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4777 Commits

Author SHA1 Message Date
Paul Riseborough cdbc5a3f35 AP_NavEKF: added position observations to static mode 2014-02-15 05:48:19 +11:00
Paul Riseborough da2c341914 Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed" 
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
 2014-02-15 05:48:19 +11:00
Paul Riseborough 32cc427ff4 AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed 2014-02-15 05:48:19 +11:00
Paul Riseborough 2998aa1a6a AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions 2014-02-15 05:48:19 +11:00
Paul Riseborough f9aae1b90b AP_NavEKF: fixed bug in variance constraint code 2014-02-15 05:48:19 +11:00
Paul Riseborough 735c9684da AP_NavEKF: removed error in constructor comments 2014-02-15 05:48:19 +11:00
Paul Riseborough 8f999fe787 AP_NavEKF: Misc tuning adjustments for Plane testing 2014-02-15 05:48:19 +11:00
Paul Riseborough c87a5aaf34 AP_NavEKF: added PositionReset public function to fix pre-arm loss of solution 2014-02-15 05:48:19 +11:00
Paul Riseborough fec4fd463c AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler 2014-02-15 05:48:19 +11:00
Paul Riseborough 619fffec3e AP_NavEKF: added static mode for pre-arm and bench testing 2014-02-15 05:48:18 +11:00
Paul Riseborough ab08a5c7d6 AP_AHRS : altered NavEKF set home to reset position instead of reset filter 2014-02-15 05:48:18 +11:00
Paul Riseborough d0831c708d AP_NavEKF : Added position and height reset public method 2014-02-15 05:48:18 +11:00
Andrew Tridgell 1b1f9e41ab AP_NavEKF: improved playback initialisation 2014-02-15 05:48:18 +11:00
Andrew Tridgell d9ef45234b AP_NavEKF: useful plotting function 2014-02-15 05:48:18 +11:00
Andrew Tridgell 0816642436 AP_NavEKF: handle intertial nav 2014-02-15 05:48:18 +11:00
Andrew Tridgell 77c6e3206a AP_NavEKF: some debug code 2014-02-15 05:48:18 +11:00
Andrew Tridgell 2cd781997f AP_Baro: changed HIL driver to use floats and better handle starup 2014-02-15 05:48:18 +11:00
Andrew Tridgell c995f994c5 AP_InertialNav: make some functions protected 2014-02-15 05:48:18 +11:00
Andrew Tridgell c33da7b3a2 AP_NavEKF: fixed log playback for copter 2014-02-15 05:48:18 +11:00
Andrew Tridgell 78ff078988 HAL_Linux: fixed stopped clock delay 2014-02-15 05:48:18 +11:00
Andrew Tridgell 9b53db66cb AP_NavEKF: tweak parameters based on randys copter log 2014-02-15 05:48:18 +11:00
Andrew Tridgell 9e3bf685c2 SITL: use sinf() and cosf() 
for some strange reason the double precision functions can crash
 2014-02-15 05:48:17 +11:00
Andrew Tridgell bb0eed5c14 SITL: prevent initialisation error 2014-02-15 05:48:17 +11:00
Andrew Tridgell 574946f0aa AP_AHRS: start EKF 5 seconds after getting GPS lock 2014-02-15 05:48:17 +11:00
Andrew Tridgell df271fbd59 AP_AHRS: fill in _dcm_matrix whenever EKF started 
this ensures get_dcm_matrix() always returns valid data
 2014-02-15 05:48:17 +11:00
Andrew Tridgell 4c42f53636 AP_NavEKF: use INS delta_time 2014-02-15 05:48:17 +11:00
Andrew Tridgell 5193ce90dc AP_NavEKF: copter specific dtIMUAvg 2014-02-15 05:48:17 +11:00
Andrew Tridgell ada7d4fb98 AP_AHRS: use the right DCM matrix when EKF not enabled 2014-02-15 05:48:17 +11:00
Andrew Tridgell a74fcc5a93 AP_AHRS: added set_ekf_use() 2014-02-15 05:48:17 +11:00
Andrew Tridgell 38ac8d404a SITL: fixed PX4 build 2014-02-15 05:48:17 +11:00
Andrew Tridgell fba0891617 SITL: fixed SIM df altitude 2014-02-15 05:48:17 +11:00
Paul Riseborough 8b1d056e07 AP_NavEKF: updated timeout for GPS retry and reduced onGround gyro bias noise multiplier 2014-02-15 05:48:16 +11:00
Paul Riseborough 7e026d41df AP_NavEKF: explicitly zeroed covariance matrix priro to setting initial values 2014-02-15 05:48:16 +11:00
Paul Riseborough 6e6e3d923e AP_NavEKF: improved covariance matrix numerical stability protection 2014-02-15 05:48:16 +11:00
Andrew Tridgell 45177df354 DataFlash: moved EKF logging to common code 2014-02-15 05:48:16 +11:00
Andrew Tridgell 9aea781248 GCS_MAVLink: moved send_ahrs2 to common code 2014-02-15 05:48:16 +11:00
Andrew Tridgell 66dbaa6657 AP_NavEKF: make health() API const 2014-02-15 05:48:16 +11:00
Andrew Tridgell 47f541e143 AP_InertialNav: implement InertialNav in terms of AHRS when available 2014-02-15 05:48:16 +11:00
Andrew Tridgell 5d43a1d704 AP_AHRS: added inertial nav interfaces to AHRS 2014-02-15 05:48:16 +11:00
Andrew Tridgell 658110dd8c AP_InertialNav: added AP_InertialNav_NavEKF wrapper class 2014-02-15 05:48:15 +11:00
Andrew Tridgell 99097d80a1 AP_InertialNav: use AHRS home location 2014-02-15 05:48:15 +11:00
Andrew Tridgell c493d980d8 AP_NavEKF: fixed check for airspeed sensor available 2014-02-15 05:48:15 +11:00
Andrew Tridgell 2dbfed19b8 AP_NavEKF: fixed airspeed estimate check 2014-02-15 05:48:15 +11:00
Paul Riseborough e69eea3086 AP_NavEKF: Bug fix in covariance error correction 2014-02-15 05:48:15 +11:00
Paul Riseborough 43dc9bc055 AP_NavEKF: Added improved covariance matrix error fix 2014-02-15 05:48:15 +11:00
Paul Riseborough 4a56ea84b5 AP_NavEKF: Removed accel bias states 2014-02-15 05:48:15 +11:00
Andrew Tridgell 093481786e AP_NavEKF: added SIM state to playback tool 2014-02-15 05:48:15 +11:00
Andrew Tridgell fcd9041e62 SITL: added dataflash logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell d0a25b53f2 DataFlash: added logging of AHRS2 2014-02-15 05:48:09 +11:00
Andrew Tridgell 5578552574 AP_NavEKF: fixed example for new API 2014-02-15 05:29:48 +11:00
Andrew Tridgell 2acf1e7ce5 AP_NavEKF: allow filter to run as single or double precision 
useful for checking if there are numerical precision issues
 2014-02-15 05:29:48 +11:00
Paul Riseborough efd444b02e AP_NavEKF: covariance protection (not enabled) and tuning changes for stability 2014-02-15 05:29:48 +11:00
Paul Riseborough be9f276f45 AP_NavEKF: fixed compass offset sign error 2014-02-15 05:29:48 +11:00
Andrew Tridgell ee774f69d0 AP_NavEKF: fixed some time handling bugs 
use get_delta_time() and removed broken time wrap code
 2014-02-15 05:29:48 +11:00
Andrew Tridgell b1c5f23bbd AP_InertialSensor: make get_delta_time() const 
allows use from AP_NavEKF
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 95c5aeaa43 AP_NavEKF: removed more unused variables 2014-02-15 05:29:47 +11:00
Andrew Tridgell a53fc0636a AP_NavEKF: zero more variables on filter re-init 2014-02-15 05:29:47 +11:00
Andrew Tridgell 392995ef84 AP_AHRS: make AHRS handle altitude 
AHRS now holds the home position
 2014-02-15 05:29:47 +11:00
Andrew Tridgell b9128a932f AP_L1_Control: no need to project position for lag 
now handled by AHRS
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 91cbad52a1 AP_NavEKF: handle conversion of AHRS to handle altitude 
fixed accuracy of position for cm level lat/lng
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 1e476e511a AP_AHRS: pass baro into AP_AHRS 
first step in making AHRS handle altitude
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 6e5077b60b AP_AHRS: removed unused AP_AHRS_HIL 2014-02-15 05:29:46 +11:00
Andrew Tridgell 84c7b0d7fd AP_AHRS: check for NavEKF health 2014-02-15 05:29:46 +11:00
Andrew Tridgell 9ef71a9dec AP_NavEKF: added healthy() API 2014-02-15 05:29:46 +11:00
Andrew Tridgell cfc612b251 AP_InertialNav: use references to AHRS and baro 2014-02-15 05:29:45 +11:00
Andrew Tridgell 18aa08d5c3 GCS_MAVLink: added AHRS2 mavlink msg 2014-02-15 05:29:45 +11:00
Andrew Tridgell 154eb76f4f GCS_MAVLink: new MAVLink headers 2014-02-15 05:29:45 +11:00
Andrew Tridgell bfd48a95b7 AP_NavEKF: fixed example build 2014-02-15 05:29:45 +11:00
Andrew Tridgell b39a5062e9 AP_AHRS: use NavEKF for ground vector when available 2014-02-15 05:29:45 +11:00
Andrew Tridgell b6bc50051f AP_AHRS: allow reporting of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell ea0f9392ef AP_NavEKF: don't report altitude yet, and removed debug code 2014-02-15 05:29:45 +11:00
Andrew Tridgell a1aebc0c15 GCS_MAVLink: update from upstream 2014-02-15 05:29:23 +11:00
Andrew Tridgell 0e10554dc0 GCS_MAVLink: rename EKF message to AHRS2 2014-02-15 05:28:10 +11:00
Andrew Tridgell 33673c954d AP_NavEKF: implemented getRotationBodyToNED() 2014-02-15 05:28:10 +11:00
Andrew Tridgell 8c5cde4efd AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1 2014-02-15 05:28:10 +11:00
Andrew Tridgell 7ac78ff991 AP_AHRS: create AP_AHRS_NavEKF class 
subclass of AP_AHRS_DCM, just a wrapper for now, will add EKF calls
next
 2014-02-15 05:28:09 +11:00
Andrew Tridgell 2c86a490ed AP_NavEKF: make it possible for NavEKF to be a AHRS member 
ready for AHRS integration
 2014-02-15 05:28:09 +11:00
Paul Riseborough 6f31961fb5 AP_NavEKF: Added height rate adaptive wind speed process noise 2014-02-15 05:28:09 +11:00
Paul Riseborough de884dabab AP_NavEKF: brought some tuning parameters out to header 2014-02-15 05:28:09 +11:00
Paul Riseborough 3ee5ef852b AP_NavEKF : improved On Ground check 2014-02-15 05:28:09 +11:00
Paul Riseborough 8bc14d09b2 AP_NavEKF : remove onGround airspeed detect bug 2014-02-15 05:28:09 +11:00
Paul Riseborough a507fa7570 AP_NavEKF : remove debug code 2014-02-15 05:28:09 +11:00
Paul Riseborough 2f95685bfc Plane : EKF data logging fixes 2014-02-15 05:28:09 +11:00
Paul Riseborough 6b9733c013 AP_NavEKF : Additional flash logging 2014-02-15 05:28:09 +11:00
Paul Riseborough c28e89e4b7 AP_NavEKF: bug fixes for height fusion and covariance initialisation 2014-02-15 05:28:08 +11:00
Paul Riseborough aed6c79135 AP_NavEKF: Added gyro bias variance scale for on-ground 2014-02-15 05:28:08 +11:00
Paul Riseborough cb42e1e490 AP_NavEKF: Added public function to get NED position 2014-02-15 05:28:08 +11:00
Paul Riseborough 2c567cd721 AP_NavEKF: Added tuning parameter for onGround yaw gyro variance 2014-02-15 05:28:08 +11:00
Paul Riseborough 9515f6c745 AP_NavEKF: Cleaned up on-ground state and covariance update logic 2014-02-15 05:28:08 +11:00
Andrew Tridgell 9c5647eef3 AP_NavEKF: stop log for gdb friendly playback 2014-02-15 05:28:08 +11:00
Andrew Tridgell 117b77460e HAL_Linux: added stop_clock hack! 2014-02-15 05:28:08 +11:00
Andrew Tridgell 4adf6000f3 AP_NavEKF: only build on fast CPUs 2014-02-15 05:28:08 +11:00
Paul Riseborough 1647ba9bd0 AP_NavEKF: Reduced heading drift on ground 2014-02-15 05:28:08 +11:00
Paul Riseborough 63d8b1bb0b AP_NavEKF: Scheduler Improvements 2014-02-15 05:28:07 +11:00
Andrew Tridgell df42dd691c AP_NavEKF: added perf counters on PX4 2014-02-15 05:28:07 +11:00
Andrew Tridgell 3d6cb9eade AP_NavEKF: use float arrays when not doing bounds checking 
g++ is doing a lousy job of inlining VectorN, so avoid it when we
don't need bounds checking for production code
 2014-02-15 05:28:07 +11:00
Andrew Tridgell c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +11:00
Andrew Tridgell 010250a966 AP_NavEKF: use quaternion normalize and cleanup sqrt calls 2014-02-15 05:28:07 +11:00
Paul Riseborough 406fb31a57 AP_NavEKF: Load levelling scheduler - first attempt 2014-02-15 05:28:07 +11:00
Andrew Tridgell 68283b7aa1 GCS_MAVLink: new ekf header 2014-02-15 05:28:07 +11:00
Andrew Tridgell 163cfd839d AP_NavEKF: enable airspeed and fix getLLH() 2014-02-15 05:28:07 +11:00
Andrew Tridgell b4153c4d32 GCS_MAVLink: added EKF message for debugging 2014-02-15 05:27:54 +11:00
Andrew Tridgell 4771a4fc77 AP_NavEKF: use radians values from AHRS directly 2014-02-15 05:27:53 +11:00
Paul Riseborough 6b798d2821 AP_NavEKF: first working GPS + Mag fusion 2014-02-15 05:27:53 +11:00
Paul Riseborough bccadb6e25 AP_NavEKF: first working GPS fusion 2014-02-15 05:27:53 +11:00
Andrew Tridgell 90cd04def3 AP_NavEKF: fixed build for non-Linux 2014-02-15 05:27:53 +11:00
Andrew Tridgell 0b71618f4f AP_NavEKF: use vectorN to make indexes safe 2014-02-15 05:27:53 +11:00
Andrew Tridgell e972acbc9f AP_NavEKF: removed delay callback 2014-02-15 05:27:53 +11:00
Andrew Tridgell 8f16647a0c AP_NavEKF: added write_flot valgrind functions 2014-02-15 05:27:53 +11:00
Andrew Tridgell a8ddd51355 AP_NavEKF: added pause to gnuplot scripts 2014-02-15 05:27:53 +11:00
Andrew Tridgell 4298625daf AP_NavEKF: added convenient plotting scripts 2014-02-15 05:27:53 +11:00
Paul Riseborough fca1090694 AP_NavEKF: debug updates 2014-02-15 05:27:53 +11:00
Andrew Tridgell 95f51123d7 AP_NavEKF: added plot.dat output 2014-02-15 05:27:53 +11:00
Andrew Tridgell 050b0fb9f1 AP_NavEKF: fixed compass declination, baro cal and time shift 
now runs much faster
 2014-02-15 05:27:53 +11:00
Andrew Tridgell 776cedf368 AP_NavEKF: try running EKF on log data 2014-02-15 05:27:52 +11:00
Andrew Tridgell ffce1f64cc AP_NavEKF: added euler angle functions 2014-02-15 05:27:52 +11:00
Andrew Tridgell 977ad4bbf6 AP_NavEKF: added dataflash log reader 
this gives log playback into HIL
 2014-02-15 05:27:52 +11:00
Andrew Tridgell f3dfde2025 AP_NavEKF: initial test sketch for NavEKF 2014-02-15 05:27:52 +11:00
Paul Riseborough 361bb5b18f AP_NavEKF: Updated comments in header file 2014-02-15 05:27:52 +11:00
Paul Riseborough 00df068967 AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix 2014-02-15 05:27:52 +11:00
Andrew Tridgell eb505eef91 AP_NavEKF: fixed build for APM environment 2014-02-15 05:27:52 +11:00
Paul Riseborough 0dd5463e77 AP_NavEKF : Changed file and variable names 2014-02-15 05:27:52 +11:00
Paul Riseborough 1e993d2ef5 AP_NavEKF: Added constructor for measurements 2014-02-15 05:27:52 +11:00
Paul Riseborough 4a7f81e50a AP_NavEKF: Corrected height update timeout error 2014-02-15 05:27:51 +11:00
Paul Riseborough 0f3ebb8e31 AP_NavEKF: Updated measurement fusion control 2014-02-15 05:27:51 +11:00
Paul Riseborough c557bd7df5 AP_NavEKF: Updated GPS input processing 2014-02-15 05:27:51 +11:00
Paul Riseborough 1d4b040c67 AP_NavEKF: Inertial Navigation Code - 24 State EKF 
initial version converted from matlab
 2014-02-15 05:27:51 +11:00
Andrew Tridgell 03cc777991 AP_Airspeed: added last_update_ms() interface 2014-02-15 05:27:51 +11:00
Andrew Tridgell e7cf07dfb7 DataFlash: added Columns column to FMT 2014-02-15 05:27:51 +11:00
Andrew Tridgell 1e0f3f5398 AP_Math: make to_euler() const 2014-02-15 05:27:51 +11:00
Andrew Tridgell 90c41981ac AP_Math: added quaternion normalization 2014-02-15 05:27:51 +11:00
Randy Mackay 9e31f0b985 AC_WPNav: use PosControl accessor 
Saves 2bytes of RAM
 2014-02-15 05:27:50 +11:00
Randy Mackay 78c12eaebf AC_PosControl: get_pos_xy_kP accessor method 2014-02-15 05:27:50 +11:00
Randy Mackay 8d6eb1eceb MotorsMatrix: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 134289af38 TradHeli: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 1bee56877c CoaxCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 3fad8e3630 SingleCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 0edf039155 AP_MotorsTri: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 96d433c63e AP_Motors: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 8baf5ebf4a AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr 2014-02-15 05:27:49 +11:00
Randy Mackay f216cffb77 AC_AttControl: use motor accessors to set roll, pitch, yaw, thr 
Saves 8bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 415e48de19 TriCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 01d30271d8 SingleCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 18d3907928 TradHeli: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay cf1d6854b9 AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels 2014-02-15 05:27:49 +11:00
Randy Mackay 2f4fe3e192 AP_Motors: accessors to set roll, pitch, yaw, throttle 
This saves 16bytes of RAM and slightly reduces the dependence upon the
RC_Channel class as the interface.
 2014-02-15 05:27:49 +11:00
Randy Mackay 98224db1e4 AC_AttControl: Leaonard's rate feedforward 
Also saves 24bytes of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 2c6470f87b AP_MotorsMatrix: remove unused _num_motors 
Saves 1 byte of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 32a0992985 MatrixMotors: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay 2f3fc3a3ce Single: remove use of motor_out array 
Also allow fins to move when throttle at zero
 2014-02-15 05:27:48 +11:00
Randy Mackay a036009524 AP_MotorsTri: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay 83321b8786 AP_Motors: remove motor_out array 
Saves 16bytes of RAM
 2014-02-15 05:27:48 +11:00
Randy Mackay 5f89e9e746 AC_AttControl: bug fix to yaw rate limit 2014-02-15 05:27:48 +11:00
Randy Mackay d76180d605 AC_AttControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 8b8d6a8e01 AC_PosControl: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 598a1b1f43 AC_Circle: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 64cfcb2308 AC_WPNav: use trig values from ahrs 2014-02-15 05:27:48 +11:00
Randy Mackay 082c5021ee AC_AttControlHeli: add comments 2014-02-15 05:27:47 +11:00
Randy Mackay 17177adccf AC_Circle: remove debug comment 2014-02-15 05:27:46 +11:00
Randy Mackay 37cfbc9ad5 AP_Math: float versions of wrap_360 and wrap_180 2014-02-15 05:27:45 +11:00
Randy Mackay a7504faa7d TradHeli: empty angle_boost for trad heli 2014-02-15 05:27:44 +11:00
Randy Mackay 80ec61f217 TradHeli: make accessor methods const 2014-02-15 05:27:43 +11:00
Randy Mackay 48a0917670 Copter: make motors armed call const 2014-02-15 05:27:43 +11:00
Randy Mackay eda376c7f6 AC_AttControl: init_targets() clears body frame angle errors 
This should ensure that we don't get sudden jerks when entering acro
mode
 2014-02-15 05:27:43 +11:00
Randy Mackay 2643ee9724 AC_AttControl_Heli: adjust for new slew_yaw param 2014-02-15 05:27:43 +11:00
Randy Mackay 2db24659d0 AC_AttControl: add slew_yaw 2014-02-15 05:27:42 +11:00
Randy Mackay 959f5ec3b2 AC_AttControl: tradheli add RATE_RP_MAX 2014-02-15 05:27:42 +11:00
Randy Mackay 2dae0d68c5 AC_AttControl: add RATE_RP_MAX, RATE_Y_MAX params 
These replace the ANGLE_RATE_MAX parameter from the main code
 2014-02-15 05:27:42 +11:00
Randy Mackay c2efb91ece AC_AttControl: trad heli angle boost 2014-02-15 05:27:42 +11:00
Randy Mackay ebbff24a04 AC_AttControl: trad heli yaw 2014-02-15 05:27:42 +11:00
Randy Mackay 4f738ffdba AC_AttControl: add trad heli support 2014-02-15 05:27:42 +11:00
Randy Mackay 551836c49d AC_PosControl: make some methods const 2014-02-15 05:27:40 +11:00
Randy Mackay a2b017abd2 AC_AttControl: add rateef_rpy 
rateef_rpy takes earth frame rates and applies them to the earth frame
angle targets and then converts them to body frame rates
 2014-02-15 05:27:40 +11:00
Randy Mackay 468be05867 AC_AttControl: make ahrs, ins objects const 2014-02-15 05:27:40 +11:00
Randy Mackay 864f64b61a AC_Circle: circle control library 2014-02-15 05:27:40 +11:00
Randy Mackay 35ef9c73d1 AC_Sprayer: minor comment fix 2014-02-15 05:27:40 +11:00
Randy Mackay 4c02212404 AC_Fence: minor comment fix 2014-02-15 05:27:39 +11:00
Randy Mackay d4e4620159 AC_WPNav: remove unused PID references 2014-02-15 05:27:39 +11:00
Randy Mackay 26b257c8ba AC_AttControl: alternative get_stopping_point_z 2014-02-15 05:27:39 +11:00
Randy Mackay fc427967ae AC_WPNav: set wp origin to horiz and vert stopping point 
Also bug fix to set pos_control's down speed as a negative number
 2014-02-15 05:27:39 +11:00
Randy Mackay 1b8791a142 AC_PosControl: remove debug 2014-02-15 05:27:39 +11:00
Randy Mackay 4cd45e2edf AC_WPNav: remove debug 2014-02-15 05:27:38 +11:00
Randy Mackay 4003b4da9b AC_AttControl: leonard's body frame rate controller 2014-02-15 05:27:38 +11:00
Randy Mackay 171203370f AC_PosControl: add accessor for speed_up and down 2014-02-15 05:27:37 +11:00
Randy Mackay 1596d83d02 AC_WPNav: move leashes to AC_PosControl 2014-02-15 05:27:37 +11:00
Randy Mackay de34359808 AC_PosControl: recalculate leash when speed or accel modified 2014-02-15 05:27:37 +11:00
Randy Mackay ba3ba9e157 AC_AttControl: bug fix for yaw target handling 2014-02-15 05:27:37 +11:00
Randy Mackay 0d4ba04e75 AC_WPNav: make advance_wp_target private 2014-02-15 05:27:37 +11:00
Randy Mackay 80ae3dca2e AC_PosControl: remove debug 2014-02-15 05:27:36 +11:00
Randy Mackay b9ae3ce2ff AC_PosControl: fixed example sketch 2014-02-15 05:27:36 +11:00
Randy Mackay 0c8cbba644 AC_WPNav: remove xy pos controller 2014-02-15 05:27:36 +11:00
Randy Mackay 9fe4d883d0 AC_AttControl: accessor for lean angle max 2014-02-15 05:27:35 +11:00
Randy Mackay bbcf8cc84c AC_PosControl: add horizontal pos control 2014-02-15 05:27:35 +11:00
Randy Mackay 2984e492df AC_WPNav: add reference to AC_PosControl 
Also remove requirement to pass in inertial nav position and velocity to
init_loiter method
 2014-02-15 05:27:35 +11:00
Randy Mackay 0e0a15f4a8 AC_AttControl: add high level angle controllers 2014-02-15 05:27:35 +11:00
Randy Mackay 3ce1c0a9d5 AC_PosControl: add get_alt_error method 2014-02-15 05:27:34 +11:00
Randy Mackay a0298aee29 AP_Motors: expose throttle min and max 2014-02-15 05:27:34 +11:00
Randy Mackay 89b7e6b1c8 AC_AttControl: implement angle_boost 2014-02-15 05:27:34 +11:00
Randy Mackay 8988b48ad8 AC_PosControl: add init take-off 2014-02-15 05:27:34 +11:00
Randy Mackay dcac124105 AC_PosControl: add throttle controller 2014-02-15 05:27:33 +11:00