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
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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
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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
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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
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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
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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
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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
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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
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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
6ee9f1ae97
APM: use new location functions
2012-07-04 12:42:46 +10:00
Andrew Tridgell
dd200cba31
Math: added location functions to math library
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these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
Andrew Tridgell
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
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this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
Jason Short
fd97eb5a8d
commands
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fixed logic bug to make a copter loiter after the mission is ended.
2012-07-03 17:38:50 -07:00
Jason Short
37685756df
Config.h:
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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
c29a0bc3f8
Navigation
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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
3a3966736c
Params
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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
8ccda519fa
Arducopter.pde:
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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
b076b571eb
commands_logic: Removed some old unused code
2012-07-03 17:19:19 -07:00
Jason Short
2d572461ec
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
1070eea70b
Log.pde: formatting
2012-07-03 17:16:26 -07:00
Jason Short
1a6549fef7
removed GPS ground speed calc - was causing some funny business during the transition.
2012-07-03 17:16:14 -07:00
Jason Short
c62706ad06
Toy Mode: Yaw performance update.
2012-07-03 17:14:54 -07:00
Jason Short
8a08a74cc6
Config.h : shortening the landing time to 10s
2012-07-02 17:52:38 -07:00
Jason Short
16b25a26c2
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
060cbe2030
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
Andrew Tridgell
99b11e4f19
Mount: enable mount control via eeprom parameters
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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
82e09ce53a
SITL: don't enable wind until we are off the ground
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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
057eb5e6f6
Baro: average over all pressure/temperature samples on MS5611
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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
Andrew Tridgell
f70cd71791
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
Jason Short
e0b3309500
Yaw mode:
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Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
2012-07-01 13:40:12 -07:00
Jason Short
9a30270879
System.pde - RTL
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removed Approach mode, fixed RTL to loiter until desired altitude is reached
2012-07-01 13:40:12 -07:00
Jason Short
e35fb9ecd7
Parameters
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removed unused parameters for retro loiter
2012-07-01 13:40:12 -07:00
Jason Short
3cf16c1424
GCS_Mavlink.pde
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removed Approach define
2012-07-01 13:40:11 -07:00