Jason Short
c9d3ab5413
Oilpan ADC parameters added
...
including a function that configures each Accel Axis
Defaults matching old behavior
Added param group
2012-07-18 22:57:11 -07:00
Jason Short
148da2e4a0
Lead Filter: simplified calculation
2012-07-18 22:57:10 -07:00
Andrew Tridgell
819b6459b2
GPS-UBlox: removed duplicate config messages
...
these were left over from debugging
2012-07-19 15:23:15 +10:00
Amilcar Lucas
3de23220ed
RC_Channel parameters: Fix a typo
2012-07-18 22:39:49 +02:00
Amilcar Lucas
22d2f9ea15
Support up to 7 aux servo outputs
2012-07-18 21:58:22 +02:00
rmackay9
e61cf0e1f9
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)
...
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
Amilcar Lucas
461098b289
Replace long with int32_t
2012-07-18 02:12:31 +02:00
Amilcar Lucas
724c5f6490
Use ascending order in the values
2012-07-18 02:11:49 +02:00
Amilcar Lucas
1da0ce20ce
Improve parameter documentation, it still does not work, but is an improvement.
...
I just do not understand why these parameters do not appear in Mission planner :(
2012-07-17 23:32:30 +02:00
Michael Oborne
9e4d118fdb
Airspeed Library - fix param names.
...
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
Andrew Tridgell
feb456de56
Airspeed: Added AP_Airspeed sensor library
...
this will allow an airspeed sensor object to be passed to AHRS for
dead reckoning
2012-07-16 11:21:20 +10:00
rmackay9
acef75319c
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
rmackay9
669ffb5ef8
RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised.
...
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
rmackay9
5616b1769b
AP_Camera: changed "int" to "int16_t" and "long" to "int32_t" here and there.
2012-07-15 16:26:12 +09:00
Andreas M. Antonopoulos
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Michael Oborne
a469682b7b
fix param config names
2012-07-14 15:34:15 +08:00
Robert Lefebvre
ed235a3924
Change to prevent Tricopter servos from going hard-over during Disarmed state.
...
Believe this was an oversight when the change to AP_Motors went in.
2012-07-13 23:12:26 -04:00
Robert Lefebvre
8ce9aae2f7
Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input".
...
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
Andreas M. Antonopoulos
d4a0cb5db1
Added Michael Pursifull's Maxsonar HRLV model support
2012-07-11 18:46:47 -07:00
rmackay9
6f8d0a02a4
AP_Camera: moved seme constructor initialisers around to remove compile warnings
2012-07-12 09:33:22 +09:00
rmackay9
4dd4c95d5c
AP_AnalogSource_Arduino: fix to allow analog port to be read to be specified as a "channel" (i.e. A0)
...
Also fixed example range finder sketch to work with interrupt enabled AP_AnalogSource_Arduino class
2012-07-11 21:19:17 +09:00
Amilcar Lucas
cc02d85cdf
AP_Mount: add support for non-spring-loaded joysticks
2012-07-11 00:07:33 +02:00
Amilcar Lucas
9a41cbffdf
RC_Channel: improve parameter documentation
2012-07-11 00:07:10 +02:00
Amilcar Lucas
46d20c2d6b
Remove unused function, remove unnecessary angle wrapping.
2012-07-11 00:06:45 +02:00
Amilcar Lucas
bccb07cbd0
Allow mount control when no AHRS exists
...
Allow mount control on non stabilized axes
2012-07-11 00:06:26 +02:00
Andrew Tridgell
a72f6acef6
AP_Math: added get_distance_cm() to return in centimeters
2012-07-11 07:49:05 +10:00
Andrew Tridgell
165604a55c
AHRS: fixed HIL build
2012-07-10 18:02:05 +10:00
Andrew Tridgell
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
...
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
Andrew Tridgell
e1725e9ea5
AP_Param: added some docs on the eeprom header format
2012-07-10 14:03:49 +10:00
Craig Elder
6d3fdfc03a
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
Amilcar Lucas
af338939be
RC_Channel: Improve documentation
2012-07-07 21:57:30 +02:00
Amilcar Lucas
46552b4222
AP_Mount: Fix radians/degrees scaling regressions
...
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
Andrew Tridgell
d755fedc26
AnalogSource: prevent a division by zero on zero ADC data
2012-07-06 19:59:18 +10:00
Andrew Tridgell
f6d7d1bc59
APM: changed PID library to do automatic deltat calculation
...
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
Andrew Tridgell
f501503eb0
AP_Baro: improved barometer averaging
...
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
Andrew Tridgell
520d762382
Filter: split the DerivativeFilter steps into update() and slope()
...
this allows us to apply new data at a different rate than we calculate
the slope.
2012-07-06 15:11:30 +10:00
Andrew Tridgell
3c7e521f70
AP_Baro: update MS5611 test to use baro library altitude
2012-07-06 15:11:30 +10:00
Andrew Tridgell
302696951a
AHRS: make the yaw independent drift correction optional and disable
...
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
Andrew Tridgell
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
...
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
Andrew Tridgell
ec0995eea1
SITL: lower baro noise a bit
2012-07-05 16:29:21 +10:00
Andrew Tridgell
6534dab719
Filter: fixed DerivativeFilter example build
2012-07-05 16:29:21 +10:00
Andrew Tridgell
d29b6ce0a8
SITL: run the HIL barometer at 80Hz to match APM2
2012-07-05 16:29:21 +10:00
Andrew Tridgell
209136386b
AP_Baro: added get_pressure_samples() interface
...
this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
Andrew Tridgell
1a42b10255
Filter: fixed typo in 9 point DerivativeFilter
2012-07-05 16:29:20 +10:00
Andrew Tridgell
185c6e5b32
AP_Baro: change to a 7 point DerivativeFilter for climb rate
2012-07-05 13:00:47 +10:00
Andrew Tridgell
75470dc912
Filter: cope with non-uniform time steps in the DerivativeFilter
...
this helps with the barometer a lot, as the timing is quite variable
2012-07-05 13:00:47 +10:00
Andrew Tridgell
f03ba86d9d
SITL: add some minimal noise when motors are off
...
this actually improves the gyro calibration
2012-07-05 13:00:46 +10:00
Andrew Tridgell
60caaa4b04
MAVLink: remove MAVLink 0.9 protocol support
...
this simplifies the code a lot. We're not going back to 1.0
2012-07-05 13:00:46 +10:00
Andrew Tridgell
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
...
this avoids having two competing controllers
2012-07-05 13:00:46 +10:00
Andrew Tridgell
adfa97b6f8
AHRS: enable barometer for vertical velocity
...
this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
2012-07-05 13:00:46 +10:00
Andrew Tridgell
f9fc7aafe7
AP_Baro: use DerivativeFilter in barometer climb rate
2012-07-05 13:00:46 +10:00
Andrew Tridgell
f19e5a6273
Filter: added DerivativeFilter implementation
...
this adds a DerivativeFilter implementation of up to 10 points
2012-07-05 13:00:46 +10:00
Andrew Tridgell
9f8703274c
AP_Baro: show climb rate in baro test sketch
2012-07-05 13:00:45 +10:00
rmackay9
b5f47f5e63
AP_Motors: clarified some doxygen descriptions for TradHeli
2012-07-05 08:46:50 +09:00
Amilcar Lucas
0febf76d9d
Document++
2012-07-05 00:33:46 +02:00
Amilcar Lucas
e9c72822dc
Remove unused function
2012-07-05 00:33:10 +02:00
Andrew Tridgell
c35a2e999b
SITL: added SIM_GPS_DELAY parameter
...
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
2012-07-04 21:05:22 +10:00
rmackay9
faeda3713e
AP_AHRS: removed DCM_test example sketch
...
No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
2012-07-04 18:22:51 +09:00
Andrew Tridgell
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
...
this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
Andrew Tridgell
1cd8c54f21
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +10:00
Andrew Tridgell
468dfe3faa
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
Andrew Tridgell
0bdce404a5
AP_Math: add include of math.h
...
this is needed for location.cpp
2012-07-04 13:59:23 +10:00
Andrew Tridgell
be9b9f3e67
DataFlash: fixed SITL build
2012-07-04 13:44:01 +10:00
Andrew Tridgell
dd24330645
DataFlash: fallback to BlockErase if ChipErase fails
...
The errata on the APM2 dataflash chip says that ChipErase may not work
on some chips
2012-07-04 12:42:46 +10:00
Andrew Tridgell
dd200cba31
Math: added location functions to math library
...
these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
Andrew Tridgell
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
...
this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
Andrew Tridgell
060cbe2030
AP_Mount: removed unused enum
2012-07-03 10:39:34 +10:00
Andrew Tridgell
99b11e4f19
Mount: enable mount control via eeprom parameters
...
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
2012-07-03 10:21:01 +10:00
Andrew Tridgell
057eb5e6f6
Baro: average over all pressure/temperature samples on MS5611
...
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings
This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
Andrew Tridgell
f70cd71791
Baro: fixed build of MS5611 test code
2012-07-02 13:44:53 +10:00
Andrew Tridgell
769011e947
AnalogSource: added some example code
2012-07-01 15:01:05 +10:00
Andrew Tridgell
1fdcc3e8f0
SITL: added support for new analog source
...
removed analogRead() to prevent people using it
2012-07-01 15:01:05 +10:00
Andrew Tridgell
c8befe4536
AnalogSource: make the Arduino AnalogSource interrupt driven
...
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
Andrew Tridgell
136c03c3c0
AHRS: include the P terms in get_gyro()
...
this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
Andrew Tridgell
acc6adf6e9
MPU6k: removed an unused variable
2012-06-29 21:54:09 +10:00
Andrew Tridgell
ed691fc465
SITL: added SITL class for controlling simulation
...
this holds mavlink settable parameters for controlling sensor noise
levels
2012-06-29 15:10:51 +10:00
Andrew Tridgell
16c55c64d4
AHRS: don't add the P terms in _omega
...
this can lead feedback via the _P_gain()
2012-06-29 15:10:51 +10:00
Andrew Tridgell
37fc6c46b9
AHRS: disable barometer for vertical acceleration
...
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
Andrew Tridgell
58c4d458dc
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
Andrew Tridgell
fd241692d0
AHRS: revert to the old drift correction algorithm
...
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
Andrew Tridgell
a6543f1e84
SITL: removed an unused variable
2012-06-27 16:01:50 +10:00
Andrew Tridgell
5bccfbd94c
Barometer: fixed airstart for APM
...
we need to re-load the ground pressure and temperature from eeprom on
and airstart
2012-06-27 16:01:50 +10:00
Andrew Tridgell
8e044a560b
AHRS: include P term in omega
...
thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
Andrew Tridgell
37e2f2ee2c
AHRS: implement spin rate limits
...
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
Andrew Tridgell
e4a245179c
AHRS: cope with copters with no compass
...
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
Andrew Tridgell
f4faf941e2
GPS: test the more modern MTK16
2012-06-27 16:01:50 +10:00
Andrew Tridgell
27761737ce
SITL: fixed GPS heading in simulated UBlox
...
longitude scale does not apply to velocity->heading conversions
2012-06-27 16:01:50 +10:00
Andrew Tridgell
b811653800
SITL: changes UBlox simulation to 5Hz
...
this matches the real UBlox driver
2012-06-27 16:01:50 +10:00
Andrew Tridgell
e4d28b12e5
Compass: remove the need to call calculate() on the compass object
...
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
Andrew Tridgell
3a41ad8e7c
AHRS: normalize the ge vector in drift correction, and use barometer
...
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
Andrew Tridgell
c387edd74c
Baro: added get_altitude() and get_climb_rate() interfaces
...
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
Andrew Tridgell
06c8763881
Filter: added 5 point average float filter
2012-06-27 16:01:50 +10:00
Jonathan Challinger
d230690b7b
AHRS: brought DCM more inline with Bill's implementation
...
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
Andrew Tridgell
d4c8041c51
AHRS: first successful version of Bills new drift correction system
...
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
Andrew Tridgell
4d08f75292
AHRS: update for new _fly_forward flag
2012-06-27 16:01:49 +10:00
Andrew Tridgell
0f5c22bd8e
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
Andrew Tridgell
52d77407d4
AHRS: added GPS support to AHRS test
2012-06-27 16:01:49 +10:00
Andrew Tridgell
37db5247cd
GPS: added velocity and acceleration components
...
used by AHRS for acceleration correction
2012-06-27 16:01:49 +10:00
Andrew Tridgell
fe865bc1dc
Math: added comment
2012-06-27 16:01:49 +10:00
Andrew Tridgell
c30b0d85a3
Math: moved more template functions to the .cpp files
...
save a bit more code space for larger functions
2012-06-27 16:01:49 +10:00
rmackay9
068fe64b9b
ArduCopter HIL: changed calls to setHIL to send in time as a uint32_t (it was a float)
2012-06-26 22:50:17 +09:00
Jason Short
7b9583453b
Added a crude Lead Filter. Needs some fine tuning, lag specification, scaling. Works great on 4hz GPS such as Mtek.
2012-06-21 11:14:20 -07:00
Amilcar Lucas
78ccb9d37f
Add linebreaks to increase readability.
2012-06-21 00:36:10 +02:00
Amilcar Lucas
b072a59843
Improve parameters descriptive text
2012-06-21 00:20:37 +02:00
Amilcar Lucas
594cedd324
Documentation improvements, no functional changes (only comments)
2012-06-17 22:53:54 +02:00
Amilcar Lucas
f4e9587aca
Move local temp variables to the stack it saves 1952 bytes
...
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
2012-06-17 22:25:51 +02:00
Wingspinner
d09ac5899b
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:40:14 +00:00
Wingspinner
b699c77323
Added support for channel curves (and expo) to AP_RC_Channel class. Also updated AP_RC_Channel example/test to demonstrate and test new functionality
2012-06-15 08:38:52 +00:00
Andrew Tridgell
a851c53de4
GPS: need pgmspace.h for _write_progstr_block()
2012-06-15 16:27:11 +10:00
Andrew Tridgell
70f18289c5
GPS: fixed auto-config of UBlox setup with no UBX messages
...
if a UBlox is configured for NMEA only, with no UBX messages at all
then it would never trigger the GPS_AUTO detection. This adds a UBX
config message to the init strings that enables the NAV_SOL message
2012-06-15 15:53:27 +10:00
Andrew Tridgell
1fe297ab63
FastSerial: added tx_pending() method
...
this allows the caller to wait for the tx buffer to drain
2012-06-15 15:53:27 +10:00
Amilcar Lucas
1906e06b69
Added camera trigger functionality
2012-06-13 21:00:20 +02:00
Amilcar Lucas
a32b7c200b
Add "3 axis camera stabilization" and "point camera to 3D point" functionality
...
Patch by Gregory Fletcher and reviewed by me
2012-06-13 20:55:19 +02:00
Amilcar Lucas
5ffd489d87
Spellcheck
2012-06-13 20:44:35 +02:00
rmackay9
1e38b0d535
AP_GPS_NMEA: fix from Roberto Navoni to improve NMEA accuracy
2012-06-12 20:27:50 +09:00
Andrew Tridgell
f9560ef093
GPS: use the new nav_setting in a couple of the sample sketches
2012-06-10 16:35:13 +10:00
Andrew Tridgell
33a2ad7e07
GPS: add stub settings for nav_setting in the other GPS drivers
...
only Ublox supports nav_setting so far
2012-06-10 16:34:53 +10:00
Andrew Tridgell
514be604a5
GPS: added auto-configuration of UBlox GPS
...
the Ublox will now auto-configure for 5Hz with just the messages we
want. It also supports setting the navigation engine type
2012-06-10 16:34:13 +10:00
Andrew Tridgell
9c1ce9e1c5
FastSerial: avoid buffer re-allocation on re-open if possible
...
we commonly re-open serial ports a lot in the AUTO GPS driver
2012-06-09 07:43:22 +10:00
Andrew Tridgell
cf4e56457b
SITL: map() is a C++ function, so needs to be in C++ part of the header
...
this fixes the ACM build
2012-06-08 17:09:23 +10:00
Andrew Tridgell
cbf477addd
GPS: added debug code to the main GPS class
2012-06-08 16:42:03 +10:00
Andrew Tridgell
a8bfc5d8e9
GPS: re-open the serial port with a 256 byte serial receive buffer
...
this ensures all GPS parsers have a 256 byte buffer available
2012-06-08 16:42:03 +10:00
Andrew Tridgell
296e651b30
GPS: fixed the UBLOX parser to handle unknown messages
...
the parser was broken in several ways:
1) when it received an unknown message it didn't update the ck_a and ck_b fields, so it
thought the message had a bad checksum, which meant it got out of protocol sync
2) the read() method would return false if the last message from the GPS was of an unknown type.
So we relied on the last msg always being one that we understand and want
3) the parser considered any valid UBLOX message to be 'new data', whereas we only actually get
a new fix when we get box a new position and velned message
4) the total message size per update is more than 128 bytes, but the serial port was opened
with only a 128 byte buffer, so we got corruption regularly
2012-06-08 16:42:02 +10:00
Andrew Tridgell
9c2ba2e814
GPS: tidy up the auto gps test
2012-06-08 16:42:02 +10:00
Robert Lefebvre
238a1ced2c
TradHeli adding ramp up time to Ch8 Throttle Pass-through.
2012-06-07 22:55:47 -04:00
Robert Lefebvre
df17ff3bc1
AP_MotorsHeli Syntax correction.
2012-06-04 15:53:07 -04:00
Andrew Tridgell
25c17a5425
re-enable the AP_Mount build
2012-06-04 19:32:11 +10:00
Andrew Tridgell
0f0cbce22f
GPS: fixed a race condition in the ublox driver
...
the status update comes as a separate message from the lat/lon
2012-06-04 14:47:58 +10:00
Andrew Tridgell
012fc35314
mavlink: fixed build with uart resend
2012-06-04 13:45:55 +10:00
Andrew Tridgell
b6467cb1fa
MAVLink: updates to mavlink headers to fix mavlink 1.0 issues
2012-06-04 13:34:07 +10:00
Andrew Tridgell
d8919731ee
Mavlink: fixed library build for MAVLink 1.0
2012-06-04 13:14:52 +10:00
Andrew Tridgell
ec1abbf987
SITL: fixed SITL build with mavlink10
2012-06-04 13:14:52 +10:00
Andrew Tridgell
60f8d09506
mavlink10: fixed MAV_VAR -> MAVLINK_TYPE
2012-06-04 13:14:51 +10:00
Andrew Tridgell
bccfb08c55
MAVLink: updated to latest upstream mavlink
...
this includes no significant changes
2012-06-04 13:14:51 +10:00
Jason Short
73e23aab2a
GPS time set to unsigned int32
2012-06-03 11:13:50 -07:00
rmackay9
5c9dc00ae2
AP_Baro: fixed comment to clarify that every-other call updates temperature or pressure
2012-06-03 17:31:17 +09:00
rmackay9
dcdeae412e
ArduCopter: Another attempt at fixing the lat/lon printing bug in which small negative lattitudes or longitudes were appearing as positives.
...
Fixed in both ArduCopter Log.pde and the GPS Auto test sketch
2012-06-03 16:58:19 +09:00
rmackay9
173ae33627
ArduCopter Desktop Build: added definition of "map" to wiring.h and included WMath.cpp to fix SITL build failures.
...
All real work on this issue done by Michael Oborne.
2012-06-02 17:46:00 +09:00
rmackay9
c82a403b88
AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work.
...
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
2012-06-02 16:13:23 +09:00
rmackay9
c3b1a79f6a
RC_Channel library: change all "int" types to "int16_t".
...
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
2012-06-02 14:20:58 +09:00
rmackay9
d9f124afbb
RC_Channel.pde: fixed compile errors so that it actually works!
2012-06-02 14:00:44 +09:00
rmackay9
2a216ce900
ArduCopter: fixed print_latlon bug in which it would print negative lat/lon numbers incorrectly (i.e. -1234567890 would be printed as -124.xxx).
2012-06-02 12:51:12 +09:00
Jason Short
c2d14a5cad
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
Jason Short
0adb5cb396
Issue 416: RC_Channel – Fix to make dead_zones still output 0
2012-05-31 12:05:47 -07:00
Jason Short
1c690b44de
removed never used filter, and fixed a constrain that could make range calcs go bad
2012-05-31 11:45:07 -07:00
Jason Short
862b374d19
Channel rage fix - low output was always 0 vs _low
2012-05-31 11:31:48 -07:00
Robert Lefebvre
5f058fb9b2
TradHeli: Incorporating Ext ESC Control
2012-05-30 21:50:25 -04:00
Robert Lefebvre
56335e81e4
Fix TradHeli Collective Yaw Effect bug.
2012-05-25 15:25:21 -04:00
Andrew Tridgell
ddfa06e857
SITL: fixed ChipErase()
...
the loop never completed
2012-05-23 21:15:45 +10:00
Andrew Tridgell
6e444f6b64
SITL: fixed build with new ChipErase() call
2012-05-23 17:33:33 +10:00
Andrew Tridgell
fc73fd6531
DataFlash: use ChipErase() instead of PageErase() on all pages
...
This makes the DataFlash erase much faster (about 6 seconds instead of
about 60 seconds).
We need to test and ensure the behaviour is equivalent apart from the
speed
2012-05-22 19:29:02 -07:00
Andrew Tridgell
f274df454a
DCM: fixed a bug when using GPS for yaw correction
...
When using GPS for yaw correction we need to apply the x and y omegaI
corrections from the _omega_I_sum in the period before we get to the
minimum ground speed for GPS yaw correction. Otherwise we get a large
sudden omega_I change on takeoff.
2012-05-21 12:15:06 +10:00
Andrew Tridgell
9d221b3625
AP_Common: fixed some duplicate product ID warnings
2012-05-17 23:37:32 +10:00
rmackay9
357d6c2d9b
ArduCopter: bug fix for reversing tri servo
...
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
2012-05-13 12:36:46 +09:00
Craig Elder
69bf5700cd
IMU: expose IMU_PRODUCT_ID as EEPROM Variable
...
this will allow us to log the Product ID in tlogs
2012-05-09 18:30:36 -07:00
Craig Elder
4a1d8b0875
AP_InertialSensor: Return product ID from sensor initialization
...
this exposes the product ID to the IMU Layer
2012-05-09 18:30:36 -07:00
Craig Elder
4c46955612
PRODUCT: Define product IDs for all supported products
2012-05-09 18:30:36 -07:00
Craig Elder
ed99940bee
MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D
...
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
2012-05-09 18:30:35 -07:00
Chris Anderson
34f5923ef3
fixed typo ("minimum" should have been "maximum")
2012-05-06 15:50:19 -07:00
Andrew Tridgell
2dd655d87d
MPU6k: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
88b2139d91
Baro: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
d692a932ca
ADC: added suspend/resume on init
2012-05-01 12:06:54 +10:00
Andrew Tridgell
534aee17e9
TimerProcess: added suspend_timer()/resume_timer()
...
this will be used to avoid races in driver initialisation
2012-05-01 12:06:54 +10:00
rmackay9
6e1798b104
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
...
This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
Andrew Tridgell
ca8bc34c98
MAVLink: re-generated with new pygen
...
this moves the enums to make them less order sensitive
2012-04-30 12:27:30 +10:00
Adam M Rivera
56d3fa1601
Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases
2012-04-28 20:50:41 -05:00
Andrew Tridgell
4f90e6e844
build: cope with Arduino 1.0 in command line build
...
this should autodetect 1.0 versus older builds
2012-04-27 15:38:42 +10:00
Adam M Rivera
239323eaa4
Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone.
2012-04-26 18:26:14 -05:00
Adam M Rivera
3309dec205
AP_AHRS_DCM.cpp: Added comments that follow the new parse structure
2012-04-25 12:00:42 -05:00
Andrew Tridgell
89041c6996
sitl: support MAVLink 1.0 builds
2012-04-24 22:24:58 +10:00
Andrew Tridgell
d11957718f
MAVLink: removed the cpp part of the library
...
this was preventing building MAVLink 1.0 with the arduino GUI as we
can't set cpp defines
2012-04-24 22:24:58 +10:00
Andrew Tridgell
eb5bc964d8
MAVLink: one more define for MAVLink 1.0 compat
2012-04-24 19:54:20 +10:00
Andrew Tridgell
0753782c49
MAVLink: re-add the XML message definitions
...
these are a very useful reference for the current headers in the code
2012-04-24 10:57:43 +10:00
Andrew Tridgell
5c067d5a03
MAVLink: imported new mavlink header updates
...
this fixes the camera control code which was broken by a previous
import
2012-04-24 10:57:43 +10:00
Andrew Tridgell
e8f8115a8f
APM_RC: added OutputCh_current() method
...
this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
2012-04-24 10:57:43 +10:00
Andrew Tridgell
2a3af369b6
DCM: buffer omega_I changes over 10 seconds
...
this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
Andrew Tridgell
f27d85cb8d
DCM: drop the 'drop z' method
...
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
rmackay9
11a384a7ff
AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228
2012-04-21 23:07:57 +09:00
rmackay9
c45b124cbe
DataFlash_APM2 - moved CS_inactive call (which disables the dataflash) from the beginning to the end of all methods. This means the dataflash does not monopolize the SPI bus.
...
Also formatting changes to use tab instead of space. Sorry, should have done this as a separate check-in to the above changes.
2012-04-21 20:14:45 +09:00
rmackay9
f18ee75b5c
AP_OpticalFlow - updated test sketch to allow testing of APM2 version
2012-04-21 20:11:18 +09:00
rmackay9
3075a0c5bd
AP_OpticalFlow - added support for optical flow for APM2
2012-04-21 20:10:35 +09:00
rmackay9
7bda35dc28
AP_OpticalFlow - moved most pin definitions into .cpp file
2012-04-21 20:09:15 +09:00
James Goppert
20cdc3a0ac
MAVLink update to 1.0.7
2012-04-20 12:31:50 -04:00
Andrew Tridgell
7f8fe97889
GPS: u-center config file for 3DR Ublox
2012-04-20 22:05:30 +10:00
Andrew Tridgell
f170790fd8
GPS: fixed auto GPS test
2012-04-20 22:05:30 +10:00
Andrew Tridgell
711814085b
GPS: detect new style 3DR UBlox
2012-04-20 22:05:30 +10:00
Andrew Tridgell
08bc7f1a41
GPS: fixed the UBlox test code
2012-04-20 20:57:08 +10:00
James Goppert
ba89f39781
Updated MAVLink to 1.0.6 release.
2012-04-19 15:46:29 -04:00
Adam M Rivera
b500d9430f
AP_AHRS_HIL.h: Fixed HIL build by adding missing public property.
2012-04-16 10:26:14 -05:00
Andrew Tridgell
8e90aeea4e
AHRS: added AHRS_YAW_P parameter
...
this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
analoguedevices
28833ed1d6
added missing #include
2012-04-09 14:32:54 +00:00
rmackay9
c96dfb2108
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
rmackay9
ef43da9b92
AP_Compass - changed parameter initialisation order to remove compiler warning
2012-04-09 17:37:02 +09:00
Andrew Tridgell
985c967bb9
MAVLink: imported new mavlink headers
...
this adds local and remote radio noise levels
2012-04-08 12:22:17 +10:00
rmackay9
53827f2e92
AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames.
2012-04-07 12:16:12 +09:00
rmackay9
127a990509
AP_MotorsOcta - V Frame - test order fix spotted by David Wiens
2012-04-07 08:11:28 +09:00
rmackay9
f6e1509d05
AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method.
2012-04-05 00:28:04 +09:00
rmackay9
1e20d7de88
AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used
2012-04-05 00:24:56 +09:00
rmackay9
7a8973eaf0
AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino.
2012-04-05 00:06:33 +09:00
rmackay9
926211f0f0
AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function.
...
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
2012-04-04 23:59:51 +09:00
rmackay9
b71877366e
ArduCopter - AP_Motors library - added new library which has few advantages over current code:
...
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)
Later check-ins will incorporate into the main ArduCopter code.
2012-04-02 17:26:37 +09:00
Andrew Tridgell
1fd1a55fa6
MAVLink: import change to txbuf as a percentage
2012-04-02 11:18:53 +10:00
Andrew Tridgell
4ddeb82b26
MAVLink: imported new headers, with RADIO packet
2012-04-01 21:44:44 +10:00
Andrew Tridgell
0c445101ff
FastSerial: added set_blocking_writes() interface
...
this allows us to put a serial port into non-blocking mode, so that
writes that don't fit in the transmit buffer are dropped. This will be
used in flight to prevent stray printf() calls from causing large time
delays in the code
2012-03-30 17:46:20 +11:00
Andrew Tridgell
22ff8cb197
examples: fixed build of some examples with new AP_Declination code
2012-03-30 14:25:27 +11:00
Andrew Tridgell
504c53f746
Compass: added COMPASS_AUTODEC option
...
when this is 1 (which is the default), we will get the declination
automatically via the AP_Declination library
when it is 0 we will use the value configured by the user
2012-03-30 14:25:27 +11:00
Andrew Tridgell
927834106d
AP_Declination: save some more memory by putting the declination keys in progmem
...
there was a comment saying this was too slow, but it actually costs
about 30 usec extra, which is trivial given the full auto declination
call costs 680 usec and its only called once per boot
2012-03-30 14:25:27 +11:00
Andrew Tridgell
70d4280935
AP_Declination: added timing information to declination test
2012-03-30 14:25:27 +11:00
Andrew Tridgell
175352845c
AP_Declination: fixed build under SITL
2012-03-30 14:25:27 +11:00
Adam M Rivera
ca82350f17
AP_Declination_test: Updated test with better print messages.
2012-03-30 14:25:26 +11:00
Adam M Rivera
01b1e58f7d
AP_Declination: Update LUT based on the changes that I made in the LUT generation code. This LUT is the final version that has no truncation.
2012-03-30 14:25:26 +11:00
Adam M Rivera
23f6093f05
AP_Declination: Updated comments to reflect new LUT size.
2012-03-30 14:25:06 +11:00
Adam M Rivera
50791a8b0f
AP_Declination: Removed trailing zero deltas as they have no impact on the final value and only take up extra bytes.
2012-03-30 14:21:58 +11:00
Adam M Rivera
f35e447927
AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT.
2012-03-30 14:21:58 +11:00
Adam M Rivera
72b70c394c
AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP.
2012-03-30 14:21:58 +11:00
Adam M Rivera
076192db51
AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail.
2012-03-30 14:21:58 +11:00
Adam M Rivera
230ca1ddca
AP_Declination: Moved check for y index of zero to after the y index is properly transformed.
2012-03-30 14:21:58 +11:00
Adam M Rivera
e0fa053c79
AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting.
2012-03-30 14:21:58 +11:00
Adam M Rivera
f66c6e16e4
AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change.
2012-03-30 14:21:58 +11:00
Adam M Rivera
d88b9e8ffc
AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly.
2012-03-30 14:21:57 +11:00
Adam M Rivera
036da88174
AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular.
2012-03-30 14:21:57 +11:00
Adam M Rivera
580b274bde
AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps.
2012-03-30 14:21:57 +11:00
Adam M Rivera
efefc3e4f4
AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array.
2012-03-30 14:21:57 +11:00
Adam M Rivera
0dcc4e8307
AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before.
2012-03-30 14:21:57 +11:00
Adam M Rivera
3a849771bc
AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype.
2012-03-30 14:21:57 +11:00
Adam M Rivera
370e56c00a
AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range.
2012-03-30 14:21:57 +11:00
Adam M Rivera
ae257ad42b
AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t.
2012-03-30 14:21:57 +11:00
Andrew Tridgell
b549b88e5e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
...
when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
Andrew Tridgell
16deefce31
Compass: fixed a comment
2012-03-29 12:39:53 +11:00
Andrew Tridgell
17290836ef
Compass: added some more comments
...
explain the algorithm a bit more
2012-03-29 12:39:53 +11:00
rmackay9
2ce597642e
Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use
2012-03-28 22:02:52 +09:00
rmackay9
90fcdeadfd
AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up
2012-03-28 22:00:57 +09:00
Andrew Tridgell
10c35e3769
SITL: add magnetic field noise to the simulated compass
2012-03-28 20:55:27 +11:00
Andrew Tridgell
f4c1b6a3c6
SITL: ensure we don't run the sitl timer twice
...
this caused problems with random()
2012-03-28 20:55:27 +11:00
Andrew Tridgell
b2d6db9479
Compass: implement noise resistant varient of offset learning
...
This adds a large amount of noise robustness to the compass offset
learning algorithm, at a cost of 120 bytes of memory. The changes are
based on a long discussion with Bill Premerlani.
2012-03-28 20:55:27 +11:00
Andrew Tridgell
9b95d2060a
ADC: minor fix to the ADC Ch6() code
...
we don't need to add count any more, as floating point maths doesn't
need to round up
2012-03-27 15:37:24 +11:00
Andrew Tridgell
a72d4b46b3
Compass: implement Bills new offset nulling algorithm
...
this seems to work much better than the old algorithm, converging
faster and more accurately. Even better, it has no linkage to DCM, so
no possibility of nasty feedback effects
2012-03-27 15:37:24 +11:00
rmackay9
b5dbdab81e
APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway
2012-03-25 21:13:31 +09:00
rmackay9
2b2dbf2a7f
Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one)
2012-03-25 16:15:25 +09:00
rmackay9
39fd24ed14
Filter - remove obsolete warning from comments re alloc/malloc dangers
2012-03-25 16:14:07 +09:00
rmackay9
2d65ec2874
AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t)
2012-03-24 23:21:11 +09:00
rmackay9
d371862fd2
AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway)
2012-03-24 14:47:21 +09:00
Andrew Tridgell
a6d66dc45b
Math: added mul_transpose() operation
...
this is equivalent to multiplying by m.transposed(), but is more
efficient
2012-03-23 16:48:52 +11:00
Andrew Tridgell
f4d1295a4b
AHRS: fixed build of AHRS example
2012-03-22 23:00:45 +11:00
Andrew Tridgell
fe55a76335
Math: moved matrix multiple operations to .cpp file
...
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space
We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
2012-03-21 10:43:48 +11:00
Andrew Tridgell
17fbb8ea26
Math: fixed the build of the eulers test in SITL
2012-03-21 10:41:55 +11:00
Andrew Tridgell
90c3d230d9
SITL: improve the simulated compass
...
this implements a much more accurate model of a compass using matrix
rotations, instead of trying to calculate components directly
2012-03-21 10:41:55 +11:00
rmackay9
24a471ff8f
AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods
2012-03-20 11:51:15 +09:00
Andrew Tridgell
9f4becbacf
AHRS: added AHRS specific MAVLink headers
2012-03-19 17:35:20 +11:00
Andrew Tridgell
9e6c18cca4
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00
Andrew Tridgell
4f82134a5e
DCM: use the new rotate() method from AP_Math
...
this allows us to use a tested and optimised rotation method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
17f7292fe9
Math: added a test for the rotate() method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
c16b353ea7
Math: added rotate() method to Matrix3f
...
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
2012-03-19 17:29:02 +11:00
Andrew Tridgell
31e566475b
Math: added zero() and identity() methods to Matrix3f
2012-03-19 17:29:02 +11:00
Andrew Tridgell
c53b320e00
Quaternion: change signs in AP_AHRS_Quaternion
...
thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
Andrew Tridgell
d948a28e7c
Math: change signs in quaternion library
...
thanks to Justin for the suggestion
2012-03-19 17:29:02 +11:00
Andrew Tridgell
af9ce0cfc9
Math: allow eulers test to build with AP_Declination library
2012-03-19 17:29:02 +11:00
Andrew Tridgell
72a761170b
Math: fixed build of eulers test on SITL
2012-03-19 17:29:02 +11:00
Andrew Tridgell
58a68c89d9
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
2012-03-19 17:29:02 +11:00
Andrew Tridgell
8ae0ea7e37
AP_Mount: adapt library for AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
79b9be8b1a
AHRS: fixup the AHRS test suite for the new framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
f8087d3c67
AHRS: adapt the quaternion library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
8dcf82b433
AHRS: adapt the DCM_HIL library to AHRS
2012-03-19 17:29:02 +11:00
Andrew Tridgell
d4bb068d5b
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
Andrew Tridgell
9d75ffeba1
AHRS: rename DCM and Quaternion implementions ready for AHRS class
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this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00
Andrew Tridgell
55ed84526a
MAVLink: rename DCM message to AHRS
2012-03-19 17:29:01 +11:00
rmackay9
01cc5fe938
AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy)
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- also removed unused _offset_press variable
2012-03-18 15:18:05 +09:00
rmackay9
7560242721
AP_Baro - added average filter for temperature to replace broken filter
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- added average filter (for last two values) for raw pressure
- changed some "long" to int32_t and "unsigned long" to uint32_t
2012-03-18 01:06:02 +09:00
Michael Oborne
bae5f98666
sitl cygwin mods
2012-03-15 08:16:50 +08:00
Andrew Tridgell
00c1c6f108
Quaternion: credit Justin with the initial idea of using Madgwick
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thanks Justin!
2012-03-13 13:27:45 +11:00
Andrew Tridgell
13dac4a93a
DCM: adjust yaw kp constant down to 0.4
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this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
2012-03-12 17:49:26 +11:00
Andrew Tridgell
7daaadf776
Compass: fixed the order of rotations in the compass driver
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this should fix the massive heading issues that people have been
reporting. Please test!
2012-03-12 17:33:15 +11:00
Andrew Tridgell
c08fd50542
AP_Declination: fixed build of test sketch
2012-03-12 17:33:15 +11:00
Amilcar Lucas
6e9ffb4249
correct small typos in comments
2012-03-11 21:30:09 +01:00
Andrew Tridgell
b337441ec5
SITL: added pgm_read_byte_far()
2012-03-11 20:59:47 +11:00
Andrew Tridgell
c1b945018b
AP_Declination: fixed usage of headers
2012-03-11 20:59:47 +11:00
Adam M Rivera
b9be6ed290
AP_Declination: Updated comment.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
fe8c896d69
AP_Declination: Added method set_initial_location
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This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
e08b50ee91
AP_Declination: Increased range of supported latitude coordinates.
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Fixed incorrect type usage to save stack space.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
e22da153ec
Added AP_Declination test sketch. I will be improving the test sketch soon.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Adam M Rivera
d2a07b1603
Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
2012-03-11 20:59:47 +11:00
Andrew Tridgell
d10c4b76ad
Compass: removed an incorrect comment
2012-03-11 20:07:38 +11:00
Andrew Tridgell
0da64e98f8
Compass: don't save the orientation to EEPROM
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there is no point in saving this, the value is only configurable at
compile time for now, and is always set
2012-03-11 15:37:07 +11:00
Andrew Tridgell
0ec9857689
Math: any euler angle with pitch > 90 is invalid
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both DCM and quaternion always return pitch in the range -90 to 90
2012-03-11 15:37:07 +11:00
Andrew Tridgell
4bf28d499a
Quaternion: update for new Quaternion interface
2012-03-11 15:37:07 +11:00
Andrew Tridgell
e8f1c5742b
DCM: update for new Matrix3f interface
2012-03-11 15:37:07 +11:00
Andrew Tridgell
4d3789d11c
AP_Math: update the test suite
2012-03-11 15:37:07 +11:00
Andrew Tridgell
4422486d44
AP_Math: made rotation matrices more C++
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thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
Andrew Tridgell
5c6368bad3
AP_Math: allow null pointers in Quaternion::to_euler()
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this matches the Matrix3f method
2012-03-11 15:37:07 +11:00
Andrew Tridgell
16c95236c0
Quaternion: use the new quaternion API
2012-03-11 15:37:07 +11:00
Andrew Tridgell
9f0cb78f08
AP_Math: re-work quaternion functions to be more C++ like
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thanks to Adam for the suggestion!
2012-03-11 15:37:07 +11:00
Andrew Tridgell
9e30b5e4a5
I2C: fixed cr/lf mess
2012-03-11 15:37:07 +11:00
Andrew Tridgell
6021daf423
OpticalFlow: adapt optical flow library to new rotation system
2012-03-11 15:37:07 +11:00
Andrew Tridgell
2ab3d2c080
OpticalFlow: fixed line endings
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this library was a mixture of dos and unix line endings, which makes
for very messy editing
2012-03-11 15:37:07 +11:00
Andrew Tridgell
cb96dd975f
Compass: update the compass driver to use the new vector.rotate() method
2012-03-11 15:37:07 +11:00
Andrew Tridgell
55aa43a70d
Math: added a test suite for the new rotation methods
2012-03-11 15:37:07 +11:00
Andrew Tridgell
289c64c0b9
Math: added vector3.rotate() and matrix3.rotation() methods
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these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
2012-03-11 15:37:07 +11:00
Andrew Tridgell
ba8e764349
SITL: lower the noise and drift levels for general autotest usage
2012-03-10 10:34:34 +11:00
Andrew Tridgell
b02ca58901
InertialSensor: fixed HIL build
2012-03-10 10:34:34 +11:00
Andrew Tridgell
44ebb20329
MAVLink: bring the v1.0 MAVLink in sync with 0.9
2012-03-10 10:34:34 +11:00
Andrew Tridgell
87c463bcc7
DCM: after some experimentation, raise the ki values a bit
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this tracks the max gyro drift more accurately
2012-03-10 10:34:34 +11:00
Andrew Tridgell
eff6778515
Quaternion: use gyro drift value from sensor driver
2012-03-10 10:34:34 +11:00
Andrew Tridgell
3989fe2c2c
Quaternion: go back to the full update_MARG()
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the separate drift controller is too erratic on yaw hold to be usable
at the moment
2012-03-10 10:34:34 +11:00
Andrew Tridgell
c8189c80d4
SITL: cleanup the gyro drift calculations
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use units that are more easily understood
2012-03-10 10:34:34 +11:00
Andrew Tridgell
b833190abb
Quaternion: make the quaternion test more generic
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works with DCM too
2012-03-10 10:34:33 +11:00
Andrew Tridgell
2f9af05cfa
Quaternion: update to get_gyro_drift() interface
2012-03-10 10:34:33 +11:00
Andrew Tridgell
bf16b2926c
Quaternion: removed some unused variables
2012-03-10 10:34:33 +11:00
Andrew Tridgell
3b2609c441
DCM: separate out the omega_yaw_P from omega_P
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this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
2012-03-10 10:34:33 +11:00
Andrew Tridgell
bcb7196680
IMU: added get_gyro_drift_rate() interface
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this just calls down to the InertialSensor layer
2012-03-10 10:34:33 +11:00
Andrew Tridgell
9296ac494d
AP_InertialSensor: added a get_gyro_drift_rate() interface
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this returns the expected max drift rate for the particular type of
gyro being used
2012-03-10 10:34:33 +11:00
Andrew Tridgell
882fa1818b
DCM: removed the limit on linear acceleration
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we get linear accelerations of more than 1g when turning corners
2012-03-10 10:34:33 +11:00
Andrew Tridgell
801a442ffb
Quaternion: minor tuning
2012-03-10 10:34:33 +11:00
Andrew Tridgell
3344869285
DCM: minor tuning based on testing my quad
2012-03-10 10:34:33 +11:00
Andrew Tridgell
dffb435aac
SITL: make the yaw match the APM conventions
2012-03-10 10:34:33 +11:00
Andrew Tridgell
2673614f6d
SITL: fixed the pwm output on startup
2012-03-10 10:34:33 +11:00
Andrew Tridgell
982712d58f
Quaternion: code cleanups and added comments
2012-03-10 10:34:32 +11:00
Andrew Tridgell
f405477875
DCM: code cleanup and added more comments
2012-03-10 10:34:32 +11:00
Andrew Tridgell
9dc08b30cd
Quaternion: bumb up gyro drift limit to match DCM
2012-03-10 10:34:32 +11:00
Andrew Tridgell
f9394f8068
ADC: removed the ADC level accel smoothing
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the quaternion code does a better job of handling this noise than this
filter does
2012-03-10 10:34:32 +11:00
Andrew Tridgell
8b40c44522
Quaternion: separate out drift correction from main updates
2012-03-10 10:34:32 +11:00
Andrew Tridgell
3e960f8ef9
InertionSensor: update for new Ch6() interface
2012-03-10 10:34:32 +11:00
Andrew Tridgell
919874f2a0
IMU: fixed a warning
2012-03-10 10:34:32 +11:00
Andrew Tridgell
4dff78b9c0
GPS: expose last_fix_time
2012-03-10 10:34:32 +11:00
Andrew Tridgell
6eff9107ea
Compass: change last_update to be in microseconds
2012-03-10 10:34:32 +11:00
Andrew Tridgell
a0a360f955
ADC: use floats for ADC averaging
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this costs almost nothing and improved accel/gyro calibration
2012-03-10 10:34:32 +11:00
Andrew Tridgell
045b49c4c4
DCM: removed update_DCM_fast
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this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
2012-03-10 10:34:31 +11:00
Andrew Tridgell
321200ebbc
AP_IMU: fixed led flashing in gyro cal
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thanks Pat!
2012-03-10 10:34:31 +11:00
Andrew Tridgell
a92fb67b70
AP_Math: expanded the math test suite
2012-03-10 10:34:31 +11:00
Andrew Tridgell
4d65cda0ea
AP_Math: added quaternion->matrix and earth frame routines
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this will be used for 3d acceleration
2012-03-10 10:34:31 +11:00
Andrew Tridgell
8abbbe5713
AP_Math: better way of handling safe_sqrt()
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better to test the result, than predict it
2012-03-10 10:34:31 +11:00
Andrew Tridgell
ccada2e9c2
SITL: avoid parent pid code on cygwin
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this causes problems on windows
2012-03-10 10:34:31 +11:00
Andrew Tridgell
3666476bcb
SITL: prevent nested timer interrupts
2012-03-10 10:34:31 +11:00
Andrew Tridgell
3b7d78cf02
Quat: test patch for michael
2012-03-10 10:34:31 +11:00
Andrew Tridgell
f363f81869
Quaternion: added NaN paranoid checking
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this is for Michael to run
2012-03-10 10:34:30 +11:00
Andrew Tridgell
1ec4c0777c
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f5e6dc0757
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +11:00
Andrew Tridgell
066a513758
Quaternion: added more numerical safety in the quaternion code
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prevent infinities from creeping in and prevent large drift changes
2012-03-10 10:34:30 +11:00
Andrew Tridgell
c7d5f06b21
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f70dfe440d
Quaternion: fix the gyro bias in centripetal and remove smoothing
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the centripetal code needs to take account of the current gyro
bias.
It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
2012-03-10 10:34:30 +11:00
Andrew Tridgell
47ddd4dfdd
SITL: disable interrupts during register updates
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this may prevent bogus mode channel reads
2012-03-10 10:34:30 +11:00
Andrew Tridgell
7256652de5
Quaternion: use GPS to correct for linear acceleration
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this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
2012-03-10 10:34:30 +11:00
Andrew Tridgell
c7ef72cf28
Quaternion: don't update if we have a very long deltat
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this can be caused by stopping the system in a debugger
2012-03-10 10:34:30 +11:00
Andrew Tridgell
6d356b6c6e
Compass: fixed last_update time for HIL compass
2012-03-10 10:34:30 +11:00
Andrew Tridgell
ebc55bb494
RC: disable interrupts when reading the RC registers
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this prevents getting bogus values which could cause a flight mode
change
2012-03-10 10:34:30 +11:00
Andrew Tridgell
57f67ca6e3
GPS: added an acceleration estimate to the GPS driver
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This uses the GPS ground speed to estimate acceleration
2012-03-10 10:34:30 +11:00
Andrew Tridgell
7fbfcc2721
GPS: fixed some stdint types
2012-03-10 10:34:29 +11:00
Andrew Tridgell
e699e9ace0
Quaternion: added in reporting of gyro drift and rp/yaw errors
2012-03-10 10:34:29 +11:00
Andrew Tridgell
2a8b167d95
fixed comment
2012-03-10 10:34:29 +11:00
Andrew Tridgell
c73c55aa90
DCM: fixed an uninitialised variable warning
2012-03-10 10:34:29 +11:00
Andrew Tridgell
d8234882d4
Quaternion: tweak the quaternion gains a bit
2012-03-10 10:34:29 +11:00