Jonathan Challinger
074ee49cd0
AP_InertialSensor_PX4: interleave accel and gyro samples by time
2015-03-12 12:50:28 +11:00
Jonathan Challinger
addf80b669
AP_InertialSensor_PX4: explicitly configure sensors, publish deltas
2015-03-12 12:50:27 +11:00
Jonathan Challinger
b5131b7b64
AP_InertialSensor: add coning.py example
2015-03-12 12:50:27 +11:00
Jonathan Challinger
2a547f329b
AP_InertialSensor: allow backends to publish delta velocities and angles
2015-03-12 12:50:27 +11:00
Jonathan Challinger
155c173ed1
AP_InertialSensor: rename _rotate_and_offset to _publish
2015-03-12 12:50:27 +11:00
Jonathan Challinger
502446d821
AP_InertialSensor: use LowPassFilter2pVector3f
2015-03-12 12:50:27 +11:00
Jonathan Challinger
0133f0bb57
LowPassFilter2p: split into LowPassFilter2pfloat and LowPassFilter2pVector3f
2015-03-12 12:50:27 +11:00
ustas
a2d5ac6805
AP_GPS: add includes for success build example sketch
...
include AP_Scheduler.h for achieve build GPS_UBLOX_passthrough example
2015-03-11 21:30:31 +09:00
mirkix
4f1dd85e47
AP_HAL: Add test sketch for RC input to RC output pass through
2015-03-11 21:14:15 +09:00
Randy Mackay
12724e9556
AC_PID: remove include of stdio.h
2015-03-11 20:40:05 +09:00
Randy Mackay
cc0d5b9ced
AC_PI_2D: replace set_filt_hz method with filt_hz
...
Thanks to Jonathan Challinger for spotting this bug
2015-03-11 17:28:36 +09:00
Randy Mackay
c10b0b34ca
AC_PID: replace set_filt_hz method with filt_hz
...
Thanks to Jonathan Challinger for spotting this bug
Also add sanity check to filt_hz
2015-03-11 17:28:20 +09:00
Jonathan Challinger
88ec13b10d
AC_PosControl: fix build
2015-03-11 10:00:00 +09:00
Randy Mackay
50d2e98aa4
AC_AttControl: init throttle_hover in constructor
2015-03-10 22:10:36 +09:00
Randy Mackay
965db2c7f7
AC_PosControl: add comments and defines for jerk limits
2015-03-10 22:10:34 +09:00
Jonathan Challinger
4408c1b935
AC_PosControl: 2d jerk constraint in accel_to_lean_angles
2015-03-10 22:10:32 +09:00
Jonathan Challinger
9871b95586
AC_PosControl: fix dt sanity checking
2015-03-10 22:10:30 +09:00
Jonathan Challinger
e7efe23fb5
GCS_MAVLink: reserve message IDs for future feature additions
2015-03-10 15:30:14 +09:00
Randy Mackay
5e26450a6f
AP_Motors: make THR_LOW_COMP a variable instead of param
2015-03-10 12:20:27 +09:00
Leonard Hall
007c96a3d8
AP_Motors: Low throttle compensation setters
2015-03-10 12:20:21 +09:00
Leonard Hall
6275ee0289
AP_Motors: Check for battery voltage reading fail
2015-03-10 12:20:19 +09:00
Randy Mackay
5f26a36060
INS: protect against two calibrations running at the same time
2015-03-09 17:58:38 +11:00
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
Andrew Tridgell
26a77dc502
AP_Airspeed: change for new PX4 paths
2015-02-14 12:25:43 +11:00
Andrew Tridgell
001643d5a3
HAL_PX4: always use the hrt semaphore based delay
...
the up_udelay() could cause too much timing jitter
2015-02-14 12:25:43 +11:00
Andrew Tridgell
7f0060b881
HAL_PX4: reduce the amount of time between loop() calls
...
500usec is too long for 400Hz copter
2015-02-14 12:25:43 +11:00
myly10
7bb079b348
AP_Parachute.cpp: Typo correction.
2015-02-13 16:16:10 +09:00
Staroselskii Georgii
75cd41a7c1
AP_HAL_Linux: added NavioAnalogIn
2015-02-12 12:57:45 +11:00
Staroselskii Georgii
b5aef01f72
AP_ADC: added ADS1115 support
2015-02-12 12:57:45 +11:00
Staroselskii Georgii
195aa5fc6b
AP_HAL_Linux: take the semaphore in SPIUARTDriver for shorter periods of time
2015-02-12 12:52:56 +11:00
Staroselskii Georgii
64da7f0360
AP_HAL_Linux: fix macro that defines number of I/O callbacks
2015-02-12 12:52:56 +11:00
Staroselskii Georgii
5b21bd2f1d
AP_HAL_Linux: make Ublox transactions shorter
2015-02-12 12:52:56 +11:00
Staroselskii Georgii
4034004194
AP_HAL_Linux: switch NavIO to kernel CS handling
2015-02-12 12:52:56 +11:00
Paul Riseborough
9f552eaa4b
AP_NavEKF: Fix bug that resets position to origin when vehicle arms
2015-02-12 12:40:55 +11:00
Paul Riseborough
b8d3da3846
AP_NavEKF: Report last known position when vehicle is disarmed
2015-02-12 12:40:55 +11:00
Andrew Tridgell
4aa8a012de
GCS_MAVLink: re-generate headers (updated stdint.h usage)
2015-02-12 09:13:17 +11:00
Andrew Tridgell
991afa9999
GCS_MAVLink: re-generate headers
2015-02-12 09:03:34 +11:00
Andrew Tridgell
7a6d91035e
GCS_MAVLink: merge upstream changes
2015-02-12 09:03:22 +11:00
Andrew Tridgell
55041c7a7a
AP_NavEKF: prevent division by zero in SmallEKF
2015-02-12 09:02:59 +11:00
Andrew Tridgell
db9c8548a5
HAL_VRBrain: call parent Util constructor
2015-02-11 20:57:28 +11:00
Andrew Tridgell
ebacb2b496
HAL_PX4: call parent Util constructor
2015-02-11 20:57:28 +11:00
Jonathan Challinger
59cf1c29ff
AP_HAL_VRBRAIN: attempt to initialize USB while soft-disarmed
2015-02-11 20:57:28 +11:00
Jonathan Challinger
e908fcafb1
AP_HAL_PX4: attempt to initialize USB while soft-disarmed
2015-02-11 20:57:27 +11:00
Jonathan Challinger
50466848f7
AP_NavEKF: use hal.util soft_armed state
2015-02-11 20:25:11 +11:00
Jonathan Challinger
180c85817d
AP_AHRS: remove armed state, use hal.util soft_armed state
2015-02-11 20:25:11 +11:00
Jonathan Challinger
aa7776ea59
AP_HAL: add soft_armed state to hal.util
2015-02-11 20:25:10 +11:00
Andrew Tridgell
fdcd5ca1a1
GCS_MAVLink: re-generate headers
2015-02-11 20:14:08 +11:00
Andrew Tridgell
b227f8463f
GCS_MAVLink: merge upstream mavlink changes
2015-02-11 20:13:27 +11:00
Andrew Tridgell
8cfe8c5823
GCS_MAVLink: moved send_autopilot_version() to common code
2015-02-11 19:50:40 +11:00
Andrew Tridgell
8e35baaef8
GCS_MAVLink: re-generate headers
2015-02-11 19:13:31 +11:00
Jonathan Challinger
0d1f0f4eb0
GCS_MAVLink: add AUTOPILOT_VERSION_REQUEST
2015-02-11 19:11:30 +11:00
