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Author SHA1 Message Date
Andreas M. Antonopoulos
2010d3aaa3 parameter metadata parser: better values formatting 2012-07-04 21:27:58 -07:00
Andreas M. Antonopoulos
425ef33b59 parameter metadata parser: escape wiki characters 2012-07-04 20:55:55 -07:00
Andrew Tridgell
8220ae8096 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
fdbb1ebd42 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell
185c6e5b32 AP_Baro: change to a 7 point DerivativeFilter for climb rate 2012-07-05 13:00:47 +10:00
Andrew Tridgell
75470dc912 Filter: cope with non-uniform time steps in the DerivativeFilter 
this helps with the barometer a lot, as the timing is quite variable
 2012-07-05 13:00:47 +10:00
Andrew Tridgell
0385932afb MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f03ba86d9d SITL: add some minimal noise when motors are off 
this actually improves the gyro calibration
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
95d9569b35 Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell
60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
adf6030cfa CPUInfo: added acos(), asin() and atan2() 2012-07-05 13:00:46 +10:00
Andrew Tridgell
2cd6da2539 AHRS: only use GPS for yaw when compass is not being used 
this avoids having two competing controllers
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
adfa97b6f8 AHRS: enable barometer for vertical velocity 
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f9fc7aafe7 AP_Baro: use DerivativeFilter in barometer climb rate 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f19e5a6273 Filter: added DerivativeFilter implementation 
this adds a DerivativeFilter implementation of up to 10 points
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
9f8703274c AP_Baro: show climb rate in baro test sketch 2012-07-05 13:00:45 +10:00
Adam M Rivera
857ad6c706 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera
6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andreas M. Antonopoulos
9f6fb89392 parameter metadata parser, display improvements 2012-07-04 17:58:09 -07:00
Andreas M. Antonopoulos
453c1677b5 parameter metadata -> wiki, bug fixes 2012-07-04 17:42:38 -07:00
rmackay9
b5f47f5e63 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Andreas M. Antonopoulos
c4b59a89da parameter metadata parser and wiki generator 2012-07-04 16:44:53 -07:00
Amilcar Lucas
0febf76d9d Document++ 2012-07-05 00:33:46 +02:00
Amilcar Lucas
e9c72822dc Remove unused function 2012-07-05 00:33:10 +02:00
Andrew Tridgell
c35a2e999b SITL: added SIM_GPS_DELAY parameter 
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
 2012-07-04 21:05:22 +10:00
rmackay9
faeda3713e AP_AHRS: removed DCM_test example sketch 
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
 2012-07-04 18:22:51 +09:00
Andrew Tridgell
3849ca8b5c AHRS: make DCM drift correction not rely on accurate yaw 
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference

It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
 2012-07-04 17:00:40 +10:00
Andrew Tridgell
c8f5aeb7ba autotest: change loiter heading accuracy to 10 2012-07-04 15:59:35 +10:00
Andrew Tridgell
61f325713e SITL: fixed the normalisation of the DCM matrix in the multicopter sim 2012-07-04 15:59:15 +10:00
Andrew Tridgell
1cd8c54f21 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell
468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell
0bdce404a5 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell
5ed345fe94 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Andrew Tridgell
be9b9f3e67 DataFlash: fixed SITL build 2012-07-04 13:44:01 +10:00
Andrew Tridgell
dd24330645 DataFlash: fallback to BlockErase if ChipErase fails 
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
fb66899414 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
6ee9f1ae97 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell
dd200cba31 Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
1314e4f872 AHRS: make P gain on PI roll/pitch controller tunable 
this is to make it easier for Craig and Alan to tune
 2012-07-04 12:42:46 +10:00
Jason Short
fd97eb5a8d commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short
37685756df Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short
c29a0bc3f8 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short
3a3966736c Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short
8ccda519fa Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short
b076b571eb commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short
2d572461ec Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short
1070eea70b Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06 Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00