Michael Oborne
e2c15008c2
APM Planner 1.1.37
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fix misc errors
update polish
fix linux/mac bug. - seems alot more stable
2012-02-17 17:09:27 +08:00
Jason Short
5218220f0f
re-implemented WII Dampening filter for Marco.
2012-02-16 22:38:23 -08:00
Jason Short
b052dab80d
Adjusted gains to move closer to Marco's tests
2012-02-16 22:19:39 -08:00
Jason Short
24ce02c6a4
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
Jason Short
17c6c7b294
added extra gain logging
2012-02-16 22:09:22 -08:00
Jason Short
908ca4e915
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
bc1593e89c
cast to float
2012-02-16 22:09:21 -08:00
Jason Short
632cc783a1
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
36a120d8df
removed some unused vars,
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formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Andrew Tridgell
79d622939a
ADC: on channel overflow we should not zero last_ch6_micros
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this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
Phil
9242c157ee
APM: Fix rudder in elevon mode.
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elevon planes can have rudders too
2012-02-16 14:43:24 +11:00
Jason Short
a43ee36bee
CH 6 Range setup
2012-02-15 11:47:54 -08:00
Jason Short
3d63bb6cd4
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
e8b6f5ecee
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
fabeccad4a
Marco's updated Motor testing code
2012-02-15 10:49:35 -08:00
Jason Short
73591a0ca5
Added lengthy note about motor testing
2012-02-15 10:49:11 -08:00
Jason Short
9a3e862b55
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
e249c8466d
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
21856e7696
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
fcb24ee17d
Added Acro_P
2012-02-15 09:10:14 -08:00
Jason Short
574b86b02e
synced params
2012-02-15 09:10:14 -08:00
Jason Short
91edeeeef2
added RTL_land_enabled
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added auto_pilot slew rate
2012-02-15 09:10:14 -08:00
Jason Short
aa0662008b
Added new params for CH6 Tuning
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moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
2012-02-15 09:10:14 -08:00
Jason Short
05abe44f32
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
026e4a6567
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
Michael Oborne
2f81776b0d
eedump ap param in perl
2012-02-15 21:31:58 +08:00
Andrew Tridgell
a48a118128
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
Andrew Tridgell
62326c0f72
Compass: enable compass offsets for HIL compass
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this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
Andrew Tridgell
048aed5427
fixed dump size
2012-02-15 10:44:09 +11:00
Andrew Tridgell
089db43183
show group_element too
2012-02-15 10:42:21 +11:00
Andrew Tridgell
ea6a46fc9b
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
Andrew Tridgell
c14097ffa1
APM: changed hold_course for landing to be based on yaw_sensor
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when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.
This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c662140a2b
APM: report the nav_bearing as hold_course when enabled
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this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
2012-02-15 08:50:45 +11:00
Andrew Tridgell
330ff5dc8b
APM: added some comments related to hold_course
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hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.
It also resets hold_course in all non-auto modes, to ensure it isn't
used
2012-02-15 08:50:45 +11:00
Andrew Tridgell
3e7cc2499b
autotest: increase the rudder gain
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this gives a bit better landing approach and turns in auto
2012-02-15 08:50:45 +11:00
Andrew Tridgell
4398171374
SITL: catch floating point errors
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if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
245d265c6a
DCM: added a SITL_debug() for DCM normalisation errors
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I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
601a991a46
added SITL_debug() macro
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this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
085cc00c33
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
Michael Oborne
4b9c08d075
APM Planner 1.1.36
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add guided mode wp
fix setup setting save (if closed without switching tabs)
2012-02-14 22:13:11 +08:00
Andrew Tridgell
11835508a7
when setting airspeed and groundspeed in a mission, don't save to EEPROM
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If you include airspeed, throttle or groundspeed changes in a mission
then those should not be saved to EEPROM, as otherwise if you restart
and re-fly the mission you will be starting with different parameters
to the ones you used for the first flight.
This is particularly important for setting the target airspeed when
coming in for a landing. You typically set a low target, but if you
fly again the next day I think it would be a real surprise to find
that your loiter airspeed has then changed to the value from the
landing part of your last mission.
This one can be argued either way, but I think that not saving these
changes is the more conservative choice, and better fits the
'principal of least surprise'
2012-02-14 15:20:44 +11:00
Andrew Tridgell
090068bee4
autotest: use more rudder for steering
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this helps the landing a lot
2012-02-14 15:16:35 +11:00
Andrew Tridgell
1e7d3f5d48
autotest: raise the target airspeed on landing
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we were stalling the plane in the final meters of the approach
2012-02-14 12:30:46 +11:00
Andrew Tridgell
d62cc01b65
autotest: adjusted APM parameters
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enable compass and tweak tuning
2012-02-14 11:26:42 +11:00
Andrew Tridgell
8f18d08eb5
autotest: added a lot more interal checking
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check each of the sub-tests pass for overall pass
2012-02-14 11:26:42 +11:00
Andrew Tridgell
43c56be70c
SITL: add some magnetometer offsets
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this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
Andrew Tridgell
f95d7cadc5
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Jason Short
c9b432955d
removed unused Vars
2012-02-13 15:25:23 -08:00
Jason Short
4faba2048c
Lowered for Jani
2012-02-13 15:25:23 -08:00
Andrew Tridgell
27cd2893af
autotest: fixed the directory that the git hash is fetched in
2012-02-14 09:06:24 +11:00