Randy Mackay
02775e8dc5
AC_PosControl: get_accel_target returns const ref
2014-04-14 11:34:14 +09:00
Randy Mackay
60f522a094
AC_WPNav: set_wp_destination to use current target
...
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
2014-04-13 22:42:50 +09:00
Andrew Tridgell
ae7293ef68
APM_Control: added support for AUTOTUNE_LEVEL
...
10 levels of tune, for what type of tune the user wants
2014-04-13 22:11:57 +10:00
Andrew Tridgell
86f167fc7f
AP_Vehicle: added autotune_level to fixed wing parms
2014-04-13 22:11:28 +10:00
Andrew Tridgell
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:49 +10:00
Andrew Tridgell
4abc2999a6
AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement
...
this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:23 +10:00
priseborough
d745dc2b6f
AP_NavEKF : Increased position gate default to reduce impact of accel errors
...
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
2014-04-13 19:37:22 +10:00
priseborough
188bea6bab
AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing
...
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type
This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:
a) launch will be into wind
b) wind speed is equal to global average
It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
2014-04-13 19:37:19 +10:00
Andrew Tridgell
df192a9efd
AP_AutoTune: lower min tau to 0.2
2014-04-13 19:25:54 +10:00
Andrew Tridgell
3343af602e
APM_Control: fixed saving of new rate gains
2014-04-13 15:35:52 +10:00
Andrew Tridgell
b9a8ef3b51
APM_Control: fixed a bug in autotune servo saturation check
...
its in degrees not centi-degrees
2014-04-13 15:28:36 +10:00
Andrew Tridgell
64170d0f04
APM_Control: added dataflash logging to autotune
2014-04-12 18:21:50 +10:00
Andrew Tridgell
7f5eeabadc
DataFlash: reserve a range of msg types for autotuning logs
2014-04-12 18:21:31 +10:00
Andrew Tridgell
50fc75917e
APM_Control: first version of APM_Control autotuning
...
this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
2014-04-12 14:11:33 +10:00
Andrew Tridgell
3b8839d2f7
AP_GPS: fixed num_sensors on APM2
2014-04-11 21:32:55 +10:00
Andrew Tridgell
7404fc9d40
SITL: added SIM_BARO_DISABLE parameter
...
useful for testing baro failure
2014-04-11 16:47:40 +10:00
Andrew Tridgell
ad18019fb1
APM_OBC: added pressure altitude termination
2014-04-11 16:47:40 +10:00
Andrew Tridgell
41dd280739
AP_Baro: expose get_altitude_difference()
...
this is useful for pressure altitude calculations
2014-04-11 16:34:02 +10:00
Andrew Tridgell
8b9b4026f0
SITL: support -P option
...
this allows changing a parameter on initial startup
2014-04-11 12:28:32 +10:00
Michael Day
312a2fc8dc
AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight.
2014-04-10 15:42:49 +10:00
Andrew Tridgell
95304e27c9
DataFlash: added separate logging of each GPS
2014-04-10 10:29:30 +10:00
Andrew Tridgell
a821b0e198
AP_GPS: fixed a build warning
...
Debug() should not be exposed in public headers
2014-04-10 10:28:55 +10:00
Andrew Tridgell
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
...
the EKF does not estimate wind without an airspeed sensor
2014-04-10 06:49:23 +10:00
Randy Mackay
b78e59ea30
AP_Motors: add stability patch test to example sketch
2014-04-09 21:21:29 +09:00
Andrew Tridgell
a15e4633b7
SITL: prevent wind effects at negative altitudes
...
this prevents crashes on takeoff with barometer noise
2014-04-09 15:28:14 +10:00
Andrew Tridgell
1ca6583df8
AP_BoardConfig: restore /dev/vroutput change from Emile
...
my mistake, sorry Emile!
2014-04-08 21:05:41 +10:00
Emile Castelnuovo
79996986ad
VRBRAIN: corrected ADC pins for volt and current sensing.
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
7fe4847b6c
VRBRAIN: Added NuttX driver vroutput for PWM out
...
Modified script rc.APM to launch modules vrinput and vroutput
Modified startup scripts to run APM without SD
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
d1e4fbf267
AP_EPM: added #defines for VRBRAIN board
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
e8b9e9d53c
AP_Airspeed: added #defines for VRBRAIN board
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
69d2633465
AP_Relay: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
25f1c5774f
AP_NavEKF: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
39d9e93904
AP_BoardConfig: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
1d27e0d127
AP_BattMonitor: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
ab9a320187
DataFlash: added #ifdefs for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
06744ea7d2
AP_InertialSensor: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
4ad83f3c8a
AP_Notify: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
1bc199c5bd
AP_Compass: new files and definition for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
7b5c002d2f
AP_Common: new board ID for VRBRAIN
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
f4784fe6a1
AP_Baro: new files for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
201332caef
AP_HAL: New VRBRAIN board definition and libraries
2014-04-08 16:19:19 +10:00
priseborough
db043744a4
AP_NavEKF : Reduce Z accel bias process noise to provide a more stable estimate
2014-04-07 21:08:25 +10:00
priseborough
1f8b5a6d23
AP_NavEKF : Tighten GPS velocity glitch gate default setting for plane
2014-04-07 21:08:15 +10:00
priseborough
0c2489b07b
AP_NavEKF : Fix bug in logging of airspeed innovation consistency ratio
2014-04-07 21:01:00 +10:00
priseborough
95c83255d7
AP_NavEKF : adjust default values for accelerometer process noise
...
Slows down estimate and allows for smaller values to be set
2014-04-07 21:00:43 +10:00
Jonathan Challinger
9959a44453
AP_Motors: properly constrain thr_adj_max
2014-04-07 14:14:32 +09:00
Randy Mackay
3600bed47a
Parachute: relay parameter description update
2014-04-07 13:37:14 +09:00
Randy Mackay
879d447404
Parachute: alt_min units to meters
2014-04-07 13:37:11 +09:00
Randy Mackay
50df95316a
Parachute: initialise released variable
2014-04-07 13:37:09 +09:00
Randy Mackay
5876a2fe47
AC_AttControl: increase default rp accel to 900deg/s/s
2014-04-07 13:37:08 +09:00
