Andrew Tridgell
c82caeeba1
HAL_AVR: configure analog inputs as INPUT without pullup
...
not all pins were defaulting to this, which led to some strange
readings on some devices. First noticed by Andi on a LM335 temperature
sensor
2013-06-01 12:19:02 +10:00
Randy Mackay
89bbf5844f
Copter WPNav: remove unused variable
2013-05-31 21:41:32 +09:00
Randy Mackay
8c4a7ec094
Copter WPNav: Leonard's improved speed fix
...
Also pass in althold gain from main code
2013-05-31 21:03:27 +09:00
Andrew Tridgell
14c8c1bdfc
APM_Control: tweak code layout and param descriptions
2013-05-31 17:24:55 +10:00
Randy Mackay
76028fc9d3
Copter Motors: use _min_throttle in output_test
2013-05-31 15:16:04 +09:00
Randy Mackay
28f2f87b26
Copter Motors: minor formatting change
2013-05-31 15:16:04 +09:00
Andrew Tridgell
f4efa92d3b
APM_Control: fixed parameter names
2013-05-31 15:31:25 +10:00
Andrew Tridgell
3e8af05d15
APM_Control: match parameter names with old PID controllers
...
this will make upgrading easier
2013-05-31 14:06:56 +10:00
Andrew Tridgell
53d3ce7d2c
APM_Control: fixed some documentation (old parameter names)
2013-05-31 07:58:29 +10:00
Andrew Tridgell
38e414db33
AP_Progmem: fixed type of strncmp_P()
2013-05-31 07:58:29 +10:00
Andrew Tridgell
ad2f6e1217
AP_Param: add support for converting between old and new parameters
...
this allows for a conversion table between old parameters and new
parameters, making firmware upgrades with moved parameters much easier
for users
2013-05-31 07:58:29 +10:00
Paul Riseborough
716c124f73
APM_control: Modified gain definitions for roll and pitch controllers so PID gains behave like previous servo PIDS
...
Gain definitions in roll and pitch controllers were updated previously
so that the old PID tuning values could be transferred across.
Updated tuning guide for revised gain definition.
2013-05-31 07:58:20 +10:00
Randy Mackay
a1926441da
Copter: use fast tan for accel to lean angle calcs
...
Committed on behalf of Leonard
2013-05-30 18:25:04 +09:00
Randy Mackay
d81b7b507d
Math: add Leonard's fast tan function
2013-05-30 18:24:32 +09:00
Randy Mackay
d203f0295b
Copter: bug fix for vertical speed during missions
2013-05-30 11:52:04 +09:00
Andrew Tridgell
3dcdc15201
AP_Navigation: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
ac2db516b4
APM_PI: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
941a2c483a
AP_LeadFilter: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
86db955ac9
AP_L1_Control: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
9da13f3775
AP_InertialNav: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
e391c34d1e
AP_HAL_PX4: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
e2eca3e273
AP_HAL_AVR_SITL: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
82aec0ef6c
AP_Declination: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
8f4d4465af
AP_Curve: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
fb7ae8c764
AP_Camera: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
e75253d019
AP_AHRS: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
8c25a504c3
AC_PID: fixed indent-tabs-mode
2013-05-30 09:54:53 +10:00
Andrew Tridgell
918a3d46f5
AP_Buffer: fixed indent-tabs-mode
2013-05-30 09:53:15 +10:00
Andrew Tridgell
6c5718a63b
APM_Control: fixed indent-tabs-mode
2013-05-30 09:53:02 +10:00
Andrew Tridgell
933088b95a
AP_Common: fixed indent-tabs-mode
2013-05-30 09:52:38 +10:00
Andrew Tridgell
4007b7b1e9
AP_Compass: fixed indent-tabs-mode
2013-05-30 09:52:30 +10:00
Andrew Tridgell
edfebc1f29
AP_GPS: fixed indent-tabs-mode
2013-05-30 09:52:21 +10:00
Andrew Tridgell
c92069644d
AP_InertialSensor: fixed indent-tabs-mode
2013-05-30 09:52:12 +10:00
Andrew Tridgell
c28ef033a2
AP_Limits: fixed indent-tabs-mode
2013-05-30 09:52:00 +10:00
Andrew Tridgell
5024da2695
AP_Math: fixed indent-tabs-mode
2013-05-30 09:51:51 +10:00
Andrew Tridgell
5fdf6ff4f7
AP_Menu: fixed indent-tabs-mode
2013-05-30 09:51:43 +10:00
Andrew Tridgell
81f7ae9108
AP_Motors: fixed indent-tabs-mode
2013-05-30 09:51:34 +10:00
Andrew Tridgell
1cc02836a0
AP_Mount: fixed indent-tabs-mode
2013-05-30 09:51:24 +10:00
Andrew Tridgell
e69e4a5695
AP_RangeFinder: fixed indent-tabs-mode
2013-05-30 09:51:11 +10:00
Andrew Tridgell
91a60be758
GCS_MAVLink: fixed indent-tabs-mode
2013-05-30 09:50:57 +10:00
Andrew Tridgell
6862791d66
PID: fixed indent-tabs-mode
2013-05-30 09:50:37 +10:00
Andrew Tridgell
c96ac5edbb
RC_Channel: fixed indent-tabs-mode
2013-05-30 09:48:45 +10:00
Randy Mackay
4ce4b7aef9
OptFlow: minor commenting and format changes
2013-05-28 22:56:11 +09:00
Andrew Tridgell
15a84972d1
SITL: added SIM_MAG_ERROR parameter
...
this is a compass yaw error in degrees, used for testing navigation
with a bad compass
2013-05-27 13:37:34 +10:00
Randy Mackay
ec7ee47099
Copter: scaling stability patch
2013-05-27 11:21:31 +09:00
Randy Mackay
dbd6524f9f
Copter: WPNav consolidate acceleration #defines
2013-05-27 10:36:24 +09:00
Randy Mackay
e3dffb920b
Copter: initialise target vel in loiter
2013-05-25 14:07:04 +09:00
Randy Mackay
a474b97291
Copter: resolve compiler warning re unused vars
2013-05-25 13:32:15 +09:00
Randy Mackay
916f241fff
Copter: Leonard's improved Loiter
2013-05-24 23:45:03 +09:00
Andrew Tridgell
14628990e6
AP_AHRS: make wind estimation configurable
...
rover doesn't want it
2013-05-24 11:21:42 +10:00
Andrew Tridgell
807dbf9786
AP_InertialSensor: fixed a build warning
2013-05-24 11:21:42 +10:00
Randy Mackay
46d65150af
Copter: lengthen loiter stopping point
...
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
2013-05-22 17:35:20 +09:00
Randy Mackay
400c1bd7b7
Copter: smooth waypoint transitions
...
Speed of intermediate point is initialised and constrained based on
current speed vector vs direction to the next waypoint.
This means the copter does not slow if the previous segment and next
segment are in line and also the intermediate point is not advanced
towards the next waypoint if the copter is moving quickly in the
opposite direction.
2013-05-22 14:17:26 +09:00
Andrew Tridgell
59b6118a1d
AP_InertialSensor: fixed parameter markup
2013-05-21 17:02:13 +10:00
Randy Mackay
b27ddf0f63
AP_AHRS: add parameter descriptions
2013-05-21 15:39:03 +09:00
Randy Mackay
6a65a32de2
CopterMotors: add formatting info to top of files
2013-05-20 10:48:42 +09:00
Randy Mackay
5235f4cacd
Copter: allow Tri copters to init ESCs through APM/PX4
2013-05-19 17:28:39 +09:00
Randy Mackay
b914f9ba06
SITL: use SIM_ENGINE_MUL to simulate motor failure
2013-05-19 14:29:08 +09:00
Andrew Tridgell
c08c084191
AP_AHRS: added get_projected_position()
...
this is used to project the position forward by the GPS lag
2013-05-17 08:32:21 +10:00
Andrew Tridgell
2c149bac8e
HAL_PX4: added new arming ioctls
2013-05-16 16:43:38 +10:00
Randy Mackay
cb795ea536
WPNav: divide by zero checks
2013-05-15 11:51:26 +09:00
Randy Mackay
610edd8f9a
ACMotors: small formatting change
2013-05-14 19:01:53 +09:00
Randy Mackay
cd5795a4ac
ACMotors: make a few more functions non-virtual
...
Saves at least 22 bytes of RAM
2013-05-14 18:23:36 +09:00
Randy Mackay
ad00e0ee1e
ACMotors: make test_order uint_8
2013-05-14 18:03:34 +09:00
Randy Mackay
88893f4209
ACMotors: make a few functions non-virtual
2013-05-14 17:41:12 +09:00
Randy Mackay
bd07b1e57b
ACMotors: remove unused get_num_motors function
...
Saves about 4 bytes of RAM
2013-05-14 17:35:27 +09:00
Randy Mackay
5bb0582854
ACMotors: ESC Calibration only for enabled motors
2013-05-14 17:07:36 +09:00
Randy Mackay
33d1129904
Copter: remove unused TB_RATIO parameter
2013-05-14 16:56:55 +09:00
Randy Mackay
7a81c41689
AP_Motors: motor_enabled array to bool
...
Also increased the default MAX_THROTTLE from 850 to 1000 but this number
is always overwritten by the main code anyway so should have no
functional impact.
2013-05-14 16:05:22 +09:00
Andrew Tridgell
411e940342
DataFlash: prevent the dataflash erase problem
...
only allow writes to dataflash block devices once StartNewLog() has
been called
2013-05-14 16:31:45 +10:00
Andrew Tridgell
119ffb0fc0
SITL: fixed simulated airspeed value
2013-05-13 15:42:38 +10:00
Andrew Tridgell
a5b20b4dfc
AP_HAL: removed scaling factor on analog sources
...
these are not use anymore, as voltage_average() is used instead
2013-05-13 15:29:42 +10:00
Andrew Tridgell
48cfdac6f0
AP_ADC_AnalogSource: added voltage_average_ratiometric()
2013-05-13 15:13:59 +10:00
Andrew Tridgell
cec08be9cb
AP_Rangefinder: use ratiometric analog input for analog sonar
2013-05-13 15:13:43 +10:00
Andrew Tridgell
dfb98490f4
AP_Airspeed: use rationmetric analog input for airspeed sensor
2013-05-13 15:13:19 +10:00
Andrew Tridgell
589b8cdb58
AP_HAL: added voltage_average_ratiometric() call to AnalogIn
...
this is for ratiometric sensors such as the 3DR airspeed sensor and
the Maxbotix analog sonar
2013-05-13 15:12:43 +10:00
Andrew Tridgell
a17b85c661
AP_AHRS: use vectors for ground vector complimentary filter
2013-05-13 11:27:55 +10:00
Paul Riseborough
9f309a2aa6
AP_L1_Control: Remove potential nan errors
...
If WP A and B were the same or ground speed was exactly zero, then the
previous code would produce a nan output. Protection against these
two cases has been added.
If WP A and B are equal, we track directly to the target waypoint
2013-05-13 11:27:51 +10:00
Randy Mackay
55235630b6
Copter: bug fix for slow loiter repositioning
2013-05-12 14:51:02 +09:00
Andrew Tridgell
9bdbd6bfbd
MAVLink: update to latest common.xml from upstream
2013-05-11 21:07:27 +10:00
Randy Mackay
61288fcb90
WPNav: make get_stopping_point method public
2013-05-11 16:05:42 +09:00
Randy Mackay
80bd458f29
Compass: update parameter description
...
We do not want people modifying the COMPASS_MOTCT manually
2013-05-11 14:50:36 +09:00
Andrew Tridgell
172faeea26
HAL_PX4: moved rc.APM to new ROMFS directory
2013-05-10 06:16:54 +10:00
Andrew Tridgell
b3e21c6add
HAL_PX4: include visibility.h
...
needed for new nuttx structure
2013-05-10 06:16:53 +10:00
Andrew Tridgell
220e7b019c
SITL: use PACKED attribute in fdm structure
2013-05-09 20:10:31 +10:00
Andrew Tridgell
416fef73a8
AP_Param: use PACKED attribute in examples
2013-05-09 20:10:31 +10:00
Andrew Tridgell
ed918dc6bc
SITL: use PACKED attribute instead of pragma pack
2013-05-09 20:10:31 +10:00
Andrew Tridgell
06b6f4b04e
AP_GPS: use PACKED attribute instead of pragma pack
2013-05-09 20:10:31 +10:00
Andrew Tridgell
62b9a580e8
AP_Common: make PACKED depend on architecture
...
this will remove lots of warnings when building with arduino
2013-05-09 20:10:31 +10:00
Randy Mackay
ed5ddfd9db
WPNav: initialise desired roll, pitch
...
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
2013-05-09 18:32:02 +09:00
Andrew Tridgell
fefbeacf86
AP_InertialSensor: use SEVERITY_USER_RESPONSE for accel cal messages
...
thanks to the suggestion from Kevin
2013-05-09 09:28:25 +10:00
Andrew Tridgell
11bf6f40f7
GCS_MAVLink: moved gcs_severity to library header
2013-05-09 09:27:58 +10:00
Andrew Tridgell
9a87b3f3c1
AP_Compass: use const on more functions and remove old calculate_heading()
...
the calculate_heading() based on roll/pitch is not needed anywhere
2013-05-09 09:24:06 +10:00
Andrew Tridgell
f78de63a09
AP_Compass: more efficient calculate_heading() implementation
...
Thanks to piersh for this improvement. See
b5f0635455 (commitcomment-3171806)
2013-05-09 09:24:06 +10:00
Randy Mackay
9f735c8d03
WPNav: add fast waypoints flag
...
Waypoint is considered "reached" when the intermediate point reaches the
destination
2013-05-09 00:18:02 +09:00
Randy Mackay
4704b729c2
WPNav: reduce max acceleration to 2.5m/s
...
Also includes bug fix to ramp up of speed of intermediate point
2013-05-08 23:20:29 +09:00
Andrew Tridgell
095505129c
DataFlash: hopefully fixed cause of frequent dataflash erase
...
Wait for 0.1s after erase and before we start writing parameters to
the log
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-05-08 17:00:36 +10:00
Andrew Tridgell
7fdf1b6f78
DataFlash: fixed example build
2013-05-08 16:45:40 +10:00
Andrew Tridgell
8f57b72e3f
AP_InserialSensor: fixed example build
2013-05-08 16:45:31 +10:00
Andrew Tridgell
c3738ed344
AP_InertialNav: fixed example build
2013-05-08 16:45:21 +10:00
Andrew Tridgell
ed93f80ba9
AP_Baro: fixed example build
2013-05-08 16:45:07 +10:00
Andrew Tridgell
55d148abdd
AC_WPNav: fixed example build
2013-05-08 16:44:59 +10:00
Andrew Tridgell
56694fd9b1
AC_Fence: fixed example build
2013-05-08 16:44:50 +10:00
Andrew Tridgell
2ddeaa7f4d
AP_InertialSensor: show calibration offsets for success and failure
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-05-08 16:19:06 +10:00
Andrew Tridgell
f3f4b7205c
AP_InsertialSensor: added support for MAVLink user interaction
...
allows APM to ask user to print enter to continue via MAVLink messages
during accel calibration
2013-05-08 16:18:40 +10:00
Andrew Tridgell
4bc53acbda
SITL: support vsnprintf with %S on SITL
2013-05-08 16:17:36 +10:00
Andrew Tridgell
9cd0af1132
HAL_PX4: make PX4 snprintf support %S format
...
just maps it to %s for normal printf
2013-05-08 16:17:06 +10:00
Andrew Tridgell
223dfe4de5
AP_Rangefinder: added units for settle time
2013-05-08 14:21:32 +10:00
Randy Mackay
328d900647
WPNav: flexible loiter speed
...
Also includes bug fix to allow speeds > 10m/s during missions
2013-05-07 17:11:24 +09:00
Randy Mackay
1f8161b493
AC_WPNav: remove unnecessary speed constraint
2013-05-07 11:58:04 +09:00
priseborough
aee23361dd
APM_Control: Corrected typographical error in APM_Control/TuningGuide.txt
2013-05-07 11:00:57 +10:00
Andrew Tridgell
6f1cee6406
AP_AHRS: fixed position estimate with 2D fix or low satellite count
...
we should still use the GPS for position fixes when we have a low
number of satellites, but we should stop using it for velocity
estimates and attitude correction.
2013-05-07 10:52:14 +10:00
Andrew Tridgell
055da3c4b6
SITL: added SIM_GPS_NUMSATS parameter
...
this allows testing of the DCM code with less than 6 satellites
2013-05-07 10:38:36 +10:00
Randy Mackay
ceda7d26b0
AHRS: add correct_centrifugal and flags structure
2013-05-06 15:32:06 +09:00
Andrew Tridgell
46c6aa8a9a
APM_Control: tweak the parameter names
2013-05-05 21:51:09 +10:00
Andrew Tridgell
400777b059
APM_Control: support inverted flight in AP_PitchController
...
auto-reverse pitch control when inverted. This is useful not just for
inverted flight mode, but also for recovering from poor manual flight
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2013-05-05 21:51:09 +10:00
Andrew Tridgell
604bfd0700
APM_Control: adjust recommended ranges
2013-05-05 21:51:09 +10:00
Andrew Tridgell
7af3c667a5
APM_Control: added roll controller parameter docs
2013-05-05 21:51:09 +10:00
Andrew Tridgell
52c3f8841f
APM_Control: added yaw parameter docs
2013-05-05 21:51:09 +10:00
Andrew Tridgell
b618d1d81f
APM_Control: added inline docs to pitch controller
2013-05-05 21:51:09 +10:00
Andrew Tridgell
6c6c0079ee
APM_Control: improved formatting of tuning guide
...
be a bit more web friendly
2013-05-05 21:51:09 +10:00
Andrew Tridgell
742df0ac05
APM_Control: rename to avoid spaces in filenames
2013-05-05 21:51:09 +10:00
Andrew Tridgell
23d9c31b0a
APM_Control: fixed build and merge errors
2013-05-05 21:51:08 +10:00
Paul Riseborough
10ecffce01
APM_Control: ROLL and PITCH controllers
...
These changes reduce height variation in turns and improve
robustness. the specific changes are:
1) Linked roll and pitch integrator protection to the final output
value so that if final output is on upper limit, the integrator is
prevented from increasing and vice-versa. This improves wind-up
protection.
2) Modified rate feedback in roll and pitch controllers to use body
rates rather than Euler or earth rates.
3) Changed the roll to pitch compensation to use measured roll angle
and estimated airspeed to calculate the component of turn rate
(assuming a level coordinated turn) around the pitch axis. This a
mathematically correct calculation and will work over a range of bank
angles and aircraft with minimal (if any) tuning required.
4) The integrator in the roll and pitch loop is clamped when the
estimated speed is below the minimum FBW speed
5) The noise filter in the pitch and roll loop has been changed to use
a FOH discretisation. This gives improved noise rejection and less
phase loss when compared to the previous filter that used a ZOH or
equivalent discretisation.
This has been flown on the rascal in the SITL and on a X-8 with
limited flight testing. Initial results have been encouraging with
reduced height variation in turns. Compare to standard PIDS, the
revised pitch and roll controllers allow the use of rate feedback
(effectively the same as the old D term) without beating the servos to
death. The bank angle compensation in the pitch loop works
effectively over a much larger range of bank angles and requires
minimal tuning compared to the old calculation.
YAW CONTROLLER
Currently testing the a 3-loop acceleration autopilot topology for the
yaw loop with feed forward yaw rate for turn compensation. This 3-loop
topology is commonly used in tactical skid to to turn missiles and is
easy to tune. The following block diagram shows the general signal
flow
Note that the acceleration measurement has to pass through an
integrator before it gets to the actuator. This is a important feature
as it eliminates problems of high frequency noise and potential
coupling with structural modes associated with direct feedback of
measured acceleration to actuator.
The high pass filter has been inserted to compensate for airspeed and
bank angle measurement errors which will cause steady state errors in
the calculation of the turn yaw rate.
The yaw controller flies SITL well, but hasn't been flight tested
yet. It can be configured either as a simple yaw damper, or the
acceleration and integral term can be turned on to allow feedback
control of lateral acceleration/sideslip.
TO DO:
Need to reduce number of tuning parameters and provide consistent
naming Need to provide guidance on tuning these loops with definitions
for all the gain terms. Need to check signs and units into and out of
lateral loops.
DESIGN DECISIONS PENDING:
1) Can we remove the noise filters? Provided the mpu6k noise filter is
running they are of limited benefit given the 25Hz Nyquist frequency
2) If we do remove them and rely on the mpu6k noise filter, what is
the apprporiate default cutoff frequency for plane use. 20Hz is
probably OK for most setups, but some noisy/high vibration setups
would require as low as 10Hz
3) The inverted flight logic looks like a crash waiting to
happen. It's problematic to test and even if implemented correctly
would still crash a plane with poor inverted flight capability. We
should either implement it properly and fully tested or delete it.
2013-05-05 21:51:08 +10:00
priseborough
205397d030
APM_Control: Modified calculation of bank compensation rate offset to prevent climb if speed > max fbw speed
...
The previous calculation constrained the speed used to calculate the
bank compensation rate offset between the min and max fbw speeds. This
would result in an unwanted climb if flown above the max fbw speed
(this could happen in fbw-a mode)
2013-05-05 21:51:08 +10:00
priseborough
e7736ed4e0
APM_Control: APM tuning guide.txt - Updated tuning instructions with numerical values for alternate method
2013-05-05 21:51:08 +10:00
Paul Riseborough
3034a9fab2
APM_Control: Added alternate tuning method for roll and pitch loops
...
The alternate tuning method for roll and pitch will give a better
results, but comes with more risk as it will result in a larger rate
feedback gain
2013-05-05 21:51:08 +10:00
priseborough
2c29186b03
APM_Control: APM tuning guide.txt - Minor editorial corrections
2013-05-05 21:51:08 +10:00
priseborough
d159d39037
APM_Control: APM tuning guide.txt - Added step by step tuning description.
2013-05-05 21:51:08 +10:00
priseborough
99f0fb6bd2
APM_Control : Removed 20Hz low-pass filters on rate gyro inputs.
...
These are not required due to MPU 6000 filtering.
2013-05-05 21:51:08 +10:00
priseborough
317b75f4cd
APM_Control: Added tuning guide readme
2013-05-05 21:51:08 +10:00
Andrew Tridgell
9654546b5a
AP_L1_Control: Cleaned up calculation of damping to reduce computations
...
also removed _cross2D, using math library instead
2013-05-05 21:51:08 +10:00
Randy Mackay
30faf87715
InertialNav: use AP_Math's longitude_scale
2013-05-05 14:32:25 +09:00
Randy Mackay
7c9d9b9800
AP_Math: use DEG_TO_RAD in longitude_scale
...
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
2013-05-05 14:31:24 +09:00
Andrew Tridgell
38fc0e61c6
AP_AHRS: optimise yaw drift correction
...
use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
2013-05-05 13:51:45 +10:00
Andrew Tridgell
737f0305ef
AP_Math: implement vector2 cross product
...
useful in DCM for faster yaw correction
2013-05-05 13:47:51 +10:00
Andrew Tridgell
f4189e083b
AP_Math: added mulXY() for matrix3 and vector3
...
returns the XY components of the product
2013-05-05 13:47:23 +10:00
Randy Mackay
ee2daf25b6
AHRS: perf improvement by caching declination vector
2013-05-05 12:58:43 +10:00
Andrew Tridgell
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
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if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
2013-05-05 12:48:01 +10:00
Randy Mackay
c20eac7a70
AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants
2013-05-04 15:04:55 +09:00
Andrew Tridgell
99d21854f9
SITL: fixed drift rate limit in simulator
2013-05-04 15:16:35 +10:00
Andrew Tridgell
53ebcfeba5
SITL: fixed compass vector to be based on yaw not GPS heading
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Many thanks to Randy for noticing this, and apologies for the wasted time!
2013-05-04 14:28:08 +10:00
Randy Mackay
1cfd5900a8
Copter: add support for H-quad frame
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H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
2013-05-03 23:13:40 +09:00
Randy Mackay
647a93e78e
Copter: remove jerk when entering RTL or AUTO
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Loiter target position was not being initialised properly.
Add a few more comments
2013-05-03 16:58:00 +09:00
Randy Mackay
bd75de6a22
AC_Fence: reduce to 150m radius and 100m high
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100m high,
2013-05-03 14:57:37 +09:00
Andrew Tridgell
6cc9939891
AP_ADC: added dummy stop_pin and settle_time calls
2013-05-03 11:11:40 +10:00
Andrew Tridgell
0e66bac70b
AP_RangeFinder: removed special case for APM1
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the airspeed port doesn't have enough power for the sonar anyway
2013-05-03 10:09:54 +10:00
Andrew Tridgell
244a10aeb6
HAL_SMACCM: fixed build for new AnalogIn API
2013-05-03 10:09:14 +10:00
Andrew Tridgell
9bc48c9894
HAL_PX4: fixed build with new AnalogIn API
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pin settle times not actually implemented on PX4 yet
2013-05-03 10:09:02 +10:00
Andrew Tridgell
5ac493908c
SITL: fixed build with new AnalogIn API
2013-05-03 10:08:39 +10:00
