rmackay9
5f2c662fc9
ArduCopter: replaced abs with labs as required in a few places.
...
Also fixed a small bug in the get_stabilize_pitch function in which it was using the roll (instead of pitch) to decide whether it should let the i term build-up or not.
2012-08-16 17:51:09 +09:00
Andrew Tridgell
faeb206239
SITL: make abs() 16 bit in SITL
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this will help us find abs() bugs in autotest
2012-08-16 15:18:17 +10:00
Andrew Tridgell
50e2458df0
math: more abs() fixes
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abs() is 16 bit
2012-08-16 15:17:42 +10:00
Jason Short
e2c3149b2f
Location Lib : Abs was overflowing causing bad comparison
2012-08-15 22:01:51 -07:00
Jason Short
67de828bcc
ACM Test: Added a return statement
2012-08-15 21:37:23 -07:00
Jason Short
555e26d5fa
Location Lib. Potential fix for bad angle and distance calcs.
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last_lat changed to int32_t since it can be negative.
2012-08-15 21:36:55 -07:00
Jason Short
93c644fd0f
ACM : Test for bearing calc
2012-08-15 21:04:24 -07:00
Jason Short
fd76bf7df4
ACM Log : fixed formatting
2012-08-15 21:04:24 -07:00
Jason Short
a6b874b591
DataFlash : Removed Chip Erase - relying on Block erase only
2012-08-15 21:04:24 -07:00
Jason Short
44b715af9b
Dataflash Logs : Fixed block erase on APM2
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Byte order for 512 vs 528 was reversed.
2012-08-15 21:04:24 -07:00
Andrew Tridgell
9c3c1c4f54
APM: fixed hil build
2012-08-16 12:53:37 +10:00
Andrew Tridgell
5ebcf425cf
APM: allow telemetry send during parameter and waypoint fetch
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this slows down telemetry by a factor of 4 during parameter or
waypoint transmit. That ensures that mode changes and gps position are
still updated during a long parameter fetch
2012-08-16 10:50:12 +10:00
Andrew Tridgell
0a7d8a4933
MAVLink: enable fetching of single parameters
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this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
2012-08-16 10:14:46 +10:00
Andrew Tridgell
41a974683e
Quaternion: we no longer support acceleration in the GPS driver
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remove the linear acceleration compensation code
2012-08-15 20:07:53 +10:00
Andrew Tridgell
79aae2114c
GPS: support getting raw velocity values from a UBlox
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this may give better velocity numbers than the value from COG
2012-08-15 20:06:35 +10:00
Andrew Tridgell
a1107602e9
APM: allow for separate calibration of airspeed/barometer
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this is useful just before takeoff, to account for temperature changes
2012-08-15 19:49:09 +10:00
Andrew Tridgell
efee2b1557
APM: added LAND_FLARE_ALT and LAND_FLARE_SEC
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these allow you to configure the altitude and time before touchdown to
flare the plane and lock the heading. Useful on larger planes.
2012-08-15 18:11:16 +10:00
Andrew Tridgell
455e088c9f
APM: rename RDRSTEER to WHEELSTEER
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thanks to Jon for the suggestion
2012-08-15 16:28:59 +10:00
Andrew Tridgell
c652538516
APM: use AHRS position for geo-fence
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this allows it to take account of dead-reckoning
2012-08-15 14:31:10 +10:00
Andrew Tridgell
3f76a4cc61
SITL: use rudder steering in APM autotest
2012-08-15 12:53:05 +10:00
Andrew Tridgell
20be77ab32
APM: when land_complete is true, use land_pitch
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this gives a flare on final landing
2012-08-15 12:39:35 +10:00
Andrew Tridgell
b8521ff9ae
APM: reload airspeed and throttle after landing
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this allows for restarting a mission after landing with reasonable
airspeed values
2012-08-15 12:39:35 +10:00
Andrew Tridgell
f4023d1b44
AP_Airspeed: remove airspeed filter and run at 10Hz
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this saves on the filter memory, and gives just as good a result
2012-08-15 12:39:35 +10:00
Andrew Tridgell
a361a3aebd
AP_AnalogSource: make read_average() return a float
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this allows it to take advantage of better than 1 bit resolution by
averaging
2012-08-15 12:39:35 +10:00
Andrew Tridgell
4b5d98e65b
APM: added RDRSTEER_ PID for steering on ground
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this allows for rolling takeoff with steering, and use of rudder in
landing
2012-08-15 12:39:35 +10:00
Andrew Tridgell
ce5f3dcfe2
APM: report speed changes via MAVLink
2012-08-15 12:39:35 +10:00
Andrew Tridgell
1b152ef9e0
APM: implement FENCE_ACTION_REPORT
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when FENCE_ACTION is set to FENCE_ACTION_REPORT a fence breach is
reported, but the flight mode is not changed
2012-08-15 12:39:35 +10:00
Andrew Tridgell
7bb8fa1e58
MAVLink: added FENCE_ACTION_REPORT
2012-08-15 12:39:35 +10:00
Andrew Tridgell
44852276da
AHRS: added ahrs.yaw_initialised()
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this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
Andrew Tridgell
90bf9c62bb
SITL: added a test script for starting in Kingaroy
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we use this for OBC testing
2012-08-15 12:39:34 +10:00
Andrew Tridgell
8c3b6f471f
APM: keep the time of the last heartbeat message
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this will be used for failsafe processing
2012-08-15 12:39:34 +10:00
Andrew Tridgell
b54ab2d72a
APM: expose change_command() and geofence_breached() to libraries
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this makes a failsafe library easier
2012-08-15 12:39:34 +10:00
Andrew Tridgell
dd17302def
APM: show waypoint number in jump message
2012-08-15 12:39:34 +10:00
Andrew Tridgell
c525b6b997
APM: minor formatting fix
2012-08-15 12:39:34 +10:00
Andrew Tridgell
b018d7ba77
SITL: make it easier to start ArduPlane SITL at any location
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this generates a jsbsim startup XML file from a template
2012-08-15 12:39:34 +10:00
Andrew Tridgell
93f45f232f
APM: added 'OBC' failsafe module for ArduPlane
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this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.
This includes:
- manual pin
- heartbeat pin
- waypoint for heartbeat failure
- waypoint for GPS failure
2012-08-15 12:39:34 +10:00
Andrew Tridgell
98015636d9
APM: interpret zero lat/lng as being current location
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this makes it easy to have a "loiter in current position" mission
element
2012-08-15 12:39:34 +10:00
Andrew Tridgell
98d5a49717
APM: fixed LOITER_TIME and LOITER_TURNS
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These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
2012-08-15 12:39:34 +10:00
Andrew Tridgell
26749a7486
Failsafe: only read RC on new data
2012-08-15 12:39:33 +10:00
Andrew Tridgell
9c19ff1a2c
Failsafe: added COMPETITION_MODE
2012-08-15 12:39:33 +10:00
Andrew Tridgell
b499d1cc00
Failsafe: prototype of APM2 based failsafe system
2012-08-15 12:39:33 +10:00
Jason Short
2cc27b9804
ACM: Switched to filtered loc
2012-08-14 14:11:52 -07:00
Jason Short
5d64942f01
ACM: Switched to filtered_loc for distance calcs
2012-08-14 14:11:52 -07:00
Jason Short
cbd4661b96
ACM: Added a filtered version of Location for GPS lag.
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I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
2012-08-14 14:11:51 -07:00
Jason Short
ba6ec9ae45
ACM: Revved the version
2012-08-14 14:11:51 -07:00
rmackay9
95c59fd4a4
ArduCopter: remove RTL_LAND parameter as it's been deprecated in favour of APPROACH_ALT.
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Updated comments on ALT_HOLD_RTL and APPROACH_ALT to make it a little easier to understand.
2012-08-14 12:14:35 +09:00
rmackay9
71710b4514
AutoTest: set RTL's APPROACH_ALT to zero to force the copter to land instead of hanging out at 2m and causing the auto test to time out
2012-08-14 12:03:32 +09:00
rmackay9
34517349db
AutoTest: update failsafe timeout to 180 to give it more time to pass.
2012-08-14 11:25:10 +09:00
Pat Hickey
394a3059b7
APM_RC_APM2: updated comments for clarity
2012-08-13 15:34:17 -07:00
rmackay9
b5480daa69
ArduRover: deleting this. Please see APMRover2 for latest Rover code.
2012-08-14 00:31:50 +09:00