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3640 Commits

Author SHA1 Message Date
rmackay9 4a0989f95d ArduCopter - Attitude.pde - updated get_rate_roll and get_rate_pitch to use new average filter. 
modified all int to int16_t in Attitude.pde
 2012-02-28 21:26:37 +09:00
rmackay9 02cf07bb6b ArduPlane - updated to use new filter library 2012-02-28 21:03:04 +09:00
rmackay9 17d94b61ed ArduCopter - modified to work with new Filter library 2012-02-28 21:02:44 +09:00
rmackay9 2b6a10d18b AP_RangeFinder - changed example sketch to work with new Filter library 2012-02-28 21:02:10 +09:00
rmackay9 033347f8ee Filter - updated example sketch to use modified library 2012-02-28 21:01:35 +09:00
rmackay9 645fda2fb2 Filter - added AverageFilter, removed SumFilter 
added FilterWithBuffer to allow removal of malloc/free without losing ability to pass around filter objects
 2012-02-28 21:01:11 +09:00
Andrew Tridgell cb52b6c6d9 AP_Param: show numerical value in eeprom dump utility 2012-02-28 09:43:49 +11:00
Andrew Tridgell a432232db9 AP_Param: fixed v.load() on a sub-element of a AP_Vector3f 
this isn't actually used at the moment in APM, but we should get it
right in case someone does try to load a single element of a vector
 2012-02-28 09:43:49 +11:00
Andrew Tridgell 39797c6f33 SITL: simulate noise on each ADC channel separately 
scale the noise based on the period of the motors
 2012-02-28 09:43:49 +11:00
Andrew Tridgell efe5c0142c SITL: raise the ADC noise level to 8 bits when flying 
this is about the level of noise of a aircraft that has a lot of
vibration
 2012-02-28 09:43:49 +11:00
Andrew Tridgell cd4fcb694e IMU: removed unused accel_filtered code 2012-02-28 09:43:49 +11:00
Andrew Tridgell 87a6d97f7b AP_Param: fixed setting of CAM_P_G in ArduCopter 
the variable CAM_P_G has the same prefix as the CAM_P group. We want
to allow for parameters having a common prefix with a group, so we
need to keep searching after we've found a group that matches the
prefix
 2012-02-27 10:54:33 +11:00
Andrew Tridgell fa443bd928 AP_Param: make the templating code a bit clearer 
add comments on the arguments, and name them in a clearer way
 2012-02-27 10:54:33 +11:00
Michael Oborne 57ed9fc62b APM Planner 1.1.43 
Add logging system - re andrew radford
move libs
add tlog support to georef images.
experimental antenna tracking - pololu maestro
tweak "follow me" mode, better error checking
update dataflashlog format for ac2
lang change mod - re hazy
remove arduinocpp project
 2012-02-27 07:13:23 +08:00
Jason Short ba68d6d8a1 Set loiter rate enabled by default 2012-02-26 12:29:28 -08:00
Jason Short e06d8142c1 Added OPtion for non-rate based loiter 2012-02-26 11:33:37 -08:00
Jason Short 6e53949c2a removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 517172ba20 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
Jason Short 0ce0c7c262 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Jason Short eac77504a3 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
Andrew Tridgell eb35e0e8ac DCM: fixed the sense of the compass GPS test in initial yaw 
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
 2012-02-26 22:24:45 +11:00
Hazy a9eb37d9f3 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-02-26 19:16:25 +08:00
Hazy 71b73a669c APM Planner 
fix CAPM update firmware error
 2012-02-26 19:14:08 +08:00
rmackay9 297d2ae457 ModeFilter - corrected shadowed variable compiler warning for drop_high_sample 2012-02-26 17:57:28 +09:00
rmackay9 b9b88ba237 Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows 2012-02-26 17:34:36 +09:00
rmackay9 f53ff8de97 Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!) 
increased maximum sample buffer size from 6 to 10
 2012-02-26 17:17:46 +09:00
rmackay9 e1114bf7f7 ArduPlane - added Filter.h to unbreak the build! 2012-02-26 17:05:56 +09:00
rmackay9 8193c786ef ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 74f7d7a1c0 ModeFilter - remove older ModeFilter library (new library is now in Filter directory) 2012-02-26 15:36:23 +09:00
rmackay9 21d7a77009 ArduPlane - switch sonar to use new mode filter from filter library 2012-02-26 15:35:42 +09:00
rmackay9 69132e0fe7 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
rmackay9 f264e29814 AP_RangeFinder - cut over to use new ModeFilter from Filter library 2012-02-26 15:34:50 +09:00
rmackay9 c14d7768f7 Filter - first version of filter library include ModeFilter 2012-02-26 15:34:05 +09:00
rmackay9 952e5d7bbc AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0 2012-02-26 15:31:56 +09:00
Jason Short f27e9f9ca1 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short cc5ab4aebf increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short 1ce267f904 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
Jason Short a924c3685e Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell d0a6359b37 Compass: use constructor to set initial values for _learn and _use_for_yaw 
this ensures they are set if you have MAG_ENABLE==0
 2012-02-25 17:36:31 +11:00
Andrew Tridgell 900388a85a DCM: disable compass null offsets when setting initial yaw 
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
 2012-02-25 16:02:24 +11:00
Andrew Tridgell e2bbc795ad ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell f59297d7a7 Compass: catch the case of a user enabling a compass mid-flight 
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 0248b48d30 allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell eb71b26d3f DCM: use the new use_for_yaw() compass method 2012-02-25 14:51:09 +11:00
Andrew Tridgell 664622523d Compass: added COMPASS_LEARN and COMPASS_USE parameters 
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 864ed1a87f ACM: check the return of compass.init() 
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
 2012-02-25 14:51:08 +11:00
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