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3786 Commits

Author SHA1 Message Date
Andrew Tridgell 31fce44063 AP_L1_Control: use a reference to AHRS 
makes code a bit simpler
 2013-08-13 13:49:26 +10:00
Andrew Tridgell 08ec43ef89 AP_L1_Control: use get_position() 2013-08-13 12:07:35 +10:00
Andrew Tridgell b74ed795f2 AP_L1_Control: removed _maxf() and _geo2planar() functions 
not needed any more
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 653fa5a191 AP_L1_Control: adjust position for GPS lag 
this should help for rovers
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 57d2dd814d AP_AHRS: added get_position_lag() call 
provide position lag to libraries
 2013-08-13 12:07:35 +10:00
Andrew Tridgell fd4bceaafe AP_L1_Control: avoid using float global coordinates 
this increases the navigation precision of rovers using L1 control
down to the centimeter level
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 5434b2c017 AP_Math: update location code to avoid float rounding 
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.

This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
 2013-08-13 12:07:34 +10:00
Andrew Tridgell df8e8c64e8 AP_L1_Control: use projected position for turns 2013-08-13 12:07:34 +10:00
Andrew Tridgell 9c88872ad0 AP_L1_Control: use a better ground speed estimate at low speeds 
this should prevent a rover going in the wrong direction at the start
of a mission
 2013-08-13 12:07:34 +10:00
Andrew Tridgell 953051b49e AP_L1_Control: added lateral acceleration interface 
this will be used by the Rover code for steering
 2013-08-12 13:38:38 +10:00
Randy Mackay 6969ab573d Copter: configurable max lean angle 
ANGLE_MAX parameter allows limiting the roll and pitch angles during
manual and auto flight modes to anywhere from 10 to 80 degrees
 2013-08-11 12:53:22 +09:00
Randy Mackay c7464f635c AC_Sprayer: turn on/off the spinner with the pump 2013-08-05 21:12:28 +09:00
Randy Mackay e4ca7d2fdf AC_Sprayer: first implementation 2013-08-05 21:11:09 +09:00
Andrew Tridgell 9cb6c987d4 AP_Math: fixed example build 2013-08-05 12:37:51 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations 
this makes life easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:12 +10:00
Andrew Tridgell f3b3e23bbc AP_Camera: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:09 +10:00
Andrew Tridgell 6b5ee80b70 AP_InertialNav: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:06 +10:00
Andrew Tridgell cf4a74cfb8 AP_L1_Control: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:02 +10:00
Andrew Tridgell 612ede81f4 AP_Limits: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:57 +10:00
Andrew Tridgell 1d75b52411 AP_Math: use const references not pointers for location functions 
this makes life a bit easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:40 +10:00
Randy Mackay 47f5c9b7a4 AC_Fence: remove unused gps pointer 2013-08-03 19:04:59 +09:00
Andrew Tridgell b7e3851ef8 AP_Scheduler: prevent a divide by zero 2013-08-02 22:07:00 +10:00
Andrew Tridgell a7cbebbeba APM_Control: rename 'stabilize' to 'disable_integrator' 
this better reflects what it does
 2013-08-02 21:54:48 +10:00
Paul Riseborough 0c64c800b3 AP_L1_Control : Fixed bug in track capture angle limit 2013-08-02 21:47:45 +10:00
Paul Riseborough 34f0af25cc AP_TECS : Improvements and bug fixes to feed-forward throttle demand 
This fixes a bug in the feed-forward throttle that prevented the bank to throttle compensation from working properly during descents.
It also adds bank to throttle compensation to the non-airspeed sensor throttle algorithm.
 2013-08-02 21:47:01 +10:00
Randy Mackay 8d26fb5581 Copter Motors: by default spin motors at 65 when armed 2013-07-28 18:18:52 +09:00
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Randy Mackay de59ea3ddc Copter Fence: reduce circle @Range to 30m 2013-07-27 10:28:33 +09:00
Andrew Tridgell 57752df68e APM_Control: set a small D value by default 
0.02 may help with some planes that have slow response

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-26 16:07:00 +10:00
Andrew Tridgell a192b9ee46 AP_Scheduler: added load_average() function 
useful to give a load average in SYS_STATUS mavlink message
 2013-07-26 16:07:00 +10:00
Andrew Tridgell fef6a76078 RC_Channel: rename 'Manual' to RCPassThru 
this should make it clearer what it does
 2013-07-26 16:07:00 +10:00
Randy Mackay f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Andrew Tridgell 2874ec67c7 DataFlash: slight efficiency improvement 
fixes issue #314

thanks Dongfang!
 2013-07-23 09:46:02 +10:00
Andrew Tridgell 63873d6af3 HAL_AVR: fixed example build 2013-07-23 09:42:51 +10:00
Paul Riseborough ba009e55e3 AP_Baro : Fixed bug in temperature units in AP_Baro_HIL 2013-07-22 12:50:02 +10:00
Andrew Tridgell ebebee4f06 AP_Baro: extend the atmospheric model to higher altitudes 2013-07-22 12:50:02 +10:00
Paul Riseborough 5a68c515dc AP_Airspeed: Altitude Calibration - added constrain on P matrix diagonals 2013-07-22 12:50:02 +10:00
Andrew Tridgell 3ba0dec4b3 AP_Airspeed: fixed typo 2013-07-22 12:50:02 +10:00
Paul Riseborough d1805f4349 AP_Airspeed: Airspeed Calibration computational efficiency improvement 2013-07-22 12:50:02 +10:00
Andrew Tridgell 0c6725f289 AP_Baro: improved the accuracy of the barometer model 2013-07-22 12:50:01 +10:00
Andrew Tridgell c5028c04da APM_Control: scale controllers for altitude 
this allows the attitude controllers to better handle a wider range of
altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 097718e833 AP_L1_Control: scale loiter and wp radius with altitude 
this should keep the aircraft stable in loiter at very high altitudes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell e6d9d14fad AP_Airspeed: added example sketch for airspeed calibration 2013-07-22 12:50:01 +10:00
Andrew Tridgell 620d067ee1 AP_TECS: use ahrs EAS2TAS for true airspeed 2013-07-22 12:50:01 +10:00
Andrew Tridgell ec73fadc45 AP_AHRS: added true airspeed support in AHRS 
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 3c66cb8af1 AP_Airspeed: added EAS2TAS in airspeed driver 
this keeps the true airspeed ratio in the airspeed driver, which seems
the most logical place
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 893d2da6f6 AP_Airspeed: added auto-calibration support 
This uses a Kalman filter to calculate the right ARSPD_RATIO at runtime

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-22 12:50:01 +10:00
Andrew Tridgell 01c124d5f5 AP_GPS: added velocity_vector() method 2013-07-22 12:50:00 +10:00
Andrew Tridgell 468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Randy Mackay e2fbc00b52 LeadFilter: removed this unused library 
This was used to project the GPS position forward to compensate for lag
but this has become unnecessary with the introduction of the inertial
nav in x and y axis.
 2013-07-21 14:30:49 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Randy Mackay 0325ad5d0d AP_AHRS: use rotateXY for speed 
Saves 0.1ms at 100hz
 2013-07-20 18:00:36 +09:00
Randy Mackay 540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre 957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Andrew Tridgell c691e16139 HAL_AVR: fixed example build 2013-07-18 17:36:38 +10:00
Andrew Tridgell 3e21d0594c APM_Control: pass in aircraft parameters and expose coordinate rate offset 
this will make it possible to do rate based pitch control without
having a coordinated turn, for in ACRO mode

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:26 +10:00
Andrew Tridgell fb0e48a25d AP_TECS: adapt for new airspeed variable names 2013-07-18 14:53:23 +10:00
Andrew Tridgell 42d107b0d9 AP_SpdHgtControl: rename flybywire_airspeed to airspeed 
this variable applies to any automatic throttle mode, not just FBW
modes.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-07-18 14:53:20 +10:00
Andrew Tridgell 5901b8b22a APM_Control: allow for a wider range of P values for roll/pitch 
values above 1.0 are sometimes needed
 2013-07-18 09:05:17 +10:00
Randy Mackay 336357fbaf Copter: ensure _spin_when_armed is not higher than _min_throttle 2013-07-16 15:25:57 +09:00
Randy Mackay 62f3eed4e0 Copter: fix to SPIN_ARMED parameter desciption 2013-07-16 12:59:38 +09:00
Randy Mackay b709b90a59 Copter: implement safety spin for Tricopters 2013-07-16 12:48:01 +09:00
Randy Mackay 6477c746cd Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED 
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
 2013-07-16 12:47:59 +09:00
Jonathan Challinger 2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Jonathan Challinger ae2b1e3b7e AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach 2013-07-16 12:47:49 +09:00
Andrew Tridgell 2ee43a694c APM_Control: fixed YAW2SRV_IMAX handling 
thanks to Steven G for noticing this!
 2013-07-16 09:44:23 +10:00
Andrew Tridgell 032cc513ca DataFlash: fixed example build 2013-07-15 14:10:58 +10:00
Andrew Tridgell 206ed04e76 AP_Mount: fixed example build 2013-07-15 14:10:50 +10:00
Andrew Tridgell 47450a9b40 AP_InertialNav: fixed example build 2013-07-15 14:10:40 +10:00
Andrew Tridgell 98d6331387 AP_Airspeed: fixed example build 2013-07-15 14:10:27 +10:00
Andrew Tridgell 1bd6849d00 AP_AHRS: fixed example build 2013-07-15 14:10:17 +10:00
Andrew Tridgell 82152c058e AC_WPNav: disabled broken example build 
this test doesn't actually do anything yet
 2013-07-15 14:09:48 +10:00
Andrew Tridgell 04835b095f AC_Fence: fixed examples build 2013-07-15 14:09:18 +10:00
Andrew Tridgell c7141c4851 AP_GPS: fixed examples build 2013-07-15 14:09:07 +10:00
Andrew Tridgell 0f72eae216 AP_Camera: removed 3 camera trigger types that do not work 
the trigger by wp distance, trigger with throttle off and trigger a
transistor all don't work, and are not structured correctly, plus are
dangerous.

The existing relay support can (correctly!) handle the resistor case
without hard-wiring a pin. The "turn off throttle to trigger" idea is
badly broken, it would crash a copter if it worked. We can make it
work properly on planes if there is demand. As it was it didn't work
anyway. 

The triggger by wp distance method was broken, and had no way to
initiate a trigger anyway
 2013-07-15 09:55:38 +10:00
Randy Mackay bd6a60f28b AP_Math: add M_PI_2 definition 
Required when building under arduino
 2013-07-14 15:57:26 +09:00
Randy Mackay 8545071a21 GCS_MAVLink: include AP_Math.h 
Required because mavlink_conversions's mavlink_dcm_to_euler function
uses atan2
 2013-07-14 15:56:58 +09:00
Randy Mackay 9b40ba98d7 GCS_MAVLink: regenerated messages 2013-07-14 15:52:55 +09:00
Randy Mackay 6bcbcc0382 GCS_MAVLink: add DO_SET_ROI to common.xml 2013-07-14 15:49:17 +09:00
Andrew Tridgell d9f13b6b8c GCS_MAVLink: merge in changes from upstream mavlink repo 2013-07-14 16:02:29 +10:00
Andrew Tridgell b1202ccbff GCS_MAVLink: merge in latest upstream XML changes 2013-07-14 15:41:25 +10:00
Andrew Tridgell 9d66adae13 AP_Airspeed: added get_airspeed_ratio() and set_airspeed_ratio() 
This is to help Paul develop an automatic tuning system for airspeed
ratio
 2013-07-13 21:53:38 +10:00
Andrew Tridgell cc778a68ae APM_Control: changed attitude controllers to take angular error not angle 
this makes it easier for ACRO mode
 2013-07-13 21:45:58 +10:00
Andrew Tridgell b721bcc129 AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth() 
these are not used any more
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 21859f9364 RC_Channel: fixed dead_zone for range channels 
The dead_zone was being used inconsistently, used in PWM space in one
place, and in control output space in another.

The fix required us to move the index number of the RC channel eeprom
value for RCn_DZ, as users will have a throttle deadzone of 3 set in
their eeprom due to a bug that Randy just fixed that caused the value
to always be saved to eeprom. In plane we then need to fix the
deadzone for the throttle to be 30

this fixes issue #303

Thanks to Soren Kuula for spotting this!
 2013-07-13 13:18:54 +10:00
Andrew Tridgell 086e8f80dc AP_AHRS: fixed spin rate gain conversion from degrees to radians 
fixes issue #433

Thanks Jurgen!
 2013-07-13 12:36:25 +10:00
Randy Mackay effc829790 INS: relax accel offset check to 3.5 m/s/s 
One user, Dusty, has found that even with offsets of 3.1 m/s/s
successful alt hold and loiter are possible
 2013-07-13 10:43:07 +09:00
Randy Mackay 110966c186 AP_TECS: compile error fix for size_of(log_tuning) 2013-07-12 11:45:02 +09:00
Randy Mackay fb5ada38c0 RC: example sketch uses set_default_dead_zone 2013-07-12 11:44:58 +09:00
Randy Mackay 47437b9ddf RC: set dead zone only if parameter has not been set by user 2013-07-12 11:44:16 +09:00
Randy Mackay 012d7b0c0a OptFlow: initialisation fix 
Thanks to DongFang (aka Soren) for finding the issue and the solution
 2013-07-11 14:14:37 +09:00
Andrew Tridgell 131aa53e42 AP_Relay: update for new PX4 relay pin 2013-07-11 13:50:23 +10:00
Andrew Tridgell 83b13c3d88 HAL_PX4: fixed definition of relay and piezo pins 2013-07-11 13:50:23 +10:00
Andrew Tridgell 0916388ab5 HAL_PX4: retry opening UARTs up to 5 times 
this seems to help a lot with the USB port on PX4
 2013-07-11 13:50:23 +10:00
Marco Bauer 72d0721721 AP_Relay: setup pin for PX4 relay support 2013-07-11 13:50:22 +10:00
Marco Bauer a3b216bce3 HAL_PX4: added GPIO driver 2013-07-11 13:50:22 +10:00
Randy Mackay bf5a50f738 WPNav: stopping point projection uses wp_leash 2013-07-11 11:39:44 +09:00
Andrew Tridgell f2316747f5 APM_Control: re-work to allow for rate based control 2013-07-11 09:10:41 +10:00
Randy Mackay 345924ddec WPNav: replace LOITER_ACCEL_MAX with parameter 
Also removed unused _lean_angle_max variable
 2013-07-10 20:00:32 +09:00
Randy Mackay 204f613467 WPNav: bug fix to reported distance to target 
This value is for reporting purposes only
 2013-07-10 18:21:08 +09:00
Randy Mackay 518eba0729 WPNav: bug fix to loiter accel calculation 
Contribution from Leonard Hall
 2013-07-10 17:52:12 +09:00
Randy Mackay c4f17b3235 WPNav: rounding error fix in loiter 
Contributed by Leonard Hall
 2013-07-10 16:24:37 +09:00
Randy Mackay 5d23d5aaa7 WPNav: reduce loiter speed used to correct pos error 
Contributed by Leonard Hall
This should reduce the aggressiveness of the response when we experience
a GPS glitch
 2013-07-10 15:52:18 +09:00
Randy Mackay 7860d06b91 AHRS: typo fix for ORIENTATION param description 2013-07-10 14:56:48 +09:00
Andrew Tridgell 0f72401d8d AP_Baro: added GND_ALT_OFFSET parameter 
used for automatic barometric adjustment by a ground station equipped
with a barometer
 2013-07-10 14:38:57 +10:00
Andrew Tridgell 469736e6bc DataFlash: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell 279f6d00f0 AP_AHRS: changes for GPS field changes 2013-07-10 14:04:22 +10:00
Andrew Tridgell 7dbb898264 AP_GPS: switch fields to add units suffix 
altitude -> altitude_cm
ground_speed -> ground_speed_cm
ground_course -> ground_course_cd

this helps prevent unit mixups
 2013-07-10 14:04:22 +10:00
Paul Riseborough 66d60953df TECS: added height update_pitch call 2013-07-10 14:04:22 +10:00
Andrew Tridgell 9959f6b2df AP_Camera: removed incorrect mavlink sends 
these sends did nothing, as MAVLINK_COMM_3 is not connected to
anything. If it was connected they would be dangerous, as a blocking
serial write could cause the stabilization of a copter not to run. If
the serial port was non-blocking it would corrupt the packet.

If we needed something like this it would have to use the MAVLink
packet queueing logic we use elsewhere
 2013-07-10 11:51:40 +10:00
Craig@3DR f5154d9e7a AP_Camera: changed update_location() to return true for camera trigger 
Makes the main vehicle code responsible for taking a photo so logging can occur
 2013-07-10 08:39:56 +10:00
Andrew Tridgell 7fa1fe8590 AP_Param: use 0xFFFF not __UINT16_MAX__ 
MacOS doesn't have __UINT16_MAX__
 2013-07-09 20:51:06 +10:00
Paul Riseborough 2c5db9a165 TECS: added support for throttle nudging 2013-07-09 20:50:37 +10:00
Paul Riseborough 9c431b4a04 TECS: use altitude supplied by mainline code 
this allows for use of ALT_OFFSET and ALT_MIX
 2013-07-09 09:25:53 +10:00
Paul Riseborough d8fedf994a AP_SpdHgtControl: added height above field parameter 2013-07-09 09:05:22 +10:00
Tobias 4a75351bd3 AP_Param: fixed a compiler warning with -Wsign-conversion 2013-07-08 14:57:33 +10:00
Tobias 27a5c28851 AP_Param: fixed some compiler warnings 
* added comment
* replaced "~0" with the appropriate macro
* resolved -Wconversion
* saved some space by modifying AP_Param::add_vector_suffix (writing
behind buffer could happen, if buffer_size is almost uint16_max but this
can surely be ignored)

further reading:
http://stackoverflow.com/questions/809227/is-it-safe-to-use-1-to-set-all-bits-to-true
 2013-07-08 14:57:33 +10:00
Tobias ab311d1dd4 AP_Compass: removed comparison out of range compiler warning 
uint_ >= 0 (-Wtype-limits)
 2013-07-08 14:57:25 +10:00
Tobias c95072ea25 AP_GPS: added explicit cast to omit [-Wconversion] warning 2013-07-08 14:53:20 +10:00
Andrew Tridgell 8c49ed78a5 AP_Math: make the rotation numbers easier to find 2013-07-08 12:17:59 +10:00
Andrew Tridgell a6c7bd3612 AP_Compass: fixed rotations for COMPASS_ORIENT 
this matches AHRS_ORIENTATION again
 2013-07-08 12:17:59 +10:00
Tobias 338c054da2 Filter: validity of array index was checked AFTER accessing the element. 
(correction decreased Program size by 12 bytes)
 2013-07-08 12:17:59 +10:00
Tobias d3ea88e8c7 AP_HAL: resolved -Woverloaded-virtual warning 
the function:
virtual size_t AP_HAL::Print::write(const uint8_t *buffer, size_t size);

was hidden in all derived classes by their
virtual size_t write(uint8_t) = 0; implementations.

To solve this, a non-virtual write(const uint8_t *, size_t) that calls a
virtual write_implementation was added.

This isn't necessary atm, because the derived classes don't call
write(const uint8_t *, size_t), BUT this decreases the apm2-quad Program
size by 40 bytes :D and removes warnings.
 2013-07-08 12:17:34 +10:00
tobias 1bf135b36f AP_AHRS: make some more functions const 2013-07-08 12:07:50 +10:00
Tobias ce6529734c HAL_AVR: reorder parameters to remove a warning with -Wreorder 2013-07-08 12:07:50 +10:00
tobias 4e7fea787b HAL_AVR: corrected includes to replace #include "$HEADER" with #inlcude "utility/$HEADER" 
adding -I for EVERY DIRECTORY isn't desirable

http://gcc.gnu.org/onlinedocs/cpp/Search-Path.html
 2013-07-08 12:07:50 +10:00
Randy Mackay 649cbf6b68 WPNav: reduce default WP_ACCEL and LOITER_SPEED 2013-07-07 16:00:13 -10:00
Randy Mackay ded31582de AP_AHRS: add Roll90Yaw90 to parameter description 
Thanks to Rainer Walther for spotting this
 2013-07-07 13:06:40 -10:00
rmackay9 073e2c9f15 ACMotors: bug fix to yaw limit 2013-07-05 13:51:59 -10:00
John Boiles bb2a6b8a22 HAL_SITL: Fixing SITL build for OSX. 2013-07-05 22:36:57 +10:00
Paul Riseborough a694b781c7 AP_TECS: Add non airspeed sensor pitch to throttle mode lost during integration 2013-07-05 22:16:39 +10:00
Andrew Tridgell 25f8983383 HAL_AVR: don't initialise TWBR twice 2013-07-05 12:59:14 +10:00
Andrew Tridgell 87f6cc715d AP_TECS: fixed parameter doc formatting 2013-07-04 17:52:40 +10:00
Paul Riseborough 8082122053 TECS-WIP : Fixed bug in initialisation of DT value 2013-07-04 16:57:50 +10:00
Andrew Tridgell 904e6b5b8f AP_TECS: for _DT to at most 0.1 2013-07-04 16:56:57 +10:00
Andrew Tridgell 68232a10f9 AP_TECS: updates to use new aircraft parameter structure 2013-07-04 16:56:57 +10:00
Andrew Tridgell 89271b7774 AP_SpdHgtControl: added speed/height control interface 
this will be used by TECS
 2013-07-04 16:56:57 +10:00
Andrew Tridgell 80e0f8044c AP_AHRS: added airspeed_sensor_enabled() function 2013-07-04 16:56:57 +10:00
Paul Riseborough 5b0129e02b AP_TECS: first implemention of TECS altitude control library 2013-07-04 16:56:56 +10:00
Paul Riseborough 7bdb098e77 AP_Baro: added get_EAS2TAS() 
this provides the scaling factor between equivalent and true airspeed
based on altitude
 2013-07-04 16:56:56 +10:00
Andrew Tridgell 61361dac9b AP_Baro: added units to baro documentation 2013-07-04 16:56:56 +10:00
Paul Riseborough 3b98bbd159 AP_Baro: more precise altitude calculation on PX4 
if not using an AVR CPU then use a more computationally expensive
altitude calculation, which is more precise at higher altitudes
 2013-07-04 16:56:56 +10:00
Andrew Tridgell fff777bda2 MAVLink: update to latest upstream message defintions XML 
this adds new HIL support for airspeed, and common SIM_STATE and
RADIO_STATUS messages
 2013-07-01 15:38:45 +10:00
Andrew Tridgell 6b7b69a048 RC_Channel: added secondary rudder support 
this is used when nose wheel steering needs different reverse/range
from rudder
 2013-06-29 17:31:03 +10:00
Randy Mackay b16ce5e523 AVR I2C: bug fix 
Fix provided by both Jason Short and lucafedechen independently
 2013-06-28 07:09:05 -10:00
phokur b00e5d95c9 Update AnalogIn.cpp 
Fixed AnalogIn.cpp:42: undefined references

Full error msgs:
/cygdrive/c/MAVPRO~1/ardupilot/libraries/AP_HAL_Empty/AnalogIn.cpp:42: undefined reference to `Empty::EmptyAnalogSource::set_stop_pin(unsigned char)'
/cygdrive/c/MAVPRO~1/ardupilot/libraries/AP_HAL_Empty/AnalogIn.cpp:42: undefined reference to `Empty::EmptyAnalogSource::set_settle_time(unsigned short)'
 2013-06-26 23:22:08 -10:00
Craig@3DR 1a3ed2d80b AP_Compass: Corrected COMPASS_ORIENT Parameter Description 2013-06-26 19:14:24 -07:00
Randy Mackay 6cd18868c2 AirSpeed: fix example sketch compile error 2013-06-25 22:45:30 +09:00
Randy Mackay 20ed00dcc9 AP_InertialSensor: relax accel offset sanity check 2013-06-25 14:19:42 +09:00
Andrew Tridgell 7d42a0562d AP_AHRS: cope better with large GPS yaw changes 
this should cope better with bungee launches when using only GPS for
yaw.
 2013-06-25 12:44:26 +10:00
Andrew Tridgell 169b5a30a5 AP_Camera: added CAM_TRIGG_DIST parameter 
for triggering every N meters of GPS distance travelled
 2013-06-25 12:44:26 +10:00
Andrew Tridgell 7902d57877 AP_Relay: added RELAY_PIN parameter 
makes it easier to choose a pin
 2013-06-24 22:39:18 +10:00
Paul Riseborough 2204b30e66 Plane: Added APM_Control integrator limits to table used to covert old PID values 2013-06-22 21:59:47 +10:00
Paul Riseborough 147856e73c APM_Control: Added integrator limiting adjustable by an advanced user parameter 
this is compatible with the old IMAX settings
 2013-06-22 21:55:27 +10:00
Paul Riseborough d8dab7b5c7 APM_Control: Pitch Control - Reduced the speed below which the integrator is locked 
This is to allow for slow speed flare manoeuvres in FBW modes
 2013-06-22 21:49:40 +10:00
Randy Mackay aa2b10f044 AP_Baro: TEMP parameter comment fix 2013-06-18 11:28:36 +09:00
Randy Mackay dde19c9585 WPNav: add acceleration parameter 
WP_ACCEL added to allow user control of acceleration during missions.
Loiter acceleration made to be half of loiter max speed
 2013-06-16 11:40:51 +09:00
Randy Mackay 272f0e5032 Copter: reduce twitch when entering CIRCLE mode 
Set loiter target and prev iterations velocity when circle mode is
started
Start circling from projected stopping point
 2013-06-15 18:18:30 +09:00
Andrew Tridgell d7d87f827e HAL_PX4: support voltage monitoring on multi-connector pin 5 2013-06-05 08:24:20 +10:00
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