Andrew Tridgell
b4c5f31b17
APM_Control: reduce the number of parameter saves in autotune
...
don't save a parameter unless it has changed by 0.1%
2014-04-17 17:20:40 +10:00
Paul Riseborough
ccc7d36493
APM_Control: Modify D and I gain scaling
2014-04-17 17:11:48 +10:00
Randy Mackay
7f00bd7f5d
Copter: default WAYPOINT to current pos if lat, lon, alt are zero
2014-04-16 20:33:43 +09:00
Randy Mackay
d2dad1b2c1
Copter: remove unused circle_desired_rotations
...
desired num rotations is already held in command so we save 1byte of RAM
2014-04-16 16:28:11 +09:00
Randy Mackay
e6d2692eab
Copter: Loiter_Turns moves to edge of circle if location provided
2014-04-16 16:28:08 +09:00
Randy Mackay
f6676be400
Copter: integrate change in AC_Circle init
...
Removed init_loiter_target when vehicle landed. We should add some
initialisation of the circle controller when landed.
2014-04-16 16:28:06 +09:00
Randy Mackay
94d38ee294
AC_Circle: add get_closest_point_on_circle
...
init_start_angle method added to use current heading or position to
decide on initial start angle
2014-04-16 16:28:04 +09:00
jschall
ff9838ea27
Copter: Document stream rate parameter functionality
2014-04-15 16:05:45 +09:00
Kevin Hester
c2184cb8e4
PID: fixup line endings
2014-04-15 15:57:56 +09:00
Kevin Hester
72e97cbf5c
AP_Param: fixup line endings
2014-04-15 15:57:47 +09:00
Kevin Hester
a7820e6c71
OptFlow: fixup line endings
2014-04-15 15:57:33 +09:00
Kevin Hester
fce1277b0e
Notify: fixup line endings
2014-04-15 15:57:11 +09:00
Kevin Hester
b7bed437c2
Compass: fixup line endings
2014-04-15 15:56:57 +09:00
Kevin Hester
80cb13e222
BattMon: fixup line endings
2014-04-15 15:56:43 +09:00
Kevin Hester
d09e871319
AP_Airspeed: fixup line endings
2014-04-15 15:56:26 +09:00
Kevin Hester
c34c4d79f6
AP_ADC: fixup line endings
2014-04-15 15:56:13 +09:00
Kevin Hester
b7410494e3
AC_PID: fixup line endings
2014-04-15 15:55:59 +09:00
Kevin Hester
2e79032f83
AutoTest: fixup line endings
2014-04-15 15:55:45 +09:00
Kevin Hester
58edd1415a
Tools Serial Proxy: fixup line endings
2014-04-15 15:55:30 +09:00
Kevin Hester
25f9a469e6
Tools: fixup line endings
2014-04-15 15:55:15 +09:00
Kevin Hester
4bfd6b8ddd
Copter: fixup line endings to be newline
2014-04-15 15:54:13 +09:00
Randy Mackay
cf86e304f0
Copter: add V-Tail to FRAME param's @Value
2014-04-15 12:18:31 +09:00
Kevin Hester
c992c15276
codestyle: specify line-ending, trailing-whitespace and tab rules
...
# This file provide reference settings for the APM code conventions
# There are plug-ins available for nearly every text editor to automatically
# respect the conventions contained within this file.
#
# Please see editorconfig.org for complete information.
#
# If you find errors in this file, please send a pull-request with a fix.
#
2014-04-15 09:22:22 +09:00
L. Preston Sego III
3ecdc4b741
Copter: Add support for V-Tail Quads
2014-04-14 14:54:02 +09:00
Randy Mackay
729026d80c
Drift: get velocity using const reference
2014-04-14 11:34:17 +09:00
Randy Mackay
02775e8dc5
AC_PosControl: get_accel_target returns const ref
2014-04-14 11:34:14 +09:00
Emile Castelnuovo
f5a68fdba1
Copter: clear RC in overrides on GCS failsafe.
2014-04-13 22:59:51 +09:00
Randy Mackay
60f522a094
AC_WPNav: set_wp_destination to use current target
...
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
2014-04-13 22:42:50 +09:00
Andrew Tridgell
d30c4ffe80
Plane: added AUTOTUNE_LEVEL parameter
2014-04-13 22:12:27 +10:00
Andrew Tridgell
ae7293ef68
APM_Control: added support for AUTOTUNE_LEVEL
...
10 levels of tune, for what type of tune the user wants
2014-04-13 22:11:57 +10:00
Andrew Tridgell
86f167fc7f
AP_Vehicle: added autotune_level to fixed wing parms
2014-04-13 22:11:28 +10:00
Andrew Tridgell
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:49 +10:00
Andrew Tridgell
4abc2999a6
AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement
...
this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:23 +10:00
priseborough
d745dc2b6f
AP_NavEKF : Increased position gate default to reduce impact of accel errors
...
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
2014-04-13 19:37:22 +10:00
priseborough
188bea6bab
AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing
...
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type
This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:
a) launch will be into wind
b) wind speed is equal to global average
It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
2014-04-13 19:37:19 +10:00
Andrew Tridgell
df192a9efd
AP_AutoTune: lower min tau to 0.2
2014-04-13 19:25:54 +10:00
Andrew Tridgell
3343af602e
APM_Control: fixed saving of new rate gains
2014-04-13 15:35:52 +10:00
Andrew Tridgell
b9a8ef3b51
APM_Control: fixed a bug in autotune servo saturation check
...
its in degrees not centi-degrees
2014-04-13 15:28:36 +10:00
Andrew Tridgell
8a20130ca8
Plane: changed for APM_Control API
2014-04-12 18:22:01 +10:00
Andrew Tridgell
64170d0f04
APM_Control: added dataflash logging to autotune
2014-04-12 18:21:50 +10:00
Andrew Tridgell
7f5eeabadc
DataFlash: reserve a range of msg types for autotuning logs
2014-04-12 18:21:31 +10:00
Andrew Tridgell
1bce4239a3
Plane: added AUTOTUNE flight mode
...
this is just like FBWA, but with automatic roll/pitch tuning
2014-04-12 14:12:14 +10:00
Andrew Tridgell
50fc75917e
APM_Control: first version of APM_Control autotuning
...
this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
2014-04-12 14:11:33 +10:00
Andrew Tridgell
3b8839d2f7
AP_GPS: fixed num_sensors on APM2
2014-04-11 21:32:55 +10:00
Andrew Tridgell
7404fc9d40
SITL: added SIM_BARO_DISABLE parameter
...
useful for testing baro failure
2014-04-11 16:47:40 +10:00
Andrew Tridgell
d37f1a1376
Plane: updates for OBC API change
2014-04-11 16:47:40 +10:00
Andrew Tridgell
4c5e59c098
autotest: added OBC frame type
2014-04-11 16:47:40 +10:00
Andrew Tridgell
ad18019fb1
APM_OBC: added pressure altitude termination
2014-04-11 16:47:40 +10:00
Andrew Tridgell
43fc6ce0b8
AntennaTracker: use get_altitude_difference()
2014-04-11 16:34:14 +10:00
Andrew Tridgell
41dd280739
AP_Baro: expose get_altitude_difference()
...
this is useful for pressure altitude calculations
2014-04-11 16:34:02 +10:00
