Andrew Tridgell
7bb129aa3e
AC_AttitudeControl: added set_lean_angle_max_cd()
2022-03-18 13:36:16 +11:00
Andrew Tridgell
7dcdeac7ab
AC_Autorotation: use accel_to_angle()
2022-03-18 13:36:16 +11:00
Andrew Tridgell
f824be726c
AC_WPNav: use angle/accel functions
2022-03-18 13:36:16 +11:00
Andrew Tridgell
ca4151be2c
AP_Math: added angle_to_accel() and accel_to_angle()
2022-03-18 13:36:16 +11:00
Andrew Tridgell
cc6fc2b130
Plane: improvements to POSITION1 controller
...
this improves 4 things in the POSITION1 controller based on logs from
4.2.0beta2. The changes are designed to increase the tolerance to
an incorrect value for Q_TRANS_DECEL, reducing landing overshoot
1) we fix the initialisation of the acceleration. The
init_xy_controller() function assumes zero accel, so we need to
call set_accel_desired_xy_cmss() just after that init to get the
correct accel. Thanks to Leonard for this fix
2) if we decel more than expected due to too low Q_TRANS_DECEL we
need to reduce the target speed, rather than putting the nose down
3) lower the default Q_P_JERK_XY to a value more appropriate for most
quadplanes (Leonard suggested a value of 2)
4) fixed the pitch envelope from Q_BACKTRANS_MS to start after the
airbrake phase is complete
2022-03-18 13:36:16 +11:00
Andrew Tridgell
3772029450
Plane: fixed pitch envelope after AIRBRAKE
...
we need to setup last_fw_mode_ms and last_fw_nav_pitch_cd when we
enter POSITION1 mode so that the expanding envelope pitch limit from
Q_BACKTRANS_MS is applied correctly
2022-03-18 13:36:16 +11:00
Andrew Tridgell
8b16b5ca94
Plane: adjust throttle mix for auto landing
...
use mix-max during landing approach and initial descent, use min in
land final. As discussed with Leonard
2022-03-18 13:35:46 +11:00
Andrew Tridgell
8e64d1cbd7
pymavlink: update submodule
2022-03-18 02:17:15 +00:00
Peter Barker
ebe2205ba7
SITL: add on-hardware example files
2022-03-17 14:39:55 +11:00
Peter Barker
fa2e841387
AP_HAL: honour HAL_SIM_GPS_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
e0561b0ca1
GCS_MAVLink: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
7ad9609fb7
AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
318678ac96
Rover: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
a501a86c8d
Blimp: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
07b299997d
ArduSub: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
d93449ac28
ArduPlane: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
cfd9bfd541
AntennaTracker: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
df6efc37ac
ArduCopter: split AP_HAL_SITL and AP_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
0bcda3c57e
AP_Vehicle: split AP_HAL_SITL and AP_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
57f8b7c2a8
AP_Compass: split AP_HAL_SITL and AP_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
daedebce2e
AP_Baro: create and use HAL_SIM_BARO_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
a53af5277c
AP_InertialSensor: assume accel cals are stored for sitl-on-hw
...
Same as for SITL - they don't need to actually be in storage to be valid
2022-03-17 14:39:55 +11:00
Peter Barker
da21b48f7e
AP_InertialSensor: split AP_HAL_SITL and HAL_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
a402dce95b
AP_HAL: permit double-maths whe simulating
2022-03-17 14:39:55 +11:00
Peter Barker
650ef59be8
AP_HAL: create HAL::SIMState object to hold simulation state
2022-03-17 14:39:55 +11:00
Peter Barker
f7608c22da
AP_HAL_ChibiOS: set pwm output values in simstate object
2022-03-17 14:39:55 +11:00
Peter Barker
8b2f85756a
AP_HAL_ChibiOS: instantiate SIMState object in HAL
2022-03-17 14:39:55 +11:00
Peter Barker
26d6c2413b
AP_Scheduler: update simulation state on embedded
2022-03-17 14:39:55 +11:00
Peter Barker
e07ddf95b4
AP_Math: provide rand_float on embedded hardware
2022-03-17 14:39:55 +11:00
Peter Barker
a9aa5c2d60
AP_GPS: add a new AP_GPS_SITL object
2022-03-17 14:39:55 +11:00
Peter Barker
edef2ceb56
SITL: usleep only on AP_HAL_SITL
2022-03-17 14:39:55 +11:00
Peter Barker
b360521d0b
SITL: permit double-precision maths in SITL even on embedded hardware
2022-03-17 14:39:55 +11:00
Peter Barker
4c8fc3bcaf
waf: split AP_HAL_SITL and AP_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
2e809282e7
SITL: split AP_HAL_SITL and AP_SIM_ENABLED
2022-03-17 14:39:55 +11:00
Peter Barker
0957131543
SITL: use AP_HAL::micros() for get_wall_time_us
2022-03-17 14:39:55 +11:00
Peter Barker
3cf7091525
SITL: make parsing of json files dependent on PICOJSON
...
picojson uses the standard library; this will be a problem on embedded
platforms
2022-03-17 14:39:55 +11:00
Peter Barker
4896f8a6d7
AP_AHRS: rename SITL backend to SIM
2022-03-17 14:39:55 +11:00
Andrew Tridgell
92a8964503
AP_Arming: display a warning if arming checks disabled when arming
2022-03-17 06:52:47 +11:00
Andrew Tridgell
e1424d7c3f
DroneCAN: update pydronecan
...
avoid python2 build error of AP_Periph
2022-03-16 20:37:57 +11:00
Andy Piper
ceef68e07b
AP_HAL_ChibiOS: allow H7 480Mhz clock speed to be configured in hwdef via MCU_CLOCKRATE_MHZ
2022-03-16 20:37:30 +11:00
Joshua Henderson
fcb0538fef
autotest: common check_mission_items_same loosen z to 1E-3
2022-03-16 18:41:52 +11:00
murata
8f1369f065
PID: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
82afaf70f6
AR_Motors: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
bb72f91dda
APM_Control: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
bf738b03a6
AP_WheelEncoder: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
8f91fe9c2e
AP_VisualOdom: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
5d2c49e202
AP_VideoTX: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
cad63eb6b6
AP_Torqeedo: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
a1a46b54e9
AP_Soaring: Change from division to multiplication
2022-03-16 18:41:52 +11:00
murata
af3fbac118
AP_PiccoloCAN: Change from division to multiplication
2022-03-16 18:41:52 +11:00
