Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 08:58:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
15,390 Commits 71 Branches 510 Tags 771 MiB
2e9d2e6449
Commit Graph

7166 Commits

Author SHA1 Message Date
Leonard Hall
349f1aeceb AC_PosControl: use 2-axis PI controller 2015-03-06 14:02:42 +09:00
Leonard Hall
8d4f0ec80c AC_PosControl: integrate PID input filter 2015-03-06 14:02:39 +09:00
Randy Mackay
e4d48fdc92 AC_AttControlHeli: separate accel max for roll, pitch 
renamed _accel_y_max to _accel_yaw_max
 2015-03-06 14:02:36 +09:00
Leonard Hall
51455af51a AC_AttConHeli: integrate PID input filter 2015-03-06 14:02:35 +09:00
Leonard Hall
792b2a2eb3 AC_AttControl: separate accel max for roll, pitch, yaw 
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
 2015-03-06 14:02:33 +09:00
Leonard Hall
9833c91b2b AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw 2015-03-06 14:02:30 +09:00
Leonard Hall
f00025e5c9 AC_AttControl: accessor for rate feedforward 2015-03-06 14:02:27 +09:00
Leonard Hall
691fb8947e AC_AttControl: accessor for rate_bf_targets 2015-03-06 14:02:25 +09:00
Leonard Hall
784a4ce51a AC_AttControl: increase max angle overshoot to 30deg 2015-03-06 14:02:23 +09:00
Leonard Hall
eb084f7c58 AC_AttControl: bf yaw control uses input filtered PID 2015-03-06 14:02:21 +09:00
Leonard Hall
11a19803e0 Motors: add accessors for motor logging 
accessor include get_roll, get_pitch, get_yaw, throttle input
 2015-03-06 14:01:58 +09:00
Leonard Hall
34a5bc8b33 AC_PI_2D: 2-axis PI controller 2015-03-06 14:01:56 +09:00
Leonard Hall
046949ea8a AC_HELI_PID: add input filter and restructure 
Also removed unused initial_ff from construtor
 2015-03-06 14:01:54 +09:00
Leonard Hall
517448e536 AC_PID: add input filtering and restructure 2015-03-06 14:01:52 +09:00
Andrew Tridgell
2aae594371 GCS_MAVLink: handle serial loopback in routing 2015-03-04 20:24:11 +11:00
Andrew Tridgell
086f878bdc HAL_PX4: split IO thread into separate IO and storage threads 
this prevents a blocked microSD card from blocking IO to the FRAM,
causing parameter changes not to be sticky
 2015-03-04 20:18:17 +11:00
Andrew Tridgell
58c92b0158 GCS_MAVLink: added SCALED_IMU3 logging 2015-03-04 19:30:08 +11:00
Andrew Tridgell
79be500e04 GCS_MAVLink: re-generate headers 2015-03-04 19:29:28 +11:00
Andrew Tridgell
eeacbe518b GCS_MAVLink: update from upstream XML 2015-03-04 19:21:24 +11:00
Randy Mackay
f5f7cd540f Motors: fix example sketches 2015-03-03 21:39:24 +09:00
Leonard Hall
cf8c211c35 Motors: fix thrust curve and add constraint 2015-03-03 15:49:07 +09:00
Leonard Hall
3e960dfc3b Motors: add get_voltage_comp_gain 
This clarifies that lift_max is the inverse of the battery voltage gain
compensation
 2015-03-03 15:49:04 +09:00
Leonard Hall
997c6f0868 Motors: move battery resistance calcs to parent 
Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
 2015-03-03 15:49:02 +09:00
Randy Mackay
09d7cdbc23 Motors: batt_voltage_filt becomes filter object 2015-03-03 15:49:00 +09:00
Randy Mackay
4b78b2ce80 Filter: add get method to LowPassFilter 2015-03-03 15:48:58 +09:00
Leonard Hall
529c6fed3a Motors: move over current throttle limiting to parent 
Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
 2015-03-03 15:48:54 +09:00
Randy Mackay
812473fd9a MotorsMatrix: use get_hover_throttle_as_pwm 2015-03-03 15:48:52 +09:00
Randy Mackay
1a9d3125ef Motors: _hover_out to pct * 10 instead of pwm 2015-03-03 15:48:50 +09:00
Leonard Hall
6b7bdf64bd Motors: move batt voltage lift_max calcs to parent 
Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
 2015-03-03 15:48:48 +09:00
Randy Mackay
c549b58eb7 MotorsMatrix: remove check of throttle_curve_enabled 2015-03-03 15:48:46 +09:00
Randy Mackay
5fb3de48ee MotorsTri, Single, Coax: use new thrust curve 2015-03-03 15:48:44 +09:00
Randy Mackay
2eaa4a8445 Motors: remove old throttle curve 2015-03-03 15:48:42 +09:00
Leonard Hall
751dbb7df7 Motors: move thrust curve and volt scaling to parent 
Moving from MotorsMatrix to Motors allows it to be used from other frames
 2015-03-03 15:48:41 +09:00
Randy Mackay
80b498f598 Motors: add loop_rate to test sketch 2015-03-03 15:48:39 +09:00
Randy Mackay
7ab76dbd0e Motors: add loop_rate to constructor for all frames 2015-03-03 15:48:34 +09:00
Randy Mackay
77d4b3a2ae Motors: add loop_rate to constructor 2015-03-03 15:48:32 +09:00
Leonard Hall
ec9d7dd99e Motors: minor comment fixes 2015-03-03 15:48:30 +09:00
Leonard Hall
1d0ee68116 Motors: over current throttle limiting 2015-03-03 15:48:28 +09:00
Randy Mackay
1217ab9579 BattMon: add get_type method 2015-03-03 15:48:24 +09:00
Randy Mackay
f6523c0997 Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control 2015-03-03 15:48:21 +09:00
Leonard Hall
83e3e2fec2 Motors: thrust curve and voltage scaling for matrix supported frames 2015-03-03 15:48:19 +09:00
Leonard Hall
5b0bd49ff2 Motors: configurable yaw headroom for matrix frames 2015-03-03 15:48:15 +09:00
Randy Mackay
51213235b4 OreoLED_PX4: available only on PX4 2015-03-02 16:58:17 +09:00
Randy Mackay
f1ce70e748 Notify: disable oreoled by default 2015-03-02 16:58:14 +09:00
Randy Mackay
89cd74c35f Notify: OreoLED supports handle_led_control 
includes support for send bytes ioctl
 2015-03-02 16:58:12 +09:00
Randy Mackay
90cac02bd7 Notify: OreoLED fix to fade-in when armed 2015-03-02 16:58:10 +09:00
Randy Mackay
35a3a52f29 Notify: add support for handle_led_control 2015-03-02 16:58:06 +09:00
Randy Mackay
9159c7107d GCS_MAVLink: version update after LED_CONTROL added 2015-03-02 16:58:03 +09:00
Randy Mackay
26d54398e2 GCS_MAVlink: generate after LED_CONTROL added 2015-03-02 16:58:01 +09:00
Randy Mackay
3fdabb3667 GCS_MAVlink: define LED_CONTROL in ardupilotmega.xml 2015-03-02 16:57:59 +09:00
Randy Mackay
b8ef765b3e Notify: add OreoLED to PX4 2015-03-02 16:57:56 +09:00
Randy Mackay
0a33a7c15a Notify: OreoLED_PX4 driver 2015-03-02 16:57:50 +09:00
Jonathan Challinger
e9bbe062f3 AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation 2015-02-24 16:41:03 +09:00
Andrew Tridgell
1f417dce86 AP_SerialManager: added note on external converter requirement for Frsky 
thanks to Luis for the suggestion
 2015-02-24 10:19:42 +11:00
Andrew Tridgell
a6d76b4e03 AP_RangeFinder: added PX4-PWM rangefinder 
uses PWM input driver to read a rangefinder
 2015-02-23 14:15:14 +11:00
Randy Mackay
b650d39786 InertialSensor: remove product_id set to zero 2015-02-21 09:14:33 +09:00
Jonathan Challinger
7b0e806db1 AP_Mount: correct status_msg to conform to MAVLink specification 2015-02-21 08:33:50 +09:00
Andrew Tridgell
3a51bac0d0 AP_Arming: use new enum for home_is_set 2015-02-21 10:13:43 +11:00
Andrew Tridgell
a53395cdb8 AP_Common: added HomeState enum from copter 2015-02-21 10:13:17 +11:00
Andrew Tridgell
6781a8d329 AP_AHRS: fixed get_position for EKF to use correct relative altitude 
we need to use the EKF relative height plus the current AHRS home
 2015-02-21 10:12:53 +11:00
Andrew Tridgell
869fb23062 HAL_SITL: implement SIM_GPSDRIFTALT 2015-02-21 08:33:01 +11:00
Andrew Tridgell
63c792bc1c SITL: added SIM_GPSDRIFTALT simulation control 2015-02-21 08:32:49 +11:00
Randy Mackay
73e00108e4 Mount: SToRM32 remove unnecessary include 2015-02-20 11:27:15 +09:00
Randy Mackay
23f0bab5d6 Mount: integrate SToRM32 backend 2015-02-20 11:05:40 +09:00
Randy Mackay
92c7949355 Mount: SToRM32 mount backend 2015-02-20 11:05:31 +09:00
Andrew Tridgell
b21c00fcf9 AP_L1_Control: changed default L1 tuning to 20 
this is more appropriate for most aircraft
 2015-02-19 16:19:33 +11:00
Andrew Tridgell
ec70042d25 APM_Control: raise default IMAX to 3000 
on the first flight users often need more I gain to overcome poor
choices for the P gain
 2015-02-19 16:15:33 +11:00
Andrew Tridgell
6959cdbf15 RC_Channel: fixed usage of _reverse to be consistent 
users could set RCn_REV to 0 and get very confusing results
 2015-02-18 12:47:56 +11:00
Andrew Tridgell
26ac29840c AP_Common: added UNUSED_FUNCTION macro 
useful for functions that are only in some builds
 2015-02-18 11:12:43 +11:00
Andrew Tridgell
50a11c7d5a AP_Mount: added an alternative tilt-only gimbal control method 
this adds some nice control characteristics based on work by Paul and
Arthur, but is tilt only
 2015-02-16 16:48:55 +11:00
Andrew Tridgell
9b2d44d6ed AP_InertialSensor: use delay_microseconds_boost() 
this gives much more consistent timing for PX4
 2015-02-16 12:19:13 +11:00
Andrew Tridgell
18131eae13 HAL_PX4: added delay_microseconds_boost() 
implemented using hrt callback with sem_post wrapper
 2015-02-16 12:19:13 +11:00
Andrew Tridgell
c63540f7b1 AP_HAL: added delay_microseconds_boost() 
this will be used by wait_for_sample() to boost priority for a short
period at the end of each delay_microseconds()
 2015-02-16 11:52:37 +11:00
Andrew Tridgell
f54d799bff AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues 2015-02-16 10:12:10 +11:00
Randy Mackay
8e75c9580c InertialNav: get_origin returns zero when no origin 
If the EKF has not yet set the origin return location of all zeros
instead of uninitialised location
 2015-02-15 11:17:37 +09:00
Andrew Tridgell
04bef5ccf3 AP_InertialSensor: don't skip delay if we are a bit early 
this produces a bit more even timing
 2015-02-14 12:25:44 +11:00
Andrew Tridgell
619196b6b3 HAL_PX4: fixes for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell
38d63d51a5 AP_RangeFinder: change for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell
995311f807 AP_OpticalFlow: change for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell
9f7e20090c AP_Notify: change for new PX4 device paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
4537acb898 AP_InertialSensor: change for new PX4 device paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
99ed508903 AP_Compass: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
beeb9173ea AP_Baro: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
26a77dc502 AP_Airspeed: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
001643d5a3 HAL_PX4: always use the hrt semaphore based delay 
the up_udelay() could cause too much timing jitter
 2015-02-14 12:25:43 +11:00
Andrew Tridgell
7f0060b881 HAL_PX4: reduce the amount of time between loop() calls 
500usec is too long for 400Hz copter
 2015-02-14 12:25:43 +11:00
myly10
7bb079b348 AP_Parachute.cpp: Typo correction. 2015-02-13 16:16:10 +09:00
Staroselskii Georgii
75cd41a7c1 AP_HAL_Linux: added NavioAnalogIn 2015-02-12 12:57:45 +11:00
Staroselskii Georgii
b5aef01f72 AP_ADC: added ADS1115 support 2015-02-12 12:57:45 +11:00
Staroselskii Georgii
195aa5fc6b AP_HAL_Linux: take the semaphore in SPIUARTDriver for shorter periods of time 2015-02-12 12:52:56 +11:00
Staroselskii Georgii
64da7f0360 AP_HAL_Linux: fix macro that defines number of I/O callbacks 2015-02-12 12:52:56 +11:00
Staroselskii Georgii
5b21bd2f1d AP_HAL_Linux: make Ublox transactions shorter 2015-02-12 12:52:56 +11:00
Staroselskii Georgii
4034004194 AP_HAL_Linux: switch NavIO to kernel CS handling 2015-02-12 12:52:56 +11:00
Paul Riseborough
9f552eaa4b AP_NavEKF: Fix bug that resets position to origin when vehicle arms 2015-02-12 12:40:55 +11:00
Paul Riseborough
b8d3da3846 AP_NavEKF: Report last known position when vehicle is disarmed 2015-02-12 12:40:55 +11:00
Andrew Tridgell
4aa8a012de GCS_MAVLink: re-generate headers (updated stdint.h usage) 2015-02-12 09:13:17 +11:00
Andrew Tridgell
991afa9999 GCS_MAVLink: re-generate headers 2015-02-12 09:03:34 +11:00
Andrew Tridgell
7a6d91035e GCS_MAVLink: merge upstream changes 2015-02-12 09:03:22 +11:00
Andrew Tridgell
55041c7a7a AP_NavEKF: prevent division by zero in SmallEKF 2015-02-12 09:02:59 +11:00
Andrew Tridgell
db9c8548a5 HAL_VRBrain: call parent Util constructor 2015-02-11 20:57:28 +11:00
Andrew Tridgell
ebacb2b496 HAL_PX4: call parent Util constructor 2015-02-11 20:57:28 +11:00
Jonathan Challinger
59cf1c29ff AP_HAL_VRBRAIN: attempt to initialize USB while soft-disarmed 2015-02-11 20:57:28 +11:00
Jonathan Challinger
e908fcafb1 AP_HAL_PX4: attempt to initialize USB while soft-disarmed 2015-02-11 20:57:27 +11:00
Jonathan Challinger
50466848f7 AP_NavEKF: use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
Jonathan Challinger
180c85817d AP_AHRS: remove armed state, use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
Jonathan Challinger
aa7776ea59 AP_HAL: add soft_armed state to hal.util 2015-02-11 20:25:10 +11:00
Andrew Tridgell
fdcd5ca1a1 GCS_MAVLink: re-generate headers 2015-02-11 20:14:08 +11:00
Andrew Tridgell
b227f8463f GCS_MAVLink: merge upstream mavlink changes 2015-02-11 20:13:27 +11:00
Andrew Tridgell
8cfe8c5823 GCS_MAVLink: moved send_autopilot_version() to common code 2015-02-11 19:50:40 +11:00
Andrew Tridgell
8e35baaef8 GCS_MAVLink: re-generate headers 2015-02-11 19:13:31 +11:00
Jonathan Challinger
0d1f0f4eb0 GCS_MAVLink: add AUTOPILOT_VERSION_REQUEST 2015-02-11 19:11:30 +11:00
Andrew Tridgell
e43fe520e8 AP_BoardConfig: added BRD_SBUS_OUT parameter 
when this is set to 1 it enables SBUS servo output on the SBUS
connector.
 2015-02-11 18:35:34 +11:00
mirkix
460b434708 AP_InertialSensor: add apm1 oilpan support 2015-02-11 18:22:44 +11:00
mirkix
98b78e61c2 AP_InertialNav: fix apm1 oilpan support 2015-02-11 18:22:42 +11:00
mirkix
49d81a9c99 AP_AHRS: fix apm1 oilpan support 2015-02-11 18:22:39 +11:00
Grant Morphett
3a5eb33d86 GCS_MAVLink: Bug - CLI_ENABLED check should be in vehicle code only. 
Changes to fix the warnings in rover sitl build.
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Grant Morphett
4860c84dff AP_NavEKF: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Grant Morphett
300a02f4e4 AP_Math: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Grant Morphett
b511410b48 AP_InertialSensor: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
525787078f AP_HAL: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
e7e9e1adf0 AP_GPS: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
52c5db8440 AP_Compass: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
0b4ac5d256 AP_Common: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Andrew Tridgell
ac3dd87790 AP_Baro: added hil_mode support 2015-02-10 09:53:30 +11:00
Jonathan Challinger
5f7480b740 AP_Math: change fast_atan2 to use atan2f on fast CPUs 2015-02-09 22:24:09 +09:00
Andrew Tridgell
b64077ac2e GCS_MAVLink: fixed example build 2015-02-09 13:09:29 +11:00
Andrew Tridgell
af5f84f4e4 DataFlash: fixed example builds 2015-02-09 13:09:16 +11:00
Andrew Tridgell
d5e129457e AP_InertialNav: fixed example builds 2015-02-09 13:09:02 +11:00
Andrew Tridgell
84cda98bec HAL_AVR: fixed example build 2015-02-09 13:08:45 +11:00
Andrew Tridgell
78dadcb5c6 AC_AttitudeControl: fixed example build 2015-02-09 13:08:34 +11:00
Andrew Tridgell
dd0e45db41 GCS_MAVLink: fixed build of example sketches 2015-02-09 11:49:25 +11:00
Andrew Tridgell
2f3b5006e7 AP_Mount: fixed build of example sketches 2015-02-09 11:49:10 +11:00
Andrew Tridgell
a8c1d3a134 AP_GPS: fixed SerialManager for test sketches 2015-02-09 11:47:31 +11:00
Andrew Tridgell
9eb07ffde2 HAL_VRBRAIN: implement updated new_input() semantics 2015-02-09 10:39:14 +11:00
Andrew Tridgell
f548d48fdc HAL_PX4: implement updated new_input() semantics 2015-02-09 10:39:12 +11:00
Andrew Tridgell
7275d2b804 HAL_SITL: implement updated new_input() semantics 2015-02-09 10:39:10 +11:00
Andrew Tridgell
5d6f883887 HAL_AVR: implement updated new_input() semantics 2015-02-09 10:39:07 +11:00
Andrew Tridgell
3075cb058d AP_HAL: changed semantics of RCInput.new_input() 
this makes calling new_input() in RCInput clear the new input
flag. This fixes an issue with calls to read() for auxillary channels
clearing the new_input flag, which could cause brief failsafe
conditions.
 2015-02-09 10:39:05 +11:00
Andrew Tridgell
7a5ec6d75b GCS_MAVLink: allow use of RC_CHANNELS message on AVR too 
can have up to 11 channels
 2015-02-08 21:47:31 +11:00
Andrew Tridgell
33a3254d8b HAL_Linux: accept a smaller sync pulse width 2015-02-08 21:47:28 +11:00
Andrew Tridgell
7fb114752c AP_HAL_AVR: accept a much shorted sync pulse width on RCInput 
this should fix issues with OpenLRSng default settings
 2015-02-08 21:47:26 +11:00
Andrew Tridgell
f2a919c55e AP_HAL_PX4: moved size of main thread stack to Scheduler.h 
make it more obvious
 2015-02-07 08:06:53 +11:00
Andrew Tridgell
1c270d17a8 AP_Airspeed: ignore temperatures below -80 
ETS driver on PX4 returns -1000
 2015-02-06 21:41:15 +11:00
Andrew Tridgell
4ecd99eb76 AP_Arming: added check for logging available 
this is used for refusing to fly without microSD inserted
 2015-02-06 19:05:02 +11:00
Randy Mackay
fc4442bf61 AC_WPNav: rename xy_mode 2015-02-06 17:00:57 +09:00
Randy Mackay
186337f18e AC_PosControl: rename xy_mode enum values 
Also added a few comments and fixed formatting
 2015-02-06 17:00:55 +09:00
Jonathan Challinger
626521c366 AC_WPNav: update usage of update_xy_controller 2015-02-06 17:00:53 +09:00
Jonathan Challinger
3faca88423 AC_PosControl: allow control of xy rate constraint behavior 2015-02-06 17:00:48 +09:00
Andrew Tridgell
cabf21194a AP_Arming: improved docs 2015-02-06 08:40:59 +11:00
Emile Castelnuovo
5c68980f05 AP_Notify: removed unused VRBRAIN files 2015-02-05 14:22:08 +09:00