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Author SHA1 Message Date
Andrew Tridgell
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
Michael Oborne
c4433b6944 APM Planner 1.1.96 
Fix camera stab reverse boxs
add better param data duplicate handling
add rfd900a
tweak terminal settings
 2012-07-06 07:27:42 +08:00
Andrew Tridgell
75772b83cf autotest: don't set a negative max pitch limit! 
this didn't do well in the simulator :-)
 2012-07-05 17:59:37 +10:00
Andrew Tridgell
3a792abb4d autotest: tweak the Rascal tuning 2012-07-05 17:59:37 +10:00
Andreas M. Antonopoulos
384365832a ArduCopter: Copied parameter documentation from ArduPlane, where appropriate 2012-07-04 23:33:55 -07:00
Andrew Tridgell
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
Andrew Tridgell
ec0995eea1 SITL: lower baro noise a bit 2012-07-05 16:29:21 +10:00
Andrew Tridgell
6534dab719 Filter: fixed DerivativeFilter example build 2012-07-05 16:29:21 +10:00
Andrew Tridgell
d29b6ce0a8 SITL: run the HIL barometer at 80Hz to match APM2 2012-07-05 16:29:21 +10:00
Andrew Tridgell
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
Andrew Tridgell
1a42b10255 Filter: fixed typo in 9 point DerivativeFilter 2012-07-05 16:29:20 +10:00
Andreas M. Antonopoulos
186a3e4f6a param_parser - better tolerance for missing parameters 2012-07-04 23:01:52 -07:00
Andrew Tridgell
5abd26a142 APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell
21f06f8a39 GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andreas M. Antonopoulos
2010d3aaa3 parameter metadata parser: better values formatting 2012-07-04 21:27:58 -07:00
Andreas M. Antonopoulos
425ef33b59 parameter metadata parser: escape wiki characters 2012-07-04 20:55:55 -07:00
Andrew Tridgell
8220ae8096 MAVLink: climb_rate is in m/s 2012-07-05 13:20:26 +10:00
Andreas M. Antonopoulos
fdbb1ebd42 parameter documentation to test auto build 2012-07-04 20:06:12 -07:00
Andrew Tridgell
185c6e5b32 AP_Baro: change to a 7 point DerivativeFilter for climb rate 2012-07-05 13:00:47 +10:00
Andrew Tridgell
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
Andrew Tridgell
0385932afb MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f03ba86d9d 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
95d9569b35 Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell
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
Andrew Tridgell
adf6030cfa CPUInfo: added acos(), asin() and atan2() 2012-07-05 13:00:46 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
f9fc7aafe7 AP_Baro: use DerivativeFilter in barometer climb rate 2012-07-05 13:00:46 +10:00
Andrew Tridgell
f19e5a6273 Filter: added DerivativeFilter implementation 
this adds a DerivativeFilter implementation of up to 10 points
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
9f8703274c AP_Baro: show climb rate in baro test sketch 2012-07-05 13:00:45 +10:00
Adam M Rivera
857ad6c706 Camera.pde: Implemented gyro based camera stabilization to support continuous servo gimbals. 2012-07-04 21:08:03 -05:00
Adam M Rivera
6e93ab6af6 Parameters: Added flag for camera pitch/roll servos (continuous or regular) 2012-07-04 21:06:21 -05:00
Andreas M. Antonopoulos
9f6fb89392 parameter metadata parser, display improvements 2012-07-04 17:58:09 -07:00
Andreas M. Antonopoulos
453c1677b5 parameter metadata -> wiki, bug fixes 2012-07-04 17:42:38 -07:00
rmackay9
b5f47f5e63 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Andreas M. Antonopoulos
c4b59a89da parameter metadata parser and wiki generator 2012-07-04 16:44:53 -07:00
Amilcar Lucas
0febf76d9d Document++ 2012-07-05 00:33:46 +02:00
Amilcar Lucas
e9c72822dc Remove unused function 2012-07-05 00:33:10 +02:00
Andrew Tridgell
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
rmackay9
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
Andrew Tridgell
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
Andrew Tridgell
c8f5aeb7ba autotest: change loiter heading accuracy to 10 2012-07-04 15:59:35 +10:00
Andrew Tridgell
61f325713e SITL: fixed the normalisation of the DCM matrix in the multicopter sim 2012-07-04 15:59:15 +10:00
Andrew Tridgell
1cd8c54f21 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell
468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell
0bdce404a5 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell
5ed345fe94 ACM: removed some Location functions which are now in AP_Math 2012-07-04 13:44:36 +10:00
Andrew Tridgell
be9b9f3e67 DataFlash: fixed SITL build 2012-07-04 13:44:01 +10:00
Andrew Tridgell
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
Andrew Tridgell
fb66899414 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