Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 08:58:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
8,492 Commits 71 Branches 510 Tags 771 MiB
9b40ba98d7
Commit Graph

3508 Commits

Author SHA1 Message Date
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 
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 
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 
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 
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 
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 
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 
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
Andrew Tridgell
09ca9d4283 AP_Rangefinder_analog: implement settle time and stop_pin 2013-05-03 09:45:19 +10:00
Andrew Tridgell
5d80a5619d HAL_Empty: add new API functions 2013-05-03 09:45:19 +10:00
Andrew Tridgell
912ed2c97c HAL_AVR: initialise settle time 2013-05-03 09:45:19 +10:00
Andrew Tridgell
e7a6b12ac1 HAL_AVR: support set_stop_pin() and set_settle_time() for analogin 
useful for dual sonar support
 2013-05-03 09:45:19 +10:00
Andrew Tridgell
0b6cfc7294 AP_HAL: added set_stop_pin() and set_settle_time() interfaces to analogin 
this is for multiple sonars on one vehicle, to prevent them
interfering with each other
 2013-05-03 09:45:19 +10:00
Andrew Tridgell
0242d50ad4 DataFlash: added Log_Write_Message() 
useful for logging general messages
 2013-05-03 09:18:14 +10:00
Andrew Tridgell
ccd38e58a1 HAL_PX4: fixed the scaling on the analog pins 2013-05-02 21:40:15 +10:00
Andrew Tridgell
500497f5fa AP_HAL: update AnalogIn test to show the first 16 pins 2013-05-02 21:31:55 +10:00
Andrew Tridgell
c90d44c121 AP_Compass_HIL: fixed indentation 2013-05-02 21:31:17 +10:00
Andrew Tridgell
26bf636541 AP_Baro: fixed a build warning 2013-05-02 21:31:04 +10:00
Andrew Tridgell
65183887e5 SITL: use new baro setHIL method 2013-05-02 15:27:27 +10:00
Andrew Tridgell
90cf1b0386 AP_ADC: removed unused setHIL method 2013-05-02 15:27:16 +10:00
Andrew Tridgell
7cec3caf19 AP_Baro: cleaned up setHIL method 
move pressure calculation into library
 2013-05-02 15:26:38 +10:00
Andrew Tridgell
c6c1fce2f1 AP_Baro: removed HIL constructor 
this wasn't calling the parent class
 2013-05-02 15:16:52 +10:00
Andrew Tridgell
811c2ccc11 libraries: fixes for AP_Baro_HIL 2013-05-02 15:09:05 +10:00
Andrew Tridgell
2d089174cd AP_Baro: rename AP_Baro_BMP085_HIL to AP_Baro_HIL 
there is nothing specific to the BMP085 in it
 2013-05-02 15:08:42 +10:00
Andrew Tridgell
a09c53a3ea SITL: use new HIL compass API 2013-05-02 15:01:47 +10:00
Andrew Tridgell
f72dd560cb AP_Compass: fixed the HIL sensors compass 
this sets up good compass values for HIL sensors
 2013-05-02 14:59:33 +10:00
Andrew Tridgell
86027f6e0f AP_Compass: fixed PX4 build 2013-05-02 13:00:52 +10:00
Andrew Tridgell
af50b652f8 AP_Compass: removed old orientation defines 
we now use the rotations in libraries/AP_Math/rotations.h
 2013-05-02 12:48:14 +10:00
Andrew Tridgell
261eb6d841 AP_Declination: fixed example build 2013-05-02 12:48:14 +10:00
Andrew Tridgell
54b826a583 AP_AHRS: update for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell
217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses 
this allows the user to configure the compass for any orientation
supported by our rotation library
 2013-05-02 12:48:14 +10:00
Andrew Tridgell
ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Andrew Tridgell
813e767efb AP_Param: use const refs in a few more places 
reduces code size by a couple of hundred bytes
 2013-05-02 10:18:36 +10:00
Randy Mackay
4fcb189c97 GCS_MAVLink: typo in message definition 2013-05-01 17:07:18 +09:00
Randy Mackay
2d17688363 AC_Fence: add backup fence 
Also includes fixes from code review with Tridge
 2013-05-01 17:05:04 +09:00
Andrew Tridgell
0fce0eb488 AP_Compass_PX4: fixed handling of a saturated compass 
a saturated compass is now marked unhealthy, rather than causing the
code to spin waiting for a valid sample. This fixes a problem with
strong magnets causing the main flight loop to stop
 2013-05-01 08:54:53 +10:00
Andrew Tridgell
d7ec985029 AP_Baro_PX4: fixed baro driver to run at full rate 
we were skipping samples due to a timer handling bug. It now checks
for new samples at 100Hz
 2013-05-01 08:54:53 +10:00
Randy Mackay
ad01aeee44 Copter: increase max loiter overshoot to 8.12m 2013-04-30 18:07:48 +09:00
Randy Mackay
8122a32114 InertialNav: reduce XY TC to 2.5 (was 3) 
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
 2013-04-30 12:52:28 +09:00
Randy Mackay
c139134192 Copter: increase max loiter speed to 7.5m/s 2013-04-30 12:49:19 +09:00
Randy Mackay
6c081c3def AC_WPNav: slow acceleration of intermediate point 2013-04-30 10:20:23 +09:00
Randy Mackay
00146ca97d AP_HAL: fix another RCInput compile error 2013-04-29 21:27:16 +09:00
Randy Mackay
e7122b85ed AP_HAL: example compile error fix 2013-04-29 17:47:04 +09:00
Randy Mackay
bbbd90c430 AP_HAL: rename RCInput's valid() fn to valid_channels 2013-04-29 15:05:53 +09:00
Randy Mackay
a28c6df611 RCInput: allow ppmsum of less than 8 channels 2013-04-29 14:35:59 +09:00
Andrew Tridgell
c067fa2660 L1_Control: make NAVL1_DAMPING docs clearer 2013-04-29 14:24:34 +10:00
Andrew Tridgell
786e4cf705 AP_GPS: added last_message_time_ms() API 
used to help GPS logging
 2013-04-28 14:53:02 +10:00
Andrew Tridgell
f5d062d5ba AP_GPS: move byte swapping code to cpp 2013-04-28 14:51:37 +10:00
priseborough
84ed37938d Plane : AP_L1_Control : Replaced division by constants with multiplies and adjusted default L1 period to 25 seconds 2013-04-28 14:47:59 +10:00
Andrew Tridgell
f5d6fb6216 AP_AHRS: added _kp gain reduction for catapult launch 
this should reduce the tendency of aircraft to nose down hard on
initial launch at high g
 2013-04-28 14:47:59 +10:00
Randy Mackay
9910d6d1cd AC_Fence: first implemenation of library 2013-04-27 11:14:05 +09:00
Andrew Tridgell
b71f36ee34 RC_Channel: support 8 auxillary RC channels 
needed for full 12 channel support on PX4
 2013-04-25 20:10:53 +10:00
Andrew Tridgell
ec1678db83 HAL_PX4: setup for 12 output channels 
moved telemetry port to /dev/ttyS2 to free PWM outputs on FMU
 2013-04-25 20:10:53 +10:00
Andrew Tridgell
709615159a HAL_PX4: support 12 output channels with PX4IO 
first 8 on IO board, next 4 on FMU outputs
 2013-04-25 20:10:53 +10:00
Andrew Tridgell
3b0250b414 AP_HAL: define RC_12 
we have 12 channels on PX4FMU+PX4IO
 2013-04-25 20:10:53 +10:00
Randy Mackay
cb5f8826f8 Copter: Leonard's fix for trapezoidal frame 
We need to allow yaw_factors to be floats in the add_motor method
 2013-04-25 17:52:19 +09:00
Randy Mackay
1a7cffefe6 TradHeli: change coll_out to int16_t 
was incorrectly defined as an AP_Int16 parameter
 2013-04-24 11:32:26 +09:00
Randy Mackay
7f79398989 AP_Limits: fixed return of AP_Int8 parameters from object 
we should return the base type, not the parameter, or callers could
use set on the result
 2013-04-23 23:13:54 +10:00
Andrew Tridgell
3659b532be AP_Common: added BIT_IS_SET() macro 
makes bit mask testing safer on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:05:02 +10:00
Andrew Tridgell
709a277c7f DataFlash: chamged FMT message to include labels 
this makes it easier for MP to parse and display
 2013-04-23 19:46:22 +10:00
Andrew Tridgell
9ef34943af DataFlash: change log extension to *.bin 2013-04-23 15:03:10 +10:00
Andrew Tridgell
fd2cd0d1c2 DCM: fixed formatting 2013-04-23 08:57:44 +10:00
jschall
610069e729 DCM: fixed airspeed bug 
we incorrectly went via the wind estimate when we had a working airspeed sensor
 2013-04-23 08:57:44 +10:00
Randy Mackay
42bca90676 INS: add calibrated check 
Checks is the scaling vector has been updated.  Required for pre-arm
checks for ArduCopter
 2013-04-22 23:55:53 +09:00
Andrew Tridgell
2c05030fb1 AP_Motors: use the right constrain() function 2013-04-22 13:26:49 +10:00
Andrew Tridgell
014c9376e7 AP_AHRS: use const references where possible 2013-04-22 13:26:49 +10:00
Andrew Tridgell
dcc3873056 AP_Buffer: remove bool return from add() method 2013-04-22 13:26:49 +10:00
Andrew Tridgell
26fa5c40f1 Compass: use const references for some functions 2013-04-22 13:26:49 +10:00
Andrew Tridgell
1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell
01a4fabf9e AP_Param: make things a bit more efficient 2013-04-22 12:21:59 +10:00
Andrew Tridgell
3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell
08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Andrew Tridgell
bad478134d AP_Buffer: instantiate as a .cpp file, and optimise for const usage 2013-04-22 12:21:58 +10:00
Andrew Tridgell
ad40ba57be AC_WPNav: optimise to reduce memory copies 
save a few cycles

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 12:21:58 +10:00
Andrew Tridgell
5f1bd1a452 HAL_AVR: constrain Vcc used in voltage_average() 
this ensures a bad Vcc reading doesn't throw off analog inputs too
much
 2013-04-22 11:36:00 +10:00
Andrew Tridgell
c437900a49 AP_Scheduler: added SCHED_DEBUG=2 
used to show overruns and slips
 2013-04-21 23:46:35 +10:00
Randy Mackay
2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell
844e1b9ef9 DataFlash: added support for printing flight mode as a string 
makes analysing logs easier.

Pair-Programmed-With: Randy
 2013-04-20 15:17:49 +10:00
Andrew Tridgell
c3abdaf308 AP_GPS: removed duplicate print_latlon() 2013-04-20 13:57:59 +10:00
Andrew Tridgell
b5ae588341 DataFlash_File: fixed creation of 0.log 2013-04-20 13:52:37 +10:00
Andrew Tridgell
735d60c493 DataFlash: convert example sketch to new API 2013-04-20 13:52:37 +10:00
Andrew Tridgell
62f190ed15 DataFlash: simplify code now that copter is converted 
no longer need as many public functions
 2013-04-20 13:52:37 +10:00
Andrew Tridgell
cf0c8331c2 DataFlash: use print_latlon() 2013-04-20 13:52:36 +10:00
Andrew Tridgell
e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c29d870497 DataFlash: dump the format of logs at the start of the log 2013-04-20 13:52:36 +10:00
Andrew Tridgell
916e8d0992 DataFlash: new dataflash logging system 
this allows us to remove the display functions in the vehicle code,
and also allows us to store the format of a log file in the log. It
also stores the parameters used in a flight, rather than the
parameters set at the time the log is dumped
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
17d7f1fbe5 AP_InertialSensor: make some interfaces const 2013-04-20 13:52:36 +10:00
Andrew Tridgell
4fe5ce8a09 AP_Common: added a define for PACKED 
neater than a pragma
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
8d727614b4 AP_GPS: make status() const 2013-04-20 13:52:36 +10:00
Andrew Tridgell
9171d5587d AP_Param: make it easier to show the value of a parameter 2013-04-20 13:52:36 +10:00
Andrew Tridgell
7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00
Randy Mackay
1c046fa49f AC_WPNav: increase max descent speed to 1.5m/s 2013-04-18 22:32:00 +09:00
Randy Mackay
ed298363f4 AC_WPNav: remove unnecessary limit in leash calc 2013-04-18 22:31:44 +09:00
Randy Mackay
764853bd56 AC_WPNav: add climb and descent params, dynamic leash length 2013-04-18 14:51:01 +09:00
Randy Mackay
effd5b0da7 AC_WPNav: improved comments 
Made SPEEDZ a parameter although it's not yet used
 2013-04-18 11:17:41 +09:00
Andrew Tridgell
fa493a0fb3 AP_Param: added ops needed for ArduCopter build 2013-04-18 11:12:46 +10:00
tobias
fbe7daa477 AP_Param: fixed assignment handling and const 
this fixes radio_min = radio_max = radio_trim = 0; in RC_Channel
 2013-04-18 10:52:40 +10:00
Andrew Tridgell
02bd24cf57 AP_Scheduler: fixed _last_run initialisation 
another valgrind bug
 2013-04-17 23:02:13 +10:00
Andrew Tridgell
0a25d6220a AP_InertialNav: initialise _gps_last_time 
found with valgrind
 2013-04-17 23:02:13 +10:00
Andrew Tridgell
b3ec5187f2 AP_GPS: fixed uninitialied variable bugs found with valgrind 2013-04-17 23:02:13 +10:00
Randy Mackay
a656b619f5 AP_Motors: remove auto_armed 
redundant flag that was already held in the main code which is where it
belongs.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell
68051f3ea6 AP_Menu: fixed crash bug in strtok_r() handling 
on PX4 this causes a hard fault in CLI menus
 2013-04-17 22:20:00 +10:00
Andrew Tridgell
af7381e9e0 AP_HAL: added register_io_process() 
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
 2013-04-17 21:33:50 +10:00
Andrew Tridgell
5df4796b9a RangeFinder: fixed a warning 2013-04-17 21:33:08 +10:00
Andrew Tridgell
da5a5ea368 DataFlash: added file based 'dataflash' logging 2013-04-17 21:32:53 +10:00
Andrew Tridgell
9d3b32bd27 SITL: change default wind speed to zero 
makes starting SITL easier for new users
 2013-04-17 11:39:43 +10:00
Randy Mackay
b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Janne Mäntyharju
7a04fe9915 AP_Baro: Fixed build for APM2 Beta hardware 2013-04-16 11:24:38 +10:00