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Author SHA1 Message Date
Andrew Tridgell
698749dd92 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell
f10097a6d5 AP_Param: added some comments on AP_Vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell
5e2fbdb6cf DCM: don't reset _have_initial_yaw for GPS heading unless very slow 
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
9d6ac9032e test: updated VARTest for new AP_Param vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell
690dc9052a GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
2e9105c68a AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
d6bfceef7c SITL: added -C option to desktop mode 
this allows running APM to stdout, which is useful for test sketches
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
54aa8297af libs: removed unused library GPS_IMU 2012-02-25 11:37:20 +11:00
Andrew Tridgell
185ab5aea9 libs: removed unusued library GCS_SIMPLE 2012-02-25 11:37:20 +11:00
Andrew Tridgell
57971e0ddf autotest: fixed xAccel calculation in fakepos.py 2012-02-25 11:37:20 +11:00
Andrew Tridgell
55e33c3359 DCM: tidy up use of error_course and in_motion 
in_motion is not a good name now it is also used for the compass

The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
 2012-02-25 11:37:20 +11:00
Andrew Tridgell
ab8cc3d478 DCM: use rotation_matrix_from_euler() to calculate initial yaw 
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
 2012-02-25 11:37:20 +11:00
Jason Short
1e254cbca0 Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
Michael Oborne
23cc9c6132 APM Planner 1.1.41 
fix mono ssl issue
modify log download
fix param dl on arduplane 2.28 (2x nulls in param list)
fix connect cancel
mono - add more comports
more error checking on radio
 2012-02-24 19:39:02 +08:00
rmackay9
57e5eee8c8 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short
385828824d updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short
24345d4f43 Loiter updates 2012-02-23 22:03:26 -08:00
Michael Oborne
d85596841f APM Planner 1.1.41 
add NaN checking/error message
add config page shortcuts - F5, ctl-s and ctl-o
add +++ passthrough on terminal
add longer delay to log download
modify param receive process.
modify connecting and param receive process - re Andrew
 2012-02-24 09:38:56 +08:00
Andrew Tridgell
ddeda1c367 DCM: use rotation_matrix_from_euler() in matrix reset 
this makes the code a bit easier to read
 2012-02-24 11:54:11 +11:00
Andrew Tridgell
06f37aad75 DCM: use calculate_euler_angles() to get eulers from DCM 
this makes the code a bit easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
16ed8bc8f6 AP_Math: added rotmat <-> euler functions 
these will make the dcm matrix manipulation easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
1cd3172954 ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch 
the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
c354879f1f Compass: ensure we don't produce NAN values for compass heading 
this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
17d16bc8c6 AP_Math: added safe_sqrt() function 
this function will never return NAN. It will return zero for negative
numbers.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
bad653f230 DCM: tidy up the nan checking in DCM 
use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
c8e6d03c67 DCM: added matrix recovery on reset 
when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
502fbf6e17 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
17170da96e AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Jason Short
b094f6ce52 added set integrator 2012-02-23 09:38:08 -08:00
Jason Short
364afe8da0 added a constraint to D term 2012-02-23 09:14:44 -08:00
Hazy
e3c3307c09 APM Planner 
a little bit translate
 2012-02-23 16:39:16 +08:00
Andrew Tridgell
ef90f336d3 DCM: changed the sense of floating point range comparison 
This allows us to detect NaN, otherwise NaN values were considered 
'in range'
 2012-02-23 11:41:26 +11:00
Andrew Tridgell
57ffd00b69 DCM: range check the matrix before calculating pitch 
The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
 2012-02-23 08:16:08 +11:00
Andrew Tridgell
2bb58db3f7 DCM: reset more values on renorm blowup 
when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
 2012-02-23 08:16:08 +11:00
Andrew Tridgell
95ef9206dc DCM: renorm_sqrt_count is now called renorm_range_count 2012-02-23 08:16:08 +11:00
Andrew Tridgell
156d98cb9f DCM: remove the taylor expansion optimisation for renormalisation 
The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.

This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
 2012-02-23 08:16:08 +11:00
Jason Short
c7c16a5b0f Emile's Fixes 2012-02-22 10:27:34 -08:00
Jason Short
4483f19f85 Marco's Hexa Motors 2012-02-22 09:55:44 -08:00
Michael Oborne
eaa29d5e3b firmware build 2012-02-23 01:06:56 +08:00
Jason Short
242f54793c revved a version 2012-02-22 09:00:42 -08:00
Jason Short
729c824809 made timer unsigned 2012-02-21 21:49:03 -08:00
Jason Short
42b5d47f7b commented out control mode debug print 2012-02-21 21:48:07 -08:00
Michael Oborne
ececcc6a69 ensure autoupdate works 2012-02-21 12:32:19 +08:00
Michael Oborne
56cf4f328b APM Planner 1.1.40 2012-02-21 12:04:45 +08:00
Michael Oborne
06a1035953 APM Planner - gps lat long bug fix. 2012-02-21 11:55:36 +08:00
Michael Oborne
3bb3cbe5b6 APM Planner 1.1.39 
fix timeout issue.
 2012-02-21 07:38:06 +08:00
Michael Oborne
58d9acb92e APM Planner - fix timeout bug 2012-02-20 23:33:04 +08:00
Michael Oborne
17c2eeb306 APM Planner 1.1.38 
add ap param support
fix dtr
fix firmware screen on mono
misc mono fix's
mods from mandrolic - partial.
Add spanish - issue 515
new sitl images for attitude hil - issue 513
 2012-02-20 19:30:47 +08:00
Michael Oborne
a3cb208468 firmware build 2012-02-20 13:24:12 +08:00
Michael Oborne
b78bca49b8 firmware build 2012-02-20 13:06:04 +08:00