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2274 Commits

Author SHA1 Message Date
rmackay9 59b20c6fe4 AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm 2012-12-12 23:30:52 +09:00
rmackay9 66133f4e59 AP_AHRS: save trim to eeprom when set_trim is called 2012-12-12 17:24:28 +09:00
rmackay9 50bd21d548 AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles 2012-12-12 16:27:27 +09:00
rmackay9 2b6fbe5c01 AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2012-12-12 16:22:56 +09:00
Craig@3DR cbcc1437b8 Updated the MediaTek configuration 
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
 2012-12-12 11:13:24 +09:00
rmackay9 0b815d9afb AC_PID, AP_AHRS: added descriptions to some parameters 2012-12-10 22:28:39 +09:00
rmackay9 037efef3fb AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
rmackay9 d5bda7a99c AP_InertialNav_test: small change to #include in example sketch 2012-12-10 00:49:09 +09:00
rmackay9 b98f0448a3 ThirdOrderCompFilter: delete because now combined with AP_InertialNav library 2012-12-10 00:48:43 +09:00
rmackay9 b65f050b8a ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM 2012-12-10 00:43:11 +09:00
rmackay9 b2b5ad4b0e AP_Buffer: add size 5 float fifo buffer to predeclared types 2012-12-10 00:41:59 +09:00
rmackay9 88522d5db2 RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch 2012-12-09 16:42:58 +09:00
rmackay9 a4ee5d2c81 ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Robert Lefebvre 083c451ec6 ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
rmackay9 47af1fd255 AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5) 2012-12-07 12:57:12 +09:00
rmackay9 f4cd7b870b AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo. 
Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
 2012-12-06 17:46:09 +09:00
rmackay9 8ab535f75f RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called. 2012-12-06 17:41:42 +09:00
rmackay9 a83f6e54b5 ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes. 2012-12-06 10:24:58 +09:00
rmackay9 12e1ce50e2 AP_Buffer: bug fix to allow buffer to completely fill up. 
Also removed redundant _tail parameter which saves 1 byte.
 2012-12-06 10:18:00 +09:00
rmackay9 0092960a68 AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:35:55 +09:00
rmackay9 399fe2e8cd AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt 2012-12-05 09:20:31 +09:00
Robert Lefebvre e86243e7a3 ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -05:00
Andrew Tridgell dfc252a78d AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell c41ca45e84 MAVLink: clarify frame of reference for HIL_STATE 2012-12-03 23:31:34 +11:00
Andrew Tridgell 90c027cd97 MAVLink: use a smaller maximum payload to reduce memory 
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
 2012-12-03 23:28:23 +11:00
Andrew Tridgell aa79ffc301 AP_InertialSensor: fixed stub driver to work correctly with sensors HIL 2012-12-03 23:27:21 +11:00
Andrew Tridgell 48403e3bbc AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 2012-11-30 07:15:19 +11:00
Andrew Tridgell d58088c2b8 AP_InertialSensor: return the example sample count in Oilpan 2012-11-30 07:15:19 +11:00
Andrew Tridgell 9411b11072 InertialNav: update example for new interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 7ef7c7f04f AHRS: update example for new ins interface 2012-11-30 07:15:19 +11:00
Andrew Tridgell 2d8d6b2459 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00
Andrew Tridgell 4f37a9363a SITL: prevent the GPS pipe filling up and delaying GPS readings 2012-11-28 14:23:53 +11:00
Andrew Tridgell 54235f7a23 SITL: cleanup RC control for rover support 
added vehicle type, and setup right initial throttle
 2012-11-28 09:35:42 +11:00
Andrew Tridgell 29f978b8e5 AC_PID: suppress the derivative immediately after reset 
use _last_derivative == NAN to flag that the derivative is invalid
 2012-11-27 18:45:49 +11:00
Andrew Tridgell 86526e9a79 PID: use NAN to flag a D reset 
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
 2012-11-27 18:41:31 +11:00
Andrew Tridgell bbd6c5154e AC_PID: save 8 bytes per AC_PID object 
we don't need the _derivative or _output variables
 2012-11-27 18:06:22 +11:00
Andrew Tridgell b8d5a5904a AHRS: improved some more doc strings 2012-11-27 15:56:53 +11:00
Andrew Tridgell 48b37cac5a AHRS: improved docs for AHRS_GPS_USE 
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
 2012-11-27 15:41:52 +11:00
Andrew Tridgell b773529d09 cleanup: removed unused AP_PID library 2012-11-27 13:39:45 +11:00
Andrew Tridgell c55e6d3e6a PID: don't reset _last_error on reset_I() 
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers

Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
 2012-11-27 13:35:09 +11:00
Robert Lefebvre abd2a60036 AC_PID: Create Leaky Integrator Function. 2012-11-26 21:01:20 -05:00
Robert Lefebvre ca23a7ba76 ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
Andrew Tridgell d33d884f69 Plane: fixed secondary aileron and manual aux servos in failsafe 
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
 2012-11-26 23:32:57 +11:00
Michael Oborne e1659b62d2 AP remove debug include 2012-11-26 19:02:17 +08:00
Michael Oborne b2976c1114 AP: fix ap hil. 2012-11-26 18:53:51 +08:00
Andrew Tridgell d090d7d731 examples: mark some examples as unable to build 
some are not worth fixing. Some can't build on 1280/2560
 2012-11-24 21:09:55 +11:00
Andrew Tridgell ff916d3982 RC_Channel: fixed example build 2012-11-24 21:09:00 +11:00
Andrew Tridgell 5c48988ed9 Filter: fixed example build 2012-11-24 21:08:48 +11:00
Andrew Tridgell a3bd61cfb8 DigitalWriteFast: fixed example build 2012-11-24 21:08:36 +11:00
Andrew Tridgell 7761195f64 RangeFinder: fixed example build 2012-11-24 21:08:25 +11:00