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9,194 Commits 71 Branches 509 Tags 714 MiB
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9194 Commits

Author SHA1 Message Date
Andrew Tridgell 233b033e8c Plane: removed old speed/altitude control algorithms 
Use TECS only. This makes the code a lot simpler and easier to
properly document
 2013-07-22 13:28:11 +10:00
Andrew Tridgell ef104b6629 autotest: wait for a higher altitude on takeoff 
otherwise left circuit can crash
 2013-07-22 13:27:06 +10:00
Andrew Tridgell c0697d0a2d Plane: mark 2.75beta1 2013-07-22 12:50:30 +10:00
Andrew Tridgell 965dc228c2 Plane: fixed GUIDED mode change of altitude down 2013-07-22 12:50:02 +10:00
Andrew Tridgell b8fa83ff54 Plane: change default slewrate to 100%/second 2013-07-22 12:50:02 +10:00
Andrew Tridgell 29c854e676 Plane: remove unused function 2013-07-22 12:50:02 +10:00
Paul Riseborough ba009e55e3 AP_Baro : Fixed bug in temperature units in AP_Baro_HIL 2013-07-22 12:50:02 +10:00
Andrew Tridgell ebebee4f06 AP_Baro: extend the atmospheric model to higher altitudes 2013-07-22 12:50:02 +10:00
Paul Riseborough 5a68c515dc AP_Airspeed: Altitude Calibration - added constrain on P matrix diagonals 2013-07-22 12:50:02 +10:00
Andrew Tridgell 6e288551ab Plane: fixed reversion to pre-failsafe mode 
if AUTO was entered using GCS, we need to switch back to the old mode,
not control channel
 2013-07-22 12:50:02 +10:00
Andrew Tridgell 3ba0dec4b3 AP_Airspeed: fixed typo 2013-07-22 12:50:02 +10:00
Paul Riseborough d1805f4349 AP_Airspeed: Airspeed Calibration computational efficiency improvement 2013-07-22 12:50:02 +10:00
Andrew Tridgell 0c6725f289 AP_Baro: improved the accuracy of the barometer model 2013-07-22 12:50:01 +10:00
Andrew Tridgell c5028c04da APM_Control: scale controllers for altitude 
this allows the attitude controllers to better handle a wider range of
altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 097718e833 AP_L1_Control: scale loiter and wp radius with altitude 
this should keep the aircraft stable in loiter at very high altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 74dabad1f3 Plane: added SKIP_GYRO_CAL parameter 
useful for starting the sim at high altitudes, and for starting planes
without having to hold them still
 2013-07-22 12:50:01 +10:00
Andrew Tridgell c8a83e17d0 Plane: remove old AIR_START code 
this was never used or tested
 2013-07-22 12:50:01 +10:00
Andrew Tridgell e6d9d14fad AP_Airspeed: added example sketch for airspeed calibration 2013-07-22 12:50:01 +10:00
Andrew Tridgell 7673ca0bac Plane: updates for new EAS2TAS scaling 2013-07-22 12:50:01 +10:00
Andrew Tridgell 620d067ee1 AP_TECS: use ahrs EAS2TAS for true airspeed 2013-07-22 12:50:01 +10:00
Andrew Tridgell ec73fadc45 AP_AHRS: added true airspeed support in AHRS 
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 3c66cb8af1 AP_Airspeed: added EAS2TAS in airspeed driver 
this keeps the true airspeed ratio in the airspeed driver, which seems
the most logical place
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 9bbe6c1967 Plane: update to new license boilerplate for GPLv3 
we had LGPLv2 in some places, despite the fw being GPLv3
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 882aa68c16 Plane: use new airspeed calibration code 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 893d2da6f6 AP_Airspeed: added auto-calibration support 
This uses a Kalman filter to calculate the right ARSPD_RATIO at runtime

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 53b1b9b575 Plane: added note on type of airspeed in docs 2013-07-22 12:50:01 +10:00
Andrew Tridgell 01c124d5f5 AP_GPS: added velocity_vector() method 2013-07-22 12:50:00 +10:00
Andrew Tridgell 468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Andrew Tridgell 2d5deddd30 Plane: set mode CIRCLE on short failsafe in AUTO 
this makes the code match the docs
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 9b70675b12 Plane: check the control switch a bit more often 
faster response to mode changes
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 6ed78c89ac Plane: don't read control switch when ch3 is in failsafe 
use ch3_counter not just the final flag
 2013-07-22 12:50:00 +10:00
Andrew Tridgell 51b9cf3e76 Plane: move failsafe variables into a structure 
this makes the logic a bit easier to follow
 2013-07-22 12:50:00 +10:00
Randy Mackay e2fbc00b52 LeadFilter: removed this unused library 
This was used to project the GPS position forward to compensate for lag
but this has become unnecessary with the introduction of the inertial
nav in x and y axis.
 2013-07-21 14:30:49 +09:00
Randy Mackay c9a875da52 Copter: remove unused earth frame rate controllers 2013-07-21 14:08:39 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Olivier-ADLER ac0886334d Copter: Failsafe GCS typo in comments 
replaced GPS by GCS word in different comments locations
 2013-07-20 20:54:51 +09:00
Randy Mackay 0325ad5d0d AP_AHRS: use rotateXY for speed 
Saves 0.1ms at 100hz
 2013-07-20 18:00:36 +09:00
Randy Mackay 540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Randy Mackay 11e7e9eaf1 Copter: WP_YAW_BEHAVIOUR param update for Look Ahead 2013-07-20 15:46:19 +09:00
Randy Mackay c937fe45e1 Revert "Copter: Remove CH7 & CH8 Enable / Disable of GeoFence" 
This reverts commit e25b8933f3.
 2013-07-20 15:00:08 +09:00
Randy Mackay 7ea971d948 Copter: check set_mode for failure 
Previously if set_mode failed it would return the copter to stabilize
mode.  With this commit set_mode returns a true/false indicating whether
it succeeded or not so the caller can make the decision as to the
appropriate response which could be to stay in the current flight mode
or try another flight mode.
 2013-07-20 11:01:10 +09:00
Robert Lefebvre 2a9f4bbbad TradHeli: Creating new unified roll/pitch rate controller. 2013-07-19 16:16:12 +09:00
Robert Lefebvre 23ea151ca5 TradHeli: Fix Heli rate controller filter rates. 2013-07-19 16:16:10 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre 957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Robert Lefebvre b4863dc997 TradHeli: Change to throttle controller to allow swash plate collective to move, even if disarmed, if we are in Acro or Stab. This is slightly dangerous... as a user could cause a problem if they do not follow the proper usage procedures. If they do not route the ESC through the APM, but instead direct to Rx. And then if they do not Arm, they could take off in Stab mode while disarmed, but then when they switch to Alt_Hold, it will drop the collective to the bottom and they will fall. This can be saved by switching back to Stab. And it requires operation outside of the normal operating procedure. 
This change is being made because most heli users expect to be able to check the swash plate operation before arming and taking off.
 2013-07-19 16:16:04 +09:00
Robert Lefebvre cea0812b82 TradHeli: Rate PID Improvement. Limit Integrator wind-up when PID output is saturated. Also a little bit of general clean-up for readability. 2013-07-19 16:16:01 +09:00
Randy Mackay a8970ee509 Tools: add additional divide timing 2013-07-18 23:08:13 +09:00
Craig3DR e25b8933f3 Copter: Remove CH7 & CH8 Enable / Disable of GeoFence 2013-07-18 17:06:53 +09:00
Andrew Tridgell 5f24788872 VARTest: fixed example build 2013-07-18 17:36:47 +10:00