e1725e9ea5
AP_Param: added some docs on the eeprom header format
2012-07-10 14:03:49 +10:00
6d3fdfc03a
DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method.
2012-07-09 15:23:35 -07:00
af338939be
RC_Channel: Improve documentation
2012-07-07 21:57:30 +02:00
46552b4222
AP_Mount: Fix radians/degrees scaling regressions
...
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
2012-07-07 21:56:56 +02:00
d755fedc26
AnalogSource: prevent a division by zero on zero ADC data
2012-07-06 19:59:18 +10:00
f6d7d1bc59
APM: changed PID library to do automatic deltat calculation
...
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
f501503eb0
AP_Baro: improved barometer averaging
...
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
520d762382
Filter: split the DerivativeFilter steps into update() and slope()
...
this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
3c7e521f70
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
302696951a
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
2012-07-06 15:11:30 +10:00
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
...
if we used less than 5 samples to compute the pressure then don't use
it for climb rate
2012-07-05 16:29:21 +10:00
ec0995eea1
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
6534dab719
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
d29b6ce0a8
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
209136386b
AP_Baro: added get_pressure_samples() interface
...
this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
1a42b10255
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
185c6e5b32
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
75470dc912
Filter: cope with non-uniform time steps in the DerivativeFilter
...
this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
f03ba86d9d
SITL: add some minimal noise when motors are off
...
this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
...
this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
...
this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
adfa97b6f8
AHRS: enable barometer for vertical velocity
...
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
f9fc7aafe7
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
f19e5a6273
Filter: added DerivativeFilter implementation
...
this adds a DerivativeFilter implementation of up to 10 points
2012-07-05 13:00:46 +10:00
9f8703274c
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
b5f47f5e63
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
0febf76d9d
Document++
2012-07-05 00:33:46 +02:00
e9c72822dc
Remove unused function
2012-07-05 00:33:10 +02:00
c35a2e999b
SITL: added SIM_GPS_DELAY parameter
...
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
2012-07-04 21:05:22 +10:00
faeda3713e
AP_AHRS: removed DCM_test example sketch
...
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
...
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
1cd8c54f21
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
468dfe3faa
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
0bdce404a5
AP_Math: add include of math.h
...
this is needed for location.cpp
2012-07-04 13:59:23 +10:00
be9b9f3e67
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
dd24330645
DataFlash: fallback to BlockErase if ChipErase fails
...
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
2012-07-04 12:42:46 +10:00
dd200cba31
Math: added location functions to math library
...
these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
...
this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
060cbe2030
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
99b11e4f19
Mount: enable mount control via eeprom parameters
...
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
057eb5e6f6
Baro: average over all pressure/temperature samples on MS5611
...
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings
This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
f70cd71791
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
769011e947
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
1fdcc3e8f0
SITL: added support for new analog source
...
removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
c8befe4536
AnalogSource: make the Arduino AnalogSource interrupt driven
...
this fixes several problems with reading analog sources:
- we were getting poor values because we didn't wait long enough for
an analog source to settle
- we wasted a lot of CPU cycles waiting for conversions
- we were not taking averages over many samples, which we did with
the old AP_ADC driver on the APM1
2012-07-01 15:01:05 +10:00
136c03c3c0
AHRS: include the P terms in get_gyro()
...
this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
acc6adf6e9
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
ed691fc465
SITL: added SITL class for controlling simulation
...
this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
16c55c64d4
AHRS: don't add the P terms in _omega
...
this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
37fc6c46b9
AHRS: disable barometer for vertical acceleration
...
this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
2012-06-28 11:12:49 +10:00
58c4d458dc
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
fd241692d0
AHRS: revert to the old drift correction algorithm
...
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
a6543f1e84
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
5bccfbd94c
Barometer: fixed airstart for APM
...
we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
8e044a560b
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
37e2f2ee2c
AHRS: implement spin rate limits
...
this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
e4a245179c
AHRS: cope with copters with no compass
...
if a copter doesn't have a compass, we can't use the GPS for gyro
drift correction
2012-06-27 16:01:50 +10:00
f4faf941e2
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
27761737ce
SITL: fixed GPS heading in simulated UBlox
...
longitude scale does not apply to velocity->heading conversions
2012-06-27 16:01:50 +10:00
b811653800
SITL: changes UBlox simulation to 5Hz
...
this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
e4d28b12e5
Compass: remove the need to call calculate() on the compass object
...
the new AHRS code doesn't use calculate() and the compass.heading
attribute. Instead it works on the raw magnetometer vector. This
change removes the internal calculate state from the compass object
and instead adds calculate_heading() for use by older code that
doesn't go via AHRS.
This significantly reduces the calculation involved in compass updates
The null offsets enable/disable code is also removed, as it is not
needed now that compass offsets are not linked to the AHRS state.
2012-06-27 16:01:50 +10:00
3a41ad8e7c
AHRS: normalize the ge vector in drift correction, and use barometer
...
The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
c387edd74c
Baro: added get_altitude() and get_climb_rate() interfaces
...
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity
The climb rate uses a 5 point average filter
2012-06-27 16:01:50 +10:00
06c8763881
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
d230690b7b
AHRS: brought DCM more inline with Bill's implementation
...
omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
d4c8041c51
AHRS: first successful version of Bills new drift correction system
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This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
4d08f75292
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
0f5c22bd8e
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
52d77407d4
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
37db5247cd
GPS: added velocity and acceleration components
...
used by AHRS for acceleration correction
2012-06-27 16:01:49 +10:00
fe865bc1dc
Math: added comment
2012-06-27 16:01:49 +10:00
c30b0d85a3
Math: moved more template functions to the .cpp files
...
save a bit more code space for larger functions
2012-06-27 16:01:49 +10:00
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
7b9583453b
Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek.
2012-06-21 11:14:20 -07:00
78ccb9d37f
Add linebreaks to increase readability.
2012-06-21 00:36:10 +02:00
b072a59843
Improve parameters descriptive text
2012-06-21 00:20:37 +02:00
594cedd324
Documentation improvements, no functional changes (only comments)
2012-06-17 22:53:54 +02:00
f4e9587aca
Move local temp variables to the stack it saves 1952 bytes
...
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
2012-06-17 22:25:51 +02:00
d09ac5899b
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:40:14 +00:00
b699c77323
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:38:52 +00:00
a851c53de4
GPS: need pgmspace.h for _write_progstr_block()
2012-06-15 16:27:11 +10:00
70f18289c5
GPS: fixed auto-config of UBlox setup with no UBX messages
...
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
2012-06-15 15:53:27 +10:00
1fe297ab63
FastSerial: added tx_pending() method
...
this allows the caller to wait for the tx buffer to drain
2012-06-15 15:53:27 +10:00
1906e06b69
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
a32b7c200b
Add "3 axis camera stabilization" and "point camera to 3D point" functionality
...
Patch by Gregory Fletcher and reviewed by me
2012-06-13 20:55:19 +02:00
5ffd489d87
Spellcheck
2012-06-13 20:44:35 +02:00
1e38b0d535
AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy
2012-06-12 20:27:50 +09:00
f9560ef093
GPS: use the new nav_setting in a couple of the sample sketches
2012-06-10 16:35:13 +10:00
33a2ad7e07
GPS: add stub settings for nav_setting in the other GPS drivers
...
only Ublox supports nav_setting so far
2012-06-10 16:34:53 +10:00
514be604a5
GPS: added auto-configuration of UBlox GPS
...
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
2012-06-10 16:34:13 +10:00
9c1ce9e1c5
FastSerial: avoid buffer re-allocation on re-open if possible
...
we commonly re-open serial ports a lot in the AUTO GPS driver
2012-06-09 07:43:22 +10:00
cf4e56457b
SITL: map() is a C++ function, so needs to be in C++ part of the header
...
this fixes the ACM build
2012-06-08 17:09:23 +10:00
cbf477addd
GPS: added debug code to the main GPS class
2012-06-08 16:42:03 +10:00
a8bfc5d8e9
GPS: re-open the serial port with a 256 byte serial receive buffer
...
this ensures all GPS parsers have a 256 byte buffer available
2012-06-08 16:42:03 +10:00
296e651b30
GPS: fixed the UBLOX parser to handle unknown messages
...
the parser was broken in several ways:
1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
thought the message had a bad checksum, which meant it got out of protocol sync
2) the read() method would return false if the last message from the GPS was of an unknown type.
So we relied on the last msg always being one that we understand and want
3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get
a new fix when we get box a new position and velned message
4) the total message size per update is more than 128 bytes, but the serial port was opened
with only a 128 byte buffer, so we got corruption regularly
2012-06-08 16:42:02 +10:00
9c2ba2e814
GPS: tidy up the auto gps test
2012-06-08 16:42:02 +10:00
238a1ced2c
TradHeli adding ramp up time to Ch8 Throttle Pass-through.
2012-06-07 22:55:47 -04:00
df17ff3bc1
AP_MotorsHeli Syntax correction.
2012-06-04 15:53:07 -04:00
25c17a5425
re-enable the AP_Mount build
2012-06-04 19:32:11 +10:00
0f0cbce22f
GPS: fixed a race condition in the ublox driver
...
the status update comes as a separate message from the lat/lon
2012-06-04 14:47:58 +10:00
Andrew Tridgell
Craig Elder
Amilcar Lucas
rmackay9
Jonathan Challinger
Jason Short
Wingspinner
Robert Lefebvre