3f0d27ec87
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
2012-02-26 15:36:23 +09:00
6363da2829
ArduPlane - switch sonar to use new mode filter from filter library
2012-02-26 15:35:42 +09:00
add3133100
ArduCopter - change sonar to use new mode filter from Filter library
2012-02-26 15:35:14 +09:00
00a1b5cd53
AP_RangeFinder - cut over to use new ModeFilter from Filter library
2012-02-26 15:34:50 +09:00
ae8fd43335
Filter - first version of filter library include ModeFilter
2012-02-26 15:34:05 +09:00
f6f05755d9
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
2012-02-26 15:31:56 +09:00
e4e8189448
added a simple rest of nav_throttle just in case
2012-02-25 13:31:21 -08:00
cd55498a5c
increased speed of alt hold I term based on Jani's Logs
2012-02-25 13:31:21 -08:00
a3f65b4a23
increased the rate error for more responsive alt hold
2012-02-25 13:31:21 -08:00
68739f3cc4
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
bd2776aedd
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
56bb74ef36
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
6b265c5034
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
f50f4357ca
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
3fe5b3151b
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
3abe035557
DCM: use the new use_for_yaw() compass method
2012-02-25 14:51:09 +11:00
c3319afadd
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
d1f655beee
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
ce5c7c2c85
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
051bd78b37
AP_Param: added some comments on AP_Vector3f handling
2012-02-25 11:37:20 +11:00
3cf0eebac8
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
42528e9c33
test: updated VARTest for new AP_Param vector3f handling
2012-02-25 11:37:20 +11:00
17718720b1
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
007a6b8958
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
1d95137b71
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
f221bd13ab
libs: removed unused library GPS_IMU
2012-02-25 11:37:20 +11:00
1a21c78062
libs: removed unusued library GCS_SIMPLE
2012-02-25 11:37:20 +11:00
af0765bb0a
autotest: fixed xAccel calculation in fakepos.py
2012-02-25 11:37:20 +11:00
c63ca9c697
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
d5b619218c
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
ab945f36df
Compass heading added to ATT log
2012-02-24 12:11:15 -08:00
06be0d24ba
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
ab0e1d7632
TradHeli - increase max yaw input to 45 degrees
2012-02-24 20:18:40 +09:00
ed5db98522
updated Gains for Marco's loiter test
2012-02-23 22:03:26 -08:00
22982cda0f
Loiter updates
2012-02-23 22:03:26 -08:00
58bca7d4a4
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
48cad8bc25
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
5009679617
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
df6013616e
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
4edf311865
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
50f85835bd
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
8190204287
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
0acea11152
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
b4c8d6491a
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
1a32ececb4
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
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
2a4b7facaa
added set integrator
2012-02-23 09:38:08 -08:00
b1340bbf80
added a constraint to D term
2012-02-23 09:14:44 -08:00
e88e6200b4
APM Planner
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a little bit translate
2012-02-23 16:39:16 +08:00
8707965c15
DCM: changed the sense of floating point range comparison
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This allows us to detect NaN, otherwise NaN values were considered
'in range'
2012-02-23 11:41:26 +11:00
rmackay9
Jason Short
Andrew Tridgell
Michael Oborne
Hazy