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3663426550
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Author SHA1 Message Date
priseborough
3663426550 Plane: Fixed bug in groundspeed_undershoot that could cause a fly-away in windy conditions. 
Use the component of velocity in the forward direction rather than the magnitude
 2013-05-05 21:51:08 +10:00
Paul Riseborough
663951d9a7 Plane: rename APM_Control parameters 
this groups the parameters more logically
 2013-05-05 21:51:08 +10:00
Paul Riseborough
8c5b603848 Plane: use new APM_Control API 2013-05-05 21:51:08 +10:00
priseborough
205397d030 APM_Control: Modified calculation of bank compensation rate offset to prevent climb if speed > max fbw speed 
The previous calculation constrained the speed used to calculate the
bank compensation rate offset between the min and max fbw speeds. This
would result in an unwanted climb if flown above the max fbw speed
(this could happen in fbw-a mode)
 2013-05-05 21:51:08 +10:00
priseborough
e7736ed4e0 APM_Control: APM tuning guide.txt - Updated tuning instructions with numerical values for alternate method 2013-05-05 21:51:08 +10:00
Paul Riseborough
3034a9fab2 APM_Control: Added alternate tuning method for roll and pitch loops 
The alternate tuning method for roll and pitch will give a better
results, but comes with more risk as it will result in a larger rate
feedback gain
 2013-05-05 21:51:08 +10:00
priseborough
2c29186b03 APM_Control: APM tuning guide.txt - Minor editorial corrections 2013-05-05 21:51:08 +10:00
priseborough
d159d39037 APM_Control: APM tuning guide.txt - Added step by step tuning description. 2013-05-05 21:51:08 +10:00
priseborough
99f0fb6bd2 APM_Control : Removed 20Hz low-pass filters on rate gyro inputs. 
These are not required due to MPU 6000 filtering.
 2013-05-05 21:51:08 +10:00
priseborough
317b75f4cd APM_Control: Added tuning guide readme 2013-05-05 21:51:08 +10:00
Andrew Tridgell
9654546b5a AP_L1_Control: Cleaned up calculation of damping to reduce computations 
also removed _cross2D, using math library instead
 2013-05-05 21:51:08 +10:00
Randy Mackay
372ebb602c Copter: disable centrifugal force correction when disarmed 2013-05-05 16:55:06 +09:00
Randy Mackay
30faf87715 InertialNav: use AP_Math's longitude_scale 2013-05-05 14:32:25 +09:00
Randy Mackay
7c9d9b9800 AP_Math: use DEG_TO_RAD in longitude_scale 
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
 2013-05-05 14:31:24 +09:00
Randy Mackay
ae2ad8e819 Copter: remove unused radius_of_earth constant 2013-05-05 13:13:48 +09:00
Andrew Tridgell
38fc0e61c6 AP_AHRS: optimise yaw drift correction 
use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
 2013-05-05 13:51:45 +10:00
Andrew Tridgell
737f0305ef AP_Math: implement vector2 cross product 
useful in DCM for faster yaw correction
 2013-05-05 13:47:51 +10:00
Andrew Tridgell
f4189e083b AP_Math: added mulXY() for matrix3 and vector3 
returns the XY components of the product
 2013-05-05 13:47:23 +10:00
Randy Mackay
ee2daf25b6 AHRS: perf improvement by caching declination vector 2013-05-05 12:58:43 +10:00
Andrew Tridgell
943a1d8c8d AP_AHRS: added AHRS_GPS_MINSATS option 
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
 2013-05-05 12:48:01 +10:00
Randy Mackay
6836964e3c Copter: resolve compiler warning re fence 2013-05-04 23:18:16 +09:00
Randy Mackay
c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +09:00
Randy Mackay
7d8822dde1 AutoTest: remove lower loiter PID overrides 
SITL issues resolved now so default PIDs ok again
 2013-05-04 15:03:36 +09:00
Andrew Tridgell
99d21854f9 SITL: fixed drift rate limit in simulator 2013-05-04 15:16:35 +10:00
Andrew Tridgell
53ebcfeba5 SITL: fixed compass vector to be based on yaw not GPS heading 
Many thanks to Randy for noticing this, and apologies for the wasted time!
 2013-05-04 14:28:08 +10:00
MikkoSaarisalo
2dc5078c83 Added .vagrant to .gitignore 
Relates to pull request #183 (Automated dev environment distribution) and leaves vagrant instance specific configs outside git control.
 2013-05-03 23:29:07 +09:00
Randy Mackay
1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay
647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Randy Mackay
bd75de6a22 AC_Fence: reduce to 150m radius and 100m high 
100m high,
 2013-05-03 14:57:37 +09:00
Randy Mackay
9e01dea95b AutoTest: reduce copters terminal vel to 15m/s 2013-05-03 14:52:16 +09:00
Randy Mackay
73ea5aab5c AutoTest: override default Loiter PIDs 
Although not a permanent solution this temporarily gets the auto tester
to work again because loiter will stop spiralling
 2013-05-03 14:51:54 +09:00
Randy Mackay
cca05ee8ae Copter: start dataflash logging when arming 
Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
 2013-05-03 14:49:55 +09:00
Andrew Tridgell
58d5fab412 autotest: copy .tlog files to history 2013-05-03 14:38:32 +10:00
Andrew Tridgell
b43712e4d2 Plane: fixed APM1-1280 build 2013-05-03 12:40:43 +10:00
Randy Mackay
ba472b9749 AutoTest: remove unused missions 2013-05-03 11:22:27 +09:00
Randy Mackay
f14284e7a0 AutoTest: reorganise copter tests 2013-05-03 11:22:15 +09:00
Randy Mackay
44b0c790f3 AutoTest: turn off compass learning in virtual copter 2013-05-03 11:21:00 +09:00
Randy Mackay
68279a138f AutoTest: reduce power of virtual copter 2013-05-03 11:20:26 +09:00
Andrew Tridgell
9f0a4dd553 Plane: log GCS text messages to flash log 
useful for seeing more complex actions
 2013-05-03 11:16:50 +10:00
Andrew Tridgell
6cc9939891 AP_ADC: added dummy stop_pin and settle_time calls 2013-05-03 11:11:40 +10:00
Andrew Tridgell
0e66bac70b AP_RangeFinder: removed special case for APM1 
the airspeed port doesn't have enough power for the sonar anyway
 2013-05-03 10:09:54 +10:00
Andrew Tridgell
244a10aeb6 HAL_SMACCM: fixed build for new AnalogIn API 2013-05-03 10:09:14 +10:00
Andrew Tridgell
9bc48c9894 HAL_PX4: fixed build with new AnalogIn API 
pin settle times not actually implemented on PX4 yet
 2013-05-03 10:09:02 +10:00
Andrew Tridgell
5ac493908c SITL: fixed build with new AnalogIn API 2013-05-03 10:08:39 +10:00
Andrew Tridgell
ef4198bcb4 Rover: don't do failsafe if throttle is below failsafe level 2013-05-03 09:45:19 +10:00
Andrew Tridgell
09ca9d4283 AP_Rangefinder_analog: implement settle time and stop_pin 2013-05-03 09:45:19 +10:00
Andrew Tridgell
5d80a5619d HAL_Empty: add new API functions 2013-05-03 09:45:19 +10:00
Andrew Tridgell
912ed2c97c HAL_AVR: initialise settle time 2013-05-03 09:45:19 +10:00
Andrew Tridgell
e7a6b12ac1 HAL_AVR: support set_stop_pin() and set_settle_time() for analogin 
useful for dual sonar support
 2013-05-03 09:45:19 +10:00
Andrew Tridgell
0b6cfc7294 AP_HAL: added set_stop_pin() and set_settle_time() interfaces to analogin 
this is for multiple sonars on one vehicle, to prevent them
interfering with each other
 2013-05-03 09:45:19 +10:00