Randy Mackay
dacca04b21
INav: record error_count when GPS msg is late
2013-11-21 17:02:02 +09:00
Randy Mackay
7c52572020
Ublox: disable NMEA info in 3DR config
2013-11-21 17:02:00 +09:00
Randy Mackay
4e5cb72604
Ublox: set default rate to 5hz in 3DR config
2013-11-21 17:01:58 +09:00
Randy Mackay
b349d95269
Ublox: disable TimePulse Timedata in 3DR config
2013-11-21 17:01:55 +09:00
Randy Mackay
25046b4e6d
Ublox: update config to ver 7.03
2013-11-21 17:01:52 +09:00
Randy Mackay
afbb199544
TradHeli: remove slash from parameter description
...
This may fix the issue in which the parameter descriptions are appearing
twice on the arducopter-parameters wiki page
2013-11-19 11:23:07 +09:00
Randy Mackay
a147eeb1e3
INav: degrade pos error slowly on loss of GPS
...
When GPS message is late by 100ms or we are glitching, degrade the GPS
vs inertial nav position error to 10% over 2 seconds instead of
immediately setting it to zero. This avoids jumpy position estimates
when the GPS misses an update
2013-11-18 23:19:57 +09:00
Randy Mackay
330aa95769
Copter: default MOT_SPIN_ARMED to 70
2013-11-18 17:00:17 +09:00
Randy Mackay
80059d3516
AP_HAL_AVR: resolve compiler warning
2013-11-16 16:58:32 +09:00
Randy Mackay
7233a567fb
TradHeli: add accessor for phase_angle
2013-11-15 22:58:41 +09:00
Randy Mackay
c9c803ffd4
TradHeli: move STAB_COL_MIN to main parameter list
2013-11-15 22:58:32 +09:00
Randy Mackay
b71c6bfd76
TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate
2013-11-15 22:58:29 +09:00
Randy Mackay
bc4dba0eea
TradHeli: ext gyro gain range 0 to 1000
2013-11-15 22:58:26 +09:00
Randy Mackay
197fc67897
TradHeli: move pilot desired rotor speed to heli.pde
2013-11-15 22:58:24 +09:00
Randy Mackay
942c14258b
TradHeli: ramp up changes
...
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
2013-11-15 22:58:13 +09:00
Robert Lefebvre
9ac051c56d
TradHeli: BugFix to ColYaw
...
Credit to Jolyon Saunders for finding this bug.
2013-11-15 22:58:11 +09:00
Robert Lefebvre
4426060ccc
TradHeli: COLYAW not applied when the motor is not running
2013-11-15 22:58:06 +09:00
Robert Lefebvre
9ae66c1773
TradHeli: add support for drive tail rotors
...
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
2013-11-15 22:58:04 +09:00
Randy Mackay
7ae0d3320b
TradHeli: add landing collective min
2013-11-15 22:57:58 +09:00
Randy Mackay
1f65bb537f
TradHeli: add get_pilot_desired_collective
...
Perhaps this should be moved to the main code's heli.pde sketch
2013-11-15 22:57:51 +09:00
Randy Mackay
13a412ee21
TradHeli: make parameters and variables private
...
add accessors for variables and params required in main code
replace tabs with spaces
2013-11-15 22:57:41 +09:00
Randy Mackay
2cc48ffcd6
Copter: formatting and param description changes
2013-11-15 22:57:37 +09:00
Randy Mackay
f5488bc447
HAL: MPU6k and Baro SPI to 8Mhz
2013-11-15 21:58:32 +09:00
Andrew Tridgell
08a6503364
HAL_AVR: force all devices on SPI0 to low speed when one is low speed
...
this forces MS5611 to low speed when MPU6K is low speed
2013-11-15 21:58:30 +09:00
Andrew Tridgell
71bb462ad0
AP_InertialSensor: use fabsf()
2013-11-15 10:43:10 +11:00
Andrew Tridgell
aef9289476
AP_InertialSensor: added INS_PRODUCT_ID values
2013-11-15 10:43:10 +11:00
Randy Mackay
d54b1ea446
CopterMotors: fix example sketch
2013-11-14 22:27:10 +09:00
Randy Mackay
ce045c77a4
Copter: remove unused variable from Single copter
2013-11-14 22:26:53 +09:00
Randy Mackay
bcbf0feff0
GPS Glitch: revert accel max to 10m/s/s
...
This may not be the best real world value but it keeps the autotester
from failing because it recovers from the glitch before the 5second
time-out on the GPS failsafe
2013-11-13 21:33:34 +09:00
Randy Mackay
14dc1a1c88
Copter: add @User and @Increment to motor params description
2013-11-13 12:28:59 +09:00
Randy Mackay
e53c57b0a6
Copter: default SPIN_WHEN_ARMED to zero
2013-11-13 12:28:01 +09:00
Randy Mackay
3bd124eb72
GPS Glitch: radius and accel max to 5m and 5m/s/s
2013-11-13 11:49:21 +09:00
Randy Mackay
81d83f1c55
SingleCopter: formatting changes
...
replace tab with 4-spaces
remove blank lines
2013-11-12 23:40:29 +09:00
ssq870424
07d3f2a3c5
Copter: add support for singlecopter airframe
...
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
2013-11-12 23:40:27 +09:00
Andrew Tridgell
f10a4b04ae
AP_InertialSensor: make PX4 healthy call _get_sample()
...
this prevents a false positive during times like arming where we are
not reading the sensors
2013-11-10 17:03:16 +11:00
Andrew Tridgell
cfad814bfb
AP_L1_Control: fixed switchover from loiter capture to circling
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-11-09 15:52:11 +11:00
Paul Riseborough
49fe7fea07
L1_Control : Added hysteresis for rear WP capture
2013-11-09 15:40:14 +11:00
Andrew Tridgell
1393ed58d0
AP_L1_Control: fixed waypoint approach logic
...
this could cause the RTL approach to not break off onto the circle
correctly
2013-11-09 12:54:26 +11:00
Andrew Tridgell
80def01fbe
AP_InertialSensor: fixed semaphore error on startup for MPU6000
2013-11-09 11:26:50 +11:00
Andrew Tridgell
3262022195
DataFlash: print FMT messages for wrapped logs
...
this ensures we have FMT messages in every log, even if the log was
wrapped and the FMT messages were overwritten
2013-11-09 11:09:42 +11:00
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
Andrew Tridgell
c5b36ef3d2
AP_InertialNav: fixed example build
2013-10-27 22:11:59 +11:00
Randy Mackay
4348a272bf
AP_InertialNav: remove unused velocity fns
...
remove get_longitude_velocity and get_latitude_velocity
2013-10-27 13:41:55 +09:00
Randy Mackay
8fc16d5cdf
AP_InertialNav: add comments, make ahrs const from neurocopter
...
These fixes are provided by neurocopter but with my name because of
merge conflicts
_position and _velocity vectors added to save some floating point add
operations
unused reference to ins in constructor removed
2013-10-27 13:41:50 +09:00
Tobias
0b181dd995
AP_Buffer: remove header/source separation to allow arbitrary template
...
parameters without explicit instantiation in the cpp file.
http://stackoverflow.com/questions/495021/why-can-templates-only-be-implemented-in-the-header-file
2013-10-27 13:41:43 +09:00
Randy Mackay
e23135faa1
AP_InertialNav: bug fix for gps delay handling
2013-10-27 13:41:40 +09:00
Tobias
cfaaf4b1e7
AP_InertialNav: rename AP_Buffer functions, fix delay handling bug
...
The most recent value was used instead of the intended historical value
as indicated by the comment.
2013-10-27 13:41:38 +09:00
Tobias
dc62398821
AP_Buffer: add comments and rename functions to conform with the
...
STL-container naming conventions
Comment format changes by Randy
2013-10-27 13:41:36 +09:00
Tobias
6c825eace2
AP_InertialNav: move variable definitions to elide unused default
...
construction of objects (saves 106 bytes)
2013-10-27 13:41:32 +09:00
Tobias
c3309d909c
AC_WPNav: make more member pointers const
2013-10-27 13:41:29 +09:00
Tobias
bb5cf4a311
AC_WPNav: make member pointer to AP_InertialNav object const since it's
...
never modified
2013-10-27 13:41:23 +09:00