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4546 Commits

Author SHA1 Message Date
Andrew Tridgell 11b13001f4 autotest: tweak the Rascal tuning 2012-07-05 17:59:37 +10:00
Andreas M. Antonopoulos ba9b94851f ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell e33554a1f9 AHRS: only enable barometer for AHRS if it is smooth enough 
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
 2012-07-05 16:29:21 +10:00
Andrew Tridgell 1ce4a03147 SITL: lower baro noise a bit 2012-07-05 16:29:21 +10:00
Andrew Tridgell 9f3da1bf7f Filter: fixed DerivativeFilter example build 2012-07-05 16:29:21 +10:00
Andrew Tridgell 5f38669666 SITL: run the HIL barometer at 80Hz to match APM2 2012-07-05 16:29:21 +10:00
Andrew Tridgell 735c88e9b3 AP_Baro: added get_pressure_samples() interface 
this returns how many samples were used to calculate the last pressure
 2012-07-05 16:29:21 +10:00
Andrew Tridgell 92001e3e7d Filter: fixed typo in 9 point DerivativeFilter 2012-07-05 16:29:20 +10:00
Andreas M. Antonopoulos 4de662e2af param_parser - better tolerance for missing parameters 2012-07-04 23:01:52 -07:00
Andrew Tridgell 855d67c30a APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell 85332ff85b GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andreas M. Antonopoulos 1b98bddaae parameter metadata parser: better values formatting 2012-07-04 21:27:58 -07:00
Andreas M. Antonopoulos 6509ed74cd parameter metadata parser: escape wiki characters 2012-07-04 20:55:55 -07:00
Andrew Tridgell a71f567d28 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos a2e2bf69c6 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell 999a1d1d55 AP_Baro: change to a 7 point DerivativeFilter for climb rate 2012-07-05 13:00:47 +10:00
Andrew Tridgell a07e280eda 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 ba39738606 MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell ce3f8be6c7 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 6afbfdafeb Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell fe54329de2 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 2861e235bb CPUInfo: added acos(), asin() and atan2() 2012-07-05 13:00:46 +10:00
Andrew Tridgell 9d7ed30023 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 6653c0b874 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 a5d607d25a AP_Baro: use DerivativeFilter in barometer climb rate 2012-07-05 13:00:46 +10:00
Andrew Tridgell f97289792b Filter: added DerivativeFilter implementation 
this adds a DerivativeFilter implementation of up to 10 points
 2012-07-05 13:00:46 +10:00
Andrew Tridgell cf2c546051 AP_Baro: show climb rate in baro test sketch 2012-07-05 13:00:45 +10:00
Adam M Rivera ddd069ad83 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera 278e215a21 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andreas M. Antonopoulos 1b4bc490a0 parameter metadata parser, display improvements 2012-07-04 17:58:09 -07:00
Andreas M. Antonopoulos 400e313377 parameter metadata -> wiki, bug fixes 2012-07-04 17:42:38 -07:00
rmackay9 be3d035a64 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Andreas M. Antonopoulos d5d5c3923f parameter metadata parser and wiki generator 2012-07-04 16:44:53 -07:00
Amilcar Lucas 6904bef611 Document++ 2012-07-05 00:33:46 +02:00
Amilcar Lucas 8400bd67f8 Remove unused function 2012-07-05 00:33:10 +02:00
Andrew Tridgell dc6d70bc15 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 cac0757c2e 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 03516b7dfa 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 8b7fc364f9 autotest: change loiter heading accuracy to 10 2012-07-04 15:59:35 +10:00
Andrew Tridgell b3c9cdb353 SITL: fixed the normalisation of the DCM matrix in the multicopter sim 2012-07-04 15:59:15 +10:00
Andrew Tridgell 6cf2e2fa13 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell 7be29c8b04 AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell 8fa1acb141 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell 35b73b9d01 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Andrew Tridgell 597170afdc DataFlash: fixed SITL build 2012-07-04 13:44:01 +10:00
Andrew Tridgell c6ff292721 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 5623ef99a0 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 d9351ff681 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell 84a489498d Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell e0685f4408 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