Andrew Tridgell
2a8b167d95
fixed comment
2012-03-10 10:34:29 +11:00
Andrew Tridgell
c73c55aa90
DCM: fixed an uninitialised variable warning
2012-03-10 10:34:29 +11:00
Andrew Tridgell
d8234882d4
Quaternion: tweak the quaternion gains a bit
2012-03-10 10:34:29 +11:00
Andrew Tridgell
cc887949c9
AP_IMU: improved the gyro calibration code
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this should give a much more accurate result
2012-03-10 10:34:29 +11:00
Andrew Tridgell
ffa6786697
Quaternion: drop the gyro drift rates down
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this should allow us to cope with noise more readily
2012-03-10 10:34:29 +11:00
Andrew Tridgell
bee4bd9474
DCM: fixed bug in accel averaging
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sorry Randy!
2012-03-10 10:34:29 +11:00
Andrew Tridgell
25e5ddeaa4
AP_Quaternion: fixed build on Arduino 1.0
2012-03-10 10:34:29 +11:00
Andrew Tridgell
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
2012-03-10 10:34:29 +11:00
Andrew Tridgell
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
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this prevents us spinning waiting for the sensors to gather some data
2012-03-10 10:34:29 +11:00
Andrew Tridgell
e39c3cb9d2
APM: make it possible to build ArduPlane with quaternion support
2012-03-10 10:34:29 +11:00
Andrew Tridgell
c369d9f60a
AP_Quaternion: added DCM compatibility interfaces
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useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell
6138f31cec
AP_IMU: added new_data_available() interface
2012-03-10 10:34:29 +11:00
Andrew Tridgell
a9dea35310
AP_InertialSensor: added new_data_available() interface
2012-03-10 10:34:28 +11:00
Andrew Tridgell
c80ec9a55c
AP_ADC: added new_data_available() interface
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returns true if more samples are available
2012-03-10 10:34:28 +11:00
Andrew Tridgell
c8a459ab0d
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
a791224d07
SITL: make SITL not depend on DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
74eef7018a
Quaternion: added an AP_Quaternion library
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this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fd2a24f8ed
SITL: reduce the simulated compass offsets
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this was causing us problems in getting DCM right
2012-03-10 10:34:28 +11:00
Andrew Tridgell
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
2012-03-10 10:34:28 +11:00
Andrew Tridgell
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
2012-03-10 10:34:28 +11:00
Andrew Tridgell
511f65e2ef
APM: fixed reset of control switch when short_fs_action is disabled
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When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
2012-03-10 10:34:28 +11:00
Andrew Tridgell
bddc6ba241
SITL: separate out drift speed and drift level
2012-03-10 10:34:28 +11:00
Andrew Tridgell
25cad09746
SITL: added a drift_level multiplier
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this makes it easier to experiment with different gyro drift levels
2012-03-10 10:34:28 +11:00
Andrew Tridgell
b11b571778
DCM: fixed the averaging of accel values for update_DCM_fast()
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this should improve drift correction for ArduCopter
2012-03-10 10:34:28 +11:00
Andrew Tridgell
145fc91701
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
Andrew Tridgell
ae51173656
SITL: fixed delay() to account for signal interrupions
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when a timer went off we stopped the delay() code
2012-03-10 10:34:28 +11:00
Andrew Tridgell
fe173227de
DCM_Test: fixed example code to work with SITL
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this also fixes the compass setup
2012-03-10 10:34:27 +11:00
Andrew Tridgell
8424609924
SITL: push noise level to 2.0 for DCM testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
accc5dc02f
autotest: run fg viewers with less CPU priority
2012-03-10 10:34:27 +11:00
Andrew Tridgell
5e66d3cecb
autotest: added CMAC test circuit
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this is what I am using for noise testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
6ba6e11e7b
DCM: added a small amount of accel smoothing to update_DCM_fast()
2012-03-10 10:34:27 +11:00
Andrew Tridgell
a0ce202d87
ACM: added SIMSTATE, DCM and HWSTATUS messages to ACM
2012-03-10 10:34:27 +11:00
Andrew Tridgell
3b1782f369
DCM: don't use the z accel sensor for drift correction
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the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
2012-03-10 10:34:27 +11:00
Andrew Tridgell
4031320f7c
DCM: added a small amount of gyro and accel smoothing
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possibly not needed, but convenient to be able to test with different
values
2012-03-10 10:34:27 +11:00
Andrew Tridgell
b455443e2c
APM: added logging of DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
94d0236b97
DCM: added reporting interfaces for DCM state
2012-03-10 10:34:27 +11:00
Andrew Tridgell
772c30ba86
SITL: added sitl_simstate_send()
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used to report simulator state in logs
2012-03-10 10:34:27 +11:00
Andrew Tridgell
9df332f0ae
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
2012-03-10 10:34:27 +11:00
Andrew Tridgell
cc8278c1ac
DCM: got rid of _error_roll_pitch from object state
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this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
2012-03-10 10:34:27 +11:00
Michael Oborne
986f1675ad
APM Planner 1.1.50
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rename messagebox to custommessagebox
mag calibration now working. > hardware setup tab
2012-03-09 23:18:12 +08:00
Jason Short
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
2012-03-08 23:13:04 -08:00
Jason Short
c8e9d57567
temp remove filter for quad motors during testing. It's unlikely this filter did anything at all to be honest.
2012-03-06 22:23:06 -08:00
Jason Short
730476fdfd
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
2012-03-06 22:22:14 -08:00
Jason Short
c26eb6afcc
ACM: Updated config values
2012-03-06 22:12:24 -08:00
Jason Short
e57b91c2e2
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
2012-03-06 20:55:35 -08:00
Michael Oborne
f1d67c5638
APM Planner
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Fix Updater
2012-03-07 08:01:59 +08:00
rmackay9
8b256cf924
ArduCopter - fix for stability patch and motor filter meant to deal with engines tendency to speed up faster than they slow down
2012-03-06 23:20:30 +09:00
rmackay9
72a775cc2a
ArduCopter - fixed typo in motor filtering for octa, octa_quad and y6 that is suppose to correct for props speeding up faster than they slow down.
2012-03-06 22:19:19 +09:00
rmackay9
706bea5992
ArduCopter - added OCTA_QUAD_FRAME to comments in APM_Configh.h to help user select frame when compiling with arduino
2012-03-06 22:15:02 +09:00
Michael Oborne
7f47640b92
APM Planner 1.1.49
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mode TUNE_ param scale
add mavlink tlog graphing
mod tracker options
2012-03-06 18:27:43 +08:00