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7438 Commits

Author SHA1 Message Date
Michael Oborne 59f80410d5 Add ability to compile sensor hil with sitl 2013-03-31 16:35:23 +08:00
Randy Mackay 39ba406957 Copter: add trapezoid frame type 
We still need to properly define the motor mixing for the trapezoid
frame in AP_MotorsQuad.cpp
 2013-03-31 12:41:02 +09:00
Andrew Tridgell dfb14d760b Plane: added HIL_SERVOS option 
this allows for real servo output in HIL
 2013-03-30 14:38:43 +11:00
Andrew Tridgell 645bd87b63 Rover: minor parameter documentation updates 2013-03-29 22:46:58 +11:00
Andrew Tridgell a093926b04 Revert "RC_Channel: removed pwm_out variable from RC_Channel" 
This reverts commit 8e4a003d8d.

It is used by MotorsMatrix
 2013-03-29 22:36:29 +11:00
Andrew Tridgell 5f8c8e87a8 autotest: fixed rover mission completion 2013-03-29 21:19:04 +11:00
Andrew Tridgell 4a02af088b autotest: check for new build tags 2013-03-29 20:00:42 +11:00
Andrew Tridgell 12c35da9aa Rover: fixed SKID_STEER_IN calculations 2013-03-29 19:43:28 +11:00
Andrew Tridgell 8e4a003d8d RC_Channel: removed pwm_out variable from RC_Channel 
saves 16 bytes
 2013-03-29 19:32:52 +11:00
Andrew Tridgell 60ae67992d autotest: fixed mavlink update path 2013-03-29 19:21:48 +11:00
Andrew Tridgell 896fd52aa1 AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-03-29 18:35:10 +11:00
Andrew Tridgell eb3c9ab79e build: fixed SITL build flags 2013-03-29 18:32:52 +11:00
Andrew Tridgell 6cc4aadc06 Plane: report compass health in SYS_STATUS 2013-03-29 13:48:40 +11:00
Andrew Tridgell 8459da202c AP_AHRS: prevents compass flyaways for plane and rover 
this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
 2013-03-29 13:48:25 +11:00
Andrew Tridgell b280857025 Copter: use common angle wrap code 2013-03-29 13:14:31 +11:00
Andrew Tridgell 3a1e9e43a1 Rover: use new angle wrap code 2013-03-29 13:14:14 +11:00
Andrew Tridgell a165f0d138 Plane: removed old angle wrap code 2013-03-29 13:13:50 +11:00
Andrew Tridgell 091b474a1d AP_Math: added wrap_360_cd() and wrap_180_cd() 
moved from per-vehicle code
 2013-03-29 13:13:37 +11:00
Andrew Tridgell a8bd8950c8 Rover: enable HOLD with throttle failsafe by default 
this is the safest combination
 2013-03-29 11:34:42 +11:00
Andrew Tridgell 9eaa764f42 Rover: report smaller of two sonar distances 2013-03-29 11:00:41 +11:00
Andrew Tridgell ad7e8bd9c4 Rover: added SONAR_DEBOUNCE option 
this allows us to debounce the sonar triggering, which will make it
handle noise better
 2013-03-29 10:49:08 +11:00
Andrew Tridgell caaf32211e Rover: new failsafe logic 
this obeys FS_TIMEOUT and FS_ACTION
 2013-03-29 10:25:53 +11:00
Andrew Tridgell 0ed3061d32 Rover: added waypoint passed logic to RTL 
this prevents circling around home
 2013-03-29 10:24:59 +11:00
Andrew Tridgell d02a127b7e Rover: change version to 2.40 2013-03-29 09:54:06 +11:00
Andrew Tridgell e4a4cb59e0 Rover: fixed timeout for obstacle detection 2013-03-29 09:36:54 +11:00
Andrew Tridgell 7c4dfa6698 Rover: fixed speed scaling for steering 
it was inverted!
 2013-03-29 09:14:58 +11:00
Andrew Tridgell caf5e5b7c5 Rover: added HOLD mode 
used when RTL completes
 2013-03-29 08:53:20 +11:00
Andrew Tridgell d968a7c7ed Rover: log obstacle events 2013-03-29 08:53:02 +11:00
Andrew Tridgell 7b04747366 Rover: identify as a rover in MAVLink heartbeat message 2013-03-29 08:16:29 +11:00
Andrew Tridgell 829a000aa5 Rover: fixed sonar reset after the turn time 
thanks to Tom for finding this
 2013-03-29 08:08:14 +11:00
Andrew Tridgell a25fede6bb Rover: added range of sonar distances and voltages 2013-03-29 08:07:24 +11:00
Andrew Tridgell de02f98d28 autotest: added license and safety statement 2013-03-28 14:04:59 +11:00
Andrew Tridgell 4a56b4a145 build: fixed SITL build on windows 2013-03-28 13:23:30 +11:00
Andrew Tridgell 0ffc7dab6b SITL: added GPS speed down to SITL state 2013-03-28 10:29:12 +11:00
Andrew Tridgell f6ddc4e4a1 autotest: added GPS vertical speed to the sitl simulator 2013-03-28 10:28:08 +11:00
Andrew Tridgell 7db7d7db77 Plane: change FBWB altitude control algorithm 
this makes FBWB much less sensitive to airframe tuning. When the
elevator stick first goes neutral it locks in the current altitude as
the target altitude. When the elevator stick is off neutral, it moves
the target altitude in proportion to the elevator, at a rate goverened
by the new FBWB_CLIMB_RATE parameter

This prevents the aircraft from slowly drifting in altitude in FBWB,
and gives a more intuitive control mechanism for altitude.

Thanks to Chris Miser from Falcon UAV for help in designing this
change
 2013-03-28 10:27:25 +11:00
Andrew Tridgell fcde3ceb24 Plane: also avoid rudder on takeoff with TOFF_HEAD_HOLD==0 2013-03-27 16:36:39 +11:00
Randy Mackay 93f7e61b66 UBLOX GPS: fix MSG_SOL typo 
"status" was used instead of "solution"
 2013-03-27 11:42:05 +09:00
Randy Mackay a49fe272ad Plane: replace gps fix with status 
Required to ensure 3d fix is used for initialising home
 2013-03-27 11:42:02 +09:00
Randy Mackay 6cb47cee6b Rover: add support for GPS fix type 2D 2013-03-27 11:41:58 +09:00
Randy Mackay 27309a553f GPS: fixes after review 
Ensure 3D fix before returning velocity_down
UBLOX: restore check of fix_status as part of determining 2D or 3D fix
SIRF: add missing brackets on fix type check
 2013-03-27 11:41:54 +09:00
Randy Mackay c2055557f5 Plane: add support for GPS fix type 2D 2013-03-27 11:41:51 +09:00
Randy Mackay f7d977fe37 Copter: add support for GPS fix type 2D 2013-03-27 11:41:47 +09:00
Randy Mackay 24044dc0c4 AHRS: add support for GPS fix type 2D 2013-03-27 11:41:43 +09:00
Randy Mackay d7454bb09e GPS: add 2D fix type 2013-03-27 11:41:39 +09:00
Andrew Tridgell f077f54e6a Plane: added TKOFF_HEAD_HOLD option 
this allows control over whether ArduPlane tries to hold heading
during auto takeoff. For hand launches it can be better to hold the
wings level and not attempt to hold heading during takeoff to prevent
the possibility of a stall during the climb out.

Thanks to Chris Miser from Falcon UAV for the feedback that led to
this option.
 2013-03-27 10:27:14 +11:00
Andrew Tridgell 92ddd4b5d1 autotest: removed 2nd getppid() call 2013-03-26 08:23:00 +11:00
Andrew Tridgell 8b21cac5fd autotest: remove dependency on getppid() 
makes pysim more windows friendly
 2013-03-26 08:20:40 +11:00
Andrew Tridgell 57c498b570 autotest: remove dependency on pexpect for rover/copter sim 
this makes it easier to run on windows
 2013-03-26 08:12:57 +11:00
Andrew Tridgell 94463fd91e autotest: copy latest firmware html on each run 2013-03-23 16:19:23 +11:00