Ju1ien
28ce66f314
INav: clear historic z-axis position estimate when set_altitude called
2014-06-06 18:42:42 +09:00
Randy Mackay
efd6d6dc70
AC_WPNav: spline div by zero fix
...
Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
2014-06-05 22:23:38 +09:00
lthall
0912bec8f5
Spline div zero and leash limit fix
2014-06-05 22:23:35 +09:00
Andrew Tridgell
f0df912a11
AP_Mission: added support for MAV_CMD_DO_INVERTED_FLIGHT
2014-06-05 15:44:18 +10:00
Andrew Tridgell
ef4a79cc9a
GCS_MAVLink: rebuild MAVLink headers
2014-06-05 15:44:03 +10:00
Andrew Tridgell
67937b5b79
GCS_MAVLink: added MAV_CMD_DO_INVERTED_FLIGHT
...
used to invert from a mission
2014-06-05 15:43:46 +10:00
Andrew Tridgell
5a1aa8dfe7
AP_L1_Control: implement turn_distance() with turn angle
...
uses a linear approximation for now.
2014-06-05 09:34:23 +10:00
Andrew Tridgell
7a6186f7e6
AP_Navigation: added a turn_distance() method with turn_angle
2014-06-05 09:33:42 +10:00
Andrew Tridgell
49f93b91b2
APM_OBC: fixed formatting to match APM coding standard
2014-06-02 10:47:02 +10:00
Andrew Tridgell
e9e1799700
AP_Compass: fixed VRBrain build
2014-06-02 10:42:37 +10:00
Andrew Tridgell
d554616e86
AP_EPM: fix for HAL_GPIO_*
2014-06-02 10:42:36 +10:00
Andrew Tridgell
3705c90b8e
AP_Baro: fix for HAL_GPIO_*
2014-06-02 10:42:36 +10:00
Andrew Tridgell
d70bee9249
AP_AHRS: fix for HAL_GPIO_*
2014-06-02 10:42:36 +10:00
Andrew Tridgell
0d83d4f4f5
APM_OBC: fix for HAL_GPIO_*
2014-06-02 10:42:36 +10:00
Andrew Tridgell
1e2214f8d1
DataFlash: fix for HAL_GPIO_*
2014-06-02 10:42:36 +10:00
Andrew Tridgell
732cd0e130
AP_Relay: fix for HAL_GPIO_*
2014-06-02 10:42:36 +10:00
Andrew Tridgell
50c08ced4c
AP_Notify: fixes for HAL_GPIO_*
2014-06-02 10:42:35 +10:00
Andrew Tridgell
4c43cd9775
AP_InertialSensor: fixes for HAL_GPIO_*
2014-06-02 10:42:35 +10:00
Andrew Tridgell
805d79debe
HAL_FLYMAPLE: fix for HAL_GPIO_*
2014-06-02 10:42:35 +10:00
Andrew Tridgell
3015356671
HAL_AVR: fixes for HAL_GPIO_ define change
2014-06-02 10:42:35 +10:00
Andrew Tridgell
18a64d17d3
AP_HAL: added HAL_ prefix to GPIO_ defines
...
this fixes a bug caused by GPIO_INPUT and GPIO_OUTPUT already being
defined in NuttX, which caused pinMode() not to setup pins for output
when requested
2014-06-02 09:24:52 +10:00
Andrew Tridgell
fa4eb5475a
HAL_PX4: implement analog input stop pins
...
this allows multiple sonars to cooperate without interference
2014-06-02 08:35:41 +10:00
Randy Mackay
2b0f142a17
AC_PosControl: fix typo in D-filter definition
2014-05-29 17:50:48 +09:00
Randy Mackay
7e3213edbf
AC_AttControl: increase default accel max
2014-05-29 17:40:26 +09:00
Randy Mackay
29ca7a10df
AC_PosControl: set alt hold accel control D term filter
2014-05-29 17:40:23 +09:00
Randy Mackay
0969e464fb
AC_AttControl: set roll, pitch, yaw rate control D term filters
2014-05-29 17:40:17 +09:00
Randy Mackay
faf3415e5e
AC_PID: example sketch prints individual P, I and D values
2014-05-29 17:39:19 +09:00
Robert Lefebvre
b35ec4339e
AC_PID: Add method to set the D-term Filter Rate from main code.
2014-05-29 17:39:10 +09:00
Robert Lefebvre
f1c3f2a3d1
AC_PID: Remove get_leaky_i function which is now found in AC_HELI_PID.
2014-05-29 17:39:08 +09:00
Robert Lefebvre
7c9249de93
AC_AttitudeControl_Heli: Change to use AC_HELI_PID class instead of AC_PID. Remove FF parameters from class.
2014-05-29 17:39:06 +09:00
Robert Lefebvre
6333b4bba6
AC_PID: update example sketch to test AC_HELI_PID
2014-05-29 17:39:01 +09:00
Robert Lefebvre
ef7dc815cd
AC_PID: Change Private members to Protected so that AC_HELI_PID can access them.
2014-05-29 17:38:59 +09:00
Robert Lefebvre
94e9bed9cf
AC_PID: Add new AC_HELI_PID as a child of AC_PID
2014-05-29 17:38:57 +09:00
Andrew Tridgell
0b6407256c
GCS_MAVLink: moved 3 more send_*() functions to GCS_Common.cpp
2014-05-28 09:35:30 +10:00
Andrew Tridgell
37c50d9587
HAL_PX4: fixed use of FMU servo pins as digital inputs
...
these pins can be PWM output or digital input or digital output
2014-05-25 22:03:44 +10:00
Andrew Tridgell
2d9e9d9bc3
AP_Compass: added COMPASS_PRIMARY parameter
...
this allows selection of which compass is the primary. Useful if the
first compass starts giving spurious data (as happened in our plane)
2014-05-25 22:03:44 +10:00
priseborough
edc79ca2a4
AP_NavEKF: Increase divergence test margin based on analysis of more user flight logs
...
Analysis of copter logs has shown cases with a healthy EKF where spikes in EKF4.DS of up to 25% of the threshold have occurred.
A value of closer to 10% for normal operation is preferred.
2014-05-24 22:20:24 +10:00
Andrew Tridgell
aba11a0634
AP_L1_Control: wrap the target_bearing
2014-05-23 07:30:58 +10:00
Randy Mackay
cde7d31dad
AC_WPNav: fix divide by zero when origin and dest are same location
2014-05-22 21:18:24 +09:00
Andrew Tridgell
63da53c842
GCS_MAVLink: moved main update() routine into GCS_Common.cpp
...
this fixes a common timeout error with loading large missions, and
means less per-vehicle code
2014-05-21 12:45:25 +10:00
Andrew Tridgell
42c1501563
AP_Common: moved map_baudrate() into AP_Common
...
this version supports a much wider range of baudrates
2014-05-21 12:45:25 +10:00
Andrew Tridgell
7d712f90bf
APM_OBC: adjusted docs for FS_HB_PIN
...
thanks to Warren for the question
2014-05-21 12:45:25 +10:00
Randy Mackay
69ad632e2a
GPS: correct NAVFILTER parameter description
...
These corrected values match the GPS_Engine_Setting enum in GPS.h
Thanks to Adolfo R for noticing the issue and providing the fix
2014-05-20 22:08:40 +09:00
Andrew Tridgell
a7d6a26bec
HAL_PX4: fixed auto-flow control
...
the 6 bytes written to break the radio out of bootloader broke
auto flowcontrol detection
2014-05-19 22:02:39 +10:00
Randy Mackay
597d5227f5
AC_WPNav: rename set_loiter_target to init_loiter_target
2014-05-19 12:27:25 +09:00
Randy Mackay
e7b3c00767
AC_WPNav: set_loiter_target uses set_xy_target
...
Loiter is only a horizontal position controller so it should not set the
z-axis position.
Moved pos_control.set_speed and accel functions so order matches
init_loiter_targets function order
2014-05-19 12:27:20 +09:00
Ju1ien
aed5787c1b
AC_WPNav: bug fix for loiter init in Hybrid
...
AC_PosControl::init_xy_controller() has been added to PosControl and is
called by init_loiter_target.
Hybrid is currently using set_loiter_target function to init the loiter
controller. So we have to call init_xy_controller() by set_loiter_target
function.
What happens otherwise?
In AC_PosControl::update_xy_controller, we update "now" with
now = hal.scheduler->millis();
and, as _last_update_xy_ms has not been updated previously by
init_xy_controller(), we just call init_xy_controller().
So, _dt_xy will be negative and used anyways in all the functions and
PID called by update_xy_controller.
That will avoid at least _accel_target.x/y to be set to 0 but I'm not
sure for the high values, probably an I_term that is not reset and
reached very high value.
Or maybe a cast error somewhere... no clue at all
2014-05-19 12:27:16 +09:00
priseborough
5fe0d2c1b2
AP_NavEKF: Add protection for accel bias estimation errors
...
Don't do bias estimation if tilted by more than 60 degrees to prevent scale
factor errors affecting result unnecessarily.
Prevent Kalman gain from having the wrong sign due to numerical errors
associated with small process noise values.
Allow smaller Z accel bias process noise values to be set
2014-05-18 08:09:00 +10:00
priseborough
3222e8f7cb
AP_NavEKF: Default parameter adjustments
...
Bring Plane glitch protection thresholds into alignment with copter and
rover
Slight increase in accelerometer bias process noise to prevent bias
estimate divergence into limits (Rover and Plane only as Copter does not
seem respond as well to this change)
effective increase in threshold on divergence test to allow increased
margin for bad GPS velocities
2014-05-18 08:08:49 +10:00
Andrew Tridgell
65fd25fb5a
AP_InertialSensor: fixed example build
2014-05-18 08:08:19 +10:00
