e1114bf7f7
ArduPlane - added Filter.h to unbreak the build!
2012-02-26 17:05:56 +09:00
8193c786ef
ArduCopter - added #include <Filter.h> to unbreak the build!
2012-02-26 17:05:41 +09:00
74f7d7a1c0
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
21d7a77009
ArduPlane - switch sonar to use new mode filter from filter library
2012-02-26 15:35:42 +09:00
69132e0fe7
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
f264e29814
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
c14d7768f7
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
952e5d7bbc
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
f27e9f9ca1
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
1ce267f904
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
a924c3685e
Based on Jani's latest logs I've made two tweaks to alt hold.
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The first is to remove the filter on the throttle output for alt_hold.
The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
2012-02-25 13:31:21 -08:00
d0a6359b37
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
2012-02-25 17:36:31 +11:00
900388a85a
DCM: disable compass null offsets when setting initial yaw
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we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
2012-02-25 16:02:24 +11:00
e2bbc795ad
ACM: use a NULL gps pointer in DCM init
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current DCM API does need a GPS reference passed in, but it can be
NULL
2012-02-25 15:08:49 +11:00
f59297d7a7
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
2012-02-25 14:51:09 +11:00
0248b48d30
allow MAG_ENABLE to be changed in flight
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this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled
This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
2012-02-25 14:51:09 +11:00
eb71b26d3f
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
664622523d
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
2012-02-25 14:51:08 +11:00
864ed1a87f
ACM: check the return of compass.init()
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if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
2012-02-25 14:51:08 +11:00
698749dd92
ACM: don't pass a gps pointer to DCM
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after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
2012-02-25 14:51:08 +11:00
f10097a6d5
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
5e2fbdb6cf
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
2012-02-25 11:37:20 +11:00
9d6ac9032e
test: updated VARTest for new AP_Param vector3f handling
2012-02-25 11:37:20 +11:00
690dc9052a
GCS: force scalar type in copy_name()
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this enables access to compass offsets over MAVLink
2012-02-25 11:37:20 +11:00
2e9105c68a
AP_Param: added special handling for Vector3f
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We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
2012-02-25 11:37:20 +11:00
d6bfceef7c
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
2012-02-25 11:37:20 +11:00
54aa8297af
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
185ab5aea9
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
57971e0ddf
autotest: fixed xAccel calculation in fakepos.py
2012-02-25 11:37:20 +11:00
55e33c3359
DCM: tidy up use of error_course and in_motion
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in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
2012-02-25 11:37:20 +11:00
ab8cc3d478
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
2012-02-25 11:37:20 +11:00
1e254cbca0
Compass heading added to ATT log
2012-02-24 12:11:15 -08:00
23cc9c6132
APM Planner 1.1.41
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fix mono ssl issue
modify log download
fix param dl on arduplane 2.28 (2x nulls in param list)
fix connect cancel
mono - add more comports
more error checking on radio
2012-02-24 19:39:02 +08:00
57e5eee8c8
TradHeli - increase max yaw input to 45 degrees
2012-02-24 20:18:40 +09:00
385828824d
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
24345d4f43
Loiter updates
2012-02-23 22:03:26 -08:00
d85596841f
APM Planner 1.1.41
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add NaN checking/error message
add config page shortcuts - F5, ctl-s and ctl-o
add +++ passthrough on terminal
add longer delay to log download
modify param receive process.
modify connecting and param receive process - re Andrew
2012-02-24 09:38:56 +08:00
ddeda1c367
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
2012-02-24 11:54:11 +11:00
06f37aad75
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
2012-02-24 11:52:55 +11:00
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
1cd3172954
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
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the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
2012-02-24 11:52:55 +11:00
c354879f1f
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
2012-02-24 11:52:55 +11:00
17d16bc8c6
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
bad653f230
DCM: tidy up the nan checking in DCM
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use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
2012-02-24 11:52:55 +11:00
c8e6d03c67
DCM: added matrix recovery on reset
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when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
2012-02-24 11:52:55 +11:00
502fbf6e17
AP_Math: added a safe_asin() function
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
17170da96e
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
b094f6ce52
added set integrator
2012-02-23 09:38:08 -08:00
364afe8da0
added a constraint to D term
2012-02-23 09:14:44 -08:00
rmackay9
Jason Short
Andrew Tridgell
Michael Oborne