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4530 Commits

Author SHA1 Message Date
Andrew Tridgell a07e280eda 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
Andrew Tridgell ba39738606 MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell ce3f8be6c7 SITL: add some minimal noise when motors are off 
this actually improves the gyro calibration
 2012-07-05 13:00:46 +10:00
Andrew Tridgell 6afbfdafeb Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell fe54329de2 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
Andrew Tridgell 2861e235bb CPUInfo: added acos(), asin() and atan2() 2012-07-05 13:00:46 +10:00
Andrew Tridgell 9d7ed30023 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
Andrew Tridgell 6653c0b874 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
Andrew Tridgell a5d607d25a AP_Baro: use DerivativeFilter in barometer climb rate 2012-07-05 13:00:46 +10:00
Andrew Tridgell f97289792b Filter: added DerivativeFilter implementation 
this adds a DerivativeFilter implementation of up to 10 points
 2012-07-05 13:00:46 +10:00
Andrew Tridgell cf2c546051 AP_Baro: show climb rate in baro test sketch 2012-07-05 13:00:45 +10:00
Adam M Rivera ddd069ad83 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera 278e215a21 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andreas M. Antonopoulos 1b4bc490a0 parameter metadata parser, display improvements 2012-07-04 17:58:09 -07:00
Andreas M. Antonopoulos 400e313377 parameter metadata -> wiki, bug fixes 2012-07-04 17:42:38 -07:00
rmackay9 be3d035a64 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Andreas M. Antonopoulos d5d5c3923f parameter metadata parser and wiki generator 2012-07-04 16:44:53 -07:00
Amilcar Lucas 6904bef611 Document++ 2012-07-05 00:33:46 +02:00
Amilcar Lucas 8400bd67f8 Remove unused function 2012-07-05 00:33:10 +02:00
Andrew Tridgell dc6d70bc15 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
rmackay9 cac0757c2e 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
Andrew Tridgell 03516b7dfa 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
Andrew Tridgell 8b7fc364f9 autotest: change loiter heading accuracy to 10 2012-07-04 15:59:35 +10:00
Andrew Tridgell b3c9cdb353 SITL: fixed the normalisation of the DCM matrix in the multicopter sim 2012-07-04 15:59:15 +10:00
Andrew Tridgell 6cf2e2fa13 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell 7be29c8b04 AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell 8fa1acb141 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell 35b73b9d01 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Andrew Tridgell 597170afdc DataFlash: fixed SITL build 2012-07-04 13:44:01 +10:00
Andrew Tridgell c6ff292721 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
Andrew Tridgell 5623ef99a0 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell d9351ff681 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell 84a489498d Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell e0685f4408 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
Jason Short cc51d497c6 commands 
fixed logic bug to make a copter loiter after the mission is ended.
 2012-07-03 17:38:50 -07:00
Jason Short a143e7bef6 Config.h: 
decreased alt hold_P to .4
removed RTL_AUTO_LAND default
increased alt hold I
 2012-07-03 17:37:37 -07:00
Jason Short fcc38889b4 Navigation 
increased speed governor to get faster WP travel
added param for WP tilt - basically a precalculated I term for wind resistance.
 2012-07-03 17:34:50 -07:00
Jason Short 69fe7feb54 Params 
Added Tilt_Compensation to Params,
deprecated RTL_Land_Enabeled
RTL_Approach_alt is not int16_t, -1 means do noting. 0 means land, >1 means hover to that altitude after timeout.
 2012-07-03 17:33:03 -07:00
Jason Short 207497a840 Arducopter.pde: 
Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
 2012-07-03 17:21:46 -07:00
Jason Short 8a2df85ee8 commands_logic: Removed some old unused code 2012-07-03 17:19:19 -07:00
Jason Short 4a2e9b692d Config: increased WP distance to 2m but default, removed alt hold D: causing issues with APM1 noise. 2012-07-03 17:18:33 -07:00
Jason Short 2bc77c1020 Log.pde: formatting 2012-07-03 17:16:26 -07:00
Jason Short c20c04ed24 removed GPS ground speed calc - was causing some funny business during the transition. 2012-07-03 17:16:14 -07:00
Jason Short b2d932136a Toy Mode: Yaw performance update. 2012-07-03 17:14:54 -07:00
Jason Short 50d1ff56c5 Config.h : shortening the landing time to 10s 2012-07-02 17:52:38 -07:00
Jason Short 88428743b2 Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks. 2012-07-02 17:52:38 -07:00
Andrew Tridgell 1142ec0665 AP_Mount: removed unused enum 2012-07-03 10:39:34 +10:00
Andrew Tridgell f150c645c8 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
Andrew Tridgell e54e3f813d SITL: don't enable wind until we are off the ground 
this makes it possible to test with much larger wind speeds, without
the sim crashing due to the wind flipping us over on the runway
 2012-07-03 10:19:20 +10:00
Andrew Tridgell 7a77832f45 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