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Author SHA1 Message Date
Andrew Tridgell
6123ea2dac PID: added get_pid_4500() 
this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
 2013-04-01 22:17:04 +11:00
Andrew Tridgell
624ebced38 Plane: document INVERTEDFLT_CH 2013-04-01 22:17:04 +11:00
Randy Mackay
7cf2255822 Copter LEDs: replace bitRead with bitmask 
Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
 2013-04-01 13:10:12 +09:00
Randy Mackay
6816c45c39 InertialNav: reduce Z-axis time constant to 5 2013-04-01 11:51:12 +09:00
Randy Mackay
a9eb626cb8 Copter: update default Rate Yaw P to 0.20 (was 0.25) 2013-04-01 11:49:50 +09:00
Randy Mackay
7ccb14344c Copter: update version to 2.9.1b-dev 2013-04-01 11:47:56 +09:00
Randy Mackay
7d4eea271f Copter: update Release notes again for 2.9.1b release 
Missed item re increasing max inav accel correction to 3 m/s
 2013-04-01 11:46:42 +09:00
Randy Mackay
49e3e040b6 Copter: update Release notes ahead of 2.9.1b release 2013-04-01 11:46:37 +09:00
Randy Mackay
24dd167607 Copter: ACRO bug fix from Jason 2013-04-01 11:44:28 +09:00
Michael Oborne
541fa13291 cleanup comments 2013-03-31 17:14:54 +08:00
Michael Oborne
e80f2c094e HIL fix location, alt, mag from hil state message 2013-03-31 16:42:16 +08:00
Michael Oborne
2160bf135d fix sitl segfault in hil 2013-03-31 16:39:15 +08:00
Michael Oborne
87292e0a4a Init hil accel with gravity 2013-03-31 16:38:48 +08:00
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