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4f871c87f1
Commit Graph

4110 Commits

Author SHA1 Message Date
Andrew Tridgell
4f871c87f1 AP_AHRS: detect and try to cope with bad accels 2013-11-07 13:54:16 +11:00
Andrew Tridgell
f5299e2e11 AP_InertialSensor: added healthy check for PX4 and HIL 
used to detect bad accels
 2013-11-07 13:53:59 +11:00
Andrew Tridgell
428479b9d5 SITL: added SIM_ACCEL_FAIL option 
used to test accelerometer failure in flight
 2013-11-07 12:49:08 +11:00
Andrew Tridgell
9d7f24f754 AP_Airspeed: added healthy() API 2013-11-07 12:48:17 +11:00
Andrew Tridgell
8a65a729f3 AP_Baro: start MS5611 at high speed 2013-11-07 12:48:17 +11:00
Andrew Tridgell
9ecd889e9d AP_InertialSensor: detect bad MPU6000 SPI transactions and lower bus speed 
this uses bad data or bad INT_STATUS values from the MPU6000 to detect
the sensor running too fast and lower bus speed
 2013-11-07 12:48:17 +11:00
Andrew Tridgell
d2deee07df AP_Math: fixed zero function for integer vectors 2013-11-07 12:48:16 +11:00
Andrew Tridgell
b98bcbf715 AP_InertialSensor: automatically lower bus speed on mpu6k bad reads 2013-11-07 12:48:16 +11:00
Andrew Tridgell
bdc40cc7df AP_InertialSensor: try to lower SPI bus speed on errors 2013-11-07 12:48:16 +11:00
Andrew Tridgell
11e1cf31c4 HAL_AVR: changed to 16 byte bulk transfer on SPI0 2013-11-07 12:48:16 +11:00
Andrew Tridgell
900ea5dde0 DataFlash: make the SITL dataflash log 4x larger 2013-11-07 10:18:38 +11:00
Andrew Tridgell
a86ec8c786 AP_Menu: fixed double display of prompt 2013-11-06 10:49:47 +11:00
Andrew Tridgell
45381e5341 AP_Menu: added check_for_input() API 
this allows for async use of the menus, so that a main loop can run
while allowing the user to enter menu commands
 2013-11-06 09:40:49 +11:00
Andrew Tridgell
46724db144 AP_Menu: zero buffer contents on allocation 2013-11-06 09:40:46 +11:00
Andrew Tridgell
470e5f570d AP_Menu: dynamically allocate the menu buffers 
this saves memory when the menus are not used, and allows for the
commandline and argument limits to be changed
 2013-11-06 09:40:40 +11:00
Andrew Tridgell
ff73773de4 AP_GPS: try harder to get 5Hz updates from a uBlox 
check for getting at least one 5Hz update every 15s
 2013-11-05 15:18:25 +11:00
Andrew Tridgell
56bcda7252 AP_AHRS: lower default roll and yaw drift correction speed 
the gyros sustain accuracy over much longer time periods than
previously expected
 2013-11-05 14:52:39 +11:00
Andrew Tridgell
24d1cf3bd6 HAL_PX4: don't check USB for data if not connected 2013-11-05 14:41:42 +11:00
Andrew Tridgell
8dc6b758f3 HAL_PX4: switch to delay_microseconds_semaphore() for UART timer 
this may prevent some timing jitter on the GPS UARTs
 2013-11-05 14:41:24 +11:00
Andrew Tridgell
1fb636d57f DataFlash: added APM time and GPS velz to logged GPS messages 2013-11-04 21:37:10 +11:00
Andrew Tridgell
b096881f81 AP_TECS: added time to TECS messages 2013-11-04 21:36:40 +11:00
Andrew Tridgell
ea9a2eda3f AP_L1_Control: reduced demanded bank angle by cos(pitch) 
this prevents attempts to do too tight turns while at a steep pitch

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-04 21:21:42 +11:00
Andrew Tridgell
9b5cae2134 APM_Control: reduce roll compensation in pitch controller by cos(pitch) 
This reduces the use of the pitch compensation when in a steep climb
or dive

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-11-04 21:21:42 +11:00
Andrew Tridgell
5e915fbde3 DataFlash: added timestamp to IMU and VelZ to GPS logging 
both are very useful for analysis
 2013-11-04 21:21:42 +11:00
Andrew Tridgell
02d6f012ce AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-04 21:21:42 +11:00
Andrew Tridgell
55b7903456 AP_InertialNav: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Andrew Tridgell
1cd070a2e7 AP_InertialSensor: use const reference returns 
saves some vector copies
 2013-11-04 21:21:42 +11:00
Andrew Tridgell
28a4b6ad9f AP_TECS: update for AHRS API change 2013-11-04 21:21:42 +11:00
Andrew Tridgell
4e82a8e1d4 DataFlash: use const ins reference 
save some pointer dereferences
 2013-11-04 21:21:42 +11:00
Andrew Tridgell
2930184680 AP_YawController: update for AHRS API change 2013-11-04 21:21:42 +11:00
Andrew Tridgell
979c6ae3b6 AC_Fence: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Andrew Tridgell
d31e557983 AP_AHRS: save memory and reduce pointer references 
use a refence for ins, and don't save gyro and accel between updates
 2013-11-04 21:21:37 +11:00
Andrew Tridgell
cb52b6f367 AP_AHRS: removed limit on normalisation of accel reference vectors 
this could lead to a bias in the accel drift correction
 2013-11-04 21:20:41 +11:00
Andrew Tridgell
31eaaada62 AP_AHRS: removed vertical G limit on GPS velocity correction 
this limit could lead to a bias in the accel drift correction, and is
frequenctly exceeded
 2013-11-04 21:20:41 +11:00
Andrew Tridgell
a7931b1581 AP_AHRS: fixed wrapping bug in GPS based heading error 
this bug could cause the GPS based yaw to use an expensive reset far
too often
 2013-11-04 21:20:41 +11:00
Andrew Tridgell
17b27a47de AP_AHRS: prevent GPS yaw resets on compass errors 
when we switch from compass heading to GPS heading we don't want to
trigger a sudden GPS yaw reset
 2013-11-04 21:20:41 +11:00
Andrew Tridgell
fc5f825b6d AP_Notify: make APM2 ToshibaLED driver more efficient 
use one I2C transfer, not 3
 2013-11-04 17:48:53 +11:00
Robert Lefebvre
5d946be77c TradHeli: Change user description for COLYAW parameter. 2013-11-03 12:56:59 +09:00
Jason Short
1c7d9f43c1 InertialNav: fix for get_velocity_xy 
forgot to sq
 2013-11-03 10:14:01 +09:00
Jason Short
2de6dbd3d8 InertialNav: added get_velocity_xy 2013-11-02 21:34:45 +09:00
Paul Riseborough
71de4ddcd0 AP_Airspeed : Fixes bug that caused airspeed calibration to be sent a zero airspeed 
This bug resulted in the airspeed ratio going to the maximum value of 4 and staying there. This could lead to a very slow flying model and a stall.
 2013-11-02 21:41:11 +11:00
Andrew Tridgell
f4dde44b8d AP_InertialSensor: SITL doesn't use Oilpan code any more 2013-11-02 21:41:11 +11:00
Randy Mackay
330687a754 RC_Channel: formatting 2013-10-31 15:23:52 +09:00
Randy Mackay
bb1664185f Copter: correct @Range of MOT_TCRV_MAXPCT parameter 2013-10-30 20:53:21 +09:00
Andrew Tridgell
c64aa0e4de AP_Airspeed: fixed I2C semaphore handling for I2C airspeed 
this affects MS4525DO on APM2
 2013-10-29 14:55:38 +11:00
Randy Mackay
d09fd0d035 BattMonitor: add @Increment to CAPACITY description 2013-10-29 11:23:27 +09:00
Randy Mackay
24147a370a BoardLEDs: all leds off during init 2013-10-29 10:54:08 +09:00
Andrew Tridgell
580e7b8a4a HAL_AVR: switch back to 500kHz SPI for MPU6k until we understand the issues 
this is for new plane release. We need for analysis before we can
re-enable high speed SPI
 2013-10-28 16:55:22 +11:00
Andrew Tridgell
5800c2a2c8 HAL_PX4: prevent excessive writes on startup from blocking 
this could cause copter on PX4 to hang on startup
 2013-10-28 16:12:44 +11:00
Randy Mackay
c602f7da0c AC_Fence: fix example sketch 2013-10-27 21:53:22 +09:00