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4569 Commits

Author SHA1 Message Date
Andrew Tridgell 5370f9c411 AHRS: normalize the ge vector in drift correction, and use barometer 
The normalisation ensures the error term scales uniformly with
different accelerations.

The barometer is used for vertical acceleration estimation
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 7eb150a2f0 ACM: adapt the ArduCopter code for new barometer interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 4fda89beb7 APM: update for new barometer interface 
the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 53e950531e Baro: added get_altitude() and get_climb_rate() interfaces 
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity

The climb rate uses a 5 point average filter
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 9fd3d15026 Filter: added 5 point average float filter 2012-06-27 16:01:50 +10:00
Jonathan Challinger 1ff9461bfb AHRS: brought DCM more inline with Bill's implementation 
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20

The key change was the scaling of ge to ensure the error is not
quadratic
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 4a91c267d7 APM: set_centripetal() is now set_fly_forward() 
this controls more than just centripetal correction
 2012-06-27 16:01:49 +10:00
Andrew Tridgell d71e82191f ACM: enable GPS in AHRS for ArduCopter 
this is an experiment in centripetal correction for multicopters
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 73faaddc1b AHRS: first successful version of Bills new drift correction system 
This makes 3 major changes:

 1) fixes the scaling of the yaw drift correction term to fix the time
 constant

 2) don't integrate the mag vector over multiple readings

 3) accumulate omega_I changes over 15 seconds before applying, to try
 to prevent omega_I picking up short term responses
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 0399aa9480 AHRS: update for new _fly_forward flag 2012-06-27 16:01:49 +10:00
Andrew Tridgell 2600afe18a AHRS: implement Bills new drift correction algorithm 
this is an initial implementation of this paper:

  http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 5316a45c20 AHRS: added GPS support to AHRS test 2012-06-27 16:01:49 +10:00
Andrew Tridgell 19954f30e5 GPS: added velocity and acceleration components 
used by AHRS for acceleration correction
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 2b352d2b5c Math: added comment 2012-06-27 16:01:49 +10:00
Andrew Tridgell f23cebc808 Math: moved more template functions to the .cpp files 
save a bit more code space for larger functions
 2012-06-27 16:01:49 +10:00
Michael Oborne 93e8bee44e firmware build 2012-06-27 08:00:18 +08:00
Jason Short 57e4fabb57 Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco. 2012-06-26 10:39:42 -07:00
Jason Short 3fcd3100cc Added user editable define for Super simple radius 2012-06-26 10:38:46 -07:00
rmackay9 74d37a3713 ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). 2012-06-26 22:59:24 +09:00
rmackay9 c034e38cbd ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float) 2012-06-26 22:50:17 +09:00
Jason Short 91cde15c27 Attitude.pde - Added small boost to alt hold for takeoff. 2012-06-25 23:12:19 -07:00
Jason Short 711bbeb6f3 GCS_Mavlink.pde : mav_nav only used in legacy Mavlink. 2012-06-25 23:08:25 -07:00
Jason Short 4a85c40f03 Added Toy Mode control 2012-06-25 23:08:25 -07:00
Jason Short 03879d9113 Added Toy Mode defines 2012-06-25 23:08:25 -07:00
Jason Short 4872880134 Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with. 
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
 2012-06-25 23:08:25 -07:00
Jason Short efc74a87aa commands.pde: fixed unit error for distance check 2012-06-25 23:06:28 -07:00
Jason Short 7a5347fb1f Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm 2012-06-25 23:06:28 -07:00
Jason Short 81c684664b GCS Mavlink.pde: change reference to nav_bearing to target_bearing. 2012-06-25 23:06:28 -07:00
Jason Short 50b3ef66a7 Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s 2012-06-25 23:06:28 -07:00
Jason Short 2fdbbb87f2 inertia.pde: WIP don't fly with inertia enabled until FN. 2012-06-25 23:06:28 -07:00
Jason Short 900f169c44 Log.pde: removed nav_bearing reference and replaced with target_bearing ref 2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos 678b12af25 AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane 
http://code.google.com/p/arducopter/issues/detail?id=430
 2012-06-24 17:01:25 -07:00
Robert Lefebvre 7eae382a22 Open up constraint on Rate Yaw Output for all copters. 2012-06-22 10:06:01 -04:00
Jason Short abb6eb2471 Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek. 2012-06-21 11:14:20 -07:00
Jean-Louis Naudin 94ccdea145 APMrover 2.20b: minor update for HIL mode with the new lib 
Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
 2012-06-21 08:10:33 +02:00
Amilcar Lucas cd0411ba33 Add linebreaks to increase readability. 2012-06-21 00:36:10 +02:00
Jason Short 014f0f9a99 Config.h - returned low to original 120 2012-06-20 15:22:35 -07:00
Amilcar Lucas 9c7fdd742c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-06-21 00:21:55 +02:00
Amilcar Lucas be6923be0f Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Jason Short 95f3041d25 Parameters.h: throttle_min and throttle_max now have defaults from Config.h 2012-06-20 15:02:00 -07:00
Jason Short b8016dfe48 changed define to a param for throttle_min and throttle_max 2012-06-20 15:00:53 -07:00
Jason Short ef847eecbb changed define to param for throttle_min 2012-06-20 15:00:05 -07:00
Jason Short 8ef60f2d75 Added throttle_min as a user definable param 2012-06-20 14:58:34 -07:00
Jason Short 25a67c9953 lowered minimum throttle 2012-06-20 08:47:47 -07:00
Jason Short 0ccf5724aa Small fix to angle boost - increases by about 20% to deal with inefficiencies of non-downward thrust 2012-06-20 08:47:47 -07:00
Jason Short d7fab41234 decreased I term based on the tests last weekend in high winds 2012-06-20 08:47:47 -07:00
Jason Short a0978e06e5 Adjustments to the Inertial_nav 
lowered Rate_I and Rate_P to be less jumpy. raised throttle_p
added a clear to rate when entering loiter
moved the raw reporting
 2012-06-20 08:47:47 -07:00
Michael Oborne b9bf84c7af APM Planner 1.1.93 
fix armed/disarmed message
 2012-06-19 07:15:40 -07:00
Amilcar Lucas 1ead5f1690 Documentation improvements, no functional changes (only comments) 2012-06-17 22:53:54 +02:00
Amilcar Lucas 8f646467e5 Move local temp variables to the stack it saves 1952 bytes 
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
 2012-06-17 22:25:51 +02:00