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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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the status update comes as a separate message from the lat/lon
2012-06-04 14:47:58 +10:00
012fc35314
mavlink: fixed build with uart resend
2012-06-04 13:45:55 +10:00
b6467cb1fa
MAVLink: updates to mavlink headers to fix mavlink 1.0 issues
2012-06-04 13:34:07 +10:00
d8919731ee
Mavlink: fixed library build for MAVLink 1.0
2012-06-04 13:14:52 +10:00
ec1abbf987
SITL: fixed SITL build with mavlink10
2012-06-04 13:14:52 +10:00
60f8d09506
mavlink10: fixed MAV_VAR -> MAVLINK_TYPE
2012-06-04 13:14:51 +10:00
bccfb08c55
MAVLink: updated to latest upstream mavlink
...
this includes no significant changes
2012-06-04 13:14:51 +10:00
73e23aab2a
GPS time set to unsigned int32
2012-06-03 11:13:50 -07:00
5c9dc00ae2
AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure
2012-06-03 17:31:17 +09:00
dcdeae412e
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
173ae33627
ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures.
...
All real work on this issue done by Michael Oborne.
2012-06-02 17:46:00 +09:00
c82a403b88
AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work.
...
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
2012-06-02 16:13:23 +09:00
c3b1a79f6a
RC_Channel library: change all "int" types to "int16_t".
...
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
2012-06-02 14:20:58 +09:00
d9f124afbb
RC_Channel.pde: fixed compile errors so that it actually works!
2012-06-02 14:00:44 +09:00
2a216ce900
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
c2d14a5cad
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
0adb5cb396
Issue 416: RC_Channel – Fix to make dead_zones still output 0
2012-05-31 12:05:47 -07:00
1c690b44de
removed never used filter, and fixed a constrain that could make range calcs go bad
2012-05-31 11:45:07 -07:00
862b374d19
Channel rage fix - low output was always 0 vs _low
2012-05-31 11:31:48 -07:00
5f058fb9b2
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
56335e81e4
Fix TradHeli Collective Yaw Effect bug.
2012-05-25 15:25:21 -04:00
ddfa06e857
SITL: fixed ChipErase()
...
the loop never completed
2012-05-23 21:15:45 +10:00
6e444f6b64
SITL: fixed build with new ChipErase() call
2012-05-23 17:33:33 +10:00
fc73fd6531
DataFlash: use ChipErase() instead of PageErase() on all pages
...
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).
We need to test and ensure the behaviour is equivalent apart from the
speed
2012-05-22 19:29:02 -07:00
f274df454a
DCM: fixed a bug when using GPS for yaw correction
...
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
9d221b3625
AP_Common: fixed some duplicate product ID warnings
2012-05-17 23:37:32 +10:00
357d6c2d9b
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
69bf5700cd
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
...
this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
4a1d8b0875
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
4c46955612
PRODUCT: Define product IDs for all supported products
2012-05-09 18:30:36 -07:00
ed99940bee
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
...
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00
34f5923ef3
fixed typo ("minimum" should have been "maximum")
2012-05-06 15:50:19 -07:00
2dd655d87d
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
88b2139d91
Baro: added suspend/resume on init
2012-05-01 12:06:54 +10:00
d692a932ca
ADC: added suspend/resume on init
2012-05-01 12:06:54 +10:00
534aee17e9
TimerProcess: added suspend_timer()/resume_timer()
...
this will be used to avoid races in driver initialisation
2012-05-01 12:06:54 +10:00
6e1798b104
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
...
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
ca8bc34c98
MAVLink: re-generated with new pygen
...
this moves the enums to make them less order sensitive
2012-04-30 12:27:30 +10:00
56d3fa1601
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
4f90e6e844
build: cope with Arduino 1.0 in command line build
...
this should autodetect 1.0 versus older builds
2012-04-27 15:38:42 +10:00
239323eaa4
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
3309dec205
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
89041c6996
sitl: support MAVLink 1.0 builds
2012-04-24 22:24:58 +10:00
d11957718f
MAVLink: removed the cpp part of the library
...
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
2012-04-24 22:24:58 +10:00
eb5bc964d8
MAVLink: one more define for MAVLink 1.0 compat
2012-04-24 19:54:20 +10:00
0753782c49
MAVLink: re-add the XML message definitions
...
these are a very useful reference for the current headers in the code
2012-04-24 10:57:43 +10:00
5c067d5a03
MAVLink: imported new mavlink header updates
...
this fixes the camera control code which was broken by a previous
import
2012-04-24 10:57:43 +10:00
e8f8115a8f
APM_RC: added OutputCh_current() method
...
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
2012-04-24 10:57:43 +10:00
Andrew Tridgell
Jonathan Challinger
rmackay9
Jason Short
Amilcar Lucas
Wingspinner
Robert Lefebvre
Craig Elder
Chris Anderson
Adam M Rivera