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3876 Commits

Author SHA1 Message Date
Paul Riseborough
3ad35363be Plane : APM_Control : Removed scaler incorrectly applied to the integrator path 2013-06-04 18:09:06 +10:00
Andrew Tridgell
f44f7308e8 AP_Param: we don't need to avoid writes in AP_Param now 
now handled in the HAL
 2013-06-04 14:02:49 +10:00
Andrew Tridgell
2316c3bd11 AP_HAL: make storage->write_block() take a const pointer 2013-06-04 14:02:13 +10:00
Andrew Tridgell
3c9d45d7d0 HAL_AVR: avoid writing bytes to EEPROM that are already correct 
this speeds up writing of waypoint data, reducing latency
 2013-06-04 13:33:41 +10:00
Andrew Tridgell
02252b5387 RC_Channel: removed reference to dip switches 2013-06-03 17:49:56 +10:00
Andrew Tridgell
aaaa5247e3 AP_AHRS: make it possible to setup board orientation at runtime 2013-06-03 16:52:28 +10:00
Andrew Tridgell
45b385cf81 AP_RCMapper: improved docs for RCMAP_* 2013-06-03 16:28:05 +10:00
Andrew Tridgell
c0058bbb03 RC_Channel: added output_trim() and read() functions 
these make using rcmap in the plane code easier
 2013-06-03 16:23:48 +10:00
Andrew Tridgell
033828aeb6 AP_Mount: make the code a bit easier to read 2013-06-03 16:23:48 +10:00
Andrew Tridgell
9076f6a1d0 AP_Mount: use RC_Channel::rc_channel() instead of rc_ch[] 2013-06-03 16:23:47 +10:00
Andrew Tridgell
0438952a8b RC_Channel: removed global rc_ch[] array 
hide it as a object static instead
 2013-06-03 16:23:47 +10:00
Randy Mackay
e9594c8b80 RCMapper: simple mapping object for primary input channels 
allows arbitrary mapping of first 4 channels
 2013-06-03 16:23:47 +10:00
Andrew Tridgell
68adeb041d AP_Airspeed: support ARSPD_PIN option for choosing source 
this gives us support for arbitrary analog pins for the airspeed
sensor, plus support for the EagleTree airspeed driver on PX4
 2013-06-03 11:51:09 +10:00
Andrew Tridgell
26b7de668a AP_Param: fixed parameter save bug 
This bug affected parameters where the defaults are overridden in the
object constructor. For example, a PID object may have a default value
for PID_D of 0.0, but have a constructor based default of 0.2. If the
user tries to set the value to exactly 0.0, then the set wouldn't happen,
as the value matches the value in the object default var_info[]
table. 

This change ensures we force a save to eeprom if the value is changing
from the current value, regardless of the var_info[] default.

Thanks to Tom Coyle for finding this bug!
 2013-06-02 14:49:34 +10:00
Andrew Tridgell
05889391e5 APM_Control: cope with zero integrator or tconst 
if the user zeros the integrator tuning factor, we need to zero the
integrator
 2013-06-01 22:29:38 +10:00
Andrew Tridgell
512d3d811d APM_Control: neaten up code formatting 2013-06-01 22:29:38 +10:00
Randy Mackay
7a2afb7443 Copter Nav: add accessor for waypoint speed 2013-06-01 18:21:29 +09:00
Randy Mackay
8b87849acd Math: add wrap_PI 2013-06-01 18:21:29 +09:00
Andrew Tridgell
c82caeeba1 HAL_AVR: configure analog inputs as INPUT without pullup 
not all pins were defaulting to this, which led to some strange
readings on some devices. First noticed by Andi on a LM335 temperature
sensor
 2013-06-01 12:19:02 +10:00
Randy Mackay
89bbf5844f Copter WPNav: remove unused variable 2013-05-31 21:41:32 +09:00
Randy Mackay
8c4a7ec094 Copter WPNav: Leonard's improved speed fix 
Also pass in althold gain from main code
 2013-05-31 21:03:27 +09:00
Andrew Tridgell
14c8c1bdfc APM_Control: tweak code layout and param descriptions 2013-05-31 17:24:55 +10:00
Randy Mackay
76028fc9d3 Copter Motors: use _min_throttle in output_test 2013-05-31 15:16:04 +09:00
Randy Mackay
28f2f87b26 Copter Motors: minor formatting change 2013-05-31 15:16:04 +09:00
Andrew Tridgell
f4efa92d3b APM_Control: fixed parameter names 2013-05-31 15:31:25 +10:00
Andrew Tridgell
3e8af05d15 APM_Control: match parameter names with old PID controllers 
this will make upgrading easier
 2013-05-31 14:06:56 +10:00
Andrew Tridgell
53d3ce7d2c APM_Control: fixed some documentation (old parameter names) 2013-05-31 07:58:29 +10:00
Andrew Tridgell
38e414db33 AP_Progmem: fixed type of strncmp_P() 2013-05-31 07:58:29 +10:00
Andrew Tridgell
ad2f6e1217 AP_Param: add support for converting between old and new parameters 
this allows for a conversion table between old parameters and new
parameters, making firmware upgrades with moved parameters much easier
for users
 2013-05-31 07:58:29 +10:00
Paul Riseborough
716c124f73 APM_control: Modified gain definitions for roll and pitch controllers so PID gains behave like previous servo PIDS 
Gain definitions in roll and pitch controllers were updated previously
so that the old PID tuning values could be transferred across.
Updated tuning guide for revised gain definition.
 2013-05-31 07:58:20 +10:00
Randy Mackay
a1926441da Copter: use fast tan for accel to lean angle calcs 
Committed on behalf of Leonard
 2013-05-30 18:25:04 +09:00
Randy Mackay
d81b7b507d Math: add Leonard's fast tan function 2013-05-30 18:24:32 +09:00
Randy Mackay
d203f0295b Copter: bug fix for vertical speed during missions 2013-05-30 11:52:04 +09:00
Andrew Tridgell
3dcdc15201 AP_Navigation: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
ac2db516b4 APM_PI: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
941a2c483a AP_LeadFilter: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
86db955ac9 AP_L1_Control: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
9da13f3775 AP_InertialNav: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
e391c34d1e AP_HAL_PX4: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
e2eca3e273 AP_HAL_AVR_SITL: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
82aec0ef6c AP_Declination: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
8f4d4465af AP_Curve: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
fb7ae8c764 AP_Camera: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
e75253d019 AP_AHRS: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
8c25a504c3 AC_PID: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell
918a3d46f5 AP_Buffer: fixed indent-tabs-mode 2013-05-30 09:53:15 +10:00
Andrew Tridgell
6c5718a63b APM_Control: fixed indent-tabs-mode 2013-05-30 09:53:02 +10:00
Andrew Tridgell
933088b95a AP_Common: fixed indent-tabs-mode 2013-05-30 09:52:38 +10:00
Andrew Tridgell
4007b7b1e9 AP_Compass: fixed indent-tabs-mode 2013-05-30 09:52:30 +10:00
Andrew Tridgell
edfebc1f29 AP_GPS: fixed indent-tabs-mode 2013-05-30 09:52:21 +10:00
Andrew Tridgell
c92069644d AP_InertialSensor: fixed indent-tabs-mode 2013-05-30 09:52:12 +10:00
Andrew Tridgell
c28ef033a2 AP_Limits: fixed indent-tabs-mode 2013-05-30 09:52:00 +10:00
Andrew Tridgell
5024da2695 AP_Math: fixed indent-tabs-mode 2013-05-30 09:51:51 +10:00
Andrew Tridgell
5fdf6ff4f7 AP_Menu: fixed indent-tabs-mode 2013-05-30 09:51:43 +10:00
Andrew Tridgell
81f7ae9108 AP_Motors: fixed indent-tabs-mode 2013-05-30 09:51:34 +10:00
Andrew Tridgell
1cc02836a0 AP_Mount: fixed indent-tabs-mode 2013-05-30 09:51:24 +10:00
Andrew Tridgell
e69e4a5695 AP_RangeFinder: fixed indent-tabs-mode 2013-05-30 09:51:11 +10:00
Andrew Tridgell
91a60be758 GCS_MAVLink: fixed indent-tabs-mode 2013-05-30 09:50:57 +10:00
Andrew Tridgell
6862791d66 PID: fixed indent-tabs-mode 2013-05-30 09:50:37 +10:00
Andrew Tridgell
c96ac5edbb RC_Channel: fixed indent-tabs-mode 2013-05-30 09:48:45 +10:00
Randy Mackay
4ce4b7aef9 OptFlow: minor commenting and format changes 2013-05-28 22:56:11 +09:00
Andrew Tridgell
15a84972d1 SITL: added SIM_MAG_ERROR parameter 
this is a compass yaw error in degrees, used for testing navigation
with a bad compass
 2013-05-27 13:37:34 +10:00
Randy Mackay
ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay
dbd6524f9f Copter: WPNav consolidate acceleration #defines 2013-05-27 10:36:24 +09:00
Randy Mackay
e3dffb920b Copter: initialise target vel in loiter 2013-05-25 14:07:04 +09:00
Randy Mackay
a474b97291 Copter: resolve compiler warning re unused vars 2013-05-25 13:32:15 +09:00
Randy Mackay
916f241fff Copter: Leonard's improved Loiter 2013-05-24 23:45:03 +09:00
Andrew Tridgell
14628990e6 AP_AHRS: make wind estimation configurable 
rover doesn't want it
 2013-05-24 11:21:42 +10:00
Andrew Tridgell
807dbf9786 AP_InertialSensor: fixed a build warning 2013-05-24 11:21:42 +10:00
Randy Mackay
46d65150af Copter: lengthen loiter stopping point 
This will make stops less aggressive when entering loiter at very high
speeds (more 7.5m/s)
 2013-05-22 17:35:20 +09:00
Randy Mackay
400c1bd7b7 Copter: smooth waypoint transitions 
Speed of intermediate point is initialised and constrained based on
current speed vector vs direction to the next waypoint.
This means the copter does not slow if the previous segment and next
segment are in line and also the intermediate point is not advanced
towards the next waypoint if the copter is moving quickly in the
opposite direction.
 2013-05-22 14:17:26 +09:00
Andrew Tridgell
59b6118a1d AP_InertialSensor: fixed parameter markup 2013-05-21 17:02:13 +10:00
Randy Mackay
b27ddf0f63 AP_AHRS: add parameter descriptions 2013-05-21 15:39:03 +09:00
Randy Mackay
6a65a32de2 CopterMotors: add formatting info to top of files 2013-05-20 10:48:42 +09:00
Randy Mackay
5235f4cacd Copter: allow Tri copters to init ESCs through APM/PX4 2013-05-19 17:28:39 +09:00
Randy Mackay
b914f9ba06 SITL: use SIM_ENGINE_MUL to simulate motor failure 2013-05-19 14:29:08 +09:00
Andrew Tridgell
c08c084191 AP_AHRS: added get_projected_position() 
this is used to project the position forward by the GPS lag
 2013-05-17 08:32:21 +10:00
Andrew Tridgell
2c149bac8e HAL_PX4: added new arming ioctls 2013-05-16 16:43:38 +10:00
Randy Mackay
cb795ea536 WPNav: divide by zero checks 2013-05-15 11:51:26 +09:00
Randy Mackay
610edd8f9a ACMotors: small formatting change 2013-05-14 19:01:53 +09:00
Randy Mackay
cd5795a4ac ACMotors: make a few more functions non-virtual 
Saves at least 22 bytes of RAM
 2013-05-14 18:23:36 +09:00
Randy Mackay
ad00e0ee1e ACMotors: make test_order uint_8 2013-05-14 18:03:34 +09:00
Randy Mackay
88893f4209 ACMotors: make a few functions non-virtual 2013-05-14 17:41:12 +09:00
Randy Mackay
bd07b1e57b ACMotors: remove unused get_num_motors function 
Saves about 4 bytes of RAM
 2013-05-14 17:35:27 +09:00
Randy Mackay
5bb0582854 ACMotors: ESC Calibration only for enabled motors 2013-05-14 17:07:36 +09:00
Randy Mackay
33d1129904 Copter: remove unused TB_RATIO parameter 2013-05-14 16:56:55 +09:00
Randy Mackay
7a81c41689 AP_Motors: motor_enabled array to bool 
Also increased the default MAX_THROTTLE from 850 to 1000 but this number
is always overwritten by the main code anyway so should have no
functional impact.
 2013-05-14 16:05:22 +09:00
Andrew Tridgell
411e940342 DataFlash: prevent the dataflash erase problem 
only allow writes to dataflash block devices once StartNewLog() has
been called
 2013-05-14 16:31:45 +10:00
Andrew Tridgell
119ffb0fc0 SITL: fixed simulated airspeed value 2013-05-13 15:42:38 +10:00
Andrew Tridgell
a5b20b4dfc AP_HAL: removed scaling factor on analog sources 
these are not use anymore, as voltage_average() is used instead
 2013-05-13 15:29:42 +10:00
Andrew Tridgell
48cfdac6f0 AP_ADC_AnalogSource: added voltage_average_ratiometric() 2013-05-13 15:13:59 +10:00
Andrew Tridgell
cec08be9cb AP_Rangefinder: use ratiometric analog input for analog sonar 2013-05-13 15:13:43 +10:00
Andrew Tridgell
dfb98490f4 AP_Airspeed: use rationmetric analog input for airspeed sensor 2013-05-13 15:13:19 +10:00
Andrew Tridgell
589b8cdb58 AP_HAL: added voltage_average_ratiometric() call to AnalogIn 
this is for ratiometric sensors such as the 3DR airspeed sensor and
the Maxbotix analog sonar
 2013-05-13 15:12:43 +10:00
Andrew Tridgell
a17b85c661 AP_AHRS: use vectors for ground vector complimentary filter 2013-05-13 11:27:55 +10:00
Paul Riseborough
9f309a2aa6 AP_L1_Control: Remove potential nan errors 
If WP A and B were the same or ground speed was exactly zero, then the
previous code would produce a nan output.  Protection against these
two cases has been added.

If WP A and B are equal, we track directly to the target waypoint
 2013-05-13 11:27:51 +10:00
Randy Mackay
55235630b6 Copter: bug fix for slow loiter repositioning 2013-05-12 14:51:02 +09:00
Andrew Tridgell
9bdbd6bfbd MAVLink: update to latest common.xml from upstream 2013-05-11 21:07:27 +10:00
Randy Mackay
61288fcb90 WPNav: make get_stopping_point method public 2013-05-11 16:05:42 +09:00
Randy Mackay
80bd458f29 Compass: update parameter description 
We do not want people modifying the COMPASS_MOTCT manually
 2013-05-11 14:50:36 +09:00
Andrew Tridgell
172faeea26 HAL_PX4: moved rc.APM to new ROMFS directory 2013-05-10 06:16:54 +10:00
Andrew Tridgell
b3e21c6add HAL_PX4: include visibility.h 
needed for new nuttx structure
 2013-05-10 06:16:53 +10:00
Andrew Tridgell
220e7b019c SITL: use PACKED attribute in fdm structure 2013-05-09 20:10:31 +10:00
Andrew Tridgell
416fef73a8 AP_Param: use PACKED attribute in examples 2013-05-09 20:10:31 +10:00
Andrew Tridgell
ed918dc6bc SITL: use PACKED attribute instead of pragma pack 2013-05-09 20:10:31 +10:00
Andrew Tridgell
06b6f4b04e AP_GPS: use PACKED attribute instead of pragma pack 2013-05-09 20:10:31 +10:00
Andrew Tridgell
62b9a580e8 AP_Common: make PACKED depend on architecture 
this will remove lots of warnings when building with arduino
 2013-05-09 20:10:31 +10:00
Randy Mackay
ed5ddfd9db WPNav: initialise desired roll, pitch 
bug-fix to resolve 1/10th second twitch when loiter or waypoint
controller are first engaged
 2013-05-09 18:32:02 +09:00
Andrew Tridgell
fefbeacf86 AP_InertialSensor: use SEVERITY_USER_RESPONSE for accel cal messages 
thanks to the suggestion from Kevin
 2013-05-09 09:28:25 +10:00
Andrew Tridgell
11bf6f40f7 GCS_MAVLink: moved gcs_severity to library header 2013-05-09 09:27:58 +10:00
Andrew Tridgell
9a87b3f3c1 AP_Compass: use const on more functions and remove old calculate_heading() 
the calculate_heading() based on roll/pitch is not needed anywhere
 2013-05-09 09:24:06 +10:00
Andrew Tridgell
f78de63a09 AP_Compass: more efficient calculate_heading() implementation 
Thanks to piersh for this improvement. See

b5f0635455 (commitcomment-3171806)
 2013-05-09 09:24:06 +10:00
Randy Mackay
9f735c8d03 WPNav: add fast waypoints flag 
Waypoint is considered "reached" when the intermediate point reaches the
destination
 2013-05-09 00:18:02 +09:00
Randy Mackay
4704b729c2 WPNav: reduce max acceleration to 2.5m/s 
Also includes bug fix to ramp up of speed of intermediate point
 2013-05-08 23:20:29 +09:00
Andrew Tridgell
095505129c DataFlash: hopefully fixed cause of frequent dataflash erase 
Wait for 0.1s after erase and before we start writing parameters to
the log

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-05-08 17:00:36 +10:00
Andrew Tridgell
7fdf1b6f78 DataFlash: fixed example build 2013-05-08 16:45:40 +10:00
Andrew Tridgell
8f57b72e3f AP_InserialSensor: fixed example build 2013-05-08 16:45:31 +10:00
Andrew Tridgell
c3738ed344 AP_InertialNav: fixed example build 2013-05-08 16:45:21 +10:00
Andrew Tridgell
ed93f80ba9 AP_Baro: fixed example build 2013-05-08 16:45:07 +10:00
Andrew Tridgell
55d148abdd AC_WPNav: fixed example build 2013-05-08 16:44:59 +10:00
Andrew Tridgell
56694fd9b1 AC_Fence: fixed example build 2013-05-08 16:44:50 +10:00
Andrew Tridgell
2ddeaa7f4d AP_InertialSensor: show calibration offsets for success and failure 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-05-08 16:19:06 +10:00
Andrew Tridgell
f3f4b7205c AP_InsertialSensor: added support for MAVLink user interaction 
allows APM to ask user to print enter to continue via MAVLink messages
during accel calibration
 2013-05-08 16:18:40 +10:00
Andrew Tridgell
4bc53acbda SITL: support vsnprintf with %S on SITL 2013-05-08 16:17:36 +10:00
Andrew Tridgell
9cd0af1132 HAL_PX4: make PX4 snprintf support %S format 
just maps it to %s for normal printf
 2013-05-08 16:17:06 +10:00
Andrew Tridgell
223dfe4de5 AP_Rangefinder: added units for settle time 2013-05-08 14:21:32 +10:00
Randy Mackay
328d900647 WPNav: flexible loiter speed 
Also includes bug fix to allow speeds > 10m/s during missions
 2013-05-07 17:11:24 +09:00
Randy Mackay
1f8161b493 AC_WPNav: remove unnecessary speed constraint 2013-05-07 11:58:04 +09:00
priseborough
aee23361dd APM_Control: Corrected typographical error in APM_Control/TuningGuide.txt 2013-05-07 11:00:57 +10:00
Andrew Tridgell
6f1cee6406 AP_AHRS: fixed position estimate with 2D fix or low satellite count 
we should still use the GPS for position fixes when we have a low
number of satellites, but we should stop using it for velocity
estimates and attitude correction.
 2013-05-07 10:52:14 +10:00
Andrew Tridgell
055da3c4b6 SITL: added SIM_GPS_NUMSATS parameter 
this allows testing of the DCM code with less than 6 satellites
 2013-05-07 10:38:36 +10:00
Randy Mackay
ceda7d26b0 AHRS: add correct_centrifugal and flags structure 2013-05-06 15:32:06 +09:00
Andrew Tridgell
46c6aa8a9a APM_Control: tweak the parameter names 2013-05-05 21:51:09 +10:00
Andrew Tridgell
400777b059 APM_Control: support inverted flight in AP_PitchController 
auto-reverse pitch control when inverted. This is useful not just for
inverted flight mode, but also for recovering from poor manual flight

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-05-05 21:51:09 +10:00
Andrew Tridgell
604bfd0700 APM_Control: adjust recommended ranges 2013-05-05 21:51:09 +10:00
Andrew Tridgell
7af3c667a5 APM_Control: added roll controller parameter docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell
52c3f8841f APM_Control: added yaw parameter docs 2013-05-05 21:51:09 +10:00
Andrew Tridgell
b618d1d81f APM_Control: added inline docs to pitch controller 2013-05-05 21:51:09 +10:00
Andrew Tridgell
6c6c0079ee APM_Control: improved formatting of tuning guide 
be a bit more web friendly
 2013-05-05 21:51:09 +10:00
Andrew Tridgell
742df0ac05 APM_Control: rename to avoid spaces in filenames 2013-05-05 21:51:09 +10:00
Andrew Tridgell
23d9c31b0a APM_Control: fixed build and merge errors 2013-05-05 21:51:08 +10:00
Paul Riseborough
10ecffce01 APM_Control: ROLL and PITCH controllers 
These changes reduce height variation in turns and improve
robustness. the specific changes are:

1) Linked roll and pitch integrator protection to the final output
value so that if final output is on upper limit, the integrator is
prevented from increasing and vice-versa. This improves wind-up
protection.

2) Modified rate feedback in roll and pitch controllers to use body
rates rather than Euler or earth rates.

3) Changed the roll to pitch compensation to use measured roll angle
and estimated airspeed to calculate the component of turn rate
(assuming a level coordinated turn) around the pitch axis. This a
mathematically correct calculation and will work over a range of bank
angles and aircraft with minimal (if any) tuning required.

4) The integrator in the roll and pitch loop is clamped when the
estimated speed is below the minimum FBW speed

5) The noise filter in the pitch and roll loop has been changed to use
a FOH discretisation. This gives improved noise rejection and less
phase loss when compared to the previous filter that used a ZOH or
equivalent discretisation.

This has been flown on the rascal in the SITL and on a X-8 with
limited flight testing. Initial results have been encouraging with
reduced height variation in turns.  Compare to standard PIDS, the
revised pitch and roll controllers allow the use of rate feedback
(effectively the same as the old D term) without beating the servos to
death.  The bank angle compensation in the pitch loop works
effectively over a much larger range of bank angles and requires
minimal tuning compared to the old calculation.

YAW CONTROLLER

Currently testing the a 3-loop acceleration autopilot topology for the
yaw loop with feed forward yaw rate for turn compensation. This 3-loop
topology is commonly used in tactical skid to to turn missiles and is
easy to tune. The following block diagram shows the general signal
flow

Note that the acceleration measurement has to pass through an
integrator before it gets to the actuator. This is a important feature
as it eliminates problems of high frequency noise and potential
coupling with structural modes associated with direct feedback of
measured acceleration to actuator.

The high pass filter has been inserted to compensate for airspeed and
bank angle measurement errors which will cause steady state errors in
the calculation of the turn yaw rate.

The yaw controller flies SITL well, but hasn't been flight tested
yet. It can be configured either as a simple yaw damper, or the
acceleration and integral term can be turned on to allow feedback
control of lateral acceleration/sideslip.

TO DO:

Need to reduce number of tuning parameters and provide consistent
naming Need to provide guidance on tuning these loops with definitions
for all the gain terms.  Need to check signs and units into and out of
lateral loops.

DESIGN DECISIONS PENDING:

1) Can we remove the noise filters? Provided the mpu6k noise filter is
running they are of limited benefit given the 25Hz Nyquist frequency

2) If we do remove them and rely on the mpu6k noise filter, what is
the apprporiate default cutoff frequency for plane use. 20Hz is
probably OK for most setups, but some noisy/high vibration setups
would require as low as 10Hz

3) The inverted flight logic looks like a crash waiting to
happen. It's problematic to test and even if implemented correctly
would still crash a plane with poor inverted flight capability. We
should either implement it properly and fully tested or delete it.
 2013-05-05 21:51:08 +10:00
priseborough
205397d030 APM_Control: Modified calculation of bank compensation rate offset to prevent climb if speed > max fbw speed 
The previous calculation constrained the speed used to calculate the
bank compensation rate offset between the min and max fbw speeds. This
would result in an unwanted climb if flown above the max fbw speed
(this could happen in fbw-a mode)
 2013-05-05 21:51:08 +10:00
priseborough
e7736ed4e0 APM_Control: APM tuning guide.txt - Updated tuning instructions with numerical values for alternate method 2013-05-05 21:51:08 +10:00
Paul Riseborough
3034a9fab2 APM_Control: Added alternate tuning method for roll and pitch loops 
The alternate tuning method for roll and pitch will give a better
results, but comes with more risk as it will result in a larger rate
feedback gain
 2013-05-05 21:51:08 +10:00
priseborough
2c29186b03 APM_Control: APM tuning guide.txt - Minor editorial corrections 2013-05-05 21:51:08 +10:00
priseborough
d159d39037 APM_Control: APM tuning guide.txt - Added step by step tuning description. 2013-05-05 21:51:08 +10:00
priseborough
99f0fb6bd2 APM_Control : Removed 20Hz low-pass filters on rate gyro inputs. 
These are not required due to MPU 6000 filtering.
 2013-05-05 21:51:08 +10:00
priseborough
317b75f4cd APM_Control: Added tuning guide readme 2013-05-05 21:51:08 +10:00
Andrew Tridgell
9654546b5a AP_L1_Control: Cleaned up calculation of damping to reduce computations 
also removed _cross2D, using math library instead
 2013-05-05 21:51:08 +10:00
Randy Mackay
30faf87715 InertialNav: use AP_Math's longitude_scale 2013-05-05 14:32:25 +09:00
Randy Mackay
7c9d9b9800 AP_Math: use DEG_TO_RAD in longitude_scale 
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
 2013-05-05 14:31:24 +09:00
Andrew Tridgell
38fc0e61c6 AP_AHRS: optimise yaw drift correction 
use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
 2013-05-05 13:51:45 +10:00
Andrew Tridgell
737f0305ef AP_Math: implement vector2 cross product 
useful in DCM for faster yaw correction
 2013-05-05 13:47:51 +10:00
Andrew Tridgell
f4189e083b AP_Math: added mulXY() for matrix3 and vector3 
returns the XY components of the product
 2013-05-05 13:47:23 +10:00
Randy Mackay
ee2daf25b6 AHRS: perf improvement by caching declination vector 2013-05-05 12:58:43 +10:00
Andrew Tridgell
943a1d8c8d AP_AHRS: added AHRS_GPS_MINSATS option 
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
 2013-05-05 12:48:01 +10:00
Randy Mackay
c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +09:00
Andrew Tridgell
99d21854f9 SITL: fixed drift rate limit in simulator 2013-05-04 15:16:35 +10:00
Andrew Tridgell
53ebcfeba5 SITL: fixed compass vector to be based on yaw not GPS heading 
Many thanks to Randy for noticing this, and apologies for the wasted time!
 2013-05-04 14:28:08 +10:00
Randy Mackay
1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay
647a93e78e Copter: remove jerk when entering RTL or AUTO 
Loiter target position was not being initialised properly.
Add a few more comments
 2013-05-03 16:58:00 +09:00
Randy Mackay
bd75de6a22 AC_Fence: reduce to 150m radius and 100m high 
100m high,
 2013-05-03 14:57:37 +09:00
Andrew Tridgell
6cc9939891 AP_ADC: added dummy stop_pin and settle_time calls 2013-05-03 11:11:40 +10:00
Andrew Tridgell
0e66bac70b AP_RangeFinder: removed special case for APM1 
the airspeed port doesn't have enough power for the sonar anyway
 2013-05-03 10:09:54 +10:00
Andrew Tridgell
244a10aeb6 HAL_SMACCM: fixed build for new AnalogIn API 2013-05-03 10:09:14 +10:00
Andrew Tridgell
9bc48c9894 HAL_PX4: fixed build with new AnalogIn API 
pin settle times not actually implemented on PX4 yet
 2013-05-03 10:09:02 +10:00
Andrew Tridgell
5ac493908c SITL: fixed build with new AnalogIn API 2013-05-03 10:08:39 +10:00
Andrew Tridgell
09ca9d4283 AP_Rangefinder_analog: implement settle time and stop_pin 2013-05-03 09:45:19 +10:00
Andrew Tridgell
5d80a5619d HAL_Empty: add new API functions 2013-05-03 09:45:19 +10:00
Andrew Tridgell
912ed2c97c HAL_AVR: initialise settle time 2013-05-03 09:45:19 +10:00
Andrew Tridgell
e7a6b12ac1 HAL_AVR: support set_stop_pin() and set_settle_time() for analogin 
useful for dual sonar support
 2013-05-03 09:45:19 +10:00
Andrew Tridgell
0b6cfc7294 AP_HAL: added set_stop_pin() and set_settle_time() interfaces to analogin 
this is for multiple sonars on one vehicle, to prevent them
interfering with each other
 2013-05-03 09:45:19 +10:00
Andrew Tridgell
0242d50ad4 DataFlash: added Log_Write_Message() 
useful for logging general messages
 2013-05-03 09:18:14 +10:00
Andrew Tridgell
ccd38e58a1 HAL_PX4: fixed the scaling on the analog pins 2013-05-02 21:40:15 +10:00
Andrew Tridgell
500497f5fa AP_HAL: update AnalogIn test to show the first 16 pins 2013-05-02 21:31:55 +10:00
Andrew Tridgell
c90d44c121 AP_Compass_HIL: fixed indentation 2013-05-02 21:31:17 +10:00
Andrew Tridgell
26bf636541 AP_Baro: fixed a build warning 2013-05-02 21:31:04 +10:00
Andrew Tridgell
65183887e5 SITL: use new baro setHIL method 2013-05-02 15:27:27 +10:00
Andrew Tridgell
90cf1b0386 AP_ADC: removed unused setHIL method 2013-05-02 15:27:16 +10:00
Andrew Tridgell
7cec3caf19 AP_Baro: cleaned up setHIL method 
move pressure calculation into library
 2013-05-02 15:26:38 +10:00
Andrew Tridgell
c6c1fce2f1 AP_Baro: removed HIL constructor 
this wasn't calling the parent class
 2013-05-02 15:16:52 +10:00
Andrew Tridgell
811c2ccc11 libraries: fixes for AP_Baro_HIL 2013-05-02 15:09:05 +10:00
Andrew Tridgell
2d089174cd AP_Baro: rename AP_Baro_BMP085_HIL to AP_Baro_HIL 
there is nothing specific to the BMP085 in it
 2013-05-02 15:08:42 +10:00
Andrew Tridgell
a09c53a3ea SITL: use new HIL compass API 2013-05-02 15:01:47 +10:00
Andrew Tridgell
f72dd560cb AP_Compass: fixed the HIL sensors compass 
this sets up good compass values for HIL sensors
 2013-05-02 14:59:33 +10:00
Andrew Tridgell
86027f6e0f AP_Compass: fixed PX4 build 2013-05-02 13:00:52 +10:00
Andrew Tridgell
af50b652f8 AP_Compass: removed old orientation defines 
we now use the rotations in libraries/AP_Math/rotations.h
 2013-05-02 12:48:14 +10:00
Andrew Tridgell
261eb6d841 AP_Declination: fixed example build 2013-05-02 12:48:14 +10:00
Andrew Tridgell
54b826a583 AP_AHRS: update for new compass API 2013-05-02 12:48:14 +10:00
Andrew Tridgell
217f34e155 AP_Compass: added COMPASS_ORIENT parameter, to support external compasses 
this allows the user to configure the compass for any orientation
supported by our rotation library
 2013-05-02 12:48:14 +10:00
Andrew Tridgell
ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Andrew Tridgell
813e767efb AP_Param: use const refs in a few more places 
reduces code size by a couple of hundred bytes
 2013-05-02 10:18:36 +10:00
Randy Mackay
4fcb189c97 GCS_MAVLink: typo in message definition 2013-05-01 17:07:18 +09:00
Randy Mackay
2d17688363 AC_Fence: add backup fence 
Also includes fixes from code review with Tridge
 2013-05-01 17:05:04 +09:00
Andrew Tridgell
0fce0eb488 AP_Compass_PX4: fixed handling of a saturated compass 
a saturated compass is now marked unhealthy, rather than causing the
code to spin waiting for a valid sample. This fixes a problem with
strong magnets causing the main flight loop to stop
 2013-05-01 08:54:53 +10:00
Andrew Tridgell
d7ec985029 AP_Baro_PX4: fixed baro driver to run at full rate 
we were skipping samples due to a timer handling bug. It now checks
for new samples at 100Hz
 2013-05-01 08:54:53 +10:00
Randy Mackay
ad01aeee44 Copter: increase max loiter overshoot to 8.12m 2013-04-30 18:07:48 +09:00
Randy Mackay
8122a32114 InertialNav: reduce XY TC to 2.5 (was 3) 
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
 2013-04-30 12:52:28 +09:00
Randy Mackay
c139134192 Copter: increase max loiter speed to 7.5m/s 2013-04-30 12:49:19 +09:00
Randy Mackay
6c081c3def AC_WPNav: slow acceleration of intermediate point 2013-04-30 10:20:23 +09:00
Randy Mackay
00146ca97d AP_HAL: fix another RCInput compile error 2013-04-29 21:27:16 +09:00
Randy Mackay
e7122b85ed AP_HAL: example compile error fix 2013-04-29 17:47:04 +09:00
Randy Mackay
bbbd90c430 AP_HAL: rename RCInput's valid() fn to valid_channels 2013-04-29 15:05:53 +09:00
Randy Mackay
a28c6df611 RCInput: allow ppmsum of less than 8 channels 2013-04-29 14:35:59 +09:00
Andrew Tridgell
c067fa2660 L1_Control: make NAVL1_DAMPING docs clearer 2013-04-29 14:24:34 +10:00
Andrew Tridgell
786e4cf705 AP_GPS: added last_message_time_ms() API 
used to help GPS logging
 2013-04-28 14:53:02 +10:00
Andrew Tridgell
f5d062d5ba AP_GPS: move byte swapping code to cpp 2013-04-28 14:51:37 +10:00
priseborough
84ed37938d Plane : AP_L1_Control : Replaced division by constants with multiplies and adjusted default L1 period to 25 seconds 2013-04-28 14:47:59 +10:00
Andrew Tridgell
f5d6fb6216 AP_AHRS: added _kp gain reduction for catapult launch 
this should reduce the tendency of aircraft to nose down hard on
initial launch at high g
 2013-04-28 14:47:59 +10:00
Randy Mackay
9910d6d1cd AC_Fence: first implemenation of library 2013-04-27 11:14:05 +09:00
Andrew Tridgell
b71f36ee34 RC_Channel: support 8 auxillary RC channels 
needed for full 12 channel support on PX4
 2013-04-25 20:10:53 +10:00
Andrew Tridgell
ec1678db83 HAL_PX4: setup for 12 output channels 
moved telemetry port to /dev/ttyS2 to free PWM outputs on FMU
 2013-04-25 20:10:53 +10:00
Andrew Tridgell
709615159a HAL_PX4: support 12 output channels with PX4IO 
first 8 on IO board, next 4 on FMU outputs
 2013-04-25 20:10:53 +10:00
Andrew Tridgell
3b0250b414 AP_HAL: define RC_12 
we have 12 channels on PX4FMU+PX4IO
 2013-04-25 20:10:53 +10:00
Randy Mackay
cb5f8826f8 Copter: Leonard's fix for trapezoidal frame 
We need to allow yaw_factors to be floats in the add_motor method
 2013-04-25 17:52:19 +09:00
Randy Mackay
1a7cffefe6 TradHeli: change coll_out to int16_t 
was incorrectly defined as an AP_Int16 parameter
 2013-04-24 11:32:26 +09:00
Randy Mackay
7f79398989 AP_Limits: fixed return of AP_Int8 parameters from object 
we should return the base type, not the parameter, or callers could
use set on the result
 2013-04-23 23:13:54 +10:00
Andrew Tridgell
3659b532be AP_Common: added BIT_IS_SET() macro 
makes bit mask testing safer on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-23 23:05:02 +10:00
Andrew Tridgell
709a277c7f DataFlash: chamged FMT message to include labels 
this makes it easier for MP to parse and display
 2013-04-23 19:46:22 +10:00
Andrew Tridgell
9ef34943af DataFlash: change log extension to *.bin 2013-04-23 15:03:10 +10:00
Andrew Tridgell
fd2cd0d1c2 DCM: fixed formatting 2013-04-23 08:57:44 +10:00
jschall
610069e729 DCM: fixed airspeed bug 
we incorrectly went via the wind estimate when we had a working airspeed sensor
 2013-04-23 08:57:44 +10:00
Randy Mackay
42bca90676 INS: add calibrated check 
Checks is the scaling vector has been updated.  Required for pre-arm
checks for ArduCopter
 2013-04-22 23:55:53 +09:00
Andrew Tridgell
2c05030fb1 AP_Motors: use the right constrain() function 2013-04-22 13:26:49 +10:00
Andrew Tridgell
014c9376e7 AP_AHRS: use const references where possible 2013-04-22 13:26:49 +10:00
Andrew Tridgell
dcc3873056 AP_Buffer: remove bool return from add() method 2013-04-22 13:26:49 +10:00
Andrew Tridgell
26fa5c40f1 Compass: use const references for some functions 2013-04-22 13:26:49 +10:00
Andrew Tridgell
1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell
01a4fabf9e AP_Param: make things a bit more efficient 2013-04-22 12:21:59 +10:00
Andrew Tridgell
3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell
08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Andrew Tridgell
bad478134d AP_Buffer: instantiate as a .cpp file, and optimise for const usage 2013-04-22 12:21:58 +10:00
Andrew Tridgell
ad40ba57be AC_WPNav: optimise to reduce memory copies 
save a few cycles

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 12:21:58 +10:00
Andrew Tridgell
5f1bd1a452 HAL_AVR: constrain Vcc used in voltage_average() 
this ensures a bad Vcc reading doesn't throw off analog inputs too
much
 2013-04-22 11:36:00 +10:00
Andrew Tridgell
c437900a49 AP_Scheduler: added SCHED_DEBUG=2 
used to show overruns and slips
 2013-04-21 23:46:35 +10:00
Randy Mackay
2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell
844e1b9ef9 DataFlash: added support for printing flight mode as a string 
makes analysing logs easier.

Pair-Programmed-With: Randy
 2013-04-20 15:17:49 +10:00
Andrew Tridgell
c3abdaf308 AP_GPS: removed duplicate print_latlon() 2013-04-20 13:57:59 +10:00
Andrew Tridgell
b5ae588341 DataFlash_File: fixed creation of 0.log 2013-04-20 13:52:37 +10:00
Andrew Tridgell
735d60c493 DataFlash: convert example sketch to new API 2013-04-20 13:52:37 +10:00
Andrew Tridgell
62f190ed15 DataFlash: simplify code now that copter is converted 
no longer need as many public functions
 2013-04-20 13:52:37 +10:00
Andrew Tridgell
cf0c8331c2 DataFlash: use print_latlon() 2013-04-20 13:52:36 +10:00
Andrew Tridgell
e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell
c29d870497 DataFlash: dump the format of logs at the start of the log 2013-04-20 13:52:36 +10:00
Andrew Tridgell
916e8d0992 DataFlash: new dataflash logging system 
this allows us to remove the display functions in the vehicle code,
and also allows us to store the format of a log file in the log. It
also stores the parameters used in a flight, rather than the
parameters set at the time the log is dumped
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
17d7f1fbe5 AP_InertialSensor: make some interfaces const 2013-04-20 13:52:36 +10:00
Andrew Tridgell
4fe5ce8a09 AP_Common: added a define for PACKED 
neater than a pragma
 2013-04-20 13:52:36 +10:00
Andrew Tridgell
8d727614b4 AP_GPS: make status() const 2013-04-20 13:52:36 +10:00
Andrew Tridgell
9171d5587d AP_Param: make it easier to show the value of a parameter 2013-04-20 13:52:36 +10:00
Andrew Tridgell
7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00
Randy Mackay
1c046fa49f AC_WPNav: increase max descent speed to 1.5m/s 2013-04-18 22:32:00 +09:00
Randy Mackay
ed298363f4 AC_WPNav: remove unnecessary limit in leash calc 2013-04-18 22:31:44 +09:00
Randy Mackay
764853bd56 AC_WPNav: add climb and descent params, dynamic leash length 2013-04-18 14:51:01 +09:00
Randy Mackay
effd5b0da7 AC_WPNav: improved comments 
Made SPEEDZ a parameter although it's not yet used
 2013-04-18 11:17:41 +09:00
Andrew Tridgell
fa493a0fb3 AP_Param: added ops needed for ArduCopter build 2013-04-18 11:12:46 +10:00
tobias
fbe7daa477 AP_Param: fixed assignment handling and const 
this fixes radio_min = radio_max = radio_trim = 0; in RC_Channel
 2013-04-18 10:52:40 +10:00
Andrew Tridgell
02bd24cf57 AP_Scheduler: fixed _last_run initialisation 
another valgrind bug
 2013-04-17 23:02:13 +10:00
Andrew Tridgell
0a25d6220a AP_InertialNav: initialise _gps_last_time 
found with valgrind
 2013-04-17 23:02:13 +10:00
Andrew Tridgell
b3ec5187f2 AP_GPS: fixed uninitialied variable bugs found with valgrind 2013-04-17 23:02:13 +10:00
Randy Mackay
a656b619f5 AP_Motors: remove auto_armed 
redundant flag that was already held in the main code which is where it
belongs.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell
68051f3ea6 AP_Menu: fixed crash bug in strtok_r() handling 
on PX4 this causes a hard fault in CLI menus
 2013-04-17 22:20:00 +10:00
Andrew Tridgell
af7381e9e0 AP_HAL: added register_io_process() 
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
 2013-04-17 21:33:50 +10:00
Andrew Tridgell
5df4796b9a RangeFinder: fixed a warning 2013-04-17 21:33:08 +10:00
Andrew Tridgell
da5a5ea368 DataFlash: added file based 'dataflash' logging 2013-04-17 21:32:53 +10:00
Andrew Tridgell
9d3b32bd27 SITL: change default wind speed to zero 
makes starting SITL easier for new users
 2013-04-17 11:39:43 +10:00
Randy Mackay
b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Janne Mäntyharju
7a04fe9915 AP_Baro: Fixed build for APM2 Beta hardware 2013-04-16 11:24:38 +10:00
Randy Mackay
8046fe2cf3 AC_WPNav: increase max accel to 8m/s/s 2013-04-15 21:57:56 +09:00
Randy Mackay
8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay
b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
priseborough
9ff0888a17 AP_L1_Control : Fixed potential divide by zero in Nu1 angle calculation 2013-04-15 21:11:30 +10:00
Andrew Tridgell
97bfd16bd1 L1_Control: constrain the roll to handle floating point errors 2013-04-15 14:29:39 +10:00
Andrew Tridgell
83dc7dbc92 AP_Math: handle NaN in constrain(), returning average 
this makes it less likely a NaN will propogate
 2013-04-15 14:28:51 +10:00
Andrew Tridgell
b69481f74d AP_InertialNav: fixed build of example 2013-04-15 14:09:38 +10:00
Andrew Tridgell
571c48b9d5 L1_Control: cleanup some unused code and variables 2013-04-15 10:52:32 +10:00
priseborough
a423d102e0 Plane : AP_L1_Control : Fix wrong way turn behaviour on loiter entry 2013-04-15 10:52:32 +10:00
Andrew Tridgell
d01d754ba8 HAL_PX4: if we have lost RC input then set channel 3 to 900 
this allows failsafe to kick in
 2013-04-15 10:52:32 +10:00
Andrew Tridgell
181f7368a3 AP_L1_Control: change turn_distance() to be min of wp_radius and L1 distance 
this gives less surprising behaviour for users
 2013-04-15 10:52:32 +10:00
Andrew Tridgell
a4d25f5a82 AHRS: removed AHRS_BARO_USE option 
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
 2013-04-15 10:52:31 +10:00
Andrew Tridgell
87b0fb05ce AHRS: changed default RP and YAW gain to 0.3 
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag

Note that this doesn't affect copters, as they override to 0.1
 2013-04-15 10:52:31 +10:00
Randy Mackay
0eab3e87b2 AC_WPNav: use prev wp as origin for next wp 2013-04-14 18:27:39 +09:00
Randy Mackay
0351c2ae33 AC_WPNav: allow setting of horizontal velocity 
Also added accessor function for waypoint radius parameter
 2013-04-14 13:24:14 +09:00
Randy Mackay
252e98ec57 AC_WPNav: use global gravity constant 2013-04-14 10:39:32 +09:00
Randy Mackay
0ac3762bdd AC_WPNav: fix compiler warning 2013-04-14 10:39:26 +09:00
Randy Mackay
9d7d174995 AC_WPNAV: check distance to waypoint within library 
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
 2013-04-14 10:39:21 +09:00
Randy Mackay
35001619f0 AC_WPNav: stop track_desired from moving backwards 2013-04-14 10:39:19 +09:00
Randy Mackay
c6b68c7843 AC_WPNav: Leonard's 3d leash calculator 2013-04-14 10:39:08 +09:00
Randy Mackay
74e1c2e660 AC_WPNav: advance track fixes 2013-04-14 10:39:05 +09:00
Randy Mackay
bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay
6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay
31838b2865 AC_WPNAV: change loiter controllers to use floats 
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
 2013-04-14 10:38:56 +09:00
Randy Mackay
0ccdce1b22 AC_WPNav: Leonard's ff loiter and 3d wp nav 2013-04-14 10:38:43 +09:00
Randy Mackay
926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay
f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay
afd2f82768 AC_WPNav: bug fix for track covered being 2D 
Replaced abs and fabs with fabsf
Added get_destination method
 2013-04-14 10:38:32 +09:00
Randy Mackay
8ec7fd1c9c AC_WPNav: add set_loiter_target to use velocity 
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
 2013-04-14 10:38:25 +09:00
Randy Mackay
fc972e2d42 InertialNav: add get_velocity method 2013-04-14 10:38:23 +09:00
Randy Mackay
3bfcc3b8d0 AC_WPNav: replace get_target_alt with get_destination_alt 2013-04-14 10:38:13 +09:00
Randy Mackay
c40080e76a AC_WPNav: added set_target_alt 2013-04-14 10:38:04 +09:00
Randy Mackay
60060d8184 AC_WPNav: add get_target_alt 
Required because waypoint controller will be modified to control
altitude
 2013-04-14 10:37:58 +09:00
Randy Mackay
0d70ba1030 AC_WPNav: bug fix to dt calculation 2013-04-14 10:37:51 +09:00
Randy Mackay
39bc3800c9 AC_WPNav: add distance and bearing to target methods 2013-04-14 10:34:50 +09:00
Randy Mackay
b92c4097d2 AC_WPNav: first implementation 2013-04-14 10:34:47 +09:00
Andrew Tridgell
76e20150e9 AP_InertialSensor: ensure parent class is initialised in instance classes 2013-04-12 14:30:35 +10:00
Andrew Tridgell
a5c3051929 AP_GPS: fixed initialisation error in uBlox driver 
found with valgrind
 2013-04-12 14:25:46 +10:00
Andrew Tridgell
dca597cda1 L1_Control: added a comment on speed of the L1 control code 2013-04-12 12:58:20 +10:00
Brandon Jones
a3c2851120 AP_L1_Control: Addition of library for geometry calculations required for L1 Control. 
1) Explicit control of tracking loop period and damping which removes previous
   variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance

The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
 2013-04-12 12:48:09 +10:00
priseborough
b63d0969b7 AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector 
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
 2013-04-12 12:48:09 +10:00
Andrew Tridgell
05ecb8d8fa AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
ee81b0f729 AP_AHRS: added wind_correct_bearing() and groundspeed_vector() 
these are very useful for navigation libraries
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
43c3c60de2 AP_Math: moved a lot of vector templates to cpp from .h 
this reduces the code size quite a lot on AVR
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
78eb12a4ac AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH 2013-04-12 12:48:08 +10:00
Andrew Tridgell
8b119934ea AP_Math: fixed grammar error 2013-04-12 12:48:08 +10:00
Andrew Tridgell
2d29a6a7be AP_Math: added Vector2f.angle() 
useful for calculating the vector in polar coordinates
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
f6aacdc768 AP_Navigation: added a navigation controller class 
the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-04-12 12:48:08 +10:00
Randy Mackay
cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay
86fe79a662 INS: updated MPU6K_FILTER parameter description 2013-04-10 00:14:53 +09:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Stange Szilard
6516bffbb6 AP_Camera: enable relay off in all builds 2013-04-09 11:38:30 +10:00
Andrew Tridgell
8d992ae615 InertialSensor: added OilPan INS example 2013-04-08 07:07:25 +10:00
Randy Mackay
af13f6795c INS: switch to global definition of GRAVITY_MSS 
saves 4 bytes of RAM
 2013-04-05 22:57:46 +09:00
Randy Mackay
777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
foobarbecue
c07702f46d Update AP_MotorsOctaQuad.cpp 
There were two "4"s in the motor test order values. Presumably a typo.
 2013-04-05 11:22:56 +09:00
Randy Mackay
739e3c2b9a Copter: adjust trapezoidal motor mixing 2013-04-04 21:46:11 +09:00
Randy Mackay
e32cbd827b Copter: replace quad trapezoid frame with V 
Also update motor mixing
 2013-04-03 22:14:29 +09:00
Randy Mackay
5bf55a9523 OpticalFlow: switch order of sin_yaw, cos_yaw 2013-04-02 15:49:31 +09:00
Andrew Tridgell
5667f5d817 AP_ADC: fixed APM1 HIL_SENSORS Ch6() return 2013-04-02 13:20:08 +11:00
Andrew Tridgell
310a5a6be1 DataFlash: don't try to write if no card inserted 2013-04-02 13:08:38 +11:00
Andrew Tridgell
6123ea2dac PID: added get_pid_4500() 
this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
 2013-04-01 22:17:04 +11:00
Randy Mackay
6816c45c39 InertialNav: reduce Z-axis time constant to 5 2013-04-01 11:51:12 +09:00
Michael Oborne
541fa13291 cleanup comments 2013-03-31 17:14:54 +08:00
Michael Oborne
2160bf135d fix sitl segfault in hil 2013-03-31 16:39:15 +08:00
Michael Oborne
87292e0a4a Init hil accel with gravity 2013-03-31 16:38:48 +08:00
Randy Mackay
39ba406957 Copter: add trapezoid frame type 
We still need to properly define the motor mixing for the trapezoid
frame in AP_MotorsQuad.cpp
 2013-03-31 12:41:02 +09:00
Andrew Tridgell
a093926b04 Revert "RC_Channel: removed pwm_out variable from RC_Channel" 
This reverts commit 8e4a003d8d.

It is used by MotorsMatrix
 2013-03-29 22:36:29 +11:00
Andrew Tridgell
8e4a003d8d RC_Channel: removed pwm_out variable from RC_Channel 
saves 16 bytes
 2013-03-29 19:32:52 +11:00
Andrew Tridgell
896fd52aa1 AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-03-29 18:35:10 +11:00
Andrew Tridgell
8459da202c AP_AHRS: prevents compass flyaways for plane and rover 
this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
 2013-03-29 13:48:25 +11:00
Andrew Tridgell
091b474a1d AP_Math: added wrap_360_cd() and wrap_180_cd() 
moved from per-vehicle code
 2013-03-29 13:13:37 +11:00
Andrew Tridgell
0ffc7dab6b SITL: added GPS speed down to SITL state 2013-03-28 10:29:12 +11:00
Randy Mackay
93f7e61b66 UBLOX GPS: fix MSG_SOL typo 
"status" was used instead of "solution"
 2013-03-27 11:42:05 +09:00
Randy Mackay
27309a553f GPS: fixes after review 
Ensure 3D fix before returning velocity_down
UBLOX: restore check of fix_status as part of determining 2D or 3D fix
SIRF: add missing brackets on fix type check
 2013-03-27 11:41:54 +09:00
Randy Mackay
24044dc0c4 AHRS: add support for GPS fix type 2D 2013-03-27 11:41:43 +09:00
Randy Mackay
d7454bb09e GPS: add 2D fix type 2013-03-27 11:41:39 +09:00
Andrew Tridgell
eb6c66af7e AP_HAL: added gpio->analogPinToDigitalPin() API 2013-03-22 12:31:14 +11:00
Andrew Tridgell
a6b21443c4 HAL_AVR: fixed null termination of vsnprintf() 2013-03-22 11:53:24 +11:00
Andrew Tridgell
91bbf914f7 RangeFinder: added SONAR_ENABLE boolean to analog sonar object 2013-03-22 07:52:51 +11:00
Andrew Tridgell
7e58bde826 GCS_MAVLink: added comm_is_idle() function 
this will make CLI detection more reliable
 2013-03-21 21:55:12 +11:00
Andrew Tridgell
6ddb99a50b HAL_PX4: create APM/boot.log on SD card 
useful for debugging
 2013-03-21 15:05:21 +11:00
Andrew Tridgell
cc932973d6 HAL_PX4: remove the need for the fmu_only flag file 2013-03-21 15:05:21 +11:00
Andrew Tridgell
3f6eb87f23 AP_GPS: fixed uBlox Debug() macro 2013-03-20 15:42:07 +11:00
Andrew Tridgell
8766e86091 HAL_PX4: fixed blocking bulk writes to UARTs 
this fixes a problem with uBlox initialisation on PX4
 2013-03-20 15:41:52 +11:00
Andrew Tridgell
14911eff6c HAL_PX4: added a (disabled) trick for handling blocking ttyACM0 
this doesn't work yet, but is worth having for debugging
 2013-03-20 11:20:43 +11:00
Randy Mackay
38e81adae0 InertialNav: remove unnecessary "virtual" from function definitions 
This saves about 30bytes of RAM
 2013-03-19 17:51:16 +09:00
Andrew Tridgell
93fc9c48e5 HAL_PX4: fixed startup bug in fmu_only mode 2013-03-19 07:57:13 +11:00
Christopher Hrabia
744f610409 RangeFinder_I2C: fixed bug with interchanged min max values 
- add usage of mode-filter and min-max constrain, similar to MaxsonarXL
 2013-03-18 14:28:31 +09:00
Christopher Hrabia
9760cdf2d7 Compass: corrected space 2013-03-18 14:27:49 +09:00
Andrew Tridgell
ba8ba36af4 HAL_AVR: fixed build.Examples in autotest 2013-03-18 14:01:21 +11:00
Andrew Tridgell
ac69a531d3 HAL_PX4: workaround problem with APM file on SD card 
this works around file redirection bug from earlier firmwares
 2013-03-18 13:12:17 +11:00
Andrew Tridgell
551950c573 GPS_UBLOX: fixed auto-config of baudrate 
this fixes the setting of the baudrate on a uBlox that is configured
for 9600. It fixes the NMEA message to have a \r\n, plus sends the
NAV_SOL rate config before the NMEA baudrate config message.

This fixes issue #159
 2013-03-17 17:52:48 +11:00
Randy Mackay
c9571ad543 InertialNav: remove 3sec limit on position est after losing GPS 2013-03-16 18:15:59 +09:00
Andrew Tridgell
6a1aad30f1 HAL_PX4: auto-create APM directory on SD card 2013-03-16 19:47:09 +11:00
Andrew Tridgell
7681f3b639 AP_HAL: update AnalogIn example to show voltages not raw values 2013-03-15 08:39:22 +11:00
Andrew Tridgell
c1c967f3bf DataFlash: fixed test sketch build and run 2013-03-15 07:30:40 +11:00
Andrew Tridgell
a7541e9ad3 DataFlash: report log number when starting a new log 
helps with test sketch
 2013-03-15 07:30:23 +11:00
Andrew Tridgell
ba8d830754 DataFlash: start to fix example build 2013-03-11 13:02:08 +11:00
John Arne Birkeland
9487eb6c1b Examples: Improved compatibility with Mission Planner serial terminal (CLI) 2013-03-09 15:02:56 +11:00
Andrew Tridgell
26fedc543c AP_Mount: fixed scaling of the joystick speed to give better control 
thanks to Chris Miser for reporting this problem
 2013-03-08 14:39:32 +11:00
Andrew Tridgell
00e905b025 AP_Airspeed: use new voltage_average() API in Airspeed driver 2013-03-08 10:01:15 +11:00
Andrew Tridgell
bf1944a36d AP_ADC_AnalogSource: fixed reference scaling for APM1 Ch6 ADC 
it is not referenced to Vcc
 2013-03-08 09:06:40 +11:00
Andrew Tridgell
2fc922a251 AP_Rangefinder: use voltage_average() interface for generic analog rangefinder 2013-03-08 08:27:18 +11:00
Andrew Tridgell
ce46f2f871 AP_ADC: fixed scaling factor for voltage on APM1 Ch6 ADC 2013-03-08 08:26:54 +11:00
Randy Mackay
b8d492b504 Compass: current based compensation added 2013-03-03 23:02:12 +09:00
Andrew Tridgell
16270ccc47 HAL_AVR_SITL: fixed windows build 2013-03-03 22:22:19 +11:00
Andrew Tridgell
3e2cb92c71 AP_ADC_AnalogSource: added voltage_average() interface 2013-03-03 16:16:01 +11:00
Andrew Tridgell
b1c27407a2 AP_HAL: added voltage_average() interface to AnalogIn 
returns voltage in Volts, using averaged reading over samples.

Where possible this should be auto-scaled against a known reference
voltage
 2013-03-03 16:16:01 +11:00
Randy Mackay
e113eb526b Compass: add get_motor_compensation 
Remove redundant set_motor_compensation call
 2013-03-02 17:53:03 +09:00
Andrew Tridgell
987cdaf3e1 DataFlash: make it safe to do DataFlash logging from timers 
this uses a non-blocking semaphore take if we are in a timer
process. Useful for logging failsafe events
 2013-03-02 17:42:06 +11:00
Randy Mackay
bfb29ce22b Compass: remove virtual functions to save RAM 2013-03-02 00:07:32 +09:00
Randy Mackay
886725291c Compass: enable motor compensation for 1280 
Expand motor compenstion vector's range limit
 2013-03-02 00:03:29 +09:00
Randy Mackay
8093c98cd3 Compass: add motor compensation to HIL library 2013-03-02 00:03:24 +09:00
Randy Mackay
d8515ff85e Compass: basic compensation for motor interference 2013-03-02 00:03:16 +09:00
John Arne Birkeland
fc566096de AVR HAL: RCJitterTest example 
Used to test jitter on the PPM R/C input system.
 2013-03-01 23:38:30 +09:00
Randy Mackay
318a831b57 INS: set default filter to 20hz for APM2.x and PX4 2013-03-01 19:35:34 +09:00
Andrew Tridgell
cbdeb20dad MAVLink: rebuilt with new RANGEFINDER message 2013-03-01 12:01:31 +11:00
Andrew Tridgell
44768c911f MAVLink: added RANGEFINDER message 2013-03-01 11:59:40 +11:00
Andrew Tridgell
8ed2f7d21c AnalogIn: run the example sketch a bit slower 
5Hz is plenty
 2013-03-01 11:19:26 +11:00
Andrew Tridgell
e4fb54fcc9 RangeFinder: added new AP_RangeFinder_analog 
this is a generic analog rangefinder, supporting 3 types of functions
between voltage and distance.
 2013-03-01 11:19:02 +11:00
Andrew Tridgell
efd2da3eb8 DataFlash: started on file interface 2013-03-01 07:18:26 +11:00
Andrew Tridgell
7b524d15fa DataFlash: added log_num to dump interface 
this will be used by the file oriented logging code
 2013-03-01 07:18:25 +11:00
Andrew Tridgell
c52ef80f06 DataFlash: added Block layer in classes 
this will allow the addition of a DataFlash_File implementation of the
DataFlash API which will store logs in a traditional filesystem. That
will align better with the PX4 design, and be more useful for fast
transfer of logs to a host computer
 2013-03-01 07:18:25 +11:00
Andrew Tridgell
0ffcffa81c DataFlash: fixed signed/unsigned errors in API 2013-03-01 07:18:25 +11:00
Andrew Tridgell
9b551f162c DataFlash: make the public interface much narrower 
make many variables private, to simplify interface ready for PX4
 2013-03-01 07:18:25 +11:00
Andrew Tridgell
5a55fd9a2f AP_HAL: added HAL_BOARD_NAME define 2013-03-01 07:18:25 +11:00
Andrew Tridgell
20825cc903 DataFlash: removed the byte and word based interfaces 
simplifing ready for PX4 flash logging
 2013-03-01 07:18:25 +11:00
Pat Hickey
e0457f21de AP_HAL_PX4: fix off-by-one error in RCOutput channel sending 2013-02-23 15:04:17 -08:00
Andrew Tridgell
a3ef58ac92 AP_HAL: moved AnalogIn example to generic examples 
it is not AVR specific anymore
 2013-02-22 12:50:47 +11:00
Andrew Tridgell
5b92c67286 HAL_AVR: fixed analog input with high channel numbers 2013-02-22 12:48:54 +11:00
Andrew Tridgell
fae396e64f HAL_AVR: expand analog input test to more channels 2013-02-22 12:48:29 +11:00
Andrew Tridgell
c373429a6e HAL_PX4: fixed a buffer handling bug 
BUF_SPACE() was badly buggy, which could lead to memory corruption
 2013-02-20 18:15:56 +11:00
Andrew Tridgell
160e5fa311 HAL_PX4: show a message if we fail to upgrade PX4IO firmware 2013-02-20 18:15:23 +11:00
Andrew Tridgell
f67480fa50 AP_GPS: ensure constructors zero all key variables 
this prevents a crash on PX4 if a GPS is attached after startup
 2013-02-20 11:33:39 +11:00
Andrew Tridgell
93ef403529 AP_GPS: removed unused AP_GPS_Shim.h 2013-02-20 11:33:39 +11:00
Andrew Tridgell
02c5c3ec4a HAL_PX4: changed scheduler priorities 
put sensor priority above main sketch, to prevent occasional blocking
for sensor data
 2013-02-20 11:30:54 +11:00
Randy Mackay
963231a19b AHRS: fix example sketch to use roll/pitch trim 2013-02-19 18:56:09 +09:00
Randy Mackay
3321db8dde AHRS: limit trim to 10 degrees 2013-02-19 18:50:57 +09:00
Randy Mackay
21de9f5f47 AP_InertialSensor: return roll and pitch trim angles 2013-02-19 12:45:44 +09:00
Andrew Tridgell
54e7bce75e HAL_PX4: cope with O_NONBLOCK not working in NuttX on ttyACM0 
writes will block anyway, which clags up APM
 2013-02-19 12:02:46 +11:00
Andrew Tridgell
8041768c67 HAL_PX4: perform automatic update of px4io firmware 2013-02-18 13:55:58 +11:00
Andrew Tridgell
8e2a20bea8 HAL_PX4: enable ttyACM0 as main console, ttyS1 as telemetry port 2013-02-18 13:55:33 +11:00
Andrew Tridgell
727f8ff029 AP_GPS: removed the old MTK16 driver 
the MTK19 driver supports both the 1.6 and 1.9 protocol
 2013-02-16 22:03:53 +11:00
Andrew Tridgell
fb4e68f0f0 SITL: added SIM_GPS_BYTELOSS option 
this allows testing of protocol recovery after losing bytes on the GPS
serial link
 2013-02-16 22:00:16 +11:00
Andrew Tridgell
3a582663fb SITL: improve time field handling in simulated GPS 2013-02-16 21:36:06 +11:00
Andrew Tridgell
428966160a SITL: added support for MTK16 and MTK19 simulated GPS types 2013-02-16 20:59:48 +11:00
Andrew Tridgell
10cd466035 SITL: added simulation of the original MTK GPS 2013-02-16 20:16:13 +11:00
Andrew Tridgell
2ec2c58f67 SITL: added SIM_GPS_TYPE control 
for choosing what sort of GPS to simulate
 2013-02-16 20:15:57 +11:00
Andrew Tridgell
a63275d284 AP_InertialSensor: expand register range in MPU6000 _dump_registers() 2013-02-13 19:33:40 +11:00
Andrew Tridgell
fe964fcda0 PID: change to float input/output 
this makes the PID library a bit more flexible for smaller range
numbers. Note that this library is used on ArduPlane and Rover, not
Copter
 2013-02-09 20:36:26 +11:00
Andrew Tridgell
e45b137816 HAL_PX4: added run_debug_shell() implementation for PX4 2013-02-07 15:04:33 +11:00
Andrew Tridgell
70f7cde9b8 AP_HAL: added run_debug_shell() hal.util method 2013-02-07 15:04:33 +11:00
zlite
4800c57fb4 Fixed cosmetic typo in user display message 
Corrected "it's" to "its". Just one of those grammar things that drives me crazy ;-)
 2013-02-06 16:34:33 -08:00
Andrew Tridgell
1121254606 AP_InertialSensor: added filter frequency support to PX4 driver 2013-02-07 11:20:45 +11:00
Andrew Tridgell
5643c371b9 AP_InertialSensor: removed unused new_data_available() and temperature() APIs 2013-02-07 10:23:37 +11:00
Andrew Tridgell
7b1245937c AP_InertialSensor: always sample at 200Hz in MPU6000 
this changes the sampling to 200Hz regardless of requested rate, and
it is downsampled inside num_samples_available() using a shift. This
gives better noise resistance in ArduPlane.

This patch also makes it possible to update the filter frequency while
running, which is very useful for bench testing with a vibration
source
 2013-02-07 10:23:08 +11:00
Jochen Tuchbreiter
c5f19f5df8 Plane: Implement issue 80: counterclockwise loiter 
- libraries/AP_Common/AP_Common.h: Use bit 2 of Location.options to store
  loiter direction
- ArduPlane/defines.h: New bitmask MASK_OPTIONS_LOITER_DIRECTION for struct
  Location bit 2
- ArduPlane/ArduPlane.pde: New variable loiter_direction
- ArduPlane/GCS_Mavlink.pde: For mavlink loiter-commands use sign of param3 to
  detemine direction. Set Location.option flag accordingly
- ArduPlane/commands.pde: Make sure loiter-directions get saved into EEPROM
  correctly
- ArduPlane/commands_logic.pde: Set loiter_direction on all loiter-actions
  as well as RTL/instant loiter
- ArduPlane/navigation.pde: Yield loiter_direction in update_loiter
 2013-02-05 10:29:31 +11:00
Michael
5d91b06de3 RC_Channel: added secondary elevator support 2013-02-05 08:57:28 +11:00
Andrew Tridgell
db8da71f65 Revert "AP_HAL_AVR: Improved AVRTimer micros() and millis()" 
This reverts commit 527dcdf3b9.

This was causing the MPU6000 startup code to fail, due to time running
backwards.
 2013-02-03 21:32:22 +11:00
John Arne Birkeland
527dcdf3b9 AP_HAL_AVR: Improved AVRTimer micros() and millis() 
- More efficient code by using 16-bit timer
- micros() now has proper 1 us resolution and less overhead
- millis() has less overhead
- removed unneeded/unwanted initializatin of timers in AVRTimer::init()

pull request 62, approved and merged by pat
 2013-02-01 09:32:40 -08:00
Randy Mackay
7729ec950e AP_Math: longitude_scale function made public 
Added LATLON_TO_M and LATLON_TO_CM #defines
 2013-01-27 23:21:39 +09:00
Andrew Tridgell
4fd7630ec9 HAL_PX4: IO_SET_FEATURES is not needed any more 2013-01-27 15:05:28 +11:00
Andrew Tridgell
8375abdd99 HAL_PX4: fixed max storage write size 2013-01-27 15:04:47 +11:00
Andrew Tridgell
e4a204d2f6 HAL_PX4: reopen storage file on any IO error 2013-01-27 13:39:11 +11:00
Randy Mackay
6f5050a8b9 Copter: minor casting fixup for wp_distance 2013-01-27 11:27:43 +09:00
Randy Mackay
bad81a5113 AP_InertialSensor_MPU6k: remove unnecessary check of sign when receiving fifo packet from dmp 2013-01-27 11:22:39 +09:00
Andrew Tridgell
90e264d56a HAL_PX4: disable manual override in PX4 for now 2013-01-27 12:52:14 +11:00
Andrew Tridgell
02b4ecc273 HAL_PX4: get RC input from PX4IO board 
this allows us to support DSM and SBUS receivers
 2013-01-27 12:52:14 +11:00
Randy Mackay
d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
Andrew Tridgell
d7409b6a25 HAL_PX4: startup in low priority to fix CLI 
this ensures that tight sensor loops in setup() can run without
sleeping
 2013-01-25 20:44:36 +11:00
Andrew Tridgell
7359348e2c HAL_PX4: added support for /fs/microsd/APM/nostart 
prevents APM startup
 2013-01-25 20:44:36 +11:00
Andrew Tridgell
8f2f4b1bc5 HAL_PX4: use write() to /dev/pwm_output for servo output 
this lowest the cost of PWM output a lot, but relies on the new I2C
based IO firmware
 2013-01-25 20:44:36 +11:00
Andrew Tridgell
9b4c75c66b RC_Channel: don't change trim if radio in is zero 2013-01-25 20:44:36 +11:00
Andrew Tridgell
f9d43f4c3e HAL_PX4: prevent loop() overruns using hrt 
this ensures if loop() takes more than 1 second, the main task gets
its priority dropped until loop() completes
 2013-01-24 15:04:57 +11:00
Andrew Tridgell
70227d5d93 HAL_PX4: added scheduler performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell
0e79b93289 HAL_PX4: added storage performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell
fc8065b50f HAL_PX4: added UART performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell
6cf1d5e1ff HAL_PX4: handle IO errors on microsd 
this should handle EINTR gracefully
 2013-01-24 15:04:57 +11:00
Randy Mackay
542e2e1358 AP_PerfMon: fixes to make it work under AP_HAL (almost) 2013-01-23 21:22:17 +09:00
Andrew Tridgell
966b9b9b9c HAL_PX4: format panic messages with a newline 2013-01-23 16:54:44 +11:00
Andrew Tridgell
c9799fb2b7 HAL_PX4: writing more than 512 bytes at a time can cause IO errors 
the vfat fs in NuttX is really very picky!
 2013-01-23 16:54:44 +11:00
Andrew Tridgell
952df2fced HAL_PX4: new buffered storeage driver for microsd cards 
this does all IO in the timer thread, avoids writes that don't change
data, and does all writes in multiples of 128 byte chunks. This should
be about as friendly to SD cards as we can get.
 2013-01-23 16:37:40 +11:00
Andrew Tridgell
f72b532405 HAL_PX4: ensure all writes go via buffers 
this prevents output corruption by direct fd writes
 2013-01-23 09:22:51 +11:00
Andrew Tridgell
2a10727902 HAL_PX4: run timer thread as SCHED_FIFO 
this ensures it never yields to the main thread, which would break our
locking assumptions
 2013-01-23 09:21:50 +11:00
Andrew Tridgell
930e79a9e1 HAL_PX4: fixed rcin->valid() for RC override input 2013-01-23 07:57:59 +11:00
Andrew Tridgell
06e63d3167 HAL_PX4: use pthread_yield() in main loop 
this lowers the latency of the main loop somewhat
 2013-01-23 07:36:13 +11:00
Andrew Tridgell
6e8501603c HAL_PX4: avoid RCOutput ioctl unless values change 
this lowers latency somewhat
 2013-01-23 07:29:59 +11:00
Andrew Tridgell
89cb3fbd61 HAL_PX4: fixed blocking IO in UART driver 2013-01-22 21:52:21 +11:00
Andrew Tridgell
6ffa18fa61 HAL_PX4: rewrite UART driver to be much more efficient 
this does the IO in the timer thread, and uses buffers in the main
task to avoid system call costs in the flight code.

The cost of PX4 read and write system calls is quite high - about 10
to 15 usec. We can't afford to pay that per byte
 2013-01-22 21:22:01 +11:00
Andrew Tridgell
37be83994f SITL: allow motor multiplier to work on quad simulation 2013-01-22 21:22:01 +11:00
Andrew Tridgell
f0469a21f2 AP_Baro: fixed timestamp on baro for PX4 
milliseconds not microseconds
 2013-01-22 21:22:01 +11:00
Andrew Tridgell
80eaa52ed8 AP_Compass: use report timestamp on PX4 for accurate timing 2013-01-22 21:22:01 +11:00
rmackay9
6f1035debc InertialNav: added 300ms timeout after which error from gps heading will be set to zero 2013-01-22 18:37:54 +09:00
Jonathan Challinger
6565d83e73 InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz. 2013-01-22 18:37:45 +09:00
Andrew Tridgell
546ed19ffc HAL_PX4: improved efficiency of serial writes 
use buffer at a time writes when possible, and use O_NONBLOCKING to
avoid txspace()
 2013-01-22 10:50:26 +11:00
Andrew Tridgell
18cfd29f2f HAL_PX4: added a read buffer to the UART driver 
this lowers the average cost of reading bytes by a large amount, and
prevents the GPS driver from chewing lots of time.
 2013-01-22 10:34:04 +11:00
Andrew Tridgell
db0bd86317 HAL_PX4: name the eeprom file after the sketch 
this makes it easier to switch between ArduPlane and ArduCopter
 2013-01-21 22:04:17 +11:00
Andrew Tridgell
f60d657f72 AP_InertialSensor: added timer for accumulating samples for PX4 
this makes the driver much more tolerant of sketch timing errors
 2013-01-21 21:51:32 +11:00
Andrew Tridgell
3d0cb755d2 AP_InertialSensor: user a timer to drive data collection on PX4 
this reduces the chance of missing a sample if the main sketch is a
bit slow
 2013-01-21 19:44:01 +11:00
Andrew Tridgell
b9b3ef91a1 AP_Baro: added timer to PX4 driver 
this gives us more samples when main sketch is reading slowly
 2013-01-21 18:20:05 +11:00
Andrew Tridgell
1188c9e335 HAL_PX4: added Util instance 
this fixes hal.util->vsnprintf_P()
 2013-01-21 17:10:42 +11:00
Andrew Tridgell
52f560a4c2 HAL_PX4: enabled AnalogIn driver 2013-01-21 13:56:57 +11:00
Andrew Tridgell
ed94292c25 HAL_PX4: start adc driver in rc.APM 2013-01-21 13:55:58 +11:00
Andrew Tridgell
e42cf918fd HAL_PX4: added AnalogIn driver 
this allows airspeed to work on a PX4
 2013-01-21 13:55:06 +11:00
Andrew Tridgell
39e28d48c2 HAL_PX4: switched scheduler to use a pthread 
this allows the timer tasks to access file descriptors in the main APM
task, which makes writing PX4 device drivers much easier
 2013-01-21 13:54:09 +11:00
Andrew Tridgell
ffb2924dd4 HAL_PX4: added APM startup script 2013-01-21 08:27:02 +11:00
Andrew Tridgell
6a5421a361 AP_Baro: ask for maximum poll rate for PX4 2013-01-21 08:27:02 +11:00
Andrew Tridgell
74f7b0f218 AP_Baro: added accumulate method to PX4 driver, and fixed scaling 2013-01-20 22:13:21 +11:00
Andrew Tridgell
0655b1a925 HAL_PX4: fixed thread_running on failed startup 2013-01-20 22:13:20 +11:00
Andrew Tridgell
16d72ca160 AP_InertialSensor: update PX4 driver to use read() method 2013-01-20 22:13:20 +11:00
Andrew Tridgell
6119201307 AP_AHRS: ensure compass is non-NULL for set_board_orientation() 2013-01-17 17:23:34 +11:00
Andrew Tridgell
7294d9ef35 AP_Menu: fixed build with older compilers 
avoids relocation truncated to fit error
 2013-01-17 07:26:26 +11:00
Andrew Tridgell
76092eb590 AP_HAL: remove unused peek() interface from UART drivers 
this is a bit tricky to implement on some platforms, and is unused
anyway
 2013-01-16 14:43:18 +11:00
Andrew Tridgell
e852d6300f AP_HAL_AVR: fixed multi-channel RC output 2013-01-16 14:21:55 +11:00
James Bielman
4fa7bb1486 Add AVR compatibility header for missing math.h definitions. 
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
 2013-01-16 13:52:17 +11:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell
d00b06d449 Filter: added a butter filter to example 2013-01-16 09:15:35 +11:00
Andrew Tridgell
befc6b7b9b Filter: fixed butter filter build on px4 2013-01-16 09:15:22 +11:00
Andrew Tridgell
2ce18f588b AP_HAL: added AP_HAL_Macros.h 
this adds a define for constexpr, allowing code to build either with
or without -std=gnu++0x
 2013-01-16 09:12:55 +11:00
Pat Hickey
53ea7c564e Butter filter: needs header guards 2013-01-15 12:47:43 -08:00
Jonathan Challinger
c66571b87d Filter: added 2nd-order butterworth filters. 2013-01-14 19:18:47 -08:00
Andrew Tridgell
c6b006cf5f DataFlash: move log reading logic into common library 2013-01-15 14:03:51 +11:00
Andrew Tridgell
bd9c61562f HAL_PX4: added -d command line option to app 
allows control of serial device
 2013-01-14 16:21:27 +11:00
Andrew Tridgell
64a8a8e4c9 HAL_PX4: fixed using mavlink on the console 
this disables the ONLCR termios flag, which was injecting extra
carriage returns in the output
 2013-01-14 16:21:27 +11:00
Andrew Tridgell
4c4b6afaff HAL_AVR_SITL: fixed log dump 
the sockets need to default blocking, and only be non-blocking per
call

fixes issue #9
 2013-01-14 08:26:29 +11:00
Andrew Tridgell
4609114a81 HAL_Empty: fixed example build 2013-01-14 07:03:34 +11:00
Andrew Tridgell
a3556c8cf8 HAL_AVR: fixed example build 2013-01-14 07:03:25 +11:00
Andrew Tridgell
d844a1ba3c AP_InertialSensor: fixed PX4 example build 2013-01-13 21:10:53 +11:00
Andrew Tridgell
98a55bf2a1 AP_Limits: removed old declaration 2013-01-13 20:46:44 +11:00
Randy Mackay
109b1069d8 AP_InertialNav: added constraint to how large local accelerometer offset corrections can become 2013-01-13 19:55:09 +11:00
Andrew Tridgell
f683cff9e2 DataFlash: speed up SPI transfers in DataFlash_APM1 2013-01-13 19:26:43 +11:00