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3284 Commits

Author SHA1 Message Date
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
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
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
c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +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
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
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
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
Andrew Tridgell
0242d50ad4 DataFlash: added Log_Write_Message() 
useful for logging general messages
 2013-05-03 09:18:14 +10:00
Andrew Tridgell
ccd38e58a1 HAL_PX4: fixed the scaling on the analog pins 2013-05-02 21:40:15 +10:00
Andrew Tridgell
500497f5fa AP_HAL: update AnalogIn test to show the first 16 pins 2013-05-02 21:31:55 +10:00
Andrew Tridgell
c90d44c121 AP_Compass_HIL: fixed indentation 2013-05-02 21:31:17 +10:00
Andrew Tridgell
26bf636541 AP_Baro: fixed a build warning 2013-05-02 21:31:04 +10:00
Andrew Tridgell
65183887e5 SITL: use new baro setHIL method 2013-05-02 15:27:27 +10:00
Andrew Tridgell
90cf1b0386 AP_ADC: removed unused setHIL method 2013-05-02 15:27:16 +10:00
Andrew Tridgell
7cec3caf19 AP_Baro: cleaned up setHIL method 
move pressure calculation into library
 2013-05-02 15:26:38 +10:00
Andrew Tridgell
c6c1fce2f1 AP_Baro: removed HIL constructor 
this wasn't calling the parent class
 2013-05-02 15:16:52 +10:00
Andrew Tridgell
811c2ccc11 libraries: fixes for AP_Baro_HIL 2013-05-02 15:09:05 +10:00
Andrew Tridgell
2d089174cd AP_Baro: rename AP_Baro_BMP085_HIL to AP_Baro_HIL 
there is nothing specific to the BMP085 in it
 2013-05-02 15:08:42 +10:00
Andrew Tridgell
a09c53a3ea SITL: use new HIL compass API 2013-05-02 15:01:47 +10:00
Andrew Tridgell
f72dd560cb AP_Compass: fixed the HIL sensors compass 
this sets up good compass values for HIL sensors
 2013-05-02 14:59:33 +10:00
Andrew Tridgell
86027f6e0f AP_Compass: fixed PX4 build 2013-05-02 13:00:52 +10:00
Andrew Tridgell
af50b652f8 AP_Compass: removed old orientation defines 
we now use the rotations in libraries/AP_Math/rotations.h
 2013-05-02 12:48:14 +10:00
Andrew Tridgell
261eb6d841 AP_Declination: fixed example build 2013-05-02 12:48:14 +10:00
Andrew Tridgell
54b826a583 AP_AHRS: update for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell
217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses 
this allows the user to configure the compass for any orientation
supported by our rotation library
 2013-05-02 12:48:14 +10:00
Andrew Tridgell
ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00