priseborough
114bd56e2a
AP_NavEKF: Fix display names in parameter list
2014-04-30 06:35:41 +10:00
Randy Mackay
5cc26569fc
AP_Motors: fix example sketch
2014-04-29 20:46:34 +09:00
priseborough
5fefce5899
AP_NavEKF: Synthetic sideslip fusion numerical error protections
2014-04-29 17:26:45 +10:00
Jonathan Challinger
0bb7b8e938
AP_GPS: Fix bug that causes permanent lag if we miss a message
2014-04-29 15:35:46 +10:00
Randy Mackay
2be99d7a92
TriCopter: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:16 +09:00
Randy Mackay
07766e55f9
SingleCopter: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:14 +09:00
Randy Mackay
3610cfe24c
TradHeli: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:13 +09:00
Randy Mackay
8f74f5b3b0
CoaxCopter: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:12 +09:00
Randy Mackay
d63d82ec17
MotorMatrix: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:10 +09:00
Vizual54
11d02ea5d2
AP_Motors: output_test for individual motors
...
Modified and integrated by Randy Mackay
2014-04-29 11:36:58 +09:00
Randy Mackay
6517638670
GCS_MAVLink: generate after adding DO_MOTOR_TEST
2014-04-29 11:23:07 +09:00
Randy Mackay
28846c6c99
GCS_MAVLink: add DO_MOTOR_TEST message
2014-04-29 11:23:04 +09:00
Andrew Tridgell
818e500509
AP_Mission: improve the AP_Mission docs
...
DisplayName isn't a description
2014-04-29 11:46:06 +10:00
Andrew Chapman
782fbe1ec5
AP_Mission: added reset() function
2014-04-29 11:46:06 +10:00
Andrew Chapman
a80e72ff82
AP_Mission: added MIS_AUTORESTART parameter
...
- added MIS_AUTORESTART parameter, defaults to 0
- added start_or_resume() function to either start or resume a mission
based on that parameter value
2014-04-29 11:46:06 +10:00
Andrew Tridgell
cf9b67d8fc
GCS_MAVLink: prevent uninitialised bytes being written to a serial port
2014-04-27 15:34:30 +10:00
Randy Mackay
e855cfec02
AC_Fence: add 10sec manual recovery
...
This resolves issue #461 by giving the pilot a minimum of 10 seconds to
attempt to manually recover before the autopilot will attempt to retake
control to bring the copter home or land.
2014-04-27 11:11:07 +09:00
Randy Mackay
db51d37071
AC_WPNav: add clear_pilot_desired_acceleration
...
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
2014-04-25 14:45:14 +09:00
Randy Mackay
06bef6e3b8
Parachute: clear release time when enabled
...
This resolves an issue in which the parachute could be suddenly released
when the user enabled the parachute. The sequence that could have
caused this bad behaviour were (1) the parachute is triggered (2) the
user disables the parachute in the 0.5sec between the trigger and the
actual release, (3) the user re-enables the parachute and the old
release time from (1) is used.
2014-04-24 19:22:11 +09:00
Randy Mackay
ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
...
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
2014-04-24 13:16:08 +09:00
Randy Mackay
46fba47c8e
AC_WPNav: slow target point's speed near destination
2014-04-24 13:16:00 +09:00
priseborough
ecc8e45eda
AP_NavEKF: Fix bug in position reset logic
2014-04-23 18:16:02 +10:00
Andrew Tridgell
b0fd94f18e
AP_GPS: initialise a variable in uBlox driver
2014-04-23 18:15:53 +10:00
Randy Mackay
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
2014-04-23 15:00:14 +09:00
Randy Mackay
098f8169b0
AC_PosControl: add keep_xy_I_terms method
...
Stops horizontal PID's I terms from being reset when the controller is
next updated
2014-04-23 15:00:12 +09:00
Randy Mackay
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
2014-04-23 15:00:07 +09:00
Ju1ien
6c71569775
AC_PosControl: update_xy_controller allows not resetting I term
2014-04-23 14:59:49 +09:00
Ju1ien
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
2014-04-23 14:59:47 +09:00
Randy Mackay
09a35cf90f
AC_PosControl: bugfix for freezing I-term build-up
2014-04-23 11:33:53 +09:00
Randy Mackay
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
...
Also pull Z-axis acceleration from position controller instead of using
#define
2014-04-22 23:05:11 +09:00
Randy Mackay
9c6995d8bb
AC_PosControl: add get_accel_z method
2014-04-22 23:05:08 +09:00
Randy Mackay
e565ee6d33
AC_PosControl: stop I term build-up when motors at max
2014-04-22 23:05:06 +09:00
Andrew Tridgell
e10542dcae
AP_Mission: added get_current_nav_index() function
...
this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission
(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
2014-04-22 11:40:18 +10:00
Michael Day
96173bfb8a
AP_Rally: Added one getter method and made a utility method public.
2014-04-22 11:40:18 +10:00
Randy Mackay
0e065e4894
AP_InertialNav: get_velocity_xy const
2014-04-21 21:59:38 +09:00
Randy Mackay
6f6c9e2585
AC_PosControl: bug fix to vertical speed limit
...
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
2014-04-21 21:36:02 +09:00
Andrew Tridgell
25667a11a0
AP_NavEKF: use AHRS vehicle class for sideslip calculation
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 18:13:12 +10:00
Andrew Tridgell
5acd17b843
AP_NavEKF: cleanup some build warnings
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 18:13:12 +10:00
Andrew Tridgell
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
...
used by EKF to control use of get_fly_forward()
2014-04-21 18:13:12 +10:00
priseborough
bd28cdbdcf
AP_NavEKF: Improved magnetometer consistency checks
...
A magnetometer axis that fails the innovation consistency check will cause
all axes not to be used. If this condition continues for 10 seconds, a
magnetometer timeout condition will be declared. When the timeout has
occurred, if it is not a fly forward vehicle, then individual channels
will be used again, but with a reduced weighting.
2014-04-21 16:31:31 +10:00
Randy Mackay
648787a6c8
AC_WPNav: rename some definitions
2014-04-21 15:06:29 +09:00
Randy Mackay
2167dd7d3e
AC_WPNav: update target speed immediately
2014-04-21 14:51:26 +09:00
Andrew Tridgell
05bffb5915
HAL_SITL: enable use of SIM_FLOAT_EXCEPT parameter
2014-04-21 15:37:08 +10:00
Andrew Tridgell
e0db7b117f
SITL: added SIM_FLOAT_EXCEPT parameter
...
this enables checking for floating point exceptions
2014-04-21 15:37:08 +10:00
Andrew Tridgell
610a930612
AP_NavEKF: catch covarience errors and reset filter
...
this catches covariance values beyond a reasonable limit and resets
the filter is they happen
2014-04-21 15:37:08 +10:00
Andrew Tridgell
7e5a491f14
AP_Math: prevent a floating point exception
2014-04-21 15:37:08 +10:00
Andrew Tridgell
4d24a86088
AP_AHRS: prevent a infinity value
2014-04-21 15:37:07 +10:00
Randy Mackay
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
2014-04-21 13:32:02 +09:00
Randy Mackay
72d2712c4e
AC_WPNav: integrate update_xy_controller name change
2014-04-21 13:31:58 +09:00
Randy Mackay
966340a02a
Circle: integrate update_xy_controller name change
2014-04-21 13:31:57 +09:00
Randy Mackay
7e376bc517
PosControl: update_pos_controller renamed to update_xy_controller
2014-04-21 13:31:55 +09:00
Andrew Tridgell
4756dbee84
AP_NavEKF: fixed millisecond subtraction for rollover
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 13:16:20 +10:00
Andrew Tridgell
be9d0c1c4d
APM_OBC: setup termination values in PX4IO
...
this sets up the PX4IO board with failsafe values in case the FMU is
not running
2014-04-21 11:52:53 +10:00
Andrew Tridgell
0d4985079e
RC_Channel: added support for LimitValue settings
...
this allows you to set a channel failsafe or radio_out to a limit
value
2014-04-21 11:52:41 +10:00
Andrew Tridgell
7f4178d967
RC_Channel: added setup_failsafe_trim_all() function
...
sets all channels to output trim values on FMU failure
2014-04-21 08:37:24 +10:00
Andrew Tridgell
5cd145a307
AP_HAL: added set_failsafe_pwm() API
...
this allows the PWM values for FMU firmware failure to be setup
2014-04-21 08:36:52 +10:00
Andrew Tridgell
7f9a9107c7
APM_Control: logging_started needs to be static
...
prevents writing log headers twice
2014-04-21 07:13:06 +10:00
Andrew Tridgell
68f1ae3036
AP_NavEKF: fixed some matlab ! -> ~ typos
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-20 21:44:37 +10:00
Andrew Tridgell
5a7afbf2cd
AP_GPS: prevent writing GPS log headings multiple times
2014-04-20 21:44:14 +10:00
Randy Mackay
e3ffd5c0dd
Common: remove RallyLocation defintion
2014-04-19 15:00:28 +09:00
Randy Mackay
7011ab40c2
Rally: define RALLY_WP_SIZE and RallyLocation
2014-04-19 15:00:25 +09:00
Michael Day
a2aab2ab5e
AP_Rally: Minor fixes to AP_Rally after initial testing
...
- If a Rally point is being used, always respect the altitude set by the
user (don't take the max of that and the home point altitude).
- No need for constructor to pass in size of RallyLocation struct
2014-04-19 09:16:02 +10:00
Andrew Chapman
5825bac410
AP_Rally library
2014-04-19 09:15:59 +10:00
Randy Mackay
5322093475
Mission: fix example sketch after GPS lib changes
2014-04-17 16:41:38 +09:00
Andrew Tridgell
b4c5f31b17
APM_Control: reduce the number of parameter saves in autotune
...
don't save a parameter unless it has changed by 0.1%
2014-04-17 17:20:40 +10:00
Paul Riseborough
ccc7d36493
APM_Control: Modify D and I gain scaling
2014-04-17 17:11:48 +10:00
Randy Mackay
94d38ee294
AC_Circle: add get_closest_point_on_circle
...
init_start_angle method added to use current heading or position to
decide on initial start angle
2014-04-16 16:28:04 +09:00
Kevin Hester
c2184cb8e4
PID: fixup line endings
2014-04-15 15:57:56 +09:00
Kevin Hester
72e97cbf5c
AP_Param: fixup line endings
2014-04-15 15:57:47 +09:00
Kevin Hester
a7820e6c71
OptFlow: fixup line endings
2014-04-15 15:57:33 +09:00
Kevin Hester
fce1277b0e
Notify: fixup line endings
2014-04-15 15:57:11 +09:00
Kevin Hester
b7bed437c2
Compass: fixup line endings
2014-04-15 15:56:57 +09:00
Kevin Hester
80cb13e222
BattMon: fixup line endings
2014-04-15 15:56:43 +09:00
Kevin Hester
d09e871319
AP_Airspeed: fixup line endings
2014-04-15 15:56:26 +09:00
Kevin Hester
c34c4d79f6
AP_ADC: fixup line endings
2014-04-15 15:56:13 +09:00
Kevin Hester
b7410494e3
AC_PID: fixup line endings
2014-04-15 15:55:59 +09:00
L. Preston Sego III
3ecdc4b741
Copter: Add support for V-Tail Quads
2014-04-14 14:54:02 +09:00
Randy Mackay
02775e8dc5
AC_PosControl: get_accel_target returns const ref
2014-04-14 11:34:14 +09:00
Randy Mackay
60f522a094
AC_WPNav: set_wp_destination to use current target
...
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
2014-04-13 22:42:50 +09:00
Andrew Tridgell
ae7293ef68
APM_Control: added support for AUTOTUNE_LEVEL
...
10 levels of tune, for what type of tune the user wants
2014-04-13 22:11:57 +10:00
Andrew Tridgell
86f167fc7f
AP_Vehicle: added autotune_level to fixed wing parms
2014-04-13 22:11:28 +10:00
Andrew Tridgell
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:49 +10:00
Andrew Tridgell
4abc2999a6
AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement
...
this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:23 +10:00
priseborough
d745dc2b6f
AP_NavEKF : Increased position gate default to reduce impact of accel errors
...
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
2014-04-13 19:37:22 +10:00
priseborough
188bea6bab
AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing
...
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type
This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:
a) launch will be into wind
b) wind speed is equal to global average
It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
2014-04-13 19:37:19 +10:00
Andrew Tridgell
df192a9efd
AP_AutoTune: lower min tau to 0.2
2014-04-13 19:25:54 +10:00
Andrew Tridgell
3343af602e
APM_Control: fixed saving of new rate gains
2014-04-13 15:35:52 +10:00
Andrew Tridgell
b9a8ef3b51
APM_Control: fixed a bug in autotune servo saturation check
...
its in degrees not centi-degrees
2014-04-13 15:28:36 +10:00
Andrew Tridgell
64170d0f04
APM_Control: added dataflash logging to autotune
2014-04-12 18:21:50 +10:00
Andrew Tridgell
7f5eeabadc
DataFlash: reserve a range of msg types for autotuning logs
2014-04-12 18:21:31 +10:00
Andrew Tridgell
50fc75917e
APM_Control: first version of APM_Control autotuning
...
this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
2014-04-12 14:11:33 +10:00
Andrew Tridgell
3b8839d2f7
AP_GPS: fixed num_sensors on APM2
2014-04-11 21:32:55 +10:00
Andrew Tridgell
7404fc9d40
SITL: added SIM_BARO_DISABLE parameter
...
useful for testing baro failure
2014-04-11 16:47:40 +10:00
Andrew Tridgell
ad18019fb1
APM_OBC: added pressure altitude termination
2014-04-11 16:47:40 +10:00
Andrew Tridgell
41dd280739
AP_Baro: expose get_altitude_difference()
...
this is useful for pressure altitude calculations
2014-04-11 16:34:02 +10:00
Andrew Tridgell
8b9b4026f0
SITL: support -P option
...
this allows changing a parameter on initial startup
2014-04-11 12:28:32 +10:00
Michael Day
312a2fc8dc
AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight.
2014-04-10 15:42:49 +10:00
Andrew Tridgell
95304e27c9
DataFlash: added separate logging of each GPS
2014-04-10 10:29:30 +10:00
Andrew Tridgell
a821b0e198
AP_GPS: fixed a build warning
...
Debug() should not be exposed in public headers
2014-04-10 10:28:55 +10:00
Andrew Tridgell
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
...
the EKF does not estimate wind without an airspeed sensor
2014-04-10 06:49:23 +10:00
