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3457 Commits

Author SHA1 Message Date
Andrew Tridgell 55d148abdd AC_WPNav: fixed example build 2013-05-08 16:44:59 +10:00
Andrew Tridgell 56694fd9b1 AC_Fence: fixed example build 2013-05-08 16:44:50 +10:00
Andrew Tridgell 2ddeaa7f4d AP_InertialSensor: show calibration offsets for success and failure 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-05-08 16:19:06 +10:00
Andrew Tridgell f3f4b7205c AP_InsertialSensor: added support for MAVLink user interaction 
allows APM to ask user to print enter to continue via MAVLink messages
during accel calibration
 2013-05-08 16:18:40 +10:00
Andrew Tridgell 4bc53acbda SITL: support vsnprintf with %S on SITL 2013-05-08 16:17:36 +10:00
Andrew Tridgell 9cd0af1132 HAL_PX4: make PX4 snprintf support %S format 
just maps it to %s for normal printf
 2013-05-08 16:17:06 +10:00
Andrew Tridgell 223dfe4de5 AP_Rangefinder: added units for settle time 2013-05-08 14:21:32 +10:00
Randy Mackay 328d900647 WPNav: flexible loiter speed 
Also includes bug fix to allow speeds > 10m/s during missions
 2013-05-07 17:11:24 +09:00
Randy Mackay 1f8161b493 AC_WPNav: remove unnecessary speed constraint 2013-05-07 11:58:04 +09:00
priseborough aee23361dd APM_Control: Corrected typographical error in APM_Control/TuningGuide.txt 2013-05-07 11:00:57 +10:00
Andrew Tridgell 6f1cee6406 AP_AHRS: fixed position estimate with 2D fix or low satellite count 
we should still use the GPS for position fixes when we have a low
number of satellites, but we should stop using it for velocity
estimates and attitude correction.
 2013-05-07 10:52:14 +10:00
Andrew Tridgell 055da3c4b6 SITL: added SIM_GPS_NUMSATS parameter 
this allows testing of the DCM code with less than 6 satellites
 2013-05-07 10:38:36 +10:00
Randy Mackay ceda7d26b0 AHRS: add correct_centrifugal and flags structure 2013-05-06 15:32:06 +09:00
Andrew Tridgell 46c6aa8a9a APM_Control: tweak the parameter names 2013-05-05 21:51:09 +10:00
Andrew Tridgell 400777b059 APM_Control: support inverted flight in AP_PitchController 
auto-reverse pitch control when inverted. This is useful not just for
inverted flight mode, but also for recovering from poor manual flight

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 604bfd0700 APM_Control: adjust recommended ranges 2013-05-05 21:51:09 +10:00
Andrew Tridgell 7af3c667a5 APM_Control: added roll controller parameter docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell 52c3f8841f APM_Control: added yaw parameter docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell b618d1d81f APM_Control: added inline docs to pitch controller 2013-05-05 21:51:09 +10:00
Andrew Tridgell 6c6c0079ee APM_Control: improved formatting of tuning guide 
be a bit more web friendly
 2013-05-05 21:51:09 +10:00
Andrew Tridgell 742df0ac05 APM_Control: rename to avoid spaces in filenames 2013-05-05 21:51:09 +10:00
Andrew Tridgell 23d9c31b0a APM_Control: fixed build and merge errors 2013-05-05 21:51:08 +10:00
Paul Riseborough 10ecffce01 APM_Control: ROLL and PITCH controllers 
These changes reduce height variation in turns and improve
robustness. the specific changes are:

1) Linked roll and pitch integrator protection to the final output
value so that if final output is on upper limit, the integrator is
prevented from increasing and vice-versa. This improves wind-up
protection.

2) Modified rate feedback in roll and pitch controllers to use body
rates rather than Euler or earth rates.

3) Changed the roll to pitch compensation to use measured roll angle
and estimated airspeed to calculate the component of turn rate
(assuming a level coordinated turn) around the pitch axis. This a
mathematically correct calculation and will work over a range of bank
angles and aircraft with minimal (if any) tuning required.

4) The integrator in the roll and pitch loop is clamped when the
estimated speed is below the minimum FBW speed

5) The noise filter in the pitch and roll loop has been changed to use
a FOH discretisation. This gives improved noise rejection and less
phase loss when compared to the previous filter that used a ZOH or
equivalent discretisation.

This has been flown on the rascal in the SITL and on a X-8 with
limited flight testing. Initial results have been encouraging with
reduced height variation in turns.  Compare to standard PIDS, the
revised pitch and roll controllers allow the use of rate feedback
(effectively the same as the old D term) without beating the servos to
death.  The bank angle compensation in the pitch loop works
effectively over a much larger range of bank angles and requires
minimal tuning compared to the old calculation.

YAW CONTROLLER

Currently testing the a 3-loop acceleration autopilot topology for the
yaw loop with feed forward yaw rate for turn compensation. This 3-loop
topology is commonly used in tactical skid to to turn missiles and is
easy to tune. The following block diagram shows the general signal
flow

Note that the acceleration measurement has to pass through an
integrator before it gets to the actuator. This is a important feature
as it eliminates problems of high frequency noise and potential
coupling with structural modes associated with direct feedback of
measured acceleration to actuator.

The high pass filter has been inserted to compensate for airspeed and
bank angle measurement errors which will cause steady state errors in
the calculation of the turn yaw rate.

The yaw controller flies SITL well, but hasn't been flight tested
yet. It can be configured either as a simple yaw damper, or the
acceleration and integral term can be turned on to allow feedback
control of lateral acceleration/sideslip.

TO DO:

Need to reduce number of tuning parameters and provide consistent
naming Need to provide guidance on tuning these loops with definitions
for all the gain terms.  Need to check signs and units into and out of
lateral loops.

DESIGN DECISIONS PENDING:

1) Can we remove the noise filters? Provided the mpu6k noise filter is
running they are of limited benefit given the 25Hz Nyquist frequency

2) If we do remove them and rely on the mpu6k noise filter, what is
the apprporiate default cutoff frequency for plane use. 20Hz is
probably OK for most setups, but some noisy/high vibration setups
would require as low as 10Hz

3) The inverted flight logic looks like a crash waiting to
happen. It's problematic to test and even if implemented correctly
would still crash a plane with poor inverted flight capability. We
should either implement it properly and fully tested or delete it.
 2013-05-05 21:51:08 +10:00
priseborough 205397d030 APM_Control: Modified calculation of bank compensation rate offset to prevent climb if speed > max fbw speed 
The previous calculation constrained the speed used to calculate the
bank compensation rate offset between the min and max fbw speeds. This
would result in an unwanted climb if flown above the max fbw speed
(this could happen in fbw-a mode)
 2013-05-05 21:51:08 +10:00
priseborough e7736ed4e0 APM_Control: APM tuning guide.txt - Updated tuning instructions with numerical values for alternate method 2013-05-05 21:51:08 +10:00
Paul Riseborough 3034a9fab2 APM_Control: Added alternate tuning method for roll and pitch loops 
The alternate tuning method for roll and pitch will give a better
results, but comes with more risk as it will result in a larger rate
feedback gain
 2013-05-05 21:51:08 +10:00
priseborough 2c29186b03 APM_Control: APM tuning guide.txt - Minor editorial corrections 2013-05-05 21:51:08 +10:00
priseborough d159d39037 APM_Control: APM tuning guide.txt - Added step by step tuning description. 2013-05-05 21:51:08 +10:00
priseborough 99f0fb6bd2 APM_Control : Removed 20Hz low-pass filters on rate gyro inputs. 
These are not required due to MPU 6000 filtering.
 2013-05-05 21:51:08 +10:00
priseborough 317b75f4cd APM_Control: Added tuning guide readme 2013-05-05 21:51:08 +10:00
Andrew Tridgell 9654546b5a AP_L1_Control: Cleaned up calculation of damping to reduce computations 
also removed _cross2D, using math library instead
 2013-05-05 21:51:08 +10:00
Randy Mackay 30faf87715 InertialNav: use AP_Math's longitude_scale 2013-05-05 14:32:25 +09:00
Randy Mackay 7c9d9b9800 AP_Math: use DEG_TO_RAD in longitude_scale 
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
 2013-05-05 14:31:24 +09:00
Andrew Tridgell 38fc0e61c6 AP_AHRS: optimise yaw drift correction 
use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
 2013-05-05 13:51:45 +10:00
Andrew Tridgell 737f0305ef AP_Math: implement vector2 cross product 
useful in DCM for faster yaw correction
 2013-05-05 13:47:51 +10:00
Andrew Tridgell f4189e083b AP_Math: added mulXY() for matrix3 and vector3 
returns the XY components of the product
 2013-05-05 13:47:23 +10:00
Randy Mackay ee2daf25b6 AHRS: perf improvement by caching declination vector 2013-05-05 12:58:43 +10:00
Andrew Tridgell 943a1d8c8d AP_AHRS: added AHRS_GPS_MINSATS option 
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
 2013-05-05 12:48:01 +10:00
Randy Mackay c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +09:00
Andrew Tridgell 99d21854f9 SITL: fixed drift rate limit in simulator 2013-05-04 15:16:35 +10:00
Andrew Tridgell 53ebcfeba5 SITL: fixed compass vector to be based on yaw not GPS heading 
Many thanks to Randy for noticing this, and apologies for the wasted time!
 2013-05-04 14:28:08 +10:00
Randy Mackay 1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay 647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Randy Mackay bd75de6a22 AC_Fence: reduce to 150m radius and 100m high 
100m high,
 2013-05-03 14:57:37 +09:00
Andrew Tridgell 6cc9939891 AP_ADC: added dummy stop_pin and settle_time calls 2013-05-03 11:11:40 +10:00
Andrew Tridgell 0e66bac70b AP_RangeFinder: removed special case for APM1 
the airspeed port doesn't have enough power for the sonar anyway
 2013-05-03 10:09:54 +10:00
Andrew Tridgell 244a10aeb6 HAL_SMACCM: fixed build for new AnalogIn API 2013-05-03 10:09:14 +10:00
Andrew Tridgell 9bc48c9894 HAL_PX4: fixed build with new AnalogIn API 
pin settle times not actually implemented on PX4 yet
 2013-05-03 10:09:02 +10:00
Andrew Tridgell 5ac493908c SITL: fixed build with new AnalogIn API 2013-05-03 10:08:39 +10:00
Andrew Tridgell 09ca9d4283 AP_Rangefinder_analog: implement settle time and stop_pin 2013-05-03 09:45:19 +10:00
Andrew Tridgell 5d80a5619d HAL_Empty: add new API functions 2013-05-03 09:45:19 +10:00
Andrew Tridgell 912ed2c97c HAL_AVR: initialise settle time 2013-05-03 09:45:19 +10:00
Andrew Tridgell e7a6b12ac1 HAL_AVR: support set_stop_pin() and set_settle_time() for analogin 
useful for dual sonar support
 2013-05-03 09:45:19 +10:00
Andrew Tridgell 0b6cfc7294 AP_HAL: added set_stop_pin() and set_settle_time() interfaces to analogin 
this is for multiple sonars on one vehicle, to prevent them
interfering with each other
 2013-05-03 09:45:19 +10:00
Andrew Tridgell 0242d50ad4 DataFlash: added Log_Write_Message() 
useful for logging general messages
 2013-05-03 09:18:14 +10:00
Andrew Tridgell ccd38e58a1 HAL_PX4: fixed the scaling on the analog pins 2013-05-02 21:40:15 +10:00
Andrew Tridgell 500497f5fa AP_HAL: update AnalogIn test to show the first 16 pins 2013-05-02 21:31:55 +10:00
Andrew Tridgell c90d44c121 AP_Compass_HIL: fixed indentation 2013-05-02 21:31:17 +10:00
Andrew Tridgell 26bf636541 AP_Baro: fixed a build warning 2013-05-02 21:31:04 +10:00
Andrew Tridgell 65183887e5 SITL: use new baro setHIL method 2013-05-02 15:27:27 +10:00
Andrew Tridgell 90cf1b0386 AP_ADC: removed unused setHIL method 2013-05-02 15:27:16 +10:00
Andrew Tridgell 7cec3caf19 AP_Baro: cleaned up setHIL method 
move pressure calculation into library
 2013-05-02 15:26:38 +10:00
Andrew Tridgell c6c1fce2f1 AP_Baro: removed HIL constructor 
this wasn't calling the parent class
 2013-05-02 15:16:52 +10:00
Andrew Tridgell 811c2ccc11 libraries: fixes for AP_Baro_HIL 2013-05-02 15:09:05 +10:00
Andrew Tridgell 2d089174cd AP_Baro: rename AP_Baro_BMP085_HIL to AP_Baro_HIL 
there is nothing specific to the BMP085 in it
 2013-05-02 15:08:42 +10:00
Andrew Tridgell a09c53a3ea SITL: use new HIL compass API 2013-05-02 15:01:47 +10:00
Andrew Tridgell f72dd560cb AP_Compass: fixed the HIL sensors compass 
this sets up good compass values for HIL sensors
 2013-05-02 14:59:33 +10:00
Andrew Tridgell 86027f6e0f AP_Compass: fixed PX4 build 2013-05-02 13:00:52 +10:00
Andrew Tridgell af50b652f8 AP_Compass: removed old orientation defines 
we now use the rotations in libraries/AP_Math/rotations.h
 2013-05-02 12:48:14 +10:00
Andrew Tridgell 261eb6d841 AP_Declination: fixed example build 2013-05-02 12:48:14 +10:00
Andrew Tridgell 54b826a583 AP_AHRS: update for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell 217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses 
this allows the user to configure the compass for any orientation
supported by our rotation library
 2013-05-02 12:48:14 +10:00
Andrew Tridgell ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Andrew Tridgell 813e767efb AP_Param: use const refs in a few more places 
reduces code size by a couple of hundred bytes
 2013-05-02 10:18:36 +10:00
Randy Mackay 4fcb189c97 GCS_MAVLink: typo in message definition 2013-05-01 17:07:18 +09:00
Randy Mackay 2d17688363 AC_Fence: add backup fence 
Also includes fixes from code review with Tridge
 2013-05-01 17:05:04 +09:00
Andrew Tridgell 0fce0eb488 AP_Compass_PX4: fixed handling of a saturated compass 
a saturated compass is now marked unhealthy, rather than causing the
code to spin waiting for a valid sample. This fixes a problem with
strong magnets causing the main flight loop to stop
 2013-05-01 08:54:53 +10:00
Andrew Tridgell d7ec985029 AP_Baro_PX4: fixed baro driver to run at full rate 
we were skipping samples due to a timer handling bug. It now checks
for new samples at 100Hz
 2013-05-01 08:54:53 +10:00
Randy Mackay ad01aeee44 Copter: increase max loiter overshoot to 8.12m 2013-04-30 18:07:48 +09:00
Randy Mackay 8122a32114 InertialNav: reduce XY TC to 2.5 (was 3) 
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
 2013-04-30 12:52:28 +09:00
Randy Mackay c139134192 Copter: increase max loiter speed to 7.5m/s 2013-04-30 12:49:19 +09:00
Randy Mackay 6c081c3def AC_WPNav: slow acceleration of intermediate point 2013-04-30 10:20:23 +09:00
Randy Mackay 00146ca97d AP_HAL: fix another RCInput compile error 2013-04-29 21:27:16 +09:00
Randy Mackay e7122b85ed AP_HAL: example compile error fix 2013-04-29 17:47:04 +09:00
Randy Mackay bbbd90c430 AP_HAL: rename RCInput's valid() fn to valid_channels 2013-04-29 15:05:53 +09:00
Randy Mackay a28c6df611 RCInput: allow ppmsum of less than 8 channels 2013-04-29 14:35:59 +09:00
Andrew Tridgell c067fa2660 L1_Control: make NAVL1_DAMPING docs clearer 2013-04-29 14:24:34 +10:00
Andrew Tridgell 786e4cf705 AP_GPS: added last_message_time_ms() API 
used to help GPS logging
 2013-04-28 14:53:02 +10:00
Andrew Tridgell f5d062d5ba AP_GPS: move byte swapping code to cpp 2013-04-28 14:51:37 +10:00
priseborough 84ed37938d Plane : AP_L1_Control : Replaced division by constants with multiplies and adjusted default L1 period to 25 seconds 2013-04-28 14:47:59 +10:00
Andrew Tridgell f5d6fb6216 AP_AHRS: added _kp gain reduction for catapult launch 
this should reduce the tendency of aircraft to nose down hard on
initial launch at high g
 2013-04-28 14:47:59 +10:00
Randy Mackay 9910d6d1cd AC_Fence: first implemenation of library 2013-04-27 11:14:05 +09:00
Andrew Tridgell b71f36ee34 RC_Channel: support 8 auxillary RC channels 
needed for full 12 channel support on PX4
 2013-04-25 20:10:53 +10:00
Andrew Tridgell ec1678db83 HAL_PX4: setup for 12 output channels 
moved telemetry port to /dev/ttyS2 to free PWM outputs on FMU
 2013-04-25 20:10:53 +10:00
Andrew Tridgell 709615159a HAL_PX4: support 12 output channels with PX4IO 
first 8 on IO board, next 4 on FMU outputs
 2013-04-25 20:10:53 +10:00
Andrew Tridgell 3b0250b414 AP_HAL: define RC_12 
we have 12 channels on PX4FMU+PX4IO
 2013-04-25 20:10:53 +10:00
Randy Mackay cb5f8826f8 Copter: Leonard's fix for trapezoidal frame 
We need to allow yaw_factors to be floats in the add_motor method
 2013-04-25 17:52:19 +09:00
Randy Mackay 1a7cffefe6 TradHeli: change coll_out to int16_t 
was incorrectly defined as an AP_Int16 parameter
 2013-04-24 11:32:26 +09:00
Randy Mackay 7f79398989 AP_Limits: fixed return of AP_Int8 parameters from object 
we should return the base type, not the parameter, or callers could
use set on the result
 2013-04-23 23:13:54 +10:00
Andrew Tridgell 3659b532be AP_Common: added BIT_IS_SET() macro 
makes bit mask testing safer on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:05:02 +10:00
Andrew Tridgell 709a277c7f DataFlash: chamged FMT message to include labels 
this makes it easier for MP to parse and display
 2013-04-23 19:46:22 +10:00
Andrew Tridgell 9ef34943af DataFlash: change log extension to *.bin 2013-04-23 15:03:10 +10:00
Andrew Tridgell fd2cd0d1c2 DCM: fixed formatting 2013-04-23 08:57:44 +10:00
jschall 610069e729 DCM: fixed airspeed bug 
we incorrectly went via the wind estimate when we had a working airspeed sensor
 2013-04-23 08:57:44 +10:00
Randy Mackay 42bca90676 INS: add calibrated check 
Checks is the scaling vector has been updated.  Required for pre-arm
checks for ArduCopter
 2013-04-22 23:55:53 +09:00
Andrew Tridgell 2c05030fb1 AP_Motors: use the right constrain() function 2013-04-22 13:26:49 +10:00
Andrew Tridgell 014c9376e7 AP_AHRS: use const references where possible 2013-04-22 13:26:49 +10:00
Andrew Tridgell dcc3873056 AP_Buffer: remove bool return from add() method 2013-04-22 13:26:49 +10:00
Andrew Tridgell 26fa5c40f1 Compass: use const references for some functions 2013-04-22 13:26:49 +10:00
Andrew Tridgell 1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell 01a4fabf9e AP_Param: make things a bit more efficient 2013-04-22 12:21:59 +10:00
Andrew Tridgell 3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell 08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Andrew Tridgell bad478134d AP_Buffer: instantiate as a .cpp file, and optimise for const usage 2013-04-22 12:21:58 +10:00
Andrew Tridgell ad40ba57be AC_WPNav: optimise to reduce memory copies 
save a few cycles

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 12:21:58 +10:00
Andrew Tridgell 5f1bd1a452 HAL_AVR: constrain Vcc used in voltage_average() 
this ensures a bad Vcc reading doesn't throw off analog inputs too
much
 2013-04-22 11:36:00 +10:00
Andrew Tridgell c437900a49 AP_Scheduler: added SCHED_DEBUG=2 
used to show overruns and slips
 2013-04-21 23:46:35 +10:00
Randy Mackay 2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell 844e1b9ef9 DataFlash: added support for printing flight mode as a string 
makes analysing logs easier.

Pair-Programmed-With: Randy
 2013-04-20 15:17:49 +10:00
Andrew Tridgell c3abdaf308 AP_GPS: removed duplicate print_latlon() 2013-04-20 13:57:59 +10:00
Andrew Tridgell b5ae588341 DataFlash_File: fixed creation of 0.log 2013-04-20 13:52:37 +10:00
Andrew Tridgell 735d60c493 DataFlash: convert example sketch to new API 2013-04-20 13:52:37 +10:00
Andrew Tridgell 62f190ed15 DataFlash: simplify code now that copter is converted 
no longer need as many public functions
 2013-04-20 13:52:37 +10:00
Andrew Tridgell cf0c8331c2 DataFlash: use print_latlon() 2013-04-20 13:52:36 +10:00
Andrew Tridgell e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell c29d870497 DataFlash: dump the format of logs at the start of the log 2013-04-20 13:52:36 +10:00
Andrew Tridgell 916e8d0992 DataFlash: new dataflash logging system 
this allows us to remove the display functions in the vehicle code,
and also allows us to store the format of a log file in the log. It
also stores the parameters used in a flight, rather than the
parameters set at the time the log is dumped
 2013-04-20 13:52:36 +10:00
Andrew Tridgell 17d7f1fbe5 AP_InertialSensor: make some interfaces const 2013-04-20 13:52:36 +10:00
Andrew Tridgell 4fe5ce8a09 AP_Common: added a define for PACKED 
neater than a pragma
 2013-04-20 13:52:36 +10:00
Andrew Tridgell 8d727614b4 AP_GPS: make status() const 2013-04-20 13:52:36 +10:00
Andrew Tridgell 9171d5587d AP_Param: make it easier to show the value of a parameter 2013-04-20 13:52:36 +10:00
Andrew Tridgell 7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00
Randy Mackay 1c046fa49f AC_WPNav: increase max descent speed to 1.5m/s 2013-04-18 22:32:00 +09:00
Randy Mackay ed298363f4 AC_WPNav: remove unnecessary limit in leash calc 2013-04-18 22:31:44 +09:00
Randy Mackay 764853bd56 AC_WPNav: add climb and descent params, dynamic leash length 2013-04-18 14:51:01 +09:00
Randy Mackay effd5b0da7 AC_WPNav: improved comments 
Made SPEEDZ a parameter although it's not yet used
 2013-04-18 11:17:41 +09:00
Andrew Tridgell fa493a0fb3 AP_Param: added ops needed for ArduCopter build 2013-04-18 11:12:46 +10:00
tobias fbe7daa477 AP_Param: fixed assignment handling and const 
this fixes radio_min = radio_max = radio_trim = 0; in RC_Channel
 2013-04-18 10:52:40 +10:00
Andrew Tridgell 02bd24cf57 AP_Scheduler: fixed _last_run initialisation 
another valgrind bug
 2013-04-17 23:02:13 +10:00
Andrew Tridgell 0a25d6220a AP_InertialNav: initialise _gps_last_time 
found with valgrind
 2013-04-17 23:02:13 +10:00
Andrew Tridgell b3ec5187f2 AP_GPS: fixed uninitialied variable bugs found with valgrind 2013-04-17 23:02:13 +10:00
Randy Mackay a656b619f5 AP_Motors: remove auto_armed 
redundant flag that was already held in the main code which is where it
belongs.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell 68051f3ea6 AP_Menu: fixed crash bug in strtok_r() handling 
on PX4 this causes a hard fault in CLI menus
 2013-04-17 22:20:00 +10:00
Andrew Tridgell af7381e9e0 AP_HAL: added register_io_process() 
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
 2013-04-17 21:33:50 +10:00
Andrew Tridgell 5df4796b9a RangeFinder: fixed a warning 2013-04-17 21:33:08 +10:00
Andrew Tridgell da5a5ea368 DataFlash: added file based 'dataflash' logging 2013-04-17 21:32:53 +10:00
Andrew Tridgell 9d3b32bd27 SITL: change default wind speed to zero 
makes starting SITL easier for new users
 2013-04-17 11:39:43 +10:00
Randy Mackay b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Janne Mäntyharju 7a04fe9915 AP_Baro: Fixed build for APM2 Beta hardware 2013-04-16 11:24:38 +10:00
Randy Mackay 8046fe2cf3 AC_WPNav: increase max accel to 8m/s/s 2013-04-15 21:57:56 +09:00
Randy Mackay 8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
priseborough 9ff0888a17 AP_L1_Control : Fixed potential divide by zero in Nu1 angle calculation 2013-04-15 21:11:30 +10:00
Andrew Tridgell 97bfd16bd1 L1_Control: constrain the roll to handle floating point errors 2013-04-15 14:29:39 +10:00
Andrew Tridgell 83dc7dbc92 AP_Math: handle NaN in constrain(), returning average 
this makes it less likely a NaN will propogate
 2013-04-15 14:28:51 +10:00
Andrew Tridgell b69481f74d AP_InertialNav: fixed build of example 2013-04-15 14:09:38 +10:00
Andrew Tridgell 571c48b9d5 L1_Control: cleanup some unused code and variables 2013-04-15 10:52:32 +10:00
priseborough a423d102e0 Plane : AP_L1_Control : Fix wrong way turn behaviour on loiter entry 2013-04-15 10:52:32 +10:00
Andrew Tridgell d01d754ba8 HAL_PX4: if we have lost RC input then set channel 3 to 900 
this allows failsafe to kick in
 2013-04-15 10:52:32 +10:00
Andrew Tridgell 181f7368a3 AP_L1_Control: change turn_distance() to be min of wp_radius and L1 distance 
this gives less surprising behaviour for users
 2013-04-15 10:52:32 +10:00
Andrew Tridgell a4d25f5a82 AHRS: removed AHRS_BARO_USE option 
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
 2013-04-15 10:52:31 +10:00
Andrew Tridgell 87b0fb05ce AHRS: changed default RP and YAW gain to 0.3 
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag

Note that this doesn't affect copters, as they override to 0.1
 2013-04-15 10:52:31 +10:00
Randy Mackay 0eab3e87b2 AC_WPNav: use prev wp as origin for next wp 2013-04-14 18:27:39 +09:00
Randy Mackay 0351c2ae33 AC_WPNav: allow setting of horizontal velocity 
Also added accessor function for waypoint radius parameter
 2013-04-14 13:24:14 +09:00
Randy Mackay 252e98ec57 AC_WPNav: use global gravity constant 2013-04-14 10:39:32 +09:00
Randy Mackay 0ac3762bdd AC_WPNav: fix compiler warning 2013-04-14 10:39:26 +09:00
Randy Mackay 9d7d174995 AC_WPNAV: check distance to waypoint within library 
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
 2013-04-14 10:39:21 +09:00
Randy Mackay 35001619f0 AC_WPNav: stop track_desired from moving backwards 2013-04-14 10:39:19 +09:00
Randy Mackay c6b68c7843 AC_WPNav: Leonard's 3d leash calculator 2013-04-14 10:39:08 +09:00
Randy Mackay 74e1c2e660 AC_WPNav: advance track fixes 2013-04-14 10:39:05 +09:00
Randy Mackay bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay 6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay 31838b2865 AC_WPNAV: change loiter controllers to use floats 
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
 2013-04-14 10:38:56 +09:00
Randy Mackay 0ccdce1b22 AC_WPNav: Leonard's ff loiter and 3d wp nav 2013-04-14 10:38:43 +09:00
Randy Mackay 926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay afd2f82768 AC_WPNav: bug fix for track covered being 2D 
Replaced abs and fabs with fabsf
Added get_destination method
 2013-04-14 10:38:32 +09:00
Randy Mackay 8ec7fd1c9c AC_WPNav: add set_loiter_target to use velocity 
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
 2013-04-14 10:38:25 +09:00
Randy Mackay fc972e2d42 InertialNav: add get_velocity method 2013-04-14 10:38:23 +09:00
Randy Mackay 3bfcc3b8d0 AC_WPNav: replace get_target_alt with get_destination_alt 2013-04-14 10:38:13 +09:00
Randy Mackay c40080e76a AC_WPNav: added set_target_alt 2013-04-14 10:38:04 +09:00
Randy Mackay 60060d8184 AC_WPNav: add get_target_alt 
Required because waypoint controller will be modified to control
altitude
 2013-04-14 10:37:58 +09:00
Randy Mackay 0d70ba1030 AC_WPNav: bug fix to dt calculation 2013-04-14 10:37:51 +09:00
Randy Mackay 39bc3800c9 AC_WPNav: add distance and bearing to target methods 2013-04-14 10:34:50 +09:00
Randy Mackay b92c4097d2 AC_WPNav: first implementation 2013-04-14 10:34:47 +09:00
Andrew Tridgell 76e20150e9 AP_InertialSensor: ensure parent class is initialised in instance classes 2013-04-12 14:30:35 +10:00
Andrew Tridgell a5c3051929 AP_GPS: fixed initialisation error in uBlox driver 
found with valgrind
 2013-04-12 14:25:46 +10:00
Andrew Tridgell dca597cda1 L1_Control: added a comment on speed of the L1 control code 2013-04-12 12:58:20 +10:00
Brandon Jones a3c2851120 AP_L1_Control: Addition of library for geometry calculations required for L1 Control. 
1) Explicit control of tracking loop period and damping which removes previous
   variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance

The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
 2013-04-12 12:48:09 +10:00
priseborough b63d0969b7 AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector 
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
 2013-04-12 12:48:09 +10:00
Andrew Tridgell 05ecb8d8fa AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-04-12 12:48:08 +10:00
Andrew Tridgell ee81b0f729 AP_AHRS: added wind_correct_bearing() and groundspeed_vector() 
these are very useful for navigation libraries
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 43c3c60de2 AP_Math: moved a lot of vector templates to cpp from .h 
this reduces the code size quite a lot on AVR
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 78eb12a4ac AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH 2013-04-12 12:48:08 +10:00
Andrew Tridgell 8b119934ea AP_Math: fixed grammar error 2013-04-12 12:48:08 +10:00
Andrew Tridgell 2d29a6a7be AP_Math: added Vector2f.angle() 
useful for calculating the vector in polar coordinates
 2013-04-12 12:48:08 +10:00
Andrew Tridgell f6aacdc768 AP_Navigation: added a navigation controller class 
the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-04-12 12:48:08 +10:00
Randy Mackay cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay 86fe79a662 INS: updated MPU6K_FILTER parameter description 2013-04-10 00:14:53 +09:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00