Andrew Tridgell
4a277f9871
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
353f9e613f
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fb23c617fa
Quaternion: added an AP_Quaternion library
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this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a05eeab55e
SITL: reduce the simulated compass offsets
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this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a54d6f744e
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
9393b21a8d
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
8e162ec35b
APM: fixed reset of control switch when short_fs_action is disabled
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When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
2012-03-10 10:34:28 +11:00
Andrew Tridgell
d03b11092b
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
Andrew Tridgell
71d3847bfc
SITL: added a drift_level multiplier
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this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell
61ebcfe9fe
DCM: fixed the averaging of accel values for update_DCM_fast()
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this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
Andrew Tridgell
de32c3bc31
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a0e2e69431
SITL: fixed delay() to account for signal interrupions
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when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell
37ab76c9e6
DCM_Test: fixed example code to work with SITL
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this also fixes the compass setup
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d2a969ee95
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
506b91a587
autotest: run fg viewers with less CPU priority
2012-03-10 10:34:27 +11:00
Andrew Tridgell
65b26619d4
autotest: added CMAC test circuit
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this is what I am using for noise testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
79b8ddc236
DCM: added a small amount of accel smoothing to update_DCM_fast()
2012-03-10 10:34:27 +11:00
Andrew Tridgell
b07a3eb966
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
Andrew Tridgell
55413bfcc1
DCM: don't use the z accel sensor for drift correction
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the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
2012-03-10 10:34:27 +11:00
Andrew Tridgell
a78b00513b
DCM: added a small amount of gyro and accel smoothing
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possibly not needed, but convenient to be able to test with different
values
2012-03-10 10:34:27 +11:00
Andrew Tridgell
46c91fa0c4
APM: added logging of DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
82032b17a9
DCM: added reporting interfaces for DCM state
2012-03-10 10:34:27 +11:00
Andrew Tridgell
ae6a94a933
SITL: added sitl_simstate_send()
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used to report simulator state in logs
2012-03-10 10:34:27 +11:00
Andrew Tridgell
d106e3a970
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
4e354a9731
DCM: got rid of _error_roll_pitch from object state
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this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
2012-03-10 10:34:27 +11:00
Michael Oborne
f399ada86f
APM Planner 1.1.50
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rename messagebox to custommessagebox
mag calibration now working. > hardware setup tab
2012-03-09 23:18:12 +08:00
Jason Short
13e9608fb8
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
Jason Short
df812dd78a
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
Jason Short
43b3e1ccd1
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
Jason Short
5117ddff26
ACM: Updated config values
2012-03-06 22:12:24 -08:00
Jason Short
34cf1e8fb3
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
2012-03-06 20:55:35 -08:00
Michael Oborne
9e7b19f466
APM Planner
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Fix Updater
2012-03-07 08:01:59 +08:00
rmackay9
8717d7dd7c
ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down
2012-03-06 23:20:30 +09:00
rmackay9
8af43c4a19
ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down.
2012-03-06 22:19:19 +09:00
rmackay9
29aea35eae
ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino
2012-03-06 22:15:02 +09:00
Michael Oborne
0d842c5554
APM Planner 1.1.49
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mode TUNE_ param scale
add mavlink tlog graphing
mod tracker options
2012-03-06 18:27:43 +08:00
Jason Short
fe5612d38b
Added define for throttle range for altitude changes, updated it to 250
2012-03-05 22:12:53 -08:00
rmackay9
6c1299fe7e
AP_RC - removed unused library
2012-03-04 18:21:52 +09:00
Michael Oborne
91ba8fdb83
planner cleanup
2012-03-04 08:49:45 +08:00
Michael Oborne
e06a0d81db
APM Planner 1.1.48
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Add ThemeManager - re andrew
Add CustomMessageBox - re andrew and me
few mono fixs
mono tts working (speech)
2012-03-04 08:42:42 +08:00
Robert Lefebvre
a7e0fc7774
Added support for TradHeli H1 swashplate type. Added new param heli_h1_swash_enabled.
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Signed-off-by: Robert Lefebvre <robert.lefebvre@gmail.com>
2012-03-03 08:14:14 -05:00
Michael Oborne
064e060264
APM Planner 1.1.47
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fix Updater
2012-03-03 15:42:41 +08:00
Michael Oborne
49a097a8f1
APM Planner 1.1.46
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update to request extra3 stream.
2012-03-02 18:40:20 +08:00
Andrew Tridgell
dd9065123c
SITL: use the new noise model
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use the new noise model at a low level for master until we sort out
DCM noise handling
2012-03-02 18:31:07 +11:00
Andrew Tridgell
3745dfd59f
ACM: use g.rc_speed for all APM_RC.SetFastOutputChannels calls
2012-03-02 17:57:08 +11:00
Andrew Tridgell
91c3f993b4
ACM: set default RC fast speed to 400Hz
2012-03-02 17:57:08 +11:00
Andrew Tridgell
bfca928211
ACM: added RC_SPEED MAVLink parameter
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this will set the speed for APM_RC.SetFastOutputChannels()
2012-03-02 17:57:08 +11:00
Andrew Tridgell
63ea5dfb49
APM_RC: allow the fast RC speed to be passed as a parameter
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this will allow users to test different speeds
2012-03-02 17:57:08 +11:00
Andrew Tridgell
1e2b57410c
ACM: fixed Parameters.h to avoid duplicate keys
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unfortunately everyone needs to reload
2012-03-02 15:48:28 +11:00
Andrew Tridgell
f1a389fe19
AP_Param: ensure we can't have duplicate keys in Parameters.h
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this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
2012-03-02 15:48:28 +11:00