Andrew Tridgell
70bfacc350
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
Andrew Tridgell
57579e494b
Barometer: fixed airstart for APM
...
we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
Andrew Tridgell
ce016b5ae8
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
Andrew Tridgell
0fa1f29cf3
AHRS: implement spin rate limits
...
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
Andrew Tridgell
3ffecc18d8
AHRS: cope with copters with no compass
...
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
Andrew Tridgell
69512ea0ea
Rover: a rover moves along its X axis
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this allows a rover to work without a compass for yaw control
2012-06-27 16:01:50 +10:00
Andrew Tridgell
3458962184
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
Andrew Tridgell
426006d98f
SITL: fixed GPS heading in simulated UBlox
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longitude scale does not apply to velocity->heading conversions
2012-06-27 16:01:50 +10:00
Andrew Tridgell
20c1baf585
SITL: changes UBlox simulation to 5Hz
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this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
Andrew Tridgell
624fdda89c
autotest: switch to full accel modelling in multicopter simulation
...
the new AHRS code should allow for centripetal compensation in
multicopters
2012-06-27 16:01:50 +10:00
Andrew Tridgell
69e68783d3
ArduTracker: update for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
d497d0a0a1
Rover: updates for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
7883c4a545
ACM: ArduCopter updates for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
44b7d94b1c
APM: ArduPlane updates for new compass interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
d9583ae5eb
Compass: remove the need to call calculate() on the compass object
...
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.
This significantly reduces the calculation involved in compass updates
The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
2012-06-27 16:01:50 +10:00
Andrew Tridgell
5370f9c411
AHRS: normalize the ge vector in drift correction, and use barometer
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The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
Andrew Tridgell
7eb150a2f0
ACM: adapt the ArduCopter code for new barometer interface
2012-06-27 16:01:50 +10:00
Andrew Tridgell
4fda89beb7
APM: update for new barometer interface
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the barometer can now calibrate and return altitude values.
A 0.3 low pass filter is used on altitude to match the previous code
2012-06-27 16:01:50 +10:00
Andrew Tridgell
53e950531e
Baro: added get_altitude() and get_climb_rate() interfaces
...
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity
The climb rate uses a 5 point average filter
2012-06-27 16:01:50 +10:00
Andrew Tridgell
9fd3d15026
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
Jonathan Challinger
1ff9461bfb
AHRS: brought DCM more inline with Bill's implementation
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omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
Andrew Tridgell
4a91c267d7
APM: set_centripetal() is now set_fly_forward()
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this controls more than just centripetal correction
2012-06-27 16:01:49 +10:00
Andrew Tridgell
d71e82191f
ACM: enable GPS in AHRS for ArduCopter
...
this is an experiment in centripetal correction for multicopters
2012-06-27 16:01:49 +10:00
Andrew Tridgell
73faaddc1b
AHRS: first successful version of Bills new drift correction system
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This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
Andrew Tridgell
0399aa9480
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
Andrew Tridgell
2600afe18a
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
Andrew Tridgell
5316a45c20
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
Andrew Tridgell
19954f30e5
GPS: added velocity and acceleration components
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used by AHRS for acceleration correction
2012-06-27 16:01:49 +10:00
Andrew Tridgell
2b352d2b5c
Math: added comment
2012-06-27 16:01:49 +10:00
Andrew Tridgell
f23cebc808
Math: moved more template functions to the .cpp files
...
save a bit more code space for larger functions
2012-06-27 16:01:49 +10:00
Michael Oborne
93e8bee44e
firmware build
2012-06-27 08:00:18 +08:00
Jason Short
57e4fabb57
Attitude.pde: Turned off boost_p for nav_throttle based on Testing feedback from Marco.
2012-06-26 10:39:42 -07:00
Jason Short
3fcd3100cc
Added user editable define for Super simple radius
2012-06-26 10:38:46 -07:00
rmackay9
74d37a3713
ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed).
2012-06-26 22:59:24 +09:00
rmackay9
c034e38cbd
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
91cde15c27
Attitude.pde - Added small boost to alt hold for takeoff.
2012-06-25 23:12:19 -07:00
Jason Short
711bbeb6f3
GCS_Mavlink.pde : mav_nav only used in legacy Mavlink.
2012-06-25 23:08:25 -07:00
Jason Short
4a85c40f03
Added Toy Mode control
2012-06-25 23:08:25 -07:00
Jason Short
03879d9113
Added Toy Mode defines
2012-06-25 23:08:25 -07:00
Jason Short
4872880134
Arducopter.pde : Added Approach mode, added "Toy" mode fun code I'm playing with.
...
Added landing code to make landing happen closer to home loc
Added check for distance to Loiter WP before overriding a new Loiter position.
Moved calc_loiter_pitch_roll() to 50 hz.
removed the nav_bearing var - not used with new crosstrack.
2012-06-25 23:08:25 -07:00
Jason Short
efc74a87aa
commands.pde: fixed unit error for distance check
2012-06-25 23:06:28 -07:00
Jason Short
7a5347fb1f
Config.h : New Gains based on testing, new Crosstrack gain. from 1.0 to .2 because of new algorithm
2012-06-25 23:06:28 -07:00
Jason Short
81c684664b
GCS Mavlink.pde: change reference to nav_bearing to target_bearing.
2012-06-25 23:06:28 -07:00
Jason Short
50b3ef66a7
Navigation.pde : removed old cross tracking from Arduplane. Added new 2D cross tracking. Added use of GPS velocity when above 1.5m/s
2012-06-25 23:06:28 -07:00
Jason Short
2fdbbb87f2
inertia.pde: WIP don't fly with inertia enabled until FN.
2012-06-25 23:06:28 -07:00
Jason Short
900f169c44
Log.pde: removed nav_bearing reference and replaced with target_bearing ref
2012-06-25 23:06:28 -07:00
Andreas M. Antonopoulos
678b12af25
AC2.6: Fix battery calculation and scaling bug for MAV1.0, now same as ArduPlane
...
http://code.google.com/p/arducopter/issues/detail?id=430
2012-06-24 17:01:25 -07:00
Robert Lefebvre
7eae382a22
Open up constraint on Rate Yaw Output for all copters.
2012-06-22 10:06:01 -04:00
Jason Short
abb6eb2471
Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek.
2012-06-21 11:14:20 -07:00
Jean-Louis Naudin
94ccdea145
APMrover 2.20b: minor update for HIL mode with the new lib
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Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
2012-06-21 08:10:33 +02:00
