Paul Riseborough
2cf5493b40
AP_HAL_SITL: Ensure simulated magnetic field is always used
2016-06-19 12:51:34 +10:00
Paul Riseborough
078284e2e2
SITL: Add magnetic field environment to simulation
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Includes parameters enabling a ground level magnetic anomaly to be modelled.
TODO - add automatic setting of declination, inclination and field strength using WGS-84 position.
2016-06-19 12:51:34 +10:00
Randy Mackay
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
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No functional change
2016-06-18 11:55:49 +09:00
Randy Mackay
e185bab775
AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save
2016-06-18 11:55:49 +09:00
Randy Mackay
23f8227e36
AP_Motors: bug fix to save params on disarm
...
Previously was saving during arming as well as disarming.
Thanks to OXINARF for finding this!
2016-06-18 11:55:49 +09:00
Randy Mackay
a2ffd9ec7d
AP_MotorsMulticopter: fix comment for get_throttle_limit function
2016-06-18 11:55:49 +09:00
Randy Mackay
ef1385c9ed
QuadPlane: add comment that eeprom 28 and 41 were used for THR_MIN, MID
2016-06-18 11:55:49 +09:00
Randy Mackay
036349cd2f
SITL: set copter MOT_THST_HOVER default
2016-06-18 11:55:49 +09:00
Randy Mackay
ed90d00fff
SITL: throttle to 50 percent now that hover throttle automatically updates
2016-06-18 11:55:49 +09:00
Randy Mackay
413f82bac1
Plane: remove unused definitions
2016-06-18 11:55:49 +09:00
Randy Mackay
30cba1a59c
Rover: remove unused definitions
2016-06-18 11:55:49 +09:00
Randy Mackay
b456a38432
QuadPlane: remove throttle_mid
...
motor's hover throttle is automatically updated
2016-06-18 11:55:49 +09:00
Randy Mackay
2523ba892b
QuadPlane: set attitude vs throttle priority in attitude controller
2016-06-18 11:55:49 +09:00
Randy Mackay
f2b0f09d6f
QuadPlane: remove THR_MIN
2016-06-18 11:55:49 +09:00
Leonard Hall
9864750336
Copter: rename CTUN desired_velocity to target_velocity
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No functional change
2016-06-18 11:55:49 +09:00
Randy Mackay
a614a17b3a
Copter: log hover throttle in CTUN message
2016-06-18 11:55:49 +09:00
Randy Mackay
901e8cc23f
Copter: convert THR_MIN to MOT_SPIN_MIN, THR_MID to MOT_THST_HOVER
2016-06-18 11:55:49 +09:00
Leonard Hall
48eb4cf674
Copter: remove THR_MID
2016-06-18 11:55:49 +09:00
Leonard Hall
e9d8a28ec0
Copter: AP_Motor's throttle_hover replaces throttle_average
2016-06-18 11:55:49 +09:00
Leonard Hall
dec9323127
Copter: remove THR_MIN
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Equivalent is AP_Motors SPIN_MIN
2016-06-18 11:55:49 +09:00
Randy Mackay
6a1bdebf25
Copter: remove THR_MAX definition for changing throttle input range
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We do not support changing the throttle input range from it's expected 0 ~ 1000
2016-06-18 11:55:49 +09:00
Leonard Hall
e08e112c6d
Copter: land detector sets att vs thr priority in att controllers
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Randy Mackay
b27da7699e
AC_AttitudeControlMulti: get_throttle_avg_max made private
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Also fixed up method's description
2016-06-18 11:55:49 +09:00
Randy Mackay
da946288a2
AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
Randy Mackay
570920c7d7
AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run
2016-06-18 11:55:49 +09:00
Leonard Hall
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
2016-06-18 11:55:49 +09:00
Randy Mackay
558f29b95c
AC_AttitudeControl: control mixing made protected
2016-06-18 11:55:49 +09:00
Leonard Hall
9bd8878c8b
AC_AttitudeControlHeli: fix update_althold_lean_angle_max
2016-06-18 11:55:49 +09:00
Leonard Hall
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
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This allow adjusting the reponse to limit lean angles to reduce altitude loss
2016-06-18 11:55:49 +09:00
Randy Mackay
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
2016-06-18 11:55:49 +09:00
Leonard Hall
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
2016-06-18 11:55:49 +09:00
Randy Mackay
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
2016-06-18 11:55:49 +09:00
Randy Mackay
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
2016-06-18 11:55:49 +09:00
Leonard Hall
ca2977decf
AC_AttitudeControl: set throttle vs attitude priority for flipped state
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When performing a flip we want to allow throttle to go high to provide
maximum attitude control
2016-06-18 11:55:49 +09:00
Leonard Hall
1fb4c12cd0
AC_AttitudeControl: move in throttle vs attitude prioritisation
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Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
2016-06-18 11:55:49 +09:00
Randy Mackay
0870ce9fc1
AC_AttitudeControl: remove get_throttle_boosted from parent class
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This is only called from multicopters
2016-06-18 11:55:49 +09:00
Leonard Hall
25c77c154f
AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted
2016-06-18 11:55:49 +09:00
Leonard Hall
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
2016-06-18 11:55:49 +09:00
Randy Mackay
a1b573ed0a
AP_Motors: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
Randy Mackay
ef106e4b0f
AP_Motors: spool_mode moved out of flags struction
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No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
8fff32bde3
AP_MotorsSingle: fix stability patch use of throttle_hover
2016-06-18 11:55:49 +09:00
Leonard Hall
e0f9fc8e40
AP_MotorsSingle: rename rpy_scale, thrust_min_rpy variables
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No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
da05902805
AP_MotorsCoax: fix stability patch use of throttle_hover
2016-06-18 11:55:49 +09:00
Leonard Hall
9bc866e771
AP_MotorsCoax: rename rpy_scale internal variable
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No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
8bdb906b2b
AP_MotorsCoax: fixes negative thrust
2016-06-18 11:55:49 +09:00
Randy Mackay
71d1818103
AP_MotorsMulticopter: minor comment update
2016-06-18 11:55:49 +09:00
Randy Mackay
818965fa57
AP_MotorsMulticopter: output_to_motors and output_logic become protected
2016-06-18 11:55:49 +09:00
Leonard Hall
02881b59ff
AP_MotorsMulti: float constants
2016-06-18 11:55:49 +09:00
Randy Mackay
79a73a5c2f
AP_Motors: fix example sketch
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No need to set throttle_mix nor throttle_min
2016-06-18 11:55:49 +09:00
