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
Andrew Tridgell
813e767efb
AP_Param: use const refs in a few more places
...
reduces code size by a couple of hundred bytes
2013-05-02 10:18:36 +10:00
Randy Mackay
4fcb189c97
GCS_MAVLink: typo in message definition
2013-05-01 17:07:18 +09:00
Randy Mackay
2d17688363
AC_Fence: add backup fence
...
Also includes fixes from code review with Tridge
2013-05-01 17:05:04 +09:00
Andrew Tridgell
0fce0eb488
AP_Compass_PX4: fixed handling of a saturated compass
...
a saturated compass is now marked unhealthy, rather than causing the
code to spin waiting for a valid sample. This fixes a problem with
strong magnets causing the main flight loop to stop
2013-05-01 08:54:53 +10:00
Andrew Tridgell
d7ec985029
AP_Baro_PX4: fixed baro driver to run at full rate
...
we were skipping samples due to a timer handling bug. It now checks
for new samples at 100Hz
2013-05-01 08:54:53 +10:00
Randy Mackay
ad01aeee44
Copter: increase max loiter overshoot to 8.12m
2013-04-30 18:07:48 +09:00
Randy Mackay
8122a32114
InertialNav: reduce XY TC to 2.5 (was 3)
...
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
2013-04-30 12:52:28 +09:00
Randy Mackay
c139134192
Copter: increase max loiter speed to 7.5m/s
2013-04-30 12:49:19 +09:00
Randy Mackay
6c081c3def
AC_WPNav: slow acceleration of intermediate point
2013-04-30 10:20:23 +09:00
Randy Mackay
00146ca97d
AP_HAL: fix another RCInput compile error
2013-04-29 21:27:16 +09:00
