Jason Short
560985b509
made I term return in same pattern as D term
2012-02-16 22:09:22 -08:00
Jason Short
75919436ac
added extra gain logging
2012-02-16 22:09:22 -08:00
Jason Short
cbe297b634
scaled X velocity
2012-02-16 22:09:22 -08:00
Jason Short
6732f0934a
cast to float
2012-02-16 22:09:21 -08:00
Jason Short
6913400221
cast D term to float just in case
2012-02-16 22:09:21 -08:00
Jason Short
43e695b1ac
removed some unused vars,
...
formatting, made loop speed same as PIDT1 to eliminate variable.
2012-02-16 22:09:21 -08:00
Andrew Tridgell
3fbb5a2d6c
ADC: on channel overflow we should not zero last_ch6_micros
...
this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
2012-02-16 17:48:36 +11:00
Phil
f8ed9f0e8d
APM: Fix rudder in elevon mode.
...
elevon planes can have rudders too
2012-02-16 14:43:24 +11:00
Jason Short
b070225366
CH 6 Range setup
2012-02-15 11:47:54 -08:00
Jason Short
bb4c02fbff
Added acro_p to the params
2012-02-15 11:29:25 -08:00
Jason Short
f2b6b86265
allow auto-land if failsafe is triggered
2012-02-15 10:53:54 -08:00
Jason Short
efb451e475
Marco's updated Motor testing code
2012-02-15 10:49:35 -08:00
Jason Short
f9296796fd
Added lengthy note about motor testing
2012-02-15 10:49:11 -08:00
Jason Short
0b011e3cd3
added option in code for Loiter specific gains
2012-02-15 09:10:15 -08:00
Jason Short
101979ed7b
AP slew rate
2012-02-15 09:10:15 -08:00
Jason Short
f20952df49
new defaults for params
2012-02-15 09:10:15 -08:00
Jason Short
11d1973abd
Added Acro_P
2012-02-15 09:10:14 -08:00
Jason Short
67892cd8df
synced params
2012-02-15 09:10:14 -08:00
Jason Short
c916a87a78
added RTL_land_enabled
...
added auto_pilot slew rate
2012-02-15 09:10:14 -08:00
Jason Short
eee43608de
Added new params for CH6 Tuning
...
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
2012-02-15 09:10:14 -08:00
Jason Short
4ecbb19dcd
Added range setting via a parameter for CH6 tuning
2012-02-15 09:10:14 -08:00
Jason Short
8e88d9e19e
change constant to float 44330.0
2012-02-15 09:10:14 -08:00
Michael Oborne
b020a87c13
eedump ap param in perl
2012-02-15 21:31:58 +08:00
Andrew Tridgell
bc89b53bdc
SITL: adjust the SITL compass code to have saner z values
2012-02-15 22:34:16 +11:00
Andrew Tridgell
63d768143d
Compass: enable compass offsets for HIL compass
...
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
2012-02-15 22:33:50 +11:00
Andrew Tridgell
7d21692301
fixed dump size
2012-02-15 10:44:09 +11:00
Andrew Tridgell
d2cc6740f0
show group_element too
2012-02-15 10:42:21 +11:00
Andrew Tridgell
aaba4db144
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
Andrew Tridgell
2dcb594f4a
APM: changed hold_course for landing to be based on yaw_sensor
...
when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.
This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c6b6320b43
APM: report the nav_bearing as hold_course when enabled
...
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
2012-02-15 08:50:45 +11:00
Andrew Tridgell
252a2d0c9b
APM: added some comments related to hold_course
...
hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.
It also resets hold_course in all non-auto modes, to ensure it isn't
used
2012-02-15 08:50:45 +11:00
Andrew Tridgell
a4663c4b20
autotest: increase the rudder gain
...
this gives a bit better landing approach and turns in auto
2012-02-15 08:50:45 +11:00
Andrew Tridgell
812b7ae5ae
SITL: catch floating point errors
...
if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c39914e734
DCM: added a SITL_debug() for DCM normalisation errors
...
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7355f5613c
added SITL_debug() macro
...
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
Michael Oborne
eaf041dd8c
APM Planner 1.1.36
...
add guided mode wp
fix setup setting save (if closed without switching tabs)
2012-02-14 22:13:11 +08:00
Andrew Tridgell
c93dedc955
when setting airspeed and groundspeed in a mission, don't save to EEPROM
...
If you include airspeed, throttle or groundspeed changes in a mission
then those should not be saved to EEPROM, as otherwise if you restart
and re-fly the mission you will be starting with different parameters
to the ones you used for the first flight.
This is particularly important for setting the target airspeed when
coming in for a landing. You typically set a low target, but if you
fly again the next day I think it would be a real surprise to find
that your loiter airspeed has then changed to the value from the
landing part of your last mission.
This one can be argued either way, but I think that not saving these
changes is the more conservative choice, and better fits the
'principal of least surprise'
2012-02-14 15:20:44 +11:00
Andrew Tridgell
b166fbff5a
autotest: use more rudder for steering
...
this helps the landing a lot
2012-02-14 15:16:35 +11:00
Andrew Tridgell
6b33e48514
autotest: raise the target airspeed on landing
...
we were stalling the plane in the final meters of the approach
2012-02-14 12:30:46 +11:00
Andrew Tridgell
27fd4ca213
autotest: adjusted APM parameters
...
enable compass and tweak tuning
2012-02-14 11:26:42 +11:00
Andrew Tridgell
c105645c57
autotest: added a lot more interal checking
...
check each of the sub-tests pass for overall pass
2012-02-14 11:26:42 +11:00
Andrew Tridgell
273a974814
SITL: add some magnetometer offsets
...
this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
Andrew Tridgell
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Jason Short
ff627a8986
removed unused Vars
2012-02-13 15:25:23 -08:00
Jason Short
a69dc32020
Lowered for Jani
2012-02-13 15:25:23 -08:00
Andrew Tridgell
2f1f5f14f5
autotest: fixed the directory that the git hash is fetched in
2012-02-14 09:06:24 +11:00
Andrew Tridgell
df2ef6ff47
APM: fixed some build warnings
2012-02-14 08:58:56 +11:00
Andrew Tridgell
3907cf81f8
Mavlink: report the corrected pitch via MAVLink
...
this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
2012-02-14 08:58:56 +11:00
Andrew Tridgell
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00