Randy Mackay
f9c6e35d19
INS: add calibrating method
2015-03-09 17:58:38 +11:00
Randy Mackay
b0e7990c90
INS: set gyro_cal_ok only after completing calibration
2015-03-09 17:58:37 +11:00
Andrew Tridgell
aec7907571
AP_InertialSensor: updated comment on accel check in gyro cal
2015-03-09 17:58:36 +11:00
Andrew Tridgell
494e909703
AP_InertialSensor: ensure accel cal completion messages get through
2015-03-09 07:36:50 +11:00
Andrew Tridgell
38bde56523
AP_InertialSensor: continue finding best gyro after convergence
...
with multiple gyros if we are still calibrating one of the gyros then
keep looking for better values for the already converged gyros.
2015-03-08 07:49:38 +11:00
Andrew Tridgell
20a4c98bac
AP_InertialSensor: use accelerometers to prevent bad gyro cal
...
if the board is rotating at a steady rate we can end up with a bad
gyro calibration. This can happen on a steadily moving platform such
as a ship.
This uses the accelerometers to detect the steady movement and not
accept the gyro calibration
2015-03-08 07:48:16 +11:00
Andrew Tridgell
434d094993
AP_InertialSensor: allow MAVLink packets to flow during accelcal
...
this uses the snoop functionality of GCS_MAVLink to allow the delay
callback to be used during accel calibration
2015-03-07 21:56:39 +11:00
Andrew Tridgell
af7765c57c
GCS_MAVLink: fixed typo
2015-03-07 13:54:58 +11:00
Andrew Tridgell
ac848dc103
GCS_MAVLink: zero packet data before reply in serial control
2015-03-07 13:53:44 +11:00
Randy Mackay
7675160e33
Notify: add firmware update flag and implement for OreoLED
2015-03-06 17:26:51 +09:00
Jace A Mogill
442d07a6c9
Notify: OreoLED fast startup with solid green
...
For manual flight modes: Solid white in front, red in rear
For automatic flight modes: Breathing white in front, red in rear
Loss of RC: Alternating red/black in front and rear
merge with fast green
2015-03-06 17:26:45 +09:00
Jonathan Challinger
e2383581cc
AC_AttitudeControl: relax_bf_rate_controller resets rate integrators
2015-03-06 14:02:57 +09:00
Leonard Hall
3ad9b1a06b
AP_MotorsMatrix: remove incorrect throttle limit flag
2015-03-06 14:02:55 +09:00
Leonard Hall
20de383084
AC_AttControl: accel limiting for angular control only if feed forward enabled
2015-03-06 14:02:52 +09:00
Jonathan Challinger
d148039f65
AP_Motors: stricter batt_voltage misconfiguration check
2015-03-06 14:02:49 +09:00
Leonard Hall
7de5bccc93
AC_PosControl: remove THR_HOVER parameter
...
Parameter is set by main code so no need to store to eeprom
2015-03-06 14:02:46 +09:00
Leonard Hall
9866eaded1
AC_PosControl: rename p_alt_pos to p_pos_z
...
Also pid_alt_accel to pid_accel_z
2015-03-06 14:02:44 +09:00
Leonard Hall
349f1aeceb
AC_PosControl: use 2-axis PI controller
2015-03-06 14:02:42 +09:00
Leonard Hall
8d4f0ec80c
AC_PosControl: integrate PID input filter
2015-03-06 14:02:39 +09:00
Randy Mackay
e4d48fdc92
AC_AttControlHeli: separate accel max for roll, pitch
...
renamed _accel_y_max to _accel_yaw_max
2015-03-06 14:02:36 +09:00
Leonard Hall
51455af51a
AC_AttConHeli: integrate PID input filter
2015-03-06 14:02:35 +09:00
Leonard Hall
792b2a2eb3
AC_AttControl: separate accel max for roll, pitch, yaw
...
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
2015-03-06 14:02:33 +09:00
Leonard Hall
9833c91b2b
AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw
2015-03-06 14:02:30 +09:00
Leonard Hall
f00025e5c9
AC_AttControl: accessor for rate feedforward
2015-03-06 14:02:27 +09:00
Leonard Hall
691fb8947e
AC_AttControl: accessor for rate_bf_targets
2015-03-06 14:02:25 +09:00
Leonard Hall
784a4ce51a
AC_AttControl: increase max angle overshoot to 30deg
2015-03-06 14:02:23 +09:00
Leonard Hall
eb084f7c58
AC_AttControl: bf yaw control uses input filtered PID
2015-03-06 14:02:21 +09:00
Leonard Hall
11a19803e0
Motors: add accessors for motor logging
...
accessor include get_roll, get_pitch, get_yaw, throttle input
2015-03-06 14:01:58 +09:00
Leonard Hall
34a5bc8b33
AC_PI_2D: 2-axis PI controller
2015-03-06 14:01:56 +09:00
Leonard Hall
046949ea8a
AC_HELI_PID: add input filter and restructure
...
Also removed unused initial_ff from construtor
2015-03-06 14:01:54 +09:00
Leonard Hall
517448e536
AC_PID: add input filtering and restructure
2015-03-06 14:01:52 +09:00
Andrew Tridgell
2aae594371
GCS_MAVLink: handle serial loopback in routing
2015-03-04 20:24:11 +11:00
Andrew Tridgell
086f878bdc
HAL_PX4: split IO thread into separate IO and storage threads
...
this prevents a blocked microSD card from blocking IO to the FRAM,
causing parameter changes not to be sticky
2015-03-04 20:18:17 +11:00
Andrew Tridgell
58c92b0158
GCS_MAVLink: added SCALED_IMU3 logging
2015-03-04 19:30:08 +11:00
Andrew Tridgell
79be500e04
GCS_MAVLink: re-generate headers
2015-03-04 19:29:28 +11:00
Andrew Tridgell
eeacbe518b
GCS_MAVLink: update from upstream XML
2015-03-04 19:21:24 +11:00
Randy Mackay
f5f7cd540f
Motors: fix example sketches
2015-03-03 21:39:24 +09:00
Leonard Hall
cf8c211c35
Motors: fix thrust curve and add constraint
2015-03-03 15:49:07 +09:00
Leonard Hall
3e960dfc3b
Motors: add get_voltage_comp_gain
...
This clarifies that lift_max is the inverse of the battery voltage gain
compensation
2015-03-03 15:49:04 +09:00
Leonard Hall
997c6f0868
Motors: move battery resistance calcs to parent
...
Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
2015-03-03 15:49:02 +09:00
Randy Mackay
09d7cdbc23
Motors: batt_voltage_filt becomes filter object
2015-03-03 15:49:00 +09:00
Randy Mackay
4b78b2ce80
Filter: add get method to LowPassFilter
2015-03-03 15:48:58 +09:00
Leonard Hall
529c6fed3a
Motors: move over current throttle limiting to parent
...
Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
2015-03-03 15:48:54 +09:00
Randy Mackay
812473fd9a
MotorsMatrix: use get_hover_throttle_as_pwm
2015-03-03 15:48:52 +09:00
Randy Mackay
1a9d3125ef
Motors: _hover_out to pct * 10 instead of pwm
2015-03-03 15:48:50 +09:00
Leonard Hall
6b7bdf64bd
Motors: move batt voltage lift_max calcs to parent
...
Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
2015-03-03 15:48:48 +09:00
Randy Mackay
c549b58eb7
MotorsMatrix: remove check of throttle_curve_enabled
2015-03-03 15:48:46 +09:00
Randy Mackay
5fb3de48ee
MotorsTri, Single, Coax: use new thrust curve
2015-03-03 15:48:44 +09:00
Randy Mackay
2eaa4a8445
Motors: remove old throttle curve
2015-03-03 15:48:42 +09:00
Leonard Hall
751dbb7df7
Motors: move thrust curve and volt scaling to parent
...
Moving from MotorsMatrix to Motors allows it to be used from other frames
2015-03-03 15:48:41 +09:00
Randy Mackay
80b498f598
Motors: add loop_rate to test sketch
2015-03-03 15:48:39 +09:00
Randy Mackay
7ab76dbd0e
Motors: add loop_rate to constructor for all frames
2015-03-03 15:48:34 +09:00
Randy Mackay
77d4b3a2ae
Motors: add loop_rate to constructor
2015-03-03 15:48:32 +09:00
Leonard Hall
ec9d7dd99e
Motors: minor comment fixes
2015-03-03 15:48:30 +09:00
Leonard Hall
1d0ee68116
Motors: over current throttle limiting
2015-03-03 15:48:28 +09:00
Randy Mackay
1217ab9579
BattMon: add get_type method
2015-03-03 15:48:24 +09:00
Randy Mackay
f6523c0997
Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control
2015-03-03 15:48:21 +09:00
Leonard Hall
83e3e2fec2
Motors: thrust curve and voltage scaling for matrix supported frames
2015-03-03 15:48:19 +09:00
Leonard Hall
5b0bd49ff2
Motors: configurable yaw headroom for matrix frames
2015-03-03 15:48:15 +09:00
Randy Mackay
51213235b4
OreoLED_PX4: available only on PX4
2015-03-02 16:58:17 +09:00
Randy Mackay
f1ce70e748
Notify: disable oreoled by default
2015-03-02 16:58:14 +09:00
Randy Mackay
89cd74c35f
Notify: OreoLED supports handle_led_control
...
includes support for send bytes ioctl
2015-03-02 16:58:12 +09:00
Randy Mackay
90cac02bd7
Notify: OreoLED fix to fade-in when armed
2015-03-02 16:58:10 +09:00
Randy Mackay
35a3a52f29
Notify: add support for handle_led_control
2015-03-02 16:58:06 +09:00
Randy Mackay
9159c7107d
GCS_MAVLink: version update after LED_CONTROL added
2015-03-02 16:58:03 +09:00
Randy Mackay
26d54398e2
GCS_MAVlink: generate after LED_CONTROL added
2015-03-02 16:58:01 +09:00
Randy Mackay
3fdabb3667
GCS_MAVlink: define LED_CONTROL in ardupilotmega.xml
2015-03-02 16:57:59 +09:00
Randy Mackay
b8ef765b3e
Notify: add OreoLED to PX4
2015-03-02 16:57:56 +09:00
Randy Mackay
0a33a7c15a
Notify: OreoLED_PX4 driver
2015-03-02 16:57:50 +09:00
Jonathan Challinger
e9bbe062f3
AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation
2015-02-24 16:41:03 +09:00
Andrew Tridgell
1f417dce86
AP_SerialManager: added note on external converter requirement for Frsky
...
thanks to Luis for the suggestion
2015-02-24 10:19:42 +11:00
Andrew Tridgell
a6d76b4e03
AP_RangeFinder: added PX4-PWM rangefinder
...
uses PWM input driver to read a rangefinder
2015-02-23 14:15:14 +11:00
Randy Mackay
b650d39786
InertialSensor: remove product_id set to zero
2015-02-21 09:14:33 +09:00
Jonathan Challinger
7b0e806db1
AP_Mount: correct status_msg to conform to MAVLink specification
2015-02-21 08:33:50 +09:00
Andrew Tridgell
3a51bac0d0
AP_Arming: use new enum for home_is_set
2015-02-21 10:13:43 +11:00
Andrew Tridgell
a53395cdb8
AP_Common: added HomeState enum from copter
2015-02-21 10:13:17 +11:00
Andrew Tridgell
6781a8d329
AP_AHRS: fixed get_position for EKF to use correct relative altitude
...
we need to use the EKF relative height plus the current AHRS home
2015-02-21 10:12:53 +11:00
Andrew Tridgell
869fb23062
HAL_SITL: implement SIM_GPSDRIFTALT
2015-02-21 08:33:01 +11:00
Andrew Tridgell
63c792bc1c
SITL: added SIM_GPSDRIFTALT simulation control
2015-02-21 08:32:49 +11:00
Randy Mackay
73e00108e4
Mount: SToRM32 remove unnecessary include
2015-02-20 11:27:15 +09:00
Randy Mackay
23f0bab5d6
Mount: integrate SToRM32 backend
2015-02-20 11:05:40 +09:00
Randy Mackay
92c7949355
Mount: SToRM32 mount backend
2015-02-20 11:05:31 +09:00
Andrew Tridgell
b21c00fcf9
AP_L1_Control: changed default L1 tuning to 20
...
this is more appropriate for most aircraft
2015-02-19 16:19:33 +11:00
Andrew Tridgell
ec70042d25
APM_Control: raise default IMAX to 3000
...
on the first flight users often need more I gain to overcome poor
choices for the P gain
2015-02-19 16:15:33 +11:00
Andrew Tridgell
6959cdbf15
RC_Channel: fixed usage of _reverse to be consistent
...
users could set RCn_REV to 0 and get very confusing results
2015-02-18 12:47:56 +11:00
Andrew Tridgell
26ac29840c
AP_Common: added UNUSED_FUNCTION macro
...
useful for functions that are only in some builds
2015-02-18 11:12:43 +11:00
Andrew Tridgell
50a11c7d5a
AP_Mount: added an alternative tilt-only gimbal control method
...
this adds some nice control characteristics based on work by Paul and
Arthur, but is tilt only
2015-02-16 16:48:55 +11:00
Andrew Tridgell
9b2d44d6ed
AP_InertialSensor: use delay_microseconds_boost()
...
this gives much more consistent timing for PX4
2015-02-16 12:19:13 +11:00
Andrew Tridgell
18131eae13
HAL_PX4: added delay_microseconds_boost()
...
implemented using hrt callback with sem_post wrapper
2015-02-16 12:19:13 +11:00
Andrew Tridgell
c63540f7b1
AP_HAL: added delay_microseconds_boost()
...
this will be used by wait_for_sample() to boost priority for a short
period at the end of each delay_microseconds()
2015-02-16 11:52:37 +11:00
Andrew Tridgell
f54d799bff
AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues
2015-02-16 10:12:10 +11:00
Randy Mackay
8e75c9580c
InertialNav: get_origin returns zero when no origin
...
If the EKF has not yet set the origin return location of all zeros
instead of uninitialised location
2015-02-15 11:17:37 +09:00
Andrew Tridgell
04bef5ccf3
AP_InertialSensor: don't skip delay if we are a bit early
...
this produces a bit more even timing
2015-02-14 12:25:44 +11:00
Andrew Tridgell
619196b6b3
HAL_PX4: fixes for new PX4 device paths
2015-02-14 12:25:44 +11:00
Andrew Tridgell
38d63d51a5
AP_RangeFinder: change for new PX4 device paths
2015-02-14 12:25:44 +11:00
Andrew Tridgell
995311f807
AP_OpticalFlow: change for new PX4 device paths
2015-02-14 12:25:44 +11:00
Andrew Tridgell
9f7e20090c
AP_Notify: change for new PX4 device paths
2015-02-14 12:25:43 +11:00
Andrew Tridgell
4537acb898
AP_InertialSensor: change for new PX4 device paths
2015-02-14 12:25:43 +11:00
Andrew Tridgell
99ed508903
AP_Compass: change for new PX4 paths
2015-02-14 12:25:43 +11:00
Andrew Tridgell
beeb9173ea
AP_Baro: change for new PX4 paths
2015-02-14 12:25:43 +11:00
