Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-06 07:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity
4,904 Commits 71 Branches 510 Tags 766 MiB
44852276da
Commit Graph

1743 Commits

Author SHA1 Message Date
Andrew Tridgell
fb90d16092 Filter: make the DerivativeFilter test GNUPlot friendly 
makes testing easier
 2012-08-08 12:07:36 +10:00
Andrew Tridgell
2de06df08d Filter: automatically cope with duplicate timestamps 
this makes it easier for callers to avoid excessive slope calculations

Thanks to Jon Challinger for the idea
 2012-08-08 12:07:35 +10:00
Andrew Tridgell
c9a56e2223 Filter: fixed a off-by-one DerivativeFilter bug 
many thanks to Jon Challinger for noticing this!
 2012-08-08 12:07:35 +10:00
Amilcar Lucas
fbc25e4baa AP_Mount: move mount to a "retracted position" into the fuselage with a fourth servo 2012-08-06 01:27:29 +02:00
Amilcar Lucas
36bcd827b4 AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
Amilcar Lucas
fe4713b46e RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas
f3f89004e9 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas
431ed1c9b9 More flexible RC support 2012-08-04 18:39:20 +02:00
Andreas M. Antonopoulos
1ea2cb7b75 AP_Limits: experimental "bounce" mode. 2012-07-31 18:39:58 -07:00
Robert Lefebvre
54b320a9a0 Fixing Trad Heli Ext ESC Controller 
-Added ramp-down rate instead of instantly setting ramp to zero when throttle is dropped to bottom. This is to allow "warm-restart" if shutdown was unintentional.
-Actual ESC still goes to zero while throttle is dropped to the bottom, only the ramp counter winds down slowly behind the scenes.
 2012-07-31 17:47:25 -04:00
rmackay9
23a1e33e20 AP_InertialSensor_MPU6000: another attempt at fixing the SITL build 2012-07-28 17:19:19 +09:00
rmackay9
06a4aaa763 AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully) 
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
 2012-07-28 16:33:04 +09:00
rmackay9
9a558be53e AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable 2012-07-28 16:23:25 +09:00
rmackay9
ea4e56309d AP_InertialSensor_Oilpan: changed initialisation order of parameters to remove compiler warning 2012-07-28 15:22:37 +09:00
rmackay9
a49454e905 AP_AHRS: updated test sketch to allow use of MPU6000's DMP 2012-07-28 14:27:26 +09:00
rmackay9
0820ebddb9 AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude 2012-07-28 14:17:38 +09:00
rmackay9
5a9211c278 AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM) 2012-07-28 14:16:56 +09:00
rmackay9
c2b47d2bf9 AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS 2012-07-28 14:16:15 +09:00
rmackay9
ae119b08b3 AP_IMU_INS: added gx(), gy() and gz() methods to return gyro offsets 2012-07-28 14:15:23 +09:00
rmackay9
dfea845c37 AP_InertialSensor: methods added to access DMP functionality 2012-07-28 14:14:43 +09:00
Andrew Tridgell
e0b6ed12be MAVLink: rename the message_definitions directory 2012-07-26 10:03:36 +10:00
Andrew Tridgell
b4fc025151 MAVLink: removed MAVLink 0.9 message definitions 
we are now 1.0 only
 2012-07-26 10:03:36 +10:00
rmackay9
960c2f08af AP_Mount: addition of Amilcar's mount_type 
set_roi_cmd modified to take a Location.  I know the intention was for set_roi_cmd to interpret the MAVLink command directly but unfortunately in arduCopter missions are only made up of waypoints (which are Locations).
 2012-07-25 11:00:38 +09:00
Jonathan Challinger
21f0ed00b3 AHRS: normalise GA_b before computing error vector only if too large 
When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
 2012-07-23 17:16:50 +10:00
Andrew Tridgell
99410cbbfe AP_AnalogSource: fixed reporting of VCC 
the VCC pin number should not be converted
 2012-07-21 19:49:24 +10:00
Andrew Tridgell
5f5c884a6d AHRS: if we don't have gps correction enabled, zero the yaw correction 2012-07-20 17:21:04 +10:00
Andrew Tridgell
4f41b876b1 AHRS: allow the gps/accelerometers to control yaw when rolled 
this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
 2012-07-20 11:50:04 +10:00
Andrew Tridgell
404803a734 MAVLink: imported updated generated mavlink C code 
no functionality changes
 2012-07-20 11:50:03 +10:00
Jason Short
25c3ed6c4b Oilpan ADC parameters added 
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
 2012-07-18 22:57:11 -07:00
Jason Short
8a4a9a929e Lead Filter: simplified calculation 2012-07-18 22:57:10 -07:00
Andrew Tridgell
f704408094 GPS-UBlox: removed duplicate config messages 
these were left over from debugging
 2012-07-19 15:23:15 +10:00
Amilcar Lucas
13fb2e6dc9 RC_Channel parameters: Fix a typo 2012-07-18 22:39:49 +02:00
Amilcar Lucas
dea5b88379 Support up to 7 aux servo outputs 2012-07-18 21:58:22 +02:00
rmackay9
a2e6af1f9c AP_Mount: added set_manual_rc_channel and set_manual_rc_channel_function to allow input of pitch, roll and yaw controls from a regular RC_Channel (i.e. not RC_Channel_aux) 
For now, angles red in are always of the range -45 deg ~ 45 deg which is consistent with the existing arducopter implementation but should be improved to scale the pilot's input to the mount's actual range.
 2012-07-18 23:20:05 +09:00
Amilcar Lucas
8acc432084 Replace long with int32_t 2012-07-18 02:12:31 +02:00
Amilcar Lucas
f5c2ffca34 Use ascending order in the values 2012-07-18 02:11:49 +02:00
Amilcar Lucas
23f009f665 Improve parameter documentation, it still does not work, but is an improvement. 
I just do not understand why these parameters do not appear in Mission planner :(
 2012-07-17 23:32:30 +02:00
Michael Oborne
b97f9bb803 Airspeed Library - fix param names. 
The Group definition give the start of the param name.
This way we can maintain multiple instances if required of the same library as options.
 2012-07-16 21:48:47 +08:00
Andrew Tridgell
dfb22554aa Airspeed: Added AP_Airspeed sensor library 
this will allow an airspeed sensor object to be passed to AHRS for
dead reckoning
 2012-07-16 11:21:20 +10:00
rmackay9
bec5321b8b AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel! 2012-07-16 00:38:58 +09:00
rmackay9
3b9a1d4305 RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised. 
changed parameter names of "update_aux_servo_function" to make it more clear that any 4 servos can be passed in (not just servos 5~8).
Also allowed NULL servos to be passed in as parameters because we only need 3 in ArduCopter.
 2012-07-15 16:28:53 +09:00
rmackay9
e83275d8ae AP_Camera: changed "int" to "int16_t" and "long" to "int32_t" here and there. 2012-07-15 16:26:12 +09:00
Andreas M. Antonopoulos
31fd74d94c AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Michael Oborne
804898c2a5 fix param config names 2012-07-14 15:34:15 +08:00
Robert Lefebvre
716ce6a5a7 Change to prevent Tricopter servos from going hard-over during Disarmed state. 
Believe this was an oversight when the change to AP_Motors went in.
 2012-07-13 23:12:26 -04:00
Robert Lefebvre
ab1212d8d2 Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input". 
Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying.  This could probably become a parameter.
 2012-07-13 22:59:28 -04:00
Andreas M. Antonopoulos
9dfb3c4db9 Added Michael Pursifull's Maxsonar HRLV model support 2012-07-11 18:46:47 -07:00
rmackay9
d3426420ad AP_Camera: moved seme constructor initialisers around to remove compile warnings 2012-07-12 09:33:22 +09:00
rmackay9
1105a35c77 AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0) 
Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
 2012-07-11 21:19:17 +09:00
Amilcar Lucas
eb647b5320 AP_Mount: add support for non-spring-loaded joysticks 2012-07-11 00:07:33 +02:00
Amilcar Lucas
ad60fac863 RC_Channel: improve parameter documentation 2012-07-11 00:07:10 +02:00
Amilcar Lucas
42301af148 Remove unused function, remove unnecessary angle wrapping. 2012-07-11 00:06:45 +02:00
Amilcar Lucas
74ef712cd1 Allow mount control when no AHRS exists 
Allow mount control on non stabilized axes
 2012-07-11 00:06:26 +02:00
Andrew Tridgell
63a83b95b4 AP_Math: added get_distance_cm() to return in centimeters 2012-07-11 07:49:05 +10:00
Andrew Tridgell
15133b1105 AHRS: fixed HIL build 2012-07-10 18:02:05 +10:00
Andrew Tridgell
9b6acf168e AHRS: added AHRS_GPS_GAIN parameter 
this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
 2012-07-10 16:22:48 +10:00
Andrew Tridgell
2bc530d04f AP_Param: added some docs on the eeprom header format 2012-07-10 14:03:49 +10:00
Craig Elder
0534ac12b1 DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method. 2012-07-09 15:23:35 -07:00
Amilcar Lucas
a79f55656a RC_Channel: Improve documentation 2012-07-07 21:57:30 +02:00
Amilcar Lucas
8bd7ef9b9a AP_Mount: Fix radians/degrees scaling regressions 
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
 2012-07-07 21:56:56 +02:00
Andrew Tridgell
ec70e87495 AnalogSource: prevent a division by zero on zero ADC data 2012-07-06 19:59:18 +10:00
Andrew Tridgell
7bc724d118 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell
44755bf3ce AP_Baro: improved barometer averaging 
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
 2012-07-06 15:11:30 +10:00
Andrew Tridgell
43d6015811 Filter: split the DerivativeFilter steps into update() and slope() 
this allows us to apply new data at a different rate than we calculate
the slope.
 2012-07-06 15:11:30 +10:00
Andrew Tridgell
4723698489 AP_Baro: update MS5611 test to use baro library altitude 2012-07-06 15:11:30 +10:00
Andrew Tridgell
9845a55cb1 AHRS: make the yaw independent drift correction optional and disable 
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
 2012-07-06 15:11:30 +10:00
Andrew Tridgell
e33554a1f9 AHRS: only enable barometer for AHRS if it is smooth enough 
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
 2012-07-05 16:29:21 +10:00
Andrew Tridgell
1ce4a03147 SITL: lower baro noise a bit 2012-07-05 16:29:21 +10:00
Andrew Tridgell
9f3da1bf7f Filter: fixed DerivativeFilter example build 2012-07-05 16:29:21 +10:00
Andrew Tridgell
5f38669666 SITL: run the HIL barometer at 80Hz to match APM2 2012-07-05 16:29:21 +10:00
Andrew Tridgell
735c88e9b3 AP_Baro: added get_pressure_samples() interface 
this returns how many samples were used to calculate the last pressure
 2012-07-05 16:29:21 +10:00
Andrew Tridgell
92001e3e7d Filter: fixed typo in 9 point DerivativeFilter 2012-07-05 16:29:20 +10:00
Andrew Tridgell
999a1d1d55 AP_Baro: change to a 7 point DerivativeFilter for climb rate 2012-07-05 13:00:47 +10:00
Andrew Tridgell
a07e280eda Filter: cope with non-uniform time steps in the DerivativeFilter 
this helps with the barometer a lot, as the timing is quite variable
 2012-07-05 13:00:47 +10:00
Andrew Tridgell
ce3f8be6c7 SITL: add some minimal noise when motors are off 
this actually improves the gyro calibration
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
fe54329de2 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
9d7ed30023 AHRS: only use GPS for yaw when compass is not being used 
this avoids having two competing controllers
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
6653c0b874 AHRS: enable barometer for vertical velocity 
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
a5d607d25a AP_Baro: use DerivativeFilter in barometer climb rate 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f97289792b Filter: added DerivativeFilter implementation 
this adds a DerivativeFilter implementation of up to 10 points
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
cf2c546051 AP_Baro: show climb rate in baro test sketch 2012-07-05 13:00:45 +10:00
rmackay9
be3d035a64 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Amilcar Lucas
6904bef611 Document++ 2012-07-05 00:33:46 +02:00
Amilcar Lucas
8400bd67f8 Remove unused function 2012-07-05 00:33:10 +02:00
Andrew Tridgell
dc6d70bc15 SITL: added SIM_GPS_DELAY parameter 
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
 2012-07-04 21:05:22 +10:00
rmackay9
cac0757c2e AP_AHRS: removed DCM_test example sketch 
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
 2012-07-04 18:22:51 +09:00
Andrew Tridgell
03516b7dfa AHRS: make DCM drift correction not rely on accurate yaw 
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference

It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
 2012-07-04 17:00:40 +10:00
Andrew Tridgell
6cf2e2fa13 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell
7be29c8b04 AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell
8fa1acb141 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell
597170afdc DataFlash: fixed SITL build 2012-07-04 13:44:01 +10:00
Andrew Tridgell
c6ff292721 DataFlash: fallback to BlockErase if ChipErase fails 
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
84a489498d Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
e0685f4408 AHRS: make P gain on PI roll/pitch controller tunable 
this is to make it easier for Craig and Alan to tune
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
1142ec0665 AP_Mount: removed unused enum 2012-07-03 10:39:34 +10:00
Andrew Tridgell
f150c645c8 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Andrew Tridgell
7a77832f45 Baro: average over all pressure/temperature samples on MS5611 
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings

This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
 2012-07-02 13:44:53 +10:00
Andrew Tridgell
f7b06e0a64 Baro: fixed build of MS5611 test code 2012-07-02 13:44:53 +10:00
Andrew Tridgell
2bd5cd3b9a AnalogSource: added some example code 2012-07-01 15:01:05 +10:00
Andrew Tridgell
0341e0e5f0 SITL: added support for new analog source 
removed analogRead() to prevent people using it
 2012-07-01 15:01:05 +10:00