eb647b5320
AP_Mount: add support for non-spring-loaded joysticks
2012-07-11 00:07:33 +02:00
ad60fac863
RC_Channel: improve parameter documentation
2012-07-11 00:07:10 +02:00
42301af148
Remove unused function, remove unnecessary angle wrapping.
2012-07-11 00:06:45 +02:00
74ef712cd1
Allow mount control when no AHRS exists
...
Allow mount control on non stabilized axes
2012-07-11 00:06:26 +02:00
63a83b95b4
AP_Math: added get_distance_cm() to return in centimeters
2012-07-11 07:49:05 +10:00
15133b1105
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
9b6acf168e
AHRS: added AHRS_GPS_GAIN parameter
...
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
2bc530d04f
AP_Param: added some docs on the eeprom header format
2012-07-10 14:03:49 +10:00
0534ac12b1
DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method.
2012-07-09 15:23:35 -07:00
a79f55656a
RC_Channel: Improve documentation
2012-07-07 21:57:30 +02:00
8bd7ef9b9a
AP_Mount: Fix radians/degrees scaling regressions
...
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
2012-07-07 21:56:56 +02:00
ec70e87495
AnalogSource: prevent a division by zero on zero ADC data
2012-07-06 19:59:18 +10:00
7bc724d118
APM: changed PID library to do automatic deltat calculation
...
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
44755bf3ce
AP_Baro: improved barometer averaging
...
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
43d6015811
Filter: split the DerivativeFilter steps into update() and slope()
...
this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
4723698489
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
9845a55cb1
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
e33554a1f9
AHRS: only enable barometer for AHRS if it is smooth enough
...
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
1ce4a03147
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
9f3da1bf7f
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
5f38669666
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
735c88e9b3
AP_Baro: added get_pressure_samples() interface
...
this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
92001e3e7d
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
999a1d1d55
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
a07e280eda
Filter: cope with non-uniform time steps in the DerivativeFilter
...
this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
ce3f8be6c7
SITL: add some minimal noise when motors are off
...
this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
fe54329de2
MAVLink: remove MAVLink 0.9 protocol support
...
this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
9d7ed30023
AHRS: only use GPS for yaw when compass is not being used
...
this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
6653c0b874
AHRS: enable barometer for vertical velocity
...
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
a5d607d25a
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
f97289792b
Filter: added DerivativeFilter implementation
...
this adds a DerivativeFilter implementation of up to 10 points
2012-07-05 13:00:46 +10:00
cf2c546051
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
be3d035a64
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
6904bef611
Document++
2012-07-05 00:33:46 +02:00
8400bd67f8
Remove unused function
2012-07-05 00:33:10 +02:00
dc6d70bc15
SITL: added SIM_GPS_DELAY parameter
...
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
2012-07-04 21:05:22 +10:00
cac0757c2e
AP_AHRS: removed DCM_test example sketch
...
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
03516b7dfa
AHRS: make DCM drift correction not rely on accurate yaw
...
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
6cf2e2fa13
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
7be29c8b04
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
8fa1acb141
AP_Math: add include of math.h
...
this is needed for location.cpp
2012-07-04 13:59:23 +10:00
597170afdc
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
c6ff292721
DataFlash: fallback to BlockErase if ChipErase fails
...
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
2012-07-04 12:42:46 +10:00
84a489498d
Math: added location functions to math library
...
these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
e0685f4408
AHRS: make P gain on PI roll/pitch controller tunable
...
this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
1142ec0665
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
f150c645c8
Mount: enable mount control via eeprom parameters
...
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
7a77832f45
Baro: average over all pressure/temperature samples on MS5611
...
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings
This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
f7b06e0a64
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
2bd5cd3b9a
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
0341e0e5f0
SITL: added support for new analog source
...
removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
2046e396a2
AnalogSource: make the Arduino AnalogSource interrupt driven
...
this fixes several problems with reading analog sources:
- we were getting poor values because we didn't wait long enough for
an analog source to settle
- we wasted a lot of CPU cycles waiting for conversions
- we were not taking averages over many samples, which we did with
the old AP_ADC driver on the APM1
2012-07-01 15:01:05 +10:00
b5aa821071
AHRS: include the P terms in get_gyro()
...
this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
02b9ea4dfe
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
117bae9585
SITL: added SITL class for controlling simulation
...
this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
37494dda2b
AHRS: don't add the P terms in _omega
...
this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
21ae2957fb
AHRS: disable barometer for vertical acceleration
...
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
e531061caa
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
8600ad8d7f
AHRS: revert to the old drift correction algorithm
...
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
70bfacc350
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
57579e494b
Barometer: fixed airstart for APM
...
we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
ce016b5ae8
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
0fa1f29cf3
AHRS: implement spin rate limits
...
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
3ffecc18d8
AHRS: cope with copters with no compass
...
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
3458962184
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
426006d98f
SITL: fixed GPS heading in simulated UBlox
...
longitude scale does not apply to velocity->heading conversions
2012-06-27 16:01:50 +10:00
20c1baf585
SITL: changes UBlox simulation to 5Hz
...
this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
d9583ae5eb
Compass: remove the need to call calculate() on the compass object
...
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.
This significantly reduces the calculation involved in compass updates
The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
2012-06-27 16:01:50 +10:00
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
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
9fd3d15026
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
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
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
0399aa9480
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
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
5316a45c20
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
19954f30e5
GPS: added velocity and acceleration components
...
used by AHRS for acceleration correction
2012-06-27 16:01:49 +10:00
2b352d2b5c
Math: added comment
2012-06-27 16:01:49 +10:00
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
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
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
cd0411ba33
Add linebreaks to increase readability.
2012-06-21 00:36:10 +02:00
be6923be0f
Improve parameters descriptive text
2012-06-21 00:20:37 +02:00
1ead5f1690
Documentation improvements, no functional changes (only comments)
2012-06-17 22:53:54 +02:00
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
d9e6a1ece9
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:40:14 +00:00
ceba24ff8f
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:38:52 +00:00
b32726e867
GPS: need pgmspace.h for _write_progstr_block()
2012-06-15 16:27:11 +10:00
ae9883a8e2
GPS: fixed auto-config of UBlox setup with no UBX messages
...
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
2012-06-15 15:53:27 +10:00
b7e807cd58
FastSerial: added tx_pending() method
...
this allows the caller to wait for the tx buffer to drain
2012-06-15 15:53:27 +10:00
a12cb8fd9a
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
f7ef60565e
Add "3 axis camera stabilization" and "point camera to 3D point" functionality
...
Patch by Gregory Fletcher and reviewed by me
2012-06-13 20:55:19 +02:00
e9226d6f0a
Spellcheck
2012-06-13 20:44:35 +02:00
fca914b7cf
AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy
2012-06-12 20:27:50 +09:00
f9c5b135bc
GPS: use the new nav_setting in a couple of the sample sketches
2012-06-10 16:35:13 +10:00
0542539fc9
GPS: add stub settings for nav_setting in the other GPS drivers
...
only Ublox supports nav_setting so far
2012-06-10 16:34:53 +10:00
926dfbc0e9
GPS: added auto-configuration of UBlox GPS
...
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
2012-06-10 16:34:13 +10:00
04a71197f9
FastSerial: avoid buffer re-allocation on re-open if possible
...
we commonly re-open serial ports a lot in the AUTO GPS driver
2012-06-09 07:43:22 +10:00
f347572fc2
SITL: map() is a C++ function, so needs to be in C++ part of the header
...
this fixes the ACM build
2012-06-08 17:09:23 +10:00
9adaacedcd
GPS: added debug code to the main GPS class
2012-06-08 16:42:03 +10:00
f4718cafad
GPS: re-open the serial port with a 256 byte serial receive buffer
...
this ensures all GPS parsers have a 256 byte buffer available
2012-06-08 16:42:03 +10:00
ddebf7b443
GPS: fixed the UBLOX parser to handle unknown messages
...
the parser was broken in several ways:
1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
thought the message had a bad checksum, which meant it got out of protocol sync
2) the read() method would return false if the last message from the GPS was of an unknown type.
So we relied on the last msg always being one that we understand and want
3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get
a new fix when we get box a new position and velned message
4) the total message size per update is more than 128 bytes, but the serial port was opened
with only a 128 byte buffer, so we got corruption regularly
2012-06-08 16:42:02 +10:00
148e59a4de
GPS: tidy up the auto gps test
2012-06-08 16:42:02 +10:00
f7be9a4b5d
TradHeli adding ramp up time to Ch8 Throttle Pass-through.
2012-06-07 22:55:47 -04:00
0c8078c436
AP_MotorsHeli Syntax correction.
2012-06-04 15:53:07 -04:00
43fe5bab78
re-enable the AP_Mount build
2012-06-04 19:32:11 +10:00
b4fbda7a28
GPS: fixed a race condition in the ublox driver
...
the status update comes as a separate message from the lat/lon
2012-06-04 14:47:58 +10:00
a6c1a86c23
mavlink: fixed build with uart resend
2012-06-04 13:45:55 +10:00
1ad17bc78c
MAVLink: updates to mavlink headers to fix mavlink 1.0 issues
2012-06-04 13:34:07 +10:00
4f7a80a04d
Mavlink: fixed library build for MAVLink 1.0
2012-06-04 13:14:52 +10:00
34234b7003
SITL: fixed SITL build with mavlink10
2012-06-04 13:14:52 +10:00
7602f698eb
mavlink10: fixed MAV_VAR -> MAVLINK_TYPE
2012-06-04 13:14:51 +10:00
2c3bfd896a
MAVLink: updated to latest upstream mavlink
...
this includes no significant changes
2012-06-04 13:14:51 +10:00
1ebfb8fe25
GPS time set to unsigned int32
2012-06-03 11:13:50 -07:00
bad6591e6d
AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure
2012-06-03 17:31:17 +09:00
8f8e91a620
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
080c5184d5
ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures.
...
All real work on this issue done by Michael Oborne.
2012-06-02 17:46:00 +09:00
8f3169a200
AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work.
...
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
2012-06-02 16:13:23 +09:00
3246f2bad3
RC_Channel library: change all "int" types to "int16_t".
...
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
2012-06-02 14:20:58 +09:00
37e4637c13
RC_Channel.pde: fixed compile errors so that it actually works!
2012-06-02 14:00:44 +09:00
df3fb5c041
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
477aa6e47a
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
7ee38df5a2
Issue 416: RC_Channel – Fix to make dead_zones still output 0
2012-05-31 12:05:47 -07:00
2cc9fde3c9
removed never used filter, and fixed a constrain that could make range calcs go bad
2012-05-31 11:45:07 -07:00
00cabc6343
Channel rage fix - low output was always 0 vs _low
2012-05-31 11:31:48 -07:00
bafb478924
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
ffc04b7305
Fix TradHeli Collective Yaw Effect bug.
2012-05-25 15:25:21 -04:00
734dcebb2a
SITL: fixed ChipErase()
...
the loop never completed
2012-05-23 21:15:45 +10:00
5e0d937e50
SITL: fixed build with new ChipErase() call
2012-05-23 17:33:33 +10:00
c2fb8a7a98
DataFlash: use ChipErase() instead of PageErase() on all pages
...
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).
We need to test and ensure the behaviour is equivalent apart from the
speed
2012-05-22 19:29:02 -07:00
8f27297896
DCM: fixed a bug when using GPS for yaw correction
...
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
37f652e19b
AP_Common: fixed some duplicate product ID warnings
2012-05-17 23:37:32 +10:00
eaeaa3811a
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
fe742f1c23
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
...
this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
c323a71933
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
a22b15adf1
PRODUCT: Define product IDs for all supported products
2012-05-09 18:30:36 -07:00
b824a87b90
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
...
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00
46614e9acd
fixed typo ("minimum" should have been "maximum")
2012-05-06 15:50:19 -07:00
76a3fd9a4e
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
ae1702c20b
Baro: added suspend/resume on init
2012-05-01 12:06:54 +10:00
3115d48ba1
ADC: added suspend/resume on init
2012-05-01 12:06:54 +10:00
57ac39649a
TimerProcess: added suspend_timer()/resume_timer()
...
this will be used to avoid races in driver initialisation
2012-05-01 12:06:54 +10:00
3b2d203f0f
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
...
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
8f2cecae4d
MAVLink: re-generated with new pygen
...
this moves the enums to make them less order sensitive
2012-04-30 12:27:30 +10:00
292f9699fa
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
3177f57d48
build: cope with Arduino 1.0 in command line build
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this should autodetect 1.0 versus older builds
2012-04-27 15:38:42 +10:00
21886104a6
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
b1f19dbb01
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
532ac607b2
sitl: support MAVLink 1.0 builds
2012-04-24 22:24:58 +10:00
fef4134702
MAVLink: removed the cpp part of the library
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this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
2012-04-24 22:24:58 +10:00
9bf8d60dae
MAVLink: one more define for MAVLink 1.0 compat
2012-04-24 19:54:20 +10:00
fd9d2f856e
MAVLink: re-add the XML message definitions
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these are a very useful reference for the current headers in the code
2012-04-24 10:57:43 +10:00
a54cd57568
MAVLink: imported new mavlink header updates
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this fixes the camera control code which was broken by a previous
import
2012-04-24 10:57:43 +10:00
bff8fc8947
APM_RC: added OutputCh_current() method
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this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
2012-04-24 10:57:43 +10:00
6d837891b0
DCM: buffer omega_I changes over 10 seconds
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this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
398a608b83
DCM: drop the 'drop z' method
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the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
c62ce95768
AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228
2012-04-21 23:07:57 +09:00
346ca5c865
DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus.
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Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
2012-04-21 20:14:45 +09:00
577f18a09c
AP_OpticalFlow - updated test sketch to allow testing of APM2 version
2012-04-21 20:11:18 +09:00
e9fd7c955d
AP_OpticalFlow - added support for optical flow for APM2
2012-04-21 20:10:35 +09:00
026cd4e64f
AP_OpticalFlow - moved most pin definitions into .cpp file
2012-04-21 20:09:15 +09:00
750c30afc1
MAVLink update to 1.0.7
2012-04-20 12:31:50 -04:00
4652b30adf
GPS: u-center config file for 3DR Ublox
2012-04-20 22:05:30 +10:00
0b194259be
GPS: fixed auto GPS test
2012-04-20 22:05:30 +10:00
3141cfe059
GPS: detect new style 3DR UBlox
2012-04-20 22:05:30 +10:00
64d5f4c26a
GPS: fixed the UBlox test code
2012-04-20 20:57:08 +10:00
b5ca40e8c5
Updated MAVLink to 1.0.6 release.
2012-04-19 15:46:29 -04:00
2c8cd0b07b
AP_AHRS_HIL.h: Fixed HIL build by adding missing public property.
2012-04-16 10:26:14 -05:00
a9de75156b
AHRS: added AHRS_YAW_P parameter
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this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
ce5d71c08c
added missing #include
2012-04-09 14:32:54 +00:00
4dac4c4c11
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
cc191b86c0
AP_Compass - changed parameter initialisation order to remove compiler warning
2012-04-09 17:37:02 +09:00
7921d33c40
MAVLink: imported new mavlink headers
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this adds local and remote radio noise levels
2012-04-08 12:22:17 +10:00
1b4ac37e66
AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames.
2012-04-07 12:16:12 +09:00
e63e858b64
AP_MotorsOcta - V Frame - test order fix spotted by David Wiens
2012-04-07 08:11:28 +09:00
d0cbd577cd
AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method.
2012-04-05 00:28:04 +09:00
c27b83c8a8
AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used
2012-04-05 00:24:56 +09:00
e9f0103063
AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino.
2012-04-05 00:06:33 +09:00
40e5a15452
AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function.
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Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
2012-04-04 23:59:51 +09:00
71ad185238
ArduCopter - AP_Motors library - added new library which has few advantages over current code:
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1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)
Later check-ins will incorporate into the main ArduCopter code.
2012-04-02 17:26:37 +09:00
5ce5f3d176
MAVLink: import change to txbuf as a percentage
2012-04-02 11:18:53 +10:00
8a215c8b55
MAVLink: imported new headers, with RADIO packet
2012-04-01 21:44:44 +10:00
08b66e18b7
FastSerial: added set_blocking_writes() interface
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this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
2012-03-30 17:46:20 +11:00
c2ff66c9cd
examples: fixed build of some examples with new AP_Declination code
2012-03-30 14:25:27 +11:00
825340d53d
Compass: added COMPASS_AUTODEC option
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when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library
when it is 0 we will use the value configured by the user
2012-03-30 14:25:27 +11:00
e4e052ff91
AP_Declination: save some more memory by putting the declination keys in progmem
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there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
2012-03-30 14:25:27 +11:00
edb627a5c1
AP_Declination: added timing information to declination test
2012-03-30 14:25:27 +11:00
01c4cde14f
AP_Declination: fixed build under SITL
2012-03-30 14:25:27 +11:00
9c414e9573
AP_Declination_test: Updated test with better print messages.
2012-03-30 14:25:26 +11:00
cff189e911
AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation.
2012-03-30 14:25:26 +11:00
380b9ece44
AP_Declination: Updated comments to reflect new LUT size.
2012-03-30 14:25:06 +11:00
c04e074c89
AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes.
2012-03-30 14:21:58 +11:00
662f11f801
AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT.
2012-03-30 14:21:58 +11:00
0178906389
AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP.
2012-03-30 14:21:58 +11:00
08259bb2de
AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail.
2012-03-30 14:21:58 +11:00
64c236800c
AP_Declination: Moved check for y index of zero to after the y index is properly transformed.
2012-03-30 14:21:58 +11:00
e99d26cfa3
AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting.
2012-03-30 14:21:58 +11:00
d9c9e0e608
AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change.
2012-03-30 14:21:58 +11:00
8b1c383f97
AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly.
2012-03-30 14:21:57 +11:00
c0813f8d62
AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular.
2012-03-30 14:21:57 +11:00
289d7a2784
AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps.
2012-03-30 14:21:57 +11:00
63ce400f77
AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array.
2012-03-30 14:21:57 +11:00
782c1aaaa3
AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before.
2012-03-30 14:21:57 +11:00
9888a4730f
AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype.
2012-03-30 14:21:57 +11:00
d883bdf75e
AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range.
2012-03-30 14:21:57 +11:00
719636d00c
AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t.
2012-03-30 14:21:57 +11:00
071f89df2e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
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when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
20941c15c3
Compass: fixed a comment
2012-03-29 12:39:53 +11:00
79deeef0a0
Compass: added some more comments
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explain the algorithm a bit more
2012-03-29 12:39:53 +11:00
fd5e1c2f7b
Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use
2012-03-28 22:02:52 +09:00
99cdc69110
AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up
2012-03-28 22:00:57 +09:00
972bdcfa39
SITL: add magnetic field noise to the simulated compass
2012-03-28 20:55:27 +11:00
dc127fe749
SITL: ensure we don't run the sitl timer twice
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this caused problems with random()
2012-03-28 20:55:27 +11:00
2a011578f9
Compass: implement noise resistant varient of offset learning
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This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
2012-03-28 20:55:27 +11:00
16f094a1c5
ADC: minor fix to the ADC Ch6() code
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we don't need to add count any more, as floating point maths doesn't
need to round up
2012-03-27 15:37:24 +11:00
a3d3dd86cf
Compass: implement Bills new offset nulling algorithm
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this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
2012-03-27 15:37:24 +11:00
cf1a6f8ab8
APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway
2012-03-25 21:13:31 +09:00
2324be7e68
Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one)
2012-03-25 16:15:25 +09:00
bdda74fd28
Filter - remove obsolete warning from comments re alloc/malloc dangers
2012-03-25 16:14:07 +09:00
dc58c8a905
AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t)
2012-03-24 23:21:11 +09:00
766abb8e6c
AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway)
2012-03-24 14:47:21 +09:00
477b31fb0d
Math: added mul_transpose() operation
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this is equivalent to multiplying by m.transposed(), but is more
efficient
2012-03-23 16:48:52 +11:00
1b3a7d47bd
AHRS: fixed build of AHRS example
2012-03-22 23:00:45 +11:00
fb9790e1f4
Math: moved matrix multiple operations to .cpp file
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this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space
We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
2012-03-21 10:43:48 +11:00
ece2aac4b9
Math: fixed the build of the eulers test in SITL
2012-03-21 10:41:55 +11:00
e93b31c76b
SITL: improve the simulated compass
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this implements a much more accurate model of a compass using matrix
rotations, instead of trying to calculate components directly
2012-03-21 10:41:55 +11:00
f8ad719825
AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods
2012-03-20 11:51:15 +09:00
aeb010b6e9
AHRS: added AHRS specific MAVLink headers
2012-03-19 17:35:20 +11:00
07b6f55122
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00
f1898c3335
DCM: use the new rotate() method from AP_Math
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this allows us to use a tested and optimised rotation method
2012-03-19 17:29:02 +11:00
9a40b4b1de
Math: added a test for the rotate() method
2012-03-19 17:29:02 +11:00
7d155c77b1
Math: added rotate() method to Matrix3f
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this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
2012-03-19 17:29:02 +11:00
a41281ab7f
Math: added zero() and identity() methods to Matrix3f
2012-03-19 17:29:02 +11:00
fbe8592d3c
Quaternion: change signs in AP_AHRS_Quaternion
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thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
df79703ed1
Math: change signs in quaternion library
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thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
c87b945fd2
Math: allow eulers test to build with AP_Declination library
2012-03-19 17:29:02 +11:00
39067299a5
Math: fixed build of eulers test on SITL
2012-03-19 17:29:02 +11:00
b6040878b4
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
2012-03-19 17:29:02 +11:00
784f08728b
AP_Mount: adapt library for AHRS framework
2012-03-19 17:29:02 +11:00
3b43d3f9b9
AHRS: fixup the AHRS test suite for the new framework
2012-03-19 17:29:02 +11:00
fe63e79416
AHRS: adapt the quaternion library to AHRS
2012-03-19 17:29:02 +11:00
2d12bdb412
AHRS: adapt the DCM_HIL library to AHRS
2012-03-19 17:29:02 +11:00
bf96d05605
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
e976c70e19
AHRS: rename DCM and Quaternion implementions ready for AHRS class
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this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00
1170893aaa
MAVLink: rename DCM message to AHRS
2012-03-19 17:29:01 +11:00
f3eb15167c
AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy)
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- also removed unused _offset_press variable
2012-03-18 15:18:05 +09:00
ed0d1da4f5
AP_Baro - added average filter for temperature to replace broken filter
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- added average filter (for last two values) for raw pressure
- changed some "long" to int32_t and "unsigned long" to uint32_t
2012-03-18 01:06:02 +09:00
42960efe80
sitl cygwin mods
2012-03-15 08:16:50 +08:00
adcc20e4d3
Quaternion: credit Justin with the initial idea of using Madgwick
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thanks Justin!
2012-03-13 13:27:45 +11:00
9a6adb9990
DCM: adjust yaw kp constant down to 0.4
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this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
2012-03-12 17:49:26 +11:00
Amilcar Lucas
Andrew Tridgell
Craig Elder
rmackay9
Jonathan Challinger
Jason Short
Wingspinner
Robert Lefebvre
Chris Anderson
Adam M Rivera
James Goppert
Michael Oborne