960c2f08af
AP_Mount: addition of Amilcar's mount_type
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set_roi_cmd modified to take a Location. I know the intention was for set_roi_cmd to interpret the MAVLink command directly but unfortunately in arduCopter missions are only made up of waypoints (which are Locations).
2012-07-25 11:00:38 +09:00
21f0ed00b3
AHRS: normalise GA_b before computing error vector only if too large
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When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
2012-07-23 17:16:50 +10:00
99410cbbfe
AP_AnalogSource: fixed reporting of VCC
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the VCC pin number should not be converted
2012-07-21 19:49:24 +10:00
5f5c884a6d
AHRS: if we don't have gps correction enabled, zero the yaw correction
2012-07-20 17:21:04 +10:00
4f41b876b1
AHRS: allow the gps/accelerometers to control yaw when rolled
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this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
2012-07-20 11:50:04 +10:00
404803a734
MAVLink: imported updated generated mavlink C code
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no functionality changes
2012-07-20 11:50:03 +10:00
25c3ed6c4b
Oilpan ADC parameters added
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including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
8a4a9a929e
Lead Filter: simplified calculation
2012-07-18 22:57:10 -07:00
f704408094
GPS-UBlox: removed duplicate config messages
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these were left over from debugging
2012-07-19 15:23:15 +10:00
13fb2e6dc9
RC_Channel parameters: Fix a typo
2012-07-18 22:39:49 +02:00
dea5b88379
Support up to 7 aux servo outputs
2012-07-18 21:58:22 +02:00
a2e6af1f9c
AP_Mount: added set_manual_rc_channel and set_manual_rc_channel_function to allow input of pitch, roll and yaw controls from a regular RC_Channel (i.e. not RC_Channel_aux)
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For now, angles red in are always of the range -45 deg ~ 45 deg which is consistent with the existing arducopter implementation but should be improved to scale the pilot's input to the mount's actual range.
2012-07-18 23:20:05 +09:00
8acc432084
Replace long with int32_t
2012-07-18 02:12:31 +02:00
f5c2ffca34
Use ascending order in the values
2012-07-18 02:11:49 +02:00
23f009f665
Improve parameter documentation, it still does not work, but is an improvement.
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I just do not understand why these parameters do not appear in Mission planner :(
2012-07-17 23:32:30 +02:00
b97f9bb803
Airspeed Library - fix param names.
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The Group definition give the start of the param name.
This way we can maintain multiple instances if required of the same library as options.
2012-07-16 21:48:47 +08:00
dfb22554aa
Airspeed: Added AP_Airspeed sensor library
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this will allow an airspeed sensor object to be passed to AHRS for
dead reckoning
2012-07-16 11:21:20 +10:00
bec5321b8b
AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel!
2012-07-16 00:38:58 +09:00
3b9a1d4305
RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised.
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changed parameter names of "update_aux_servo_function" to make it more clear that any 4 servos can be passed in (not just servos 5~8).
Also allowed NULL servos to be passed in as parameters because we only need 3 in ArduCopter.
2012-07-15 16:28:53 +09:00
e83275d8ae
AP_Camera: changed "int" to "int16_t" and "long" to "int32_t" here and there.
2012-07-15 16:26:12 +09:00
31fd74d94c
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
804898c2a5
fix param config names
2012-07-14 15:34:15 +08:00
716ce6a5a7
Change to prevent Tricopter servos from going hard-over during Disarmed state.
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Believe this was an oversight when the change to AP_Motors went in.
2012-07-13 23:12:26 -04:00
ab1212d8d2
Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input".
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Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying. This could probably become a parameter.
2012-07-13 22:59:28 -04:00
9dfb3c4db9
Added Michael Pursifull's Maxsonar HRLV model support
2012-07-11 18:46:47 -07:00
d3426420ad
AP_Camera: moved seme constructor initialisers around to remove compile warnings
2012-07-12 09:33:22 +09:00
1105a35c77
AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0)
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Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
2012-07-11 21:19:17 +09:00
eb647b5320
AP_Mount: add support for non-spring-loaded joysticks
2012-07-11 00:07:33 +02:00
ad60fac863
RC_Channel: improve parameter documentation
2012-07-11 00:07:10 +02:00
42301af148
Remove unused function, remove unnecessary angle wrapping.
2012-07-11 00:06:45 +02:00
74ef712cd1
Allow mount control when no AHRS exists
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Allow mount control on non stabilized axes
2012-07-11 00:06:26 +02:00
63a83b95b4
AP_Math: added get_distance_cm() to return in centimeters
2012-07-11 07:49:05 +10:00
15133b1105
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
9b6acf168e
AHRS: added AHRS_GPS_GAIN parameter
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this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
2bc530d04f
AP_Param: added some docs on the eeprom header format
2012-07-10 14:03:49 +10:00
0534ac12b1
DataFlash: The current method for checking if chip erase worked is producing false positives. We are forcing the block erase until we have a deterministic test method.
2012-07-09 15:23:35 -07:00
a79f55656a
RC_Channel: Improve documentation
2012-07-07 21:57:30 +02:00
8bd7ef9b9a
AP_Mount: Fix radians/degrees scaling regressions
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Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
2012-07-07 21:56:56 +02:00
ec70e87495
AnalogSource: prevent a division by zero on zero ADC data
2012-07-06 19:59:18 +10:00
7bc724d118
APM: changed PID library to do automatic deltat calculation
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this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
2012-07-06 19:59:18 +10:00
44755bf3ce
AP_Baro: improved barometer averaging
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this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
43d6015811
Filter: split the DerivativeFilter steps into update() and slope()
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this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
4723698489
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
9845a55cb1
AHRS: make the yaw independent drift correction optional and disable
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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
e33554a1f9
AHRS: only enable barometer for AHRS if it is smooth enough
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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
1ce4a03147
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
9f3da1bf7f
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
5f38669666
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
735c88e9b3
AP_Baro: added get_pressure_samples() interface
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this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
92001e3e7d
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
999a1d1d55
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
a07e280eda
Filter: cope with non-uniform time steps in the DerivativeFilter
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this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
ce3f8be6c7
SITL: add some minimal noise when motors are off
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this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
fe54329de2
MAVLink: remove MAVLink 0.9 protocol support
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this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
9d7ed30023
AHRS: only use GPS for yaw when compass is not being used
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this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
6653c0b874
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
a5d607d25a
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
f97289792b
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
cf2c546051
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
be3d035a64
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
6904bef611
Document++
2012-07-05 00:33:46 +02:00
8400bd67f8
Remove unused function
2012-07-05 00:33:10 +02:00
dc6d70bc15
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
cac0757c2e
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
03516b7dfa
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
6cf2e2fa13
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
7be29c8b04
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
8fa1acb141
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
597170afdc
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
c6ff292721
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
84a489498d
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
e0685f4408
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
1142ec0665
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
f150c645c8
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
7a77832f45
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
f7b06e0a64
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
2bd5cd3b9a
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
0341e0e5f0
SITL: added support for new analog source
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removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
2046e396a2
AnalogSource: make the Arduino AnalogSource interrupt driven
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this fixes several problems with reading analog sources:
- we were getting poor values because we didn't wait long enough for
an analog source to settle
- we wasted a lot of CPU cycles waiting for conversions
- we were not taking averages over many samples, which we did with
the old AP_ADC driver on the APM1
2012-07-01 15:01:05 +10:00
b5aa821071
AHRS: include the P terms in get_gyro()
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this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
02b9ea4dfe
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
117bae9585
SITL: added SITL class for controlling simulation
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this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
37494dda2b
AHRS: don't add the P terms in _omega
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this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
21ae2957fb
AHRS: disable barometer for vertical acceleration
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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
e531061caa
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
8600ad8d7f
AHRS: revert to the old drift correction algorithm
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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
70bfacc350
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
57579e494b
Barometer: fixed airstart for APM
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we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
ce016b5ae8
AHRS: include P term in omega
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thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
0fa1f29cf3
AHRS: implement spin rate limits
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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
3ffecc18d8
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
3458962184
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
426006d98f
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
20c1baf585
SITL: changes UBlox simulation to 5Hz
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this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
d9583ae5eb
Compass: remove the need to call calculate() on the compass object
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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
5370f9c411
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
53e950531e
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
9fd3d15026
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
1ff9461bfb
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
73faaddc1b
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
rmackay9
Jonathan Challinger
Andrew Tridgell
Jason Short
Amilcar Lucas
Michael Oborne
Andreas M. Antonopoulos
Robert Lefebvre
Craig Elder