mk . Building using cmake ----------------------------------------------- - cd ArduPlane (ArduCopter etc ..) - mkdir build - cd build - cmake .. -DAPM_BOARD=mega -DAPM_PORT=/dev/ttyUSB0 You can select from mega/mega2560. If you have arduino installed in a non-standard location you by specify it by using: -DARDUINO_SDK_PATH=/path/to/arduino .. - make (will build the sketch) - make ArduPlane-upload (will upload the sketch ArduPlane etc.) If you have a sync error during upload reset the board or power cycle the board before the upload starts. Building using eclipse ----------------------------------------------- Getting the Source: assuming source located here: /home/name/apm-src You can either download it or grab it from git: git clone https://code.google.com/p/ardupilot-mega/ /home/name/apm-src Generating the Eclipse Project for Your System: mkdir /home/name/apm-build cd /home/name/apm-build cmake -G"Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug ../apm-src -D BOARD=mega -D PORT=/dev/ttyUSB0 Here apm-src can be any sketch, ArduPlane/ ArduCopter etc. Note: Unix can be substituted for MinGW/ MSYS/ NMake (for windows) (see http://www.vtk.org/Wiki/Eclipse_CDT4_Generator) input options: CMAKE_BUILD_TYPE choose from DEBUG, RELEASE etc. PORT is the port for uploading to the board, COM0 etc on windows. /dev/ttyUSB0 etc. on linux BOARD is your board type, mega for the 1280 or mega2560 for the 2560 boards. ARDUINO_SDK_PATH if it is not in default path can specify as /path/to/arduino Importing the Eclipse Build Project: Import project using Menu File->Import Select General->Existing projects into workspace: Browse where your build tree is and select the root build tree directory. Keep "Copy projects into workspace" unchecked. You get a fully functional eclipse project Importing the Eclipse Source Project: You can also import the source repository (/home/name/apm-src) if you want to modify the source/ commit using git. Settings up Eclipse to Recognize PDE files: Window > Preferences > General > Content Types. This tree associates a filename or filename pattern with its content type so that tools can treat it properly. Source and header files for most languages are under the Text tree. Add "*.pde" as a C++ Source. Autocompletion: Right click on source project -> Properties -> Project References -> apm-build Project Advanced: * Regenerating the eclipse source project file: cmake -G"Eclipse CDT4 - Unix Makefiles" -DECLIPSE_CDT4_GENERATE_SOURCE_PROJECT=TRUE /home/name/apm-src Build a package using cpack ----------------------------------------------- - cd build - cmake .. - make package - make package_source vim:ts=4:sw=4:expandtab
Hi,
I use the ArduPilot library for my own reasons.
Personally I cannot understand why they still use not cmake in ArduPilot 3.1.*
Yesterday I tried to compile the library with cmake and avr 4.8. Of course there were a lot of problems (deprecated warnings, missing flags (compiler and definitions of the HAL_BOARD).
At the end I was able to compile a part, but somewhere at AP_HAL it stucked :(
Is there maybe a plan to bring the build system up to a more recent version? Maybe they will even include it in the main repo.
Greetings, Daniel
Hi,
In the Fast Rotations by William Premerlani it is explained how to deal with fast rotations. One of the proposals is to create a variable proportional feedback gain (see pages 8-9). However, this does not match with the implementation in the file AP_AHRS_DCM.cpp (lines 266-288) as the values 50 and 500 are converted to degrees per second rather than to radians per second. The values 50 and 500 given in the Fast Rotations document are already in degrees per second. And as spin_rate is in radians per second, it should be compared to a constant with unit radians per second. I would expect that it should be ToRad instead of ToDeg for all three instances in _P_gain.
Is this a mistake or is this just an implementation using different values?
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