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6cae97446a
Commit Graph

25753 Commits

Author SHA1 Message Date
Andrew Tridgell
6cae97446a Filter: added auto-init to LowPassFilter 
make sure initial filter returns are not a long way off if filtered
input is far from zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7e64875a02 APM_Control: tweak tuning settings 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ccd7b15d06 APM_Control: apply pitch limiting at high roll to rate 
this fixes an issue with a large elevator trim error when rolled at
close to 90 degrees
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
4694820ac3 APM_Control: allow for smaller minimum tconst 2021-04-15 06:57:16 +10:00
Andrew Tridgell
97f88f67f6 APM_Control: allow for AUTOTUNE_LEVEL=0 
this means keep the existing TCONST and RMAX parameters, if non-zero
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
316541017a APM_Control: fixed handling of clipped actuator in autotune 2021-04-15 06:57:16 +10:00
Andrew Tridgell
9997b191a8 APM_Control: log smoothed rates 2021-04-15 06:57:16 +10:00
Andrew Tridgell
20ef242280 APM_Control: fixed restore of tconst on autotune abort 2021-04-15 06:57:16 +10:00
Andrew Tridgell
8f249d5ece AP_OSD: fixed param edit for new plane PIDs 2021-04-15 06:57:16 +10:00
Andrew Tridgell
160b25c557 AP_Param: fixed KEY_DUMP option 
use right index, and use ::printf
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
5818d6040c SITL: convert param file for new plane PID system 2021-04-15 06:57:16 +10:00
Andrew Tridgell
53ee13a083 APM_Control: use instance logging and allow AUTOTUNE_LEVEL adjustments 2021-04-15 06:57:16 +10:00
Andrew Tridgell
70c194c358 APM_Control: fixed LoggerDocumentation test 2021-04-15 06:57:16 +10:00
Andrew Tridgell
0b76a8018f APM_Control: move rmax and tau more slowly 2021-04-15 06:57:16 +10:00
Andrew Tridgell
3cb32a18f0 APM_Control: fixed for cygwin build 2021-04-15 06:57:16 +10:00
Andrew Tridgell
364fa0680d APM_Control: use shorter tau for autotune higher levels 2021-04-15 06:57:16 +10:00
Andrew Tridgell
f88622def8 APM_Control: implement new autotune system 
use actuator/rate ratio with median filter for FF and Dmod/overshoot
for P,I,D
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
12fad55891 APM_Control: fixed pid_info for pitch controller 2021-04-15 06:57:16 +10:00
Andrew Tridgell
ead011c7c2 APM_Control: move to only ACPID 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6ca9033dde APM_Control: run AC_PID in parallel with old PID for roll/pitch 2021-04-15 06:57:16 +10:00
Andrew Tridgell
99fe194980 AP_Logger: removed old ATRP log msg 2021-04-15 06:57:16 +10:00
Andrew Tridgell
7b98ab0f12 AP_Param: added get_param_by_index 
useful for parameter conversion within an object
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
5ef31a1801 Filter: moved ModeFilter to C++ 
save flash space for common code
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
6f2e592943 AC_PID: allow for slew limit scaler 
used by plane to have slew limiter in deg/s
 2021-04-15 06:57:16 +10:00
Andrew Tridgell
62afa46924 AC_PID: added accessor for IMAX 2021-04-15 06:57:16 +10:00
Peter Barker
6a3188a8ec AC_PrecLand: use enum-class for Type, make enum private 2021-04-14 18:04:26 +10:00
Peter Barker
252543978e AC_PrecLand: remove unused PrecLandBehaviour enum and accessor 
AFAICS this has never been used
 2021-04-14 18:04:26 +10:00
Peter Barker
1ad9542df3 AC_PrecLand: use enum-class for EstimatorType 
And remove accessor for same
 2021-04-14 18:04:26 +10:00
Philippe Hamelin
187549b431 SITL: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Philippe Hamelin
738d000f86 AP_GPS: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Andrew Tridgell
3e138aa98a AP_Filesystem: fixed a read past EOF bug in @PARAM 
this could cause mavproxy FTP param download to fail
 2021-04-14 17:05:49 +10:00
Tatsuya Yamaguchi
5fd46c02ad AP_ExternalAHRS: remove message when EAHRS_TYPE is None 2021-04-14 14:46:03 +10:00
Andrew Tridgell
9990404e64 HAL_ChibiOS: fixed G4 analog input build 
use right resolution in ADC peripheral for ADCv3
 2021-04-14 13:11:58 +10:00
Andrew Tridgell
1fe1e53260 AC_PrecLand: pass in time corrected LANDING_TARGET msg 
should make companion based precision landing more accurate
 2021-04-13 17:30:19 +10:00
Andrew Tridgell
8444a3310d GCS_MAVLink: added handle_command_landing_target() 
used to allow vehicle handling of time corrected LANDING_TARGET msgs
 2021-04-13 17:30:19 +10:00
Hwurzburg
cc4fe29d8f AP_OSD: add icon for terrain alt panel and font editor 2021-04-13 14:50:07 +10:00
Peter Barker
9513bbe85f AC_Precland: remove unused _timestamp_us 2021-04-13 14:18:05 +10:00
Andrew Tridgell
ea3657e941 AP_Motors: added accessors for ff output to motors 
needed for tailsitters
 2021-04-13 10:28:47 +10:00
Peter Barker
6fe58a807d AP_Logger: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Peter Barker
6d9f1f1bb4 AC_PrecLand: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Andrew Tridgell
eca8cf3414 HAL_ChibiOS: save flash on boards that are critically low 
move to single OSD font on some boards

this saves about 12k on these boards. They were also extremely close
to overflowing flash, under 2k on some

Now that we support having an OSD font on the microSD card (where
available) we can reduce built in fonts without a large functionality
impact

This also disables some less used features on these boards:

 - generator support
 - object avoidance path planning
 - precision landing

This will give us some breathing room on these boards
 2021-04-13 09:58:59 +10:00
Andrew Tridgell
bb28a58bce AP_ExternalAHRS: added frontend/backend split 
allow for multiple backends
 2021-04-13 09:36:52 +10:00
Andrew Tridgell
b3ed4f4b12 AP_InertialSensor: fixed handling of more than 3 accel/gyro instances 
allows for first 3 to work without a panic
 2021-04-13 09:36:52 +10:00
Andrew Tridgell
fd3bf0f639 HAL_Linux: added --defaults option to Linux HAL 
useful for initial parameters
 2021-04-13 09:36:52 +10:00
Andrew Tridgell
ae088f792d AP_ExternalAHRS: added EAHRS_RATE for IMU rate 
this allows setting of required data rate from the external AHRS
 2021-04-13 09:36:52 +10:00
Andrew Tridgell
266b425115 HAL_SITL: use common nmea_printf() 2021-04-13 09:36:52 +10:00
Andrew Tridgell
3650c02745 AP_GPS: use common nmea_printf() 2021-04-13 09:36:52 +10:00
Andrew Tridgell
6c29f8c24f AP_Common: added common nmea_printf code 2021-04-13 09:36:52 +10:00
Mirko Denecke
e904de3431 AP_Scripting: add position light example 2021-04-13 09:23:59 +10:00
vierfuffzig
10f15fbba5 AP_OSD: add kilo symbol to RPM panel 2021-04-13 09:08:36 +10:00