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2242 Commits

Author SHA1 Message Date
Andrew Tridgell 54235f7a23 SITL: cleanup RC control for rover support 
added vehicle type, and setup right initial throttle
 2012-11-28 09:35:42 +11:00
Andrew Tridgell 29f978b8e5 AC_PID: suppress the derivative immediately after reset 
use _last_derivative == NAN to flag that the derivative is invalid
 2012-11-27 18:45:49 +11:00
Andrew Tridgell 86526e9a79 PID: use NAN to flag a D reset 
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
 2012-11-27 18:41:31 +11:00
Andrew Tridgell bbd6c5154e AC_PID: save 8 bytes per AC_PID object 
we don't need the _derivative or _output variables
 2012-11-27 18:06:22 +11:00
Andrew Tridgell b8d5a5904a AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell 48b37cac5a AHRS: improved docs for AHRS_GPS_USE 
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
 2012-11-27 15:41:52 +11:00
Andrew Tridgell b773529d09 cleanup: removed unused AP_PID library 2012-11-27 13:39:45 +11:00
Andrew Tridgell c55e6d3e6a PID: don't reset _last_error on reset_I() 
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers

Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
 2012-11-27 13:35:09 +11:00
Robert Lefebvre abd2a60036 AC_PID: Create Leaky Integrator Function. 2012-11-26 21:01:20 -05:00
Robert Lefebvre ca23a7ba76 ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Andrew Tridgell d33d884f69 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Michael Oborne e1659b62d2 AP remove debug include 2012-11-26 19:02:17 +08:00
Michael Oborne b2976c1114 AP: fix ap hil. 2012-11-26 18:53:51 +08:00
Andrew Tridgell d090d7d731 examples: mark some examples as unable to build 
some are not worth fixing. Some can't build on 1280/2560
 2012-11-24 21:09:55 +11:00
Andrew Tridgell ff916d3982 RC_Channel: fixed example build 2012-11-24 21:09:00 +11:00
Andrew Tridgell 5c48988ed9 Filter: fixed example build 2012-11-24 21:08:48 +11:00
Andrew Tridgell a3bd61cfb8 DigitalWriteFast: fixed example build 2012-11-24 21:08:36 +11:00
Andrew Tridgell 7761195f64 RangeFinder: fixed example build 2012-11-24 21:08:25 +11:00
Andrew Tridgell cbef768b69 AP_PID: fixed example build 2012-11-24 21:08:14 +11:00
Andrew Tridgell 18fbcdf9e6 AP_InertialSensor: fixed example build 2012-11-24 21:08:06 +11:00
Andrew Tridgell cb7979d5fd AP_GPS: fixed examples build 2012-11-24 21:07:53 +11:00
Andrew Tridgell 510d01b1c2 AP_Baro: fixed example build 2012-11-24 21:07:41 +11:00
Andrew Tridgell a83e22181f AC_PID: fixed example build 2012-11-24 21:07:34 +11:00
rmackay9 21d72bb49b AP_InertialSensor: increase acceptable Z accel offset to be 3.0 G 
Note: Z offsets do tend to be larger than x and y offsets
 2012-11-23 00:34:42 +09:00
Andrew Tridgell 24c0413b7e AP_GPS: added in two more dynamic model enums 2012-11-22 16:23:29 +11:00
Andrew Tridgell 9317cb6925 APM_RC: fixed APM1 example sketch 2012-11-22 15:42:33 +11:00
Andrew Tridgell a8edc27849 APM_RC: added a test for ISR masking in APM_RC 2012-11-22 15:42:33 +11:00
rmackay9 8c1088807c DigitalWriteFast: added keywords for syntax colouring in Arduino IDE 2012-11-22 12:25:57 +09:00
Andrew Tridgell 0cec543610 SITL: run the timer_scheduler() when there are no SITL packets 
otherwise we can block in the ADC code
 2012-11-21 22:20:14 +11:00
Andrew Tridgell b103b94950 Revert "APM_RC: Modified get_last_update() to be more interrupt friendly" 
This reverts commit 50ba0ce4fa41c6d4101dff8da17c267a65750522.

It didn't build, and I want to do a release based on tested code
 2012-11-21 21:48:02 +11:00
Andrew Tridgell 655446feec INS: make it possible to do accel cal on a different serial port 2012-11-21 21:41:34 +11:00
Andrew Tridgell 8aa8f81b2f FastSerial: added a vprintf_P() function 
used by CLI on UART2
 2012-11-21 21:41:34 +11:00
Andrew Tridgell aeb39dabb9 AP_Menu: allow menus to work on ports other than UART0 2012-11-21 21:41:34 +11:00
John Arne Birkeland 3adaffd783 APM_RC: Modified get_last_update() to be more interrupt friendly 2012-11-21 10:34:04 +01:00
Andrew Tridgell 5eeb6638f2 RC_Channel: added aileron_with_input aux function 2012-11-21 13:34:26 +11:00
Andrew Tridgell a66da57d0a SITL: added in recursion check in timer_handler() 2012-11-21 09:10:10 +11:00
Andrew Tridgell d6d7e2674f Semaphore: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell da6f6f3e41 PeriodicProcess: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell 3646b4b846 INS: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell 4673ecfdf2 AP_Baro: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:17 +11:00
Andrew Tridgell d75d97dcfb AnalogSource: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:09 +11:00
Andrew Tridgell 0c8cef5714 ADC: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:30:03 +11:00
Andrew Tridgell 27e3f0c091 SITL: fixed a interrupt recursion bug 
this can be triggered by the timer scheduler re-enabling interrupts
 2012-11-20 22:29:26 +11:00
Andrew Tridgell 5002be9aa8 AP_Param: fixed Vector3f elements with 16 character names 2012-11-20 22:27:11 +11:00
Andrew Tridgell 46473d7a8f AP_Param: support up to 16 character parameter names 
MAVLink allows for 16 chars, with no null termination if all 16 are
used
 2012-11-20 21:35:22 +11:00
Andrew Tridgell bbb2bbc721 INS: set the acceptable calibration error equal on all axes 2012-11-20 19:28:49 +11:00
Andrew Tridgell b9fb683236 INS: show calibration values on failure 
this will help debug bad calibrations
 2012-11-20 19:28:15 +11:00
Andrew Tridgell e2afc9ea18 INS: get check for send_msg the right way around! 
I broke this in my previous commit
 2012-11-20 19:10:30 +11:00
Andrew Tridgell 4174cfd4a7 INS: disable accel calibration on the 1280 
this would put us well over 128k in sketch size
 2012-11-20 18:41:04 +11:00
Andrew Tridgell 98a806fb90 INS: make calibrate_accel() return a bool 
this will allow APM to auto set MANUAL_LEVEL to 1
 2012-11-20 18:32:27 +11:00