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3598 Commits

Author SHA1 Message Date
Randy Mackay 45aeb1a921 Copter: split up loiter into 4 steps 
Reduces disruption to the main loop but also introduces a delay of 30ms
to navigation output
 2013-08-28 11:33:10 +09:00
Andrew Tridgell feac9d1306 AP_Compass: fixed a bug in the tilt compass calculation 
The simplification applied a few months ago was incorrect
 2013-08-18 21:08:52 +10:00
Andrew Tridgell a12991923e RC_Channel: prevent overwrite of memory on high RC_Channel constructor 2013-08-18 11:42:23 +10:00
Randy Mackay 04b84664e5 AC_Fence: add safety margin parameter 
This will allow auto modes to proactively avoid breaching the fence
 2013-08-15 16:05:38 +09:00
Andrew Tridgell 33cbe6151a SITL: support multiple instances of SITL running at once 2013-08-14 16:35:24 +10:00
Andrew Tridgell 3c967a9c71 AP_TECS: use a ahrs reference 
saves a pointer access
 2013-08-14 14:58:49 +10:00
Andrew Tridgell 144516c941 AP_L1_Control: set min groundspeed to 0.1 
this works better for slow rovers
 2013-08-14 14:57:23 +10:00
Andrew Tridgell c6e37aaec3 APM_Control: use a ahrs reference, not pointer 
saves pointer check
 2013-08-14 14:56:18 +10:00
Andrew Tridgell a98d7bd050 GCS_MAVLink: updated to latest upstream mavlink defintions 2013-08-14 14:36:44 +10:00
Andrew Tridgell b43bf44552 AP_GPS: improved the precision of the NMEA driver 
this brings the NMEA driver to the same lat/lon precision as the uBlox
driver (approx 1cm)
 2013-08-14 14:36:44 +10:00
Andrew Tridgell 97baec8bc7 SITL: update for new SIMSTATE message 2013-08-14 14:36:44 +10:00
Andrew Tridgell e75c48c029 SITL: added simulated NMEA GPS 
useful for validating the NMEA GPS driver
 2013-08-14 14:36:44 +10:00
Andrew Tridgell 31fce44063 AP_L1_Control: use a reference to AHRS 
makes code a bit simpler
 2013-08-13 13:49:26 +10:00
Andrew Tridgell 08ec43ef89 AP_L1_Control: use get_position() 2013-08-13 12:07:35 +10:00
Andrew Tridgell b74ed795f2 AP_L1_Control: removed _maxf() and _geo2planar() functions 
not needed any more
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 653fa5a191 AP_L1_Control: adjust position for GPS lag 
this should help for rovers
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 57d2dd814d AP_AHRS: added get_position_lag() call 
provide position lag to libraries
 2013-08-13 12:07:35 +10:00
Andrew Tridgell fd4bceaafe AP_L1_Control: avoid using float global coordinates 
this increases the navigation precision of rovers using L1 control
down to the centimeter level
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 5434b2c017 AP_Math: update location code to avoid float rounding 
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.

This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
 2013-08-13 12:07:34 +10:00
Andrew Tridgell df8e8c64e8 AP_L1_Control: use projected position for turns 2013-08-13 12:07:34 +10:00
Andrew Tridgell 9c88872ad0 AP_L1_Control: use a better ground speed estimate at low speeds 
this should prevent a rover going in the wrong direction at the start
of a mission
 2013-08-13 12:07:34 +10:00
Andrew Tridgell 953051b49e AP_L1_Control: added lateral acceleration interface 
this will be used by the Rover code for steering
 2013-08-12 13:38:38 +10:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay c7464f635c AC_Sprayer: turn on/off the spinner with the pump 2013-08-05 21:12:28 +09:00
Randy Mackay e4ca7d2fdf AC_Sprayer: first implementation 2013-08-05 21:11:09 +09:00
Andrew Tridgell 9cb6c987d4 AP_Math: fixed example build 2013-08-05 12:37:51 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations 
this makes life easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:12 +10:00
Andrew Tridgell f3b3e23bbc AP_Camera: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:09 +10:00
Andrew Tridgell 6b5ee80b70 AP_InertialNav: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:06 +10:00
Andrew Tridgell cf4a74cfb8 AP_L1_Control: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:02 +10:00
Andrew Tridgell 612ede81f4 AP_Limits: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:57 +10:00
Andrew Tridgell 1d75b52411 AP_Math: use const references not pointers for location functions 
this makes life a bit easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:40 +10:00
Randy Mackay 47f5c9b7a4 AC_Fence: remove unused gps pointer 2013-08-03 19:04:59 +09:00
Andrew Tridgell b7e3851ef8 AP_Scheduler: prevent a divide by zero 2013-08-02 22:07:00 +10:00
Andrew Tridgell a7cbebbeba APM_Control: rename 'stabilize' to 'disable_integrator' 
this better reflects what it does
 2013-08-02 21:54:48 +10:00
Paul Riseborough 0c64c800b3 AP_L1_Control : Fixed bug in track capture angle limit 2013-08-02 21:47:45 +10:00
Paul Riseborough 34f0af25cc AP_TECS : Improvements and bug fixes to feed-forward throttle demand 
This fixes a bug in the feed-forward throttle that prevented the bank to throttle compensation from working properly during descents.
It also adds bank to throttle compensation to the non-airspeed sensor throttle algorithm.
 2013-08-02 21:47:01 +10:00
Randy Mackay 8d26fb5581 Copter Motors: by default spin motors at 65 when armed 2013-07-28 18:18:52 +09:00
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Randy Mackay de59ea3ddc Copter Fence: reduce circle @Range to 30m 2013-07-27 10:28:33 +09:00
Andrew Tridgell 57752df68e APM_Control: set a small D value by default 
0.02 may help with some planes that have slow response

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-26 16:07:00 +10:00
Andrew Tridgell a192b9ee46 AP_Scheduler: added load_average() function 
useful to give a load average in SYS_STATUS mavlink message
 2013-07-26 16:07:00 +10:00
Andrew Tridgell fef6a76078 RC_Channel: rename 'Manual' to RCPassThru 
this should make it clearer what it does
 2013-07-26 16:07:00 +10:00
Randy Mackay f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Andrew Tridgell 2874ec67c7 DataFlash: slight efficiency improvement 
fixes issue #314

thanks Dongfang!
 2013-07-23 09:46:02 +10:00
Andrew Tridgell 63873d6af3 HAL_AVR: fixed example build 2013-07-23 09:42:51 +10:00
Paul Riseborough ba009e55e3 AP_Baro : Fixed bug in temperature units in AP_Baro_HIL 2013-07-22 12:50:02 +10:00
Andrew Tridgell ebebee4f06 AP_Baro: extend the atmospheric model to higher altitudes 2013-07-22 12:50:02 +10:00
Paul Riseborough 5a68c515dc AP_Airspeed: Altitude Calibration - added constrain on P matrix diagonals 2013-07-22 12:50:02 +10:00
Andrew Tridgell 3ba0dec4b3 AP_Airspeed: fixed typo 2013-07-22 12:50:02 +10:00