75d7308fb4
ArduCopter - CH6 tuning - changed Roll/Pitch Rate D tuning to use the user supplied tuning range instead of the range / 100.
...
also changed heli_ext_gyro_gain to make it use the tuning range directly.
2012-03-31 09:28:25 +09:00
e0bb7e2777
MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information
...
the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.
This makes MAVLink work better at low baud rates
2012-03-30 17:46:20 +11:00
87ed39ea46
APM: use set_blocking_writes(false) when we have done ground start
2012-03-30 17:46:20 +11:00
7634f541b9
ACM: use set_blocking_writes(false) when we arm motors
2012-03-30 17:46:20 +11:00
0c445101ff
FastSerial: added set_blocking_writes() interface
...
this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
2012-03-30 17:46:20 +11:00
b4107d35e8
MAVLink: raise the serial transmit buffer size to 256 bytes
...
the 128 byte serial transmit buffer was causing significant problems
with queueing of mavlink messages. With 256 bytes we can fit a lot
more messages out in each pass of the code, which makes telemetry more
efficient
As we discussed on the dev call, we now have enough free ram for this
to be worthwhile
2012-03-30 17:46:20 +11:00
3b3f9d8b17
autotest: use the automatic declination code in autotest
2012-03-30 14:25:27 +11:00
22ff8cb197
examples: fixed build of some examples with new AP_Declination code
2012-03-30 14:25:27 +11:00
86cc7a5e1d
APM: enable AP_Declination by default
2012-03-30 14:25:27 +11:00
0bc604f030
ACM: removed FORCE_AUTOMATIC_DECLINATION_UPDATE
...
we now have the EEPROM option COMPASS_AUTODEC instead
2012-03-30 14:25:27 +11:00
504c53f746
Compass: added COMPASS_AUTODEC option
...
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library
when it is 0 we will use the value configured by the user
2012-03-30 14:25:27 +11:00
168c45ab12
AP_Declination: enabled auto declination by default in APM
2012-03-30 14:25:27 +11:00
927834106d
AP_Declination: save some more memory by putting the declination keys in progmem
...
there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
2012-03-30 14:25:27 +11:00
70d4280935
AP_Declination: added timing information to declination test
2012-03-30 14:25:27 +11:00
175352845c
AP_Declination: fixed build under SITL
2012-03-30 14:25:27 +11:00
ca82350f17
AP_Declination_test: Updated test with better print messages.
2012-03-30 14:25:26 +11:00
01b1e58f7d
AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation.
2012-03-30 14:25:26 +11:00
51b70e4d36
ArduCopter: Changed implementation of configuration value for automatic declination. There is now a FORCE_AUTOMATIC_DECLINATION_UPDATE that when enabled will update the declination on every GPS 3D fix regardless of whether or not the user saved a value to the EEPROM. By default the declination will only be set by the automatic declination routine if the user has not saved a declination to the EEPROM.
2012-03-30 14:25:06 +11:00
23f6093f05
AP_Declination: Updated comments to reflect new LUT size.
2012-03-30 14:25:06 +11:00
50791a8b0f
AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes.
2012-03-30 14:21:58 +11:00
f35e447927
AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT.
2012-03-30 14:21:58 +11:00
72b70c394c
AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP.
2012-03-30 14:21:58 +11:00
076192db51
AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail.
2012-03-30 14:21:58 +11:00
230ca1ddca
AP_Declination: Moved check for y index of zero to after the y index is properly transformed.
2012-03-30 14:21:58 +11:00
e0fa053c79
AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting.
2012-03-30 14:21:58 +11:00
f66c6e16e4
AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change.
2012-03-30 14:21:58 +11:00
d88b9e8ffc
AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly.
2012-03-30 14:21:57 +11:00
036da88174
AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular.
2012-03-30 14:21:57 +11:00
580b274bde
AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps.
2012-03-30 14:21:57 +11:00
efefc3e4f4
AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array.
2012-03-30 14:21:57 +11:00
0dcc4e8307
AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before.
2012-03-30 14:21:57 +11:00
3a849771bc
AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype.
2012-03-30 14:21:57 +11:00
370e56c00a
AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range.
2012-03-30 14:21:57 +11:00
ae257ad42b
AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t.
2012-03-30 14:21:57 +11:00
cc047f2944
APM Planner 1.1.59
...
fix possible issue loading stream rates
fix tracker ranges
add more ch6 options
modify mag calib with throttle
2012-03-30 06:17:06 +08:00
0efb0e5b4d
ArduCopter - added CH6_STABILIZE_KD tuning value
2012-03-29 21:09:41 +09:00
c1eede5ef3
firmware build
2012-03-29 09:53:56 +08:00
9d193f06c9
APM: Change version to 2.32
2012-03-29 12:50:12 +11:00
4c4c38f69a
APM: Added MANUAL_LEVEL option
...
when MANUAL_LEVEL is set to 1, we don't do accelerometer levelling at
startup, and instead used the values saved in the EEPROM. This makes
it easier to do levelling on the bench, or once for a series of
flights for the day
2012-03-29 12:39:53 +11:00
b549b88e5e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
...
when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
16deefce31
Compass: fixed a comment
2012-03-29 12:39:53 +11:00
17290836ef
Compass: added some more comments
...
explain the algorithm a bit more
2012-03-29 12:39:53 +11:00
c084a72723
pysim: ensure Vector3() uses floats
2012-03-29 12:39:53 +11:00
599cea21bb
Added multiple new tuning parameters to the inflight channel 6 tuning feature:
...
#define CH6_YAW_KI 24
#define CH6_ACRO_KP 25
#define CH6_YAW_RATE_KD 26
#define CH6_LOITER_KI 27
#define CH6_LOITER_RATE_KI 28
2012-03-28 23:58:58 +09:00
2ce597642e
Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use
2012-03-28 22:02:52 +09:00
90fcdeadfd
AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up
2012-03-28 22:00:57 +09:00
40fcfa294f
APM Planner 1.1.58
...
add read delay on write for serial
add tlog to gpx creation
fix issue 583 - georef image with a tlog
2012-03-28 20:45:16 +08:00
10c35e3769
SITL: add magnetic field noise to the simulated compass
2012-03-28 20:55:27 +11:00
f4c1b6a3c6
SITL: ensure we don't run the sitl timer twice
...
this caused problems with random()
2012-03-28 20:55:27 +11:00
b2d6db9479
Compass: implement noise resistant varient of offset learning
...
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
2012-03-28 20:55:27 +11:00
rmackay9
Andrew Tridgell
Adam M Rivera
Michael Oborne
Michael Oborne