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11,405 Commits 70 Branches 507 Tags 662 MiB
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4932 Commits

Author SHA1 Message Date
Randy Mackay 9e07070d86 Mission: pass eeprom start into constructor 
This allows different storage locations for ArduCopter, Plane and Rover
 2014-03-19 12:11:53 +09:00
Randy Mackay 7663c5898e AP_HAL_Boards: board specific storage size definition 2014-03-19 12:11:52 +09:00
Randy Mackay ddc4cd4f18 Mission: add init and check_eeprom_version methods 2014-03-19 12:11:46 +09:00
Randy Mackay 4c0a31a9dc Mission: init home to zero before writing to eeprom 2014-03-19 12:11:37 +09:00
Randy Mackay df339c05fc Mission: num_commands returns uint16 2014-03-19 12:11:25 +09:00
Randy Mackay af186fba05 AP_Common: pack Location structure 
This resolves issues storing and retrieving Location to eeprom as part
of AP_Mission
 2014-03-19 12:11:13 +09:00
Randy Mackay e60865b715 Mission: example sketch test for set_current_cmd 2014-03-19 12:11:12 +09:00
Randy Mackay 512b378c4a Mission: allow set_current_cmd when mission is not running 
Can now be run when mission is complete or stopped.  When mission is
resumed it will begin at the set command.  This command can be either a
nav or do command
 2014-03-19 12:11:10 +09:00
Andrew Tridgell eaf34bba9a AP_Mission: fixed reset using set mission item to 0 
this causes a mission reset
 2014-03-19 12:11:07 +09:00
Randy Mackay 8dd301b0c2 Mission: set_current_cmd to use uint16 2014-03-19 12:11:06 +09:00
Randy Mackay a6e422333e Mission: remove alt_in_cm from mavlink to cmd conversion 2014-03-19 12:11:01 +09:00
Randy Mackay efd4058e8b AHRS: interate move of p1 from Location to mission cmd 2014-03-19 12:10:51 +09:00
Randy Mackay 5dd86bd7d7 Mission: update example sketch for p1's move to cmd structure 2014-03-19 12:10:49 +09:00
Randy Mackay 87126c9b71 Common: remove id and p1 from Location structure 
id and p1 are now part of AP_Mission's Mission_Command structure
 2014-03-19 12:10:46 +09:00
Randy Mackay 0dc3c9ab42 Mission: add p1 to command structure 
mavlink_to_mission_cmd method extended to support plane including adding
parameter to allow the alt to be expressed in cm or meters
 2014-03-19 12:10:45 +09:00
Randy Mackay 4c0ae63169 Mission: example sketch test replace_cmd method 2014-03-19 12:10:42 +09:00
Randy Mackay 61cc5e6b72 Mission: add replace_cmd method 2014-03-19 12:10:40 +09:00
Randy Mackay ef21e32fbc Mission: example sketch tests set current command 2014-03-19 12:10:37 +09:00
Randy Mackay 3cbbd4ebb9 Mission: add set current command method 2014-03-19 12:10:36 +09:00
Randy Mackay c7ffd2db90 Mission: reduce unnecessary search for do-commands 
do_cmd_all_done flag is set after all do-commands are complete
 2014-03-19 12:10:33 +09:00
Randy Mackay 0c92d60406 Mission: command index increase to int16 
Once more eeprom space is allocated this will allow more than 255
commands
 2014-03-19 12:10:31 +09:00
Randy Mackay 85b979ede9 Mission: support do-jump num_times is -1 
do-jump loops forever when num times is set to -1
 2014-03-19 12:10:29 +09:00
Randy Mackay c6c43847b6 Mission: example sketch tests set home command 2014-03-19 12:10:27 +09:00
Randy Mackay 9ef27955b5 Common: add location options masks 2014-03-19 12:10:20 +09:00
Randy Mackay cc8554fa2b Mission: fix example sketch 2014-03-19 12:10:18 +09:00
Randy Mackay f4d8ccc128 Mission: add mavlink to cmd conversion methods 2014-03-19 12:10:17 +09:00
Randy Mackay 87c7d19f83 AP_Mission: special handling for cmd 2014-03-19 12:10:14 +09:00
Randy Mackay e8db57ced3 AP_Mission: replace block read/write for eeprom 
Also reserve command #0 for home position
 2014-03-19 12:10:00 +09:00
Randy Mackay fd009d0704 AP_Mission: tests added to example sketch 2014-03-19 12:09:59 +09:00
Randy Mackay 84b3497a82 AP_Mission: fixes to protect against endless loops 2014-03-19 12:09:57 +09:00
Randy Mackay 6086bc14be AP_Mission: mostly working draft 2014-03-19 12:09:56 +09:00
Randy Mackay 4285eba297 AP_Mission: initial draft library 2014-03-19 12:09:54 +09:00
Randy Mackay dd45647626 AC_PosControl: update some comments re leash lengths 2014-03-17 10:13:02 +09:00
Holger Steinhaus 345115fddd AC_PosControl: fixed leash length calc for descent speed 2014-03-17 10:12:47 +09:00
Andrew Tridgell 6b5d27efbb AP_GPS: fixed example builds with change to init() 2014-03-16 06:44:50 +11:00
Andrew Tridgell 68462025ba RC_Channel: constrain norm_input() to -1 to 1 
if RC is not properly calibrated we could get a value beyond 1, which
could cause some flight modes to exceed the roll/pitch limits of the
aircraft
 2014-03-15 20:43:13 +11:00
Andrew Tridgell 9cf1fd46c8 AP_GPS: removed nav_setting default 
not needed, and apparently caused issue with xcode 5.1
 2014-03-14 07:49:56 +11:00
Paul Riseborough dacba5d911 AP_NavEKF : Update default tuning parameters (for plane use) 2014-03-14 06:07:58 +11:00
Paul Riseborough d0828d9c15 AP_NavEKF : Prevent bad user parameter causing incorrect GPS fusion 2014-03-14 06:07:58 +11:00
Paul Riseborough a24bfc1b8a AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed 2014-03-14 06:07:57 +11:00
Paul Riseborough 35811758d7 AP_NavEKF : Update comments and remove un-used function declarations 2014-03-14 06:07:57 +11:00
Andrew Tridgell db48ed9218 AP_Compass: fixed showing of is_external for 2nd compass 2014-03-13 16:26:43 +11:00
Andrew Tridgell beb6123576 GCS_MAVLink: send a "zero logs" message when no logs available 2014-03-11 17:12:22 +11:00
Andrew Tridgell ecdd74d580 DataFlash: return number of logs as zero correctly 
when we have no file based logs, report no logs :)
 2014-03-11 17:11:58 +11:00
Andrew Tridgell d9e8c34a89 GCS_MAVLink: allow for proxying of larger MAVLink messages on PX4 
this makes it possible to deal with large MAVLink messages
 2014-03-11 13:48:25 +11:00
Paul Riseborough 784034170d AP_NavEKF : increased useage of helper functions 2014-03-10 21:54:03 +11:00
Paul Riseborough 7b3130cfcc AP_NaVEKF : Enable operation without airspeed and compass 2014-03-10 21:53:09 +11:00
Paul Riseborough 3a5acb9cea AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment 2014-03-10 14:07:34 +11:00
Paul Riseborough b47a11edf6 AP_NavEKF : improved static and on-ground mode selection logic 2014-03-10 04:39:59 +11:00
Paul Riseborough 15a44571c2 AP_NavEKF : enable operation without a compass for planes 2014-03-09 20:01:45 +11:00
Paul Riseborough 2019708056 AP_NavEKF : Make all compass use autodetect 2014-03-09 19:59:19 +11:00
Paul Riseborough e485b246e7 AP_NavEKF : update comments 2014-03-09 19:59:18 +11:00
Paul Riseborough c8bd415b00 AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer 2014-03-09 19:59:17 +11:00
Paul Riseborough 52fabc822f AP_NavEKF : Add low speed magnetometer calibration option 2014-03-09 19:59:16 +11:00
Paul Riseborough 88b0364fcd AP_TECS : Add protection for airspeed runaway due to pitch errors 2014-03-09 19:59:16 +11:00
priseborough 6ace31b6c1 AP_NavEKF : Fix bug that leaves height unconstrained in static mode 2014-03-09 19:27:21 +11:00
Mike McCauley c90d3ff59e Flymaple: RCOUtput disable_ch() now supports disabling outputs 2014-03-08 21:55:57 +11:00
Andrew Tridgell 794cc33e6a GPS: added set_secondary() function 
for preventing notify updates for 2nd GPS
 2014-03-08 21:47:49 +11:00
Paul Riseborough 94ff7522fc AP_NavEKF : Fix bug in initial East mag field state variance 2014-03-08 07:44:34 +11:00
Andrew Tridgell 63234d4c22 AP_Baro: fixed linux build of BMP085 driver 2014-03-07 09:33:43 +11:00
Randy Mackay 4cfe50b70c Notify: brighter RGB LED when on battery power 2014-03-05 21:38:29 +09:00
Randy Mackay 1c457d8448 Mount: add get_mode and set_mode_to_default methods 2014-03-05 16:01:11 +09:00
Andrew Tridgell dd502e98b4 RC_Channel: added support for separate wheel steering channels on planes 2014-03-05 12:57:50 +11:00
Andrew Tridgell a788405c8b RC_Channel: added percent_input() function 
useful for plane flaps
 2014-03-05 09:17:50 +11:00
Randy Mackay 25ee5d5dc8 AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth 
pair-programmed with lthall
 2014-03-04 22:23:14 +09:00
lthall 15f88c2a2b AC_AttControl: Stabilize input shaping 2014-03-04 21:52:18 +09:00
Andrew Tridgell 5f85e7af6a HAL_PX4: switch to new serial port for 2nd GPS 2014-03-04 20:34:44 +11:00
Andrew Tridgell af2f72acb0 HAL_SITL: honor SIM_GPS2_ENABLE option 2014-03-03 07:07:29 +11:00
Andrew Tridgell 7a52938f68 SITL: added SIM_GPS2_ENABLE option 2014-03-03 07:07:09 +11:00
Mike McCauley be34e0358a RC_Channel: Removed duplicate defines from RC_Channel.h 2014-03-03 06:34:34 +11:00
Andrew Tridgell 449d09051e AP_NavEKF: cope with compass going offline while in flight 2014-03-02 14:32:10 +11:00
Andrew Tridgell 77f91e6250 AP_NavEKF: don't assume the number of gyros == number of accels 2014-03-02 13:53:19 +11:00
Paul Riseborough ebb3cc3348 AP_NavEKF : Use average of dual IMU gyro data when available 2014-03-02 13:28:44 +11:00
Paul Riseborough a39d00fc13 AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated 2014-03-02 13:27:22 +11:00
Paul Riseborough 573b3210dd AP_NavEKF : Add div0 protection to the IMU1_weighting calc 2014-03-02 08:10:06 +11:00
Paul Riseborough bd152d332c AP_NavEKF : Add accel aliasing protection 2014-03-02 08:10:04 +11:00
Andrew Tridgell 853271dd37 Replay: moved replay tool into Tools/Replay 2014-03-01 14:30:55 +11:00
Andrew Tridgell 295cd9adba AP_NavEKF: give a sensible error for no such file on replay 2014-03-01 14:24:51 +11:00
Paul Riseborough 854f013146 AP_NavEKF : Fixes zero compass offsets on initialisation 2014-02-28 19:43:12 +11:00
Andrew Tridgell cc4c443b32 SITL: simulate dual accel/gyro 2014-02-28 17:30:38 +11:00
Jonathan Challinger e81d2e9584 AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash 2014-02-28 17:25:54 +11:00
Andrew Tridgell 736201689b AP_NavEKF: only use the active accel from DCM if fly_forward is set 2014-02-27 17:40:13 +11:00
Andrew Tridgell aaaae9a222 AP_AHRS: added get_fly_forward() method 
will be used to detect a copter
 2014-02-27 17:39:49 +11:00
Paul Riseborough 62eff63267 AP_NavEKF : Increase the tuning range for magnetometer measurement noise 2014-02-27 17:20:38 +11:00
Andrew Tridgell 9a5ecc9541 AP_AHRS: use primary accel for accel_ef 
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
 2014-02-27 16:28:37 +11:00
Andrew Tridgell 2c85a7ba56 AP_InertialSensor: expose get_primary_accel() for use in AHRS 2014-02-27 16:27:46 +11:00
Andrew Tridgell cf148fa76c AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk 2014-02-27 12:46:27 +11:00
Andrew Tridgell a9e683dada AP_NavEKF: use the accelerometer chosen by DCM for each step 2014-02-27 09:41:48 +11:00
Andrew Tridgell b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
 2014-02-27 09:41:28 +11:00
Andrew Tridgell 0b45d2bc06 AP_AHRS: removed the AHRS_GPS_DELAY parameter 
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
 2014-02-27 08:57:44 +11:00
Paul Riseborough 78a1cac560 AP_NavEKF : Improved heading and magnetic field state initialisation 2014-02-27 08:12:10 +11:00
Paul Riseborough d83b382e59 AP_NavEKF : Fix variance constraint bug 
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
 2014-02-27 08:12:03 +11:00
Andrew Tridgell 8b59e564ba AP_NavEKF: improved replay timing 2014-02-27 08:11:04 +11:00
Andrew Tridgell 840f1b9a1e AP_InertialSensor: make HIL timing more accurate 
needed for 400Hz replay
 2014-02-27 08:10:42 +11:00
Andrew Tridgell 66f238c0da AP_NavEKF: support 400Hz replay from 50Hz logs 2014-02-26 19:34:01 +11:00
Andrew Tridgell 3fa2207a2d AP_HAL: allow for microsecond resolution in scheduler->stop_clock() 
this makes 400Hz in the replay code possible
 2014-02-26 19:33:39 +11:00
Andrew Tridgell 6fc5c12f1d AP_AHRS: remove unused variable 2014-02-26 10:28:12 +11:00
Andrew Tridgell 866e32f059 AP_Motors: removed unused variable 2014-02-26 09:40:39 +11:00
Andrew Tridgell e410733682 DataFlash: added GPS2 logging 2014-02-26 09:19:00 +11:00
Andrew Tridgell 0115b9fa07 HAL_SITL: support a 2nd GPS 2014-02-26 08:19:47 +11:00