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31,090 Commits 71 Branches 509 Tags 747 MiB
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31090 Commits

Author SHA1 Message Date
Leonard Hall a727305a59 Copter: integrate attitude control EKF inertial-frame-reset 2018-03-16 13:50:57 +09:00
Randy Mackay f368ff6664 Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall 8ac653cabf Copter: AutoTune integrate renamed use_sqrt_controller 2018-03-16 13:50:57 +09:00
Randy Mackay 853d7ab573 Copter: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Leonard Hall 7511781a7e Copter: add accel target to NTUN log msg 
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
 2018-03-16 13:50:57 +09:00
Leonard Hall f9acc8a666 Copter: guided removes xy mode in calls to pos-con 
Also limit angle to hold altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay 1a0be015f9 Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration 
Also fix accelerations/lean-angles for land and rtl-land
 2018-03-16 13:50:57 +09:00
Leonard Hall 93de23e7c4 Copter: get-pilot-desired-lean-angles accepts another angle-max 2018-03-16 13:50:57 +09:00
Leonard Hall 1540f98888 Copter: add angle inputs to Loiter 2018-03-16 13:50:57 +09:00
Leonard Hall 9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Leonard Hall a356cfa529 AC_Circle: init resets desired velocity_xy 2018-03-16 13:50:57 +09:00
Leonard Hall d104e3a3c0 AC_Circle: remove xy mode and limit angle to maintain alt 2018-03-16 13:50:57 +09:00
Leonard Hall 1c0678226c AC_WPNav: new loiter including accel ff and braking 
Includes:
sanity check loiter accel max vs lean angle max
increase loiter aggressiveness
remove loiter calls to pos_con.freeze_ff_xy
use loiter max velocity correction
remove xy mode from loiter
move predictor to angle
add maximum pilot commanded angle to loiter
loiter use alt hold angle limit
set_pilot_desired_acceleration accept dt

Also includes:
remove loiter jerk and setting pos-con jerk
breaking gain is based on VelxyP
Jerk limit Loiter breaking
change breaking parameters use jerk limit
add maximum distance correction in Loiter to 2m
update Loiter parameter defaults
 2018-03-16 13:50:57 +09:00
Leonard Hall c7c3dd561a AC_WPNav: brake, wp and spline clear desired velocity_xy 2018-03-16 13:50:57 +09:00
Leonard Hall 6430b75224 AC_WPNav: remove xy mode from brake, wp, spline 2018-03-16 13:50:57 +09:00
Leonard Hall c59dc21c8b AC_WPNav: sanity check wp accel max vs lean angle max 2018-03-16 13:50:57 +09:00
Leonard Hall dadc6a63c4 AC_PosControl: add set_leash_length_xy 2018-03-16 13:50:57 +09:00
Leonard Hall e5bc2b26fe AC_PosControl: add lean angle max 2018-03-16 13:50:57 +09:00
Leonard Hall 0f3645b061 AC_PosControl: increase velocity gains 2018-03-16 13:50:57 +09:00
Leonard Hall 7ec043502f AC_PosControl: add accel limit to xy controller 2018-03-16 13:50:57 +09:00
Leonard Hall bd13704f6f AC_PosControl: update init for guided 2018-03-16 13:50:57 +09:00
Leonard Hall 85b7f06554 AC_PosControl: combine z position control into single method 2018-03-16 13:50:57 +09:00
Leonard Hall 993e638752 AC_PosControl: combine xy position control into single method 
Also always limit lean angle to maintain altitude
 2018-03-16 13:50:57 +09:00
Leonard Hall 74bb7616a7 AC_PosControl: add accel feedforward 
also add limit_vector_length and sqrt_controller helper functions
enforce angle limits
rename accel-feedforward to accel-desired
remove freeze_ff_xy
remove unused VEL_XY_MAX_FROM_POS_ERR
remove xy mode
remove jerk limiting code including setters
limit_vector_length uses is_positive
Also modify formatting
 2018-03-16 13:50:57 +09:00
Randy Mackay 9aa6415e1c AC_AttitudeControl: use is_positive and is_negative 2018-03-16 13:50:57 +09:00
Randy Mackay b3de52dc59 AC_AttitudeControl: minor comment fix 2018-03-16 13:50:57 +09:00
Leonard Hall 05418d3d29 AC_AttitudeControl: add EKF reset handling 2018-03-16 13:50:57 +09:00
Leonard Hall 8c45345863 AC_AttitudeControl: rename use_ff_and_input_shaping to use_sqrt_controller 
Also rate controllers only use _rate_bb_ff_enabled flag to decide whether
to use ff for now
 2018-03-16 13:50:57 +09:00
Leonard Hall 1e9e12e866 AC_AttitudeControl: rename heading_quad to yaw_vec_correction_quat 
also rename flip_scalart local variable to feedforward_scalar
also add comments
non-functional change
 2018-03-16 13:50:57 +09:00
Randy Mackay 59a2445ad3 AC_AttitudeControl: replace smoothing gain with INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall e1e224b68b AC_AttitudeControl: add angular velocity limit 2018-03-16 13:50:57 +09:00
Leonard Hall ee82943f85 AC_AttitudeControl: add input_shaping_rate_predictor 2018-03-16 13:50:57 +09:00
Leonard Hall 6175a896ee AC_AttitudeControl: add set smoothing gain 
Smoothing gain value should be set once when entering a mode
 2018-03-16 13:50:57 +09:00
Leonard Hall 213f7a4061 AC_AttitudeControl: add get_accel_roll/pitch/yaw_max_radss methods 
Also constify existing get_accel_roll/pitch/yaw_max methods
 2018-03-16 13:50:57 +09:00
Ebin 185f41d5bd Copter arm_checks(): PreArm in error msg changed to Arm 2018-03-16 09:49:54 +09:00
Michael du Breuil 45410759dc DataFlash: Log the frame a mission command is planned in 2018-03-16 09:28:20 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 54b3936a46 AP_Beacon: Use marvelmind beacon raw distances on the EKF 
Add support for Marvelmind RAW distance measurements this
requires Marvelmind FW >= 5.77 and "Raw distances data" enabled
in the marvelmind GUI dashboard.
This is better than the previous workaround we had.
 2018-03-16 08:23:52 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 29078824fc AP_Beacon: Replace max_buffered_positions variable with a #define 2018-03-16 08:23:52 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 7df1419579 Copter: add missing MAGNETOMETER and STATS_ENABLED build defines 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas f63388cb07 Sub: Obey RANGEFINDER_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Randy Mackay 89725a7aa5 AR_AttitudeControl: minor comment fix 
non-functional change
 2018-03-15 09:58:27 +09:00
Randy Mackay 30ba463f42 Rover: minor comment fix to acro 
non-functional change
 2018-03-15 09:58:24 +09:00
Peter Barker 0652c89844 AP_Mount: use dataflash singleton 
Closes #7550
 2018-03-15 07:57:50 +09:00
Peter Barker b348cfa985 Tools: autotest: flake8 compliance 
Taking the opportunity to make massive changes while we're destroying
history anyway.
 2018-03-15 07:54:21 +09:00
Pierre Kancir 259dda810d Tools: use base class to share code between vehicle tests 
Autotest: common.py add new base class and test

Autotest : Common add heartbeat handling on wait_mode timeout

Autotest: common.py add reach_heading_manual and reach_distance_manual

Autotest: new autotest implementation for Rover

Autotest : rover add drive_square test

Autotest: new autotest implementation for Copter

Autotest: new autotest implementation for Plane

Autotest: new autotest implementation for Sub

Autotest: new autotest implementation

Autotest: new autotest implementation for QuadPlane

Autotest : Sub disable GCS_Failsafe on autotest to prevent timeout. The failsafe aren't currently tested on Sub
 2018-03-15 07:54:21 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 5b7116bbbd Copter: Fix else formating (NFC) 
git history on these lines is not important, this is a simple else
 2018-03-15 07:51:26 +09:00
Peter Barker b1b978381a Tools: correct quoting in run_in_terminal_window.sh 2018-03-15 07:40:23 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas db90ee6841 Copter: Remove RTL_ parameters if RTL flight mode is disabled 2018-03-15 07:38:50 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 21c33b60db Copter: Remove DRIFT mode code if DRIFT mode is disabled. 2018-03-15 07:38:14 +09:00