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6035 Commits

Author SHA1 Message Date
rmackay9 9750c14325 ArduCopter: RTL clean-up and slightly improved landing sensor 
Consolidated RTL state to be captured by rtl_state variable.
Combined update_RTL_Nav and verify_RTL functions which performed the same function but one was for missions, the other for the RTL flight mode.
Renamed some RTL parameters and global variables to have RTL at the front.
Landing detector now checks accel-throttle's I term and/or a very low throttle value
 2012-12-06 10:31:52 +09:00
rmackay9 9447d08fdd ArduCopter: increase CONTROL_SWITCH_COUNTER so that flight mode switch must be changed for at least 1/10th of a second 2012-12-06 10:31:46 +09:00
rmackay9 eb3ad15843 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
rmackay9 450b6e13a4 ArduCopter: switch on INS in APM_Config.h (i.e. on by default for users uploading through Arduino IDE) 2012-12-06 10:31:36 +09:00
rmackay9 8a0faebb21 ArduCopter: pass linear altitude error to throttle rate controllers. 
Previously the requested rate used the square root of the altitude error.

Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
 2012-12-06 10:31:31 +09:00
rmackay9 89e737728c ArduCopter: add tuning of throttle rate controller's I term (THROTTLE_KI) 2012-12-06 10:31:25 +09:00
rmackay9 dc0b35da30 ArduCopter: restored landing detector to landing throttle mode. 
Added LAND_SPEED parameter to control the rate of descent for the last 10m of a landing.
Added CH6 tuning for accel based throttle controller.
 2012-12-06 10:31:20 +09:00
rmackay9 b26f2861ff ArduCopter: removed unused AUTO_THROTTLE_HOLD #define 2012-12-06 10:31:15 +09:00
rmackay9 ea9f357dc0 ArduCopter: remove unused get_desired_climb_rate function 2012-12-06 10:31:09 +09:00
rmackay9 e629fe2eb0 ArduCopter: add set_throttle_mode to better control initialisation of variables 2012-12-06 10:31:04 +09:00
rmackay9 1285198b71 ArduCopter: added back in angle boost and recombined for heli and multicopter 2012-12-06 10:30:55 +09:00
rmackay9 c1ce0ae752 ArduCopter: first merge of leonard's accel based altitude controller plus other changes from Randy 
Changes include:
New low-level get_throttle_accel function takes target acceleration and compares vs earth-frame Z accelerometer values to produce output to motors.
Higher level throttle controllers modified to call new get_throttle_accel controller
Throttle_rate_stabilized controller added which maintains a desired climb/descent rate
Throttle_land controller added - descends using normal auto throttle controller to 10m then descends at 50cm/s
Multiple throttle modes added including landing mode
Land flight mode no longer needs GPS
Throttle cruise maintenance moved to update_throttle_cruise function
 2012-12-06 10:30:49 +09:00
rmackay9 a83f6e54b5 ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes. 2012-12-06 10:24:58 +09:00
rmackay9 12e1ce50e2 AP_Buffer: bug fix to allow buffer to completely fill up. 
Also removed redundant _tail parameter which saves 1 byte.
 2012-12-06 10:18:00 +09:00
rmackay9 0092960a68 AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:35:55 +09:00
rmackay9 399fe2e8cd AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:20:31 +09:00
Robert Lefebvre e86243e7a3 ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -05:00
Robert Lefebvre 6f8958289f ACM: Small fix to Yaw Look Ahead 2012-12-04 14:50:14 -05:00
Robert Lefebvre 5863c737a1 ACM: TradHeli 
Fixes for Attitude rate controllers.
 2012-12-04 14:42:04 -05:00
Robert Lefebvre b225bc8cb8 ACM: TradHeli 
Creating Rate Feed-Forward Parameters
 2012-12-04 13:47:38 -05:00
Robert Lefebvre 45e6e2bc9a ACM: TradHeli APM_Config.h changes 2012-12-04 13:32:40 -05:00
Robert Lefebvre fdcf966df7 ACM: Yaw Look Ahead Changes 2012-12-04 13:26:41 -05:00
Michael Oborne 75630e8488 firmware build 2012-12-04 08:52:48 +08:00
Andrew Tridgell d76288529b Plane: fixed spelling error 2012-12-04 11:38:29 +11:00
Andrew Tridgell 66a41bfe5f Plane: preparing for 2.68 release 2012-12-04 11:24:24 +11:00
Andrew Tridgell 6155d29829 scripts: added apm2 hil to build_all.sh 2012-12-04 11:13:54 +11:00
Andrew Tridgell 3bac27b97f Plane: enable attitude and raw logging in HIL modes 2012-12-04 11:13:33 +11:00
Andrew Tridgell dfc252a78d AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell 453f879330 Rover: removed INS print code 
its all in parameters now
 2012-12-04 09:11:55 +11:00
Andrew Tridgell 9dd7214ea3 Plane: added apm2 hilsensors target 2012-12-04 09:05:02 +11:00
Andrew Tridgell c41ca45e84 MAVLink: clarify frame of reference for HIL_STATE 2012-12-03 23:31:34 +11:00
Andrew Tridgell 90c027cd97 MAVLink: use a smaller maximum payload to reduce memory 
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
 2012-12-03 23:28:23 +11:00
Andrew Tridgell aa79ffc301 AP_InertialSensor: fixed stub driver to work correctly with sensors HIL 2012-12-03 23:27:21 +11:00
Andrew Tridgell 5827c710e2 Plane: fixed sensors and attitude HIL 
we now use the Stub version of the InertialSensor driver. In sensors
HIL we can now correctly drive the AHRS code.
 2012-12-03 23:26:39 +11:00
Andrew Tridgell 050f2e6ddb Plane: fixed GPS course in HIL 2012-12-03 17:38:55 +11:00
Andrew Tridgell cd19cb6cc2 Plane: fixed SERVO_OUTPUT_RAW for HIL 2012-12-03 17:38:31 +11:00
Robert Lefebvre ac8a6b7c3e ACM: Code Cleanup 2012-11-30 17:05:12 -05:00
Andrew Tridgell 81660d07fd Plane: use enum FlightMode in more places 2012-12-01 08:15:48 +11:00
Andrew Tridgell 4b944ae6c4 autotest: increase speed in fly square test for ArduCopter 
should prevent occasional timeouts
 2012-12-01 08:08:54 +11:00
Andrew Tridgell 4864d162d0 Plane: switch to an enum for flight modes 2012-12-01 08:08:54 +11:00
rmackay9 f7a05f577e ArduCopter: bug fix - increase mpu6k sample rate to 100hz 2012-11-30 23:49:18 +09:00
Andrew Tridgell 48403e3bbc AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 2012-11-30 07:15:19 +11:00
Andrew Tridgell 5e4a26814c Rover: switch to IMU driven timing, same as ArduPlane 2012-11-30 07:15:19 +11:00
Andrew Tridgell d58088c2b8 AP_InertialSensor: return the example sample count in Oilpan 2012-11-30 07:15:19 +11:00
Andrew Tridgell 9411b11072 InertialNav: update example for new interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 7ef7c7f04f AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 94f73b83c3 Rover: update for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell 45e62add9f Copter: update ArduCopter for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell bcef536f64 Plane: update ArduPlane for new ins interface 2012-11-30 07:15:18 +11:00
Andrew Tridgell 2d8d6b2459 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00