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5456 Commits

Author SHA1 Message Date
lthall 0d87298221 AC_PosControl: freeze feed forward and vector fixes 2014-06-10 20:02:33 +09:00
Randy Mackay 5209598459 AC_AttControl: rename init_targets to relax_bf_rate_controller 2014-06-10 20:02:27 +09:00
lthall 1bdde31f6b Copter: Fix zero throttle flip issue Stabilize 
The problem is that the init_targets is intended to ensure the
controller doesn't build up the I term when the throttle is low. Because
it is poorly named (or used) it have been written to do something else.
Here I change it to do what the code is trying to use it to do.
 2014-06-10 20:02:01 +09:00
Randy Mackay 915dad2da4 AC_Circle: use fast_atan2 to calc bearing from center 
This does not save much time because it's only called at initialisation
 2014-06-06 18:51:09 +09:00
Randy Mackay f23e94707c AC_WPNav: use fast_atan2 for bearing calcs 2014-06-06 18:51:08 +09:00
David Dewey 17374ff5e8 AP_Math: fast_atan2 
This is 126us per call vs 199us on the AVR.  it is accurate to about
0.28 degrees

Committed by rmackay9 but contribution is from David Dewey
 2014-06-06 18:50:41 +09:00
Ju1ien 28ce66f314 INav: clear historic z-axis position estimate when set_altitude called 2014-06-06 18:42:42 +09:00
Randy Mackay efd6d6dc70 AC_WPNav: spline div by zero fix 
Also add check for straight line navigation to ensure speed is not
reduced below zero when it hits the leash limit
Also minor formatting changes
 2014-06-05 22:23:38 +09:00
lthall 0912bec8f5 Spline div zero and leash limit fix 2014-06-05 22:23:35 +09:00
Andrew Tridgell f0df912a11 AP_Mission: added support for MAV_CMD_DO_INVERTED_FLIGHT 2014-06-05 15:44:18 +10:00
Andrew Tridgell ef4a79cc9a GCS_MAVLink: rebuild MAVLink headers 2014-06-05 15:44:03 +10:00
Andrew Tridgell 67937b5b79 GCS_MAVLink: added MAV_CMD_DO_INVERTED_FLIGHT 
used to invert from a mission
 2014-06-05 15:43:46 +10:00
Andrew Tridgell 5a1aa8dfe7 AP_L1_Control: implement turn_distance() with turn angle 
uses a linear approximation for now.
 2014-06-05 09:34:23 +10:00
Andrew Tridgell 7a6186f7e6 AP_Navigation: added a turn_distance() method with turn_angle 2014-06-05 09:33:42 +10:00
Andrew Tridgell 49f93b91b2 APM_OBC: fixed formatting to match APM coding standard 2014-06-02 10:47:02 +10:00
Andrew Tridgell e9e1799700 AP_Compass: fixed VRBrain build 2014-06-02 10:42:37 +10:00
Andrew Tridgell d554616e86 AP_EPM: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 3705c90b8e AP_Baro: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell d70bee9249 AP_AHRS: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 0d83d4f4f5 APM_OBC: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 1e2214f8d1 DataFlash: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 732cd0e130 AP_Relay: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell 50c08ced4c AP_Notify: fixes for HAL_GPIO_* 2014-06-02 10:42:35 +10:00
Andrew Tridgell 4c43cd9775 AP_InertialSensor: fixes for HAL_GPIO_* 2014-06-02 10:42:35 +10:00
Andrew Tridgell 805d79debe HAL_FLYMAPLE: fix for HAL_GPIO_* 2014-06-02 10:42:35 +10:00
Andrew Tridgell 3015356671 HAL_AVR: fixes for HAL_GPIO_ define change 2014-06-02 10:42:35 +10:00
Andrew Tridgell 18a64d17d3 AP_HAL: added HAL_ prefix to GPIO_ defines 
this fixes a bug caused by GPIO_INPUT and GPIO_OUTPUT already being
defined in NuttX, which caused pinMode() not to setup pins for output
when requested
 2014-06-02 09:24:52 +10:00
Andrew Tridgell fa4eb5475a HAL_PX4: implement analog input stop pins 
this allows multiple sonars to cooperate without interference
 2014-06-02 08:35:41 +10:00
Randy Mackay 2b0f142a17 AC_PosControl: fix typo in D-filter definition 2014-05-29 17:50:48 +09:00
Randy Mackay 7e3213edbf AC_AttControl: increase default accel max 2014-05-29 17:40:26 +09:00
Randy Mackay 29ca7a10df AC_PosControl: set alt hold accel control D term filter 2014-05-29 17:40:23 +09:00
Randy Mackay 0969e464fb AC_AttControl: set roll, pitch, yaw rate control D term filters 2014-05-29 17:40:17 +09:00
Randy Mackay faf3415e5e AC_PID: example sketch prints individual P, I and D values 2014-05-29 17:39:19 +09:00
Robert Lefebvre b35ec4339e AC_PID: Add method to set the D-term Filter Rate from main code. 2014-05-29 17:39:10 +09:00
Robert Lefebvre f1c3f2a3d1 AC_PID: Remove get_leaky_i function which is now found in AC_HELI_PID. 2014-05-29 17:39:08 +09:00
Robert Lefebvre 7c9249de93 AC_AttitudeControl_Heli: Change to use AC_HELI_PID class instead of AC_PID. Remove FF parameters from class. 2014-05-29 17:39:06 +09:00
Robert Lefebvre 6333b4bba6 AC_PID: update example sketch to test AC_HELI_PID 2014-05-29 17:39:01 +09:00
Robert Lefebvre ef7dc815cd AC_PID: Change Private members to Protected so that AC_HELI_PID can access them. 2014-05-29 17:38:59 +09:00
Robert Lefebvre 94e9bed9cf AC_PID: Add new AC_HELI_PID as a child of AC_PID 2014-05-29 17:38:57 +09:00
Andrew Tridgell 0b6407256c GCS_MAVLink: moved 3 more send_*() functions to GCS_Common.cpp 2014-05-28 09:35:30 +10:00
Andrew Tridgell 37c50d9587 HAL_PX4: fixed use of FMU servo pins as digital inputs 
these pins can be PWM output or digital input or digital output
 2014-05-25 22:03:44 +10:00
Andrew Tridgell 2d9e9d9bc3 AP_Compass: added COMPASS_PRIMARY parameter 
this allows selection of which compass is the primary. Useful if the
first compass starts giving spurious data (as happened in our plane)
 2014-05-25 22:03:44 +10:00
priseborough edc79ca2a4 AP_NavEKF: Increase divergence test margin based on analysis of more user flight logs 
Analysis of copter logs has shown cases with a healthy EKF where spikes in EKF4.DS of up to 25% of the threshold have occurred.
A value of closer to 10% for normal operation is preferred.
 2014-05-24 22:20:24 +10:00
Andrew Tridgell aba11a0634 AP_L1_Control: wrap the target_bearing 2014-05-23 07:30:58 +10:00
Randy Mackay cde7d31dad AC_WPNav: fix divide by zero when origin and dest are same location 2014-05-22 21:18:24 +09:00
Andrew Tridgell 63da53c842 GCS_MAVLink: moved main update() routine into GCS_Common.cpp 
this fixes a common timeout error with loading large missions, and
means less per-vehicle code
 2014-05-21 12:45:25 +10:00
Andrew Tridgell 42c1501563 AP_Common: moved map_baudrate() into AP_Common 
this version supports a much wider range of baudrates
 2014-05-21 12:45:25 +10:00
Andrew Tridgell 7d712f90bf APM_OBC: adjusted docs for FS_HB_PIN 
thanks to Warren for the question
 2014-05-21 12:45:25 +10:00
Randy Mackay 69ad632e2a GPS: correct NAVFILTER parameter description 
These corrected values match the GPS_Engine_Setting enum in GPS.h
Thanks to Adolfo R for noticing the issue and providing the fix
 2014-05-20 22:08:40 +09:00
Andrew Tridgell a7d6a26bec HAL_PX4: fixed auto-flow control 
the 6 bytes written to break the radio out of bootloader broke
auto flowcontrol detection
 2014-05-19 22:02:39 +10:00
Randy Mackay 597d5227f5 AC_WPNav: rename set_loiter_target to init_loiter_target 2014-05-19 12:27:25 +09:00
Randy Mackay e7b3c00767 AC_WPNav: set_loiter_target uses set_xy_target 
Loiter is only a horizontal position controller so it should not set the
z-axis position.
Moved pos_control.set_speed and accel functions so order matches
init_loiter_targets function order
 2014-05-19 12:27:20 +09:00
Ju1ien aed5787c1b AC_WPNav: bug fix for loiter init in Hybrid 
AC_PosControl::init_xy_controller() has been added to PosControl and is
called by init_loiter_target.
Hybrid is currently using set_loiter_target function to init the loiter
controller. So we have to call init_xy_controller() by set_loiter_target
function.
What happens otherwise?
In AC_PosControl::update_xy_controller, we update "now" with
now = hal.scheduler->millis();
and, as _last_update_xy_ms has not been updated previously by
init_xy_controller(), we just call init_xy_controller().
So, _dt_xy  will be negative and used anyways in all the functions and
PID called by update_xy_controller.
That will avoid at least _accel_target.x/y to be set to 0 but I'm not
sure for the high values, probably an I_term that is not reset and
reached very high value.
Or maybe a cast error somewhere... no clue at all
 2014-05-19 12:27:16 +09:00
priseborough 5fe0d2c1b2 AP_NavEKF: Add protection for accel bias estimation errors 
Don't do bias estimation if tilted by more than 60 degrees to prevent scale
factor errors affecting result unnecessarily.
Prevent Kalman gain from having the wrong sign due to numerical errors
associated with small process noise values.
Allow smaller Z accel bias process noise values to be set
 2014-05-18 08:09:00 +10:00
priseborough 3222e8f7cb AP_NavEKF: Default parameter adjustments 
Bring Plane glitch protection thresholds into alignment with copter and
rover
Slight increase in accelerometer bias process noise to prevent bias
estimate divergence into limits (Rover and Plane only as Copter does not
seem respond as well to this change)
effective increase in threshold on divergence test to allow increased
margin for bad GPS velocities
 2014-05-18 08:08:49 +10:00
Andrew Tridgell 65fd25fb5a AP_InertialSensor: fixed example build 2014-05-18 08:08:19 +10:00
Andrew Tridgell b99ae63cbb HAL_Linux: more generic fix for scheduler issues in example sketches 
this ensures drivers can run
 2014-05-16 22:40:38 +10:00
Andrew Tridgell 30f5e2c37f AP_GPS: work around scheduling issue in example code 2014-05-16 22:35:32 +10:00
priseborough e40e50e2e1 AP_NavEKF: Prevent start-up transients re-tripping divergence test 2014-05-16 22:05:22 +10:00
Andrew Tridgell 73976e2ca4 AP_GPS: fixed example build 2014-05-16 22:05:04 +10:00
Andrew Tridgell 8533aecf18 AP_InertialSensor: fixed example build 2014-05-16 21:24:25 +10:00
priseborough a19015ed61 AP_NavEKF: Scale divergence check with covariance 
This provides consistent behaviour for a range of gyro bias process
noise settings and automatically adjusts sensitivity as filter learns bias
 2014-05-16 21:24:25 +10:00
priseborough 0337d44b2e AP_NavEKF: Fix bug causing immediate clearing of diverged status on reset 2014-05-16 21:24:04 +10:00
priseborough d150904dc6 AP_NavEKF: Increase gyro bias process noise 
This is required to stop the bias estimate from becoming too static
towards the end of longer flights.
 2014-05-16 21:24:04 +10:00
Andrew Tridgell 49e7ee9ba7 GCS_MAVLink: added setup_uart() method 
this provides a common way of dealing with UART setup for a GCS
instance. It includes code to cope with SiK radios stuck in bootloader
mode.
 2014-05-16 11:44:33 +10:00
Andrew Tridgell b3c1e515dc AP_AHRS: when no accel info available in buffer use current value 
this prevents an initialisation error, and is reasonable in flight too

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 22:19:54 +10:00
Andrew Tridgell 315290029a AP_AHRS: fixed check of accel sensor health 
we need to check health of each accelerometer separately
 2014-05-15 22:18:56 +10:00
Andrew Tridgell 5edf4ba596 AP_NavEKF: fixed up handling of bitfields in faultStatus 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 21:42:39 +10:00
Andrew Tridgell 79edc4b467 GCS_MAVLink: re-generate with addition of MAV_SYS_STATUS_AHRS 2014-05-15 21:14:21 +10:00
Andrew Tridgell ccebeba5a5 GCS_MAVLink: added MAV_SYS_STATUS_AHRS 
will be used to indicate AHRS health
 2014-05-15 21:14:21 +10:00
priseborough f01cc78d37 DataFlash: Add EKF fault status logging 2014-05-15 21:14:21 +10:00
priseborough ce8e1daa16 AP_NavEKF: Improved divergence detection and reset 
Divergence is now detected by looking for very large changes in the gyro
bias. This will cause the filter to be reset and declared unhealthy for
10 seconds.

Don't reset filterDiverged status immediately during reset

Set filterDiverged true if covariance blows up

Add fault status reporting
 2014-05-15 21:14:21 +10:00
Andrew Tridgell 5d2d6e0063 GCS_MAVLink: regenerated MAVLink headers 2014-05-15 21:14:21 +10:00
Andrew Tridgell 983ac9cbf4 GCS_MAVLink: merge in latest upstream XML changes 2014-05-15 21:14:21 +10:00
Andrew Tridgell 1a05c27bbb AP_AHRS: added healthy() function 
this will be used to report when the AHRS subsystem becomes unhealthy
 2014-05-15 21:14:21 +10:00
Andrew Tridgell 086142580a AP_InertialSensor: added VibTest sketch 
logs all accel data at high rate to SD card
 2014-05-15 21:14:21 +10:00
Jonathan Challinger e883b889b6 SITL: Add compassmot interference 2014-05-15 21:14:20 +10:00
Randy Mackay 4ebde25a26 AP_Relay: add -1:Disabled to list of param values 2014-05-15 17:13:37 +09:00
Randy Mackay 5d20594fa4 AC_WPNav: bug fix for loiter and waypoint update rate 
Thanks to EmileC for spotting this
 2014-05-12 20:13:46 +09:00
Andrew Tridgell 85ebe81ed3 AP_NavEKF: fixed logic for divergence test 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-11 18:00:38 +10:00
priseborough 40dc0e56fe AP_NavEKF: Add protection for badly conditioned innovation variances 2014-05-11 18:00:38 +10:00
priseborough 925c5751bd AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding 
This will enable in-flight magnetometer calibration to be inhibited unconditionally,
This is required for long balloon carriage flights where ground speed can be high
enough to put it into in-air state, but with very poor observability of magnetic field
states causing bad state estimates and heading offsets to develop over time.

The covariance matrix no longer has rows and columns artificially zeroed when in static
mode. Instead booleans indicating whether wind or magentic field state estimation is
active are used to:

a) Set the process noise on these states to zero to stop their variances from increasing
unchecked when not being updated, and
b) Turn off updates for these states when measurement fusion is being performed.

This reduces the likelihood of a badly conditioned covariance matrix forming
during static mode operation.

A filter divergence check has also been added that will declare the filter unhealthy if
position, velocity and magnetic field observations are all failing their innovation
consistency checks. This unhealthy status will persist for 10 seconds after the
condition clears.

AP_NavEKF: Remove unnecessary zeroing of wind covariances
 2014-05-11 18:00:38 +10:00
priseborough 3026ccee13 AP_NavEKF: Use baro data during launch transients whilst in static mode 
Baro data can be used as it will still be valid during the launch and
is not a synthesised measurement.
 2014-05-11 18:00:38 +10:00
Randy Mackay 05f5164dfa Mission: rename AUTORESET to RESTART 2014-05-09 11:31:37 +09:00
Hug0 6b0d5f9770 AP_InertialNav: fix pos error degradation rate 
degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
 2014-05-08 23:09:39 +09:00
Randy Mackay badc127c34 AC_WPNav: fix example sketch 2014-05-08 16:25:13 +09:00
Randy Mackay 9b6a4e0fc7 AC_Sprayer: fix example sketch 2014-05-08 16:25:11 +09:00
lthall 9ab9eaec25 AC_WPNav: Loiter jerk default to 10m/s/s/s 
Pair programmed with Randy
 2014-05-08 16:16:05 +09:00
Randy Mackay 1cb297580f Copter: reduce Circle init twitch by using stopping point 2014-05-08 16:15:57 +09:00
Randy Mackay 091ff91a70 WPNav: add wp_and_spline_init to set speeds an init pos controller 2014-05-08 16:15:50 +09:00
Randy Mackay c13db680b7 AC_PosControl: remove reset_I_xy 
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
 2014-05-08 16:15:48 +09:00
Randy Mackay cd8b1f278c AC_PosControl: remove unused _cos_yaw variable 
Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
 2014-05-08 16:15:46 +09:00
Randy Mackay 48ec0caf75 AC_WPNav: run navigation at 10hz in SITL 2014-05-08 16:15:44 +09:00
Randy Mackay 0819e05896 AC_PosControl: lean_angles_to_accel added for smooth initialisation 
init_xy_controller also added to capture initialisation all in one place
 2014-05-08 16:15:41 +09:00
lthall b38c484874 AC_WPNav: add LOIT_JERK parameter 
Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero

Pair programmed with Randy
 2014-05-08 16:15:38 +09:00
Randy Mackay 71fae1e6f2 AC_AttControl: lean_angle_max accessor fn const 2014-05-08 16:15:36 +09:00
Randy Mackay fd9f8f571f AC_WPNav: replace inav, ahrs pointers with references 2014-05-08 16:15:26 +09:00
lthall 21c93e48ab AC_PosControl: include vel error when get_stopping_point_z 
Pair programmed with Randy
 2014-05-08 16:15:24 +09:00
Randy Mackay a1f1dd8059 AC_PosControl: add is_active_z method 
Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
 2014-05-08 16:15:22 +09:00
Andrew Tridgell 74227cd7f0 AP_HAL: prevent some FastDelegate warnings 2014-05-08 11:11:03 +10:00
Andrew Tridgell a295760e56 AP_Rally: fixed indentation 
previous indentation confused emacs24
 2014-05-08 11:01:52 +10:00
Andrew Tridgell 4efcae46ab SITL: cope with more rubbish startup values from JSBSim 2014-05-04 17:30:10 +10:00
Andrew Tridgell 320834a5e7 HAL_PX4: read from FRAM in 128 byte chunks (2nd try) 
this time without the amazingly silly bug
 2014-05-02 22:12:45 +10:00
Andrew Tridgell db6b96caa0 Revert "HAL_PX4: read from FRAM in 128 byte chunks" 
This reverts commit a92366c455.

This commit may be associated with FRAM corruption on Pixhawk. Revert
until we understand why
 2014-05-02 21:52:26 +10:00
Andrew Tridgell a92366c455 HAL_PX4: read from FRAM in 128 byte chunks 
this fixes FRAM read on Roberts Pixhawk. We don't know why yet.
 2014-05-02 12:24:54 +10:00
Randy Mackay 937e9ea687 AC_PosControl: add set_target_to_stopping_point_xy method 
Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
 2014-04-30 21:46:20 +09:00
Randy Mackay 7dd366d84e AC_WPNav: init_loiter sets speed, accel before calcing stopping distance 
The stopping distance depends upon the speed and acceleration so these
must be updated first
 2014-04-30 21:46:18 +09:00
Randy Mackay 0103ae2eb0 AC_WPNav: add WPNAV_ACCEL_Z 
Allows configurable z-axis acceleration during missions
 2014-04-30 21:46:12 +09:00
Randy Mackay 9f63de9b59 AC_PosControl: set_speed_z accepts positive descent speeds 2014-04-30 21:46:09 +09:00
Randy Mackay 510c9920a6 AC_WPNav: rename get_horizontal_velocity to get_speed_xy 
This new method name is consistent with the equivalent in the
AC_PosControl class
 2014-04-30 21:46:06 +09:00
Andrew Tridgell eb1fb63e57 APM_Control: added logging of parameter changes in AUTOTUNE 
this will make it easier to analyse logs
 2014-04-30 22:22:13 +10:00
Andrew Tridgell 871d0c0e44 APM_Control: moved the log structure to ArduPlane core 
this allows it to work with old style .log files
 2014-04-30 21:22:28 +10:00
Andrew Tridgell 4f250579db DataFlash: added LOG_ATRP_MSG define 2014-04-30 21:22:28 +10:00
priseborough 114bd56e2a AP_NavEKF: Fix display names in parameter list 2014-04-30 06:35:41 +10:00
Randy Mackay 5cc26569fc AP_Motors: fix example sketch 2014-04-29 20:46:34 +09:00
priseborough 5fefce5899 AP_NavEKF: Synthetic sideslip fusion numerical error protections 2014-04-29 17:26:45 +10:00
Jonathan Challinger 0bb7b8e938 AP_GPS: Fix bug that causes permanent lag if we miss a message 2014-04-29 15:35:46 +10:00
Randy Mackay 2be99d7a92 TriCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:16 +09:00
Randy Mackay 07766e55f9 SingleCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:14 +09:00
Randy Mackay 3610cfe24c TradHeli: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:13 +09:00
Randy Mackay 8f74f5b3b0 CoaxCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:12 +09:00
Randy Mackay d63d82ec17 MotorMatrix: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:10 +09:00
Vizual54 11d02ea5d2 AP_Motors: output_test for individual motors 
Modified and integrated by Randy Mackay
 2014-04-29 11:36:58 +09:00
Randy Mackay 6517638670 GCS_MAVLink: generate after adding DO_MOTOR_TEST 2014-04-29 11:23:07 +09:00
Randy Mackay 28846c6c99 GCS_MAVLink: add DO_MOTOR_TEST message 2014-04-29 11:23:04 +09:00
Andrew Tridgell 818e500509 AP_Mission: improve the AP_Mission docs 
DisplayName isn't a description
 2014-04-29 11:46:06 +10:00
Andrew Chapman 782fbe1ec5 AP_Mission: added reset() function 2014-04-29 11:46:06 +10:00
Andrew Chapman a80e72ff82 AP_Mission: added MIS_AUTORESTART parameter 
- added MIS_AUTORESTART parameter, defaults to 0
- added start_or_resume() function to either start or resume a mission
based on that parameter value
 2014-04-29 11:46:06 +10:00
Andrew Tridgell cf9b67d8fc GCS_MAVLink: prevent uninitialised bytes being written to a serial port 2014-04-27 15:34:30 +10:00
Randy Mackay e855cfec02 AC_Fence: add 10sec manual recovery 
This resolves issue #461 by giving the pilot a minimum of 10 seconds to
attempt to manually recover before the autopilot will attempt to retake
control to bring the copter home or land.
 2014-04-27 11:11:07 +09:00
Randy Mackay db51d37071 AC_WPNav: add clear_pilot_desired_acceleration 
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
 2014-04-25 14:45:14 +09:00
Randy Mackay 06bef6e3b8 Parachute: clear release time when enabled 
This resolves an issue in which the parachute could be suddenly released
when the user enabled the parachute.  The sequence that could have
caused this bad behaviour were (1) the parachute is triggered (2) the
user disables the parachute in the 0.5sec between the trigger and the
actual release, (3) the user re-enables the parachute and the old
release time from (1) is used.
 2014-04-24 19:22:11 +09:00
Randy Mackay ad99918fee AC_WPNav: recalc leash lengths if set_horizontal_velocity is called 
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
 2014-04-24 13:16:08 +09:00
Randy Mackay 46fba47c8e AC_WPNav: slow target point's speed near destination 2014-04-24 13:16:00 +09:00
priseborough ecc8e45eda AP_NavEKF: Fix bug in position reset logic 2014-04-23 18:16:02 +10:00
Andrew Tridgell b0fd94f18e AP_GPS: initialise a variable in uBlox driver 2014-04-23 18:15:53 +10:00
Randy Mackay 7c02a02bd8 AC_WPNav: reset_I flag moved to position controller 2014-04-23 15:00:14 +09:00
Randy Mackay 098f8169b0 AC_PosControl: add keep_xy_I_terms method 
Stops horizontal PID's I terms from being reset when the controller is
next updated
 2014-04-23 15:00:12 +09:00
Randy Mackay 4d5b73b968 AC_WPNav: add reset_I to set_loiter_target 2014-04-23 15:00:07 +09:00
Ju1ien 6c71569775 AC_PosControl: update_xy_controller allows not resetting I term 2014-04-23 14:59:49 +09:00
Ju1ien 5d0476e522 AC_WPNav: add reset_I to init_loiter_target 2014-04-23 14:59:47 +09:00
Randy Mackay 09a35cf90f AC_PosControl: bugfix for freezing I-term build-up 2014-04-23 11:33:53 +09:00
Randy Mackay 559a258ede AC_WPNav: bug fix to limit target point from moving beyond leash 
Also pull Z-axis acceleration from position controller instead of using
#define
 2014-04-22 23:05:11 +09:00
Randy Mackay 9c6995d8bb AC_PosControl: add get_accel_z method 2014-04-22 23:05:08 +09:00
Randy Mackay e565ee6d33 AC_PosControl: stop I term build-up when motors at max 2014-04-22 23:05:06 +09:00
Andrew Tridgell e10542dcae AP_Mission: added get_current_nav_index() function 
this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission

(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
 2014-04-22 11:40:18 +10:00
Michael Day 96173bfb8a AP_Rally: Added one getter method and made a utility method public. 2014-04-22 11:40:18 +10:00
Randy Mackay 0e065e4894 AP_InertialNav: get_velocity_xy const 2014-04-21 21:59:38 +09:00
Randy Mackay 6f6c9e2585 AC_PosControl: bug fix to vertical speed limit 
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
 2014-04-21 21:36:02 +09:00
Andrew Tridgell 25667a11a0 AP_NavEKF: use AHRS vehicle class for sideslip calculation 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-21 18:13:12 +10:00
Andrew Tridgell 5acd17b843 AP_NavEKF: cleanup some build warnings 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-21 18:13:12 +10:00
Andrew Tridgell c8c6e05a4a AP_AHRS: added vehicle class to AHRS 
used by EKF to control use of get_fly_forward()
 2014-04-21 18:13:12 +10:00
priseborough bd28cdbdcf AP_NavEKF: Improved magnetometer consistency checks 
A magnetometer axis that fails the innovation consistency check will cause
all axes not to be used. If this condition continues for 10 seconds, a
magnetometer timeout condition will be declared. When the timeout has
occurred, if it is not a fly forward vehicle, then individual channels
will be used again, but with a reduced weighting.
 2014-04-21 16:31:31 +10:00
Randy Mackay 648787a6c8 AC_WPNav: rename some definitions 2014-04-21 15:06:29 +09:00
Randy Mackay 2167dd7d3e AC_WPNav: update target speed immediately 2014-04-21 14:51:26 +09:00
Andrew Tridgell 05bffb5915 HAL_SITL: enable use of SIM_FLOAT_EXCEPT parameter 2014-04-21 15:37:08 +10:00
Andrew Tridgell e0db7b117f SITL: added SIM_FLOAT_EXCEPT parameter 
this enables checking for floating point exceptions
 2014-04-21 15:37:08 +10:00
Andrew Tridgell 610a930612 AP_NavEKF: catch covarience errors and reset filter 
this catches covariance values beyond a reasonable limit and resets
the filter is they happen
 2014-04-21 15:37:08 +10:00
Andrew Tridgell 7e5a491f14 AP_Math: prevent a floating point exception 2014-04-21 15:37:08 +10:00
Andrew Tridgell 4d24a86088 AP_AHRS: prevent a infinity value 2014-04-21 15:37:07 +10:00
Randy Mackay d382fa51ee AC_WPNav: run loiter and wp nav at 50hz on Pixhawk 2014-04-21 13:32:02 +09:00
Randy Mackay 72d2712c4e AC_WPNav: integrate update_xy_controller name change 2014-04-21 13:31:58 +09:00
Randy Mackay 966340a02a Circle: integrate update_xy_controller name change 2014-04-21 13:31:57 +09:00
Randy Mackay 7e376bc517 PosControl: update_pos_controller renamed to update_xy_controller 2014-04-21 13:31:55 +09:00
Andrew Tridgell 4756dbee84 AP_NavEKF: fixed millisecond subtraction for rollover 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-21 13:16:20 +10:00
Andrew Tridgell be9d0c1c4d APM_OBC: setup termination values in PX4IO 
this sets up the PX4IO board with failsafe values in case the FMU is
not running
 2014-04-21 11:52:53 +10:00
Andrew Tridgell 0d4985079e RC_Channel: added support for LimitValue settings 
this allows you to set a channel failsafe or radio_out to a limit
value
 2014-04-21 11:52:41 +10:00
Andrew Tridgell 7f4178d967 RC_Channel: added setup_failsafe_trim_all() function 
sets all channels to output trim values on FMU failure
 2014-04-21 08:37:24 +10:00
Andrew Tridgell 5cd145a307 AP_HAL: added set_failsafe_pwm() API 
this allows the PWM values for FMU firmware failure to be setup
 2014-04-21 08:36:52 +10:00
Andrew Tridgell 7f9a9107c7 APM_Control: logging_started needs to be static 
prevents writing log headers twice
 2014-04-21 07:13:06 +10:00
Andrew Tridgell 68f1ae3036 AP_NavEKF: fixed some matlab ! -> ~ typos 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-20 21:44:37 +10:00
Andrew Tridgell 5a7afbf2cd AP_GPS: prevent writing GPS log headings multiple times 2014-04-20 21:44:14 +10:00
Randy Mackay e3ffd5c0dd Common: remove RallyLocation defintion 2014-04-19 15:00:28 +09:00
Randy Mackay 7011ab40c2 Rally: define RALLY_WP_SIZE and RallyLocation 2014-04-19 15:00:25 +09:00
Michael Day a2aab2ab5e AP_Rally: Minor fixes to AP_Rally after initial testing 
- If a Rally point is being used, always respect the altitude set by the
user (don't take the max of that and the home point altitude).

- No need for constructor to pass in size of RallyLocation struct
 2014-04-19 09:16:02 +10:00
Andrew Chapman 5825bac410 AP_Rally library 2014-04-19 09:15:59 +10:00
Randy Mackay 5322093475 Mission: fix example sketch after GPS lib changes 2014-04-17 16:41:38 +09:00
Andrew Tridgell b4c5f31b17 APM_Control: reduce the number of parameter saves in autotune 
don't save a parameter unless it has changed by 0.1%
 2014-04-17 17:20:40 +10:00
Paul Riseborough ccc7d36493 APM_Control: Modify D and I gain scaling 2014-04-17 17:11:48 +10:00
Randy Mackay 94d38ee294 AC_Circle: add get_closest_point_on_circle 
init_start_angle method added to use current heading or position to
decide on initial start angle
 2014-04-16 16:28:04 +09:00
Kevin Hester c2184cb8e4 PID: fixup line endings 2014-04-15 15:57:56 +09:00
Kevin Hester 72e97cbf5c AP_Param: fixup line endings 2014-04-15 15:57:47 +09:00
Kevin Hester a7820e6c71 OptFlow: fixup line endings 2014-04-15 15:57:33 +09:00
Kevin Hester fce1277b0e Notify: fixup line endings 2014-04-15 15:57:11 +09:00
Kevin Hester b7bed437c2 Compass: fixup line endings 2014-04-15 15:56:57 +09:00
Kevin Hester 80cb13e222 BattMon: fixup line endings 2014-04-15 15:56:43 +09:00
Kevin Hester d09e871319 AP_Airspeed: fixup line endings 2014-04-15 15:56:26 +09:00
Kevin Hester c34c4d79f6 AP_ADC: fixup line endings 2014-04-15 15:56:13 +09:00
Kevin Hester b7410494e3 AC_PID: fixup line endings 2014-04-15 15:55:59 +09:00
L. Preston Sego III 3ecdc4b741 Copter: Add support for V-Tail Quads 2014-04-14 14:54:02 +09:00
Randy Mackay 02775e8dc5 AC_PosControl: get_accel_target returns const ref 2014-04-14 11:34:14 +09:00
Randy Mackay 60f522a094 AC_WPNav: set_wp_destination to use current target 
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
 2014-04-13 22:42:50 +09:00
Andrew Tridgell ae7293ef68 APM_Control: added support for AUTOTUNE_LEVEL 
10 levels of tune, for what type of tune the user wants
 2014-04-13 22:11:57 +10:00
Andrew Tridgell 86f167fc7f AP_Vehicle: added autotune_level to fixed wing parms 2014-04-13 22:11:28 +10:00
Andrew Tridgell b7350118a6 AP_AHRS: enable EKF wind estimate with no airspeed sensor 
EKF can now estimate with IMU and GPS only

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-13 19:42:49 +10:00
Andrew Tridgell 4abc2999a6 AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement 
this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-13 19:42:23 +10:00
priseborough d745dc2b6f AP_NavEKF : Increased position gate default to reduce impact of accel errors 
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
 2014-04-13 19:37:22 +10:00
priseborough 188bea6bab AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing 
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type

This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:

a) launch will be into wind
b) wind speed is equal to global average

It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
 2014-04-13 19:37:19 +10:00
Andrew Tridgell df192a9efd AP_AutoTune: lower min tau to 0.2 2014-04-13 19:25:54 +10:00
Andrew Tridgell 3343af602e APM_Control: fixed saving of new rate gains 2014-04-13 15:35:52 +10:00