Ju1ien
14cbb09804
Copter: hybrid add Brake or Loiter to Pilot override transition
...
Corrected a little mistake in get_wind_comp...()
Mixed transition not only from loiter but as well from brake to manual
override
2014-04-23 15:00:01 +09:00
Ju1ien
43b1dd748b
Copter: hybrid init brake roll and pitch at loiter exit
2014-04-23 14:59:59 +09:00
Ju1ien
d745060c80
Copter: fix Hybrid flight mode in Parameter description
2014-04-23 14:59:56 +09:00
Ju1ien
f8e8d4024d
Copter: Hybrid's max brake angle to 30deg
2014-04-23 14:59:53 +09:00
Ju1ien
6c71569775
AC_PosControl: update_xy_controller allows not resetting I term
2014-04-23 14:59:49 +09:00
Ju1ien
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
2014-04-23 14:59:47 +09:00
Ju1ien
b3e8112d24
Copter: Hybrid fix wind_comp time constant
...
Corrected timer init values and wind_comp time constant to get the best
behaviour
Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio
Adjusted timers to 100/400Hz
I_term does not init when in hybrid loiter
2014-04-23 14:59:43 +09:00
Randy Mackay
4778c73de2
Copter: Hybrid 10hz updates to wind comp lean angles
2014-04-23 14:59:40 +09:00
Randy Mackay
f87ab21063
Copter: Hybrid estimates wind when speed under 10cm/s
2014-04-23 14:59:38 +09:00
Randy Mackay
d36f137bf8
Copter: allow arming, disarming in Hybrid mode
2014-04-23 14:59:35 +09:00
Randy Mackay
e2aaafe40b
Copter: hybrid works for 100hz and 400hz
2014-04-23 14:59:33 +09:00
Randy Mackay
705ff3f44f
Copter: add hybrid_mix_controls
...
Allow wind comp estimate to run when vehicle travelling up to 30cm/s
(was 10cm/s)
2014-04-23 14:59:30 +09:00
Randy Mackay
e48c93d93c
Copter: restructure hybrid into more states
2014-04-23 14:59:28 +09:00
Randy Mackay
f467d7bc20
Copter: add Hybrid parameters
2014-04-23 14:59:25 +09:00
Randy Mackay
754bae5748
Copter: refactor and split out wind compensation
2014-04-23 14:59:23 +09:00
Randy Mackay
d9c685323a
Copter: add hybrid state struct, formatting changes
2014-04-23 14:59:20 +09:00
Randy Mackay
b5ed23f592
Copter: integrate skeleton Hybrid mode
2014-04-23 14:59:17 +09:00
Ju1ien
832fc62016
Copter: control_hybrid initial version
2014-04-23 14:59:15 +09:00
Randy Mackay
09a35cf90f
AC_PosControl: bugfix for freezing I-term build-up
2014-04-23 11:33:53 +09:00
Randy Mackay
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
...
Also pull Z-axis acceleration from position controller instead of using
#define
2014-04-22 23:05:11 +09:00
Randy Mackay
9c6995d8bb
AC_PosControl: add get_accel_z method
2014-04-22 23:05:08 +09:00
Randy Mackay
e565ee6d33
AC_PosControl: stop I term build-up when motors at max
2014-04-22 23:05:06 +09:00
Andrew Tridgell
05c59c757c
Rover: use get_current_nav_index()
2014-04-22 11:40:18 +10:00
Andrew Tridgell
e15350f756
Plane: use get_current_nav_index()
2014-04-22 11:40:18 +10:00
Andrew Tridgell
e10542dcae
AP_Mission: added get_current_nav_index() function
...
this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission
(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
2014-04-22 11:40:18 +10:00
Michael Day
96173bfb8a
AP_Rally: Added one getter method and made a utility method public.
2014-04-22 11:40:18 +10:00
Randy Mackay
0e065e4894
AP_InertialNav: get_velocity_xy const
2014-04-21 21:59:38 +09:00
Randy Mackay
5fc071f5f9
Copter: restore SITL to run at 100hz
2014-04-21 21:46:22 +09:00
Randy Mackay
6f6c9e2585
AC_PosControl: bug fix to vertical speed limit
...
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
2014-04-21 21:36:02 +09:00
Andrew Tridgell
12012c9530
Plane: fixed a potential numerical error close to waypoints
2014-04-21 18:49:30 +10:00
Andrew Tridgell
e07b70de4e
Copter: set AHRS vehicle class
2014-04-21 18:13:13 +10:00
Andrew Tridgell
c413cdc480
Rover: set AHRS vehicle class
2014-04-21 18:13:13 +10:00
Andrew Tridgell
250deaa32f
Replay: added vehicle class detection
2014-04-21 18:13:13 +10:00
Andrew Tridgell
b1d82b37ff
VARTest: fixed build
2014-04-21 18:13:13 +10:00
Andrew Tridgell
0de41f0ce1
Plane: set AHRS vehicle class
2014-04-21 18:13:12 +10:00
Andrew Tridgell
25667a11a0
AP_NavEKF: use AHRS vehicle class for sideslip calculation
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 18:13:12 +10:00
Andrew Tridgell
5acd17b843
AP_NavEKF: cleanup some build warnings
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 18:13:12 +10:00
Andrew Tridgell
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
...
used by EKF to control use of get_fly_forward()
2014-04-21 18:13:12 +10:00
priseborough
bd28cdbdcf
AP_NavEKF: Improved magnetometer consistency checks
...
A magnetometer axis that fails the innovation consistency check will cause
all axes not to be used. If this condition continues for 10 seconds, a
magnetometer timeout condition will be declared. When the timeout has
occurred, if it is not a fly forward vehicle, then individual channels
will be used again, but with a reduced weighting.
2014-04-21 16:31:31 +10:00
Randy Mackay
01538c5290
Copter: remove unused lon_error, lat_error
2014-04-21 15:06:32 +09:00
Randy Mackay
648787a6c8
AC_WPNav: rename some definitions
2014-04-21 15:06:29 +09:00
Randy Mackay
2167dd7d3e
AC_WPNav: update target speed immediately
2014-04-21 14:51:26 +09:00
Andrew Tridgell
05bffb5915
HAL_SITL: enable use of SIM_FLOAT_EXCEPT parameter
2014-04-21 15:37:08 +10:00
Andrew Tridgell
e0db7b117f
SITL: added SIM_FLOAT_EXCEPT parameter
...
this enables checking for floating point exceptions
2014-04-21 15:37:08 +10:00
Andrew Tridgell
610a930612
AP_NavEKF: catch covarience errors and reset filter
...
this catches covariance values beyond a reasonable limit and resets
the filter is they happen
2014-04-21 15:37:08 +10:00
Andrew Tridgell
7e5a491f14
AP_Math: prevent a floating point exception
2014-04-21 15:37:08 +10:00
Andrew Tridgell
4d24a86088
AP_AHRS: prevent a infinity value
2014-04-21 15:37:07 +10:00
Andrew Tridgell
7ca08294e7
Replay: added floating point exception checking
...
allows NaN errors to be caught in gdb
2014-04-21 15:37:07 +10:00
Randy Mackay
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
2014-04-21 13:32:02 +09:00
Randy Mackay
8ac14023b4
Copter: set main loop rate from CPU class
...
Previously this was determined by the board
2014-04-21 13:32:00 +09:00
