Andrew Tridgell
d2cc6740f0
show group_element too
2012-02-15 10:42:21 +11:00
Andrew Tridgell
aaba4db144
AP_Param: added eeprom_aaparam.c dump utility
2012-02-15 10:41:06 +11:00
Andrew Tridgell
2dcb594f4a
APM: changed hold_course for landing to be based on yaw_sensor
...
when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.
This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c6b6320b43
APM: report the nav_bearing as hold_course when enabled
...
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
2012-02-15 08:50:45 +11:00
Andrew Tridgell
252a2d0c9b
APM: added some comments related to hold_course
...
hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.
It also resets hold_course in all non-auto modes, to ensure it isn't
used
2012-02-15 08:50:45 +11:00
Andrew Tridgell
a4663c4b20
autotest: increase the rudder gain
...
this gives a bit better landing approach and turns in auto
2012-02-15 08:50:45 +11:00
Andrew Tridgell
812b7ae5ae
SITL: catch floating point errors
...
if we get a FPE then log a message and exit
2012-02-15 08:50:45 +11:00
Andrew Tridgell
c39914e734
DCM: added a SITL_debug() for DCM normalisation errors
...
I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7355f5613c
added SITL_debug() macro
...
this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
2012-02-15 08:50:45 +11:00
Andrew Tridgell
7ba65aecf3
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
2012-02-15 08:50:45 +11:00
Michael Oborne
eaf041dd8c
APM Planner 1.1.36
...
add guided mode wp
fix setup setting save (if closed without switching tabs)
2012-02-14 22:13:11 +08:00
Andrew Tridgell
c93dedc955
when setting airspeed and groundspeed in a mission, don't save to EEPROM
...
If you include airspeed, throttle or groundspeed changes in a mission
then those should not be saved to EEPROM, as otherwise if you restart
and re-fly the mission you will be starting with different parameters
to the ones you used for the first flight.
This is particularly important for setting the target airspeed when
coming in for a landing. You typically set a low target, but if you
fly again the next day I think it would be a real surprise to find
that your loiter airspeed has then changed to the value from the
landing part of your last mission.
This one can be argued either way, but I think that not saving these
changes is the more conservative choice, and better fits the
'principal of least surprise'
2012-02-14 15:20:44 +11:00
Andrew Tridgell
b166fbff5a
autotest: use more rudder for steering
...
this helps the landing a lot
2012-02-14 15:16:35 +11:00
Andrew Tridgell
6b33e48514
autotest: raise the target airspeed on landing
...
we were stalling the plane in the final meters of the approach
2012-02-14 12:30:46 +11:00
Andrew Tridgell
27fd4ca213
autotest: adjusted APM parameters
...
enable compass and tweak tuning
2012-02-14 11:26:42 +11:00
Andrew Tridgell
c105645c57
autotest: added a lot more interal checking
...
check each of the sub-tests pass for overall pass
2012-02-14 11:26:42 +11:00
Andrew Tridgell
273a974814
SITL: add some magnetometer offsets
...
this ensures the compass null_offset algorithm has some work to do in
autotest
2012-02-14 11:26:42 +11:00
Andrew Tridgell
9103f7688c
fixed SITL GPS heading to be 0..360
2012-02-14 11:26:42 +11:00
Jason Short
ff627a8986
removed unused Vars
2012-02-13 15:25:23 -08:00
Jason Short
a69dc32020
Lowered for Jani
2012-02-13 15:25:23 -08:00
Andrew Tridgell
2f1f5f14f5
autotest: fixed the directory that the git hash is fetched in
2012-02-14 09:06:24 +11:00
Andrew Tridgell
df2ef6ff47
APM: fixed some build warnings
2012-02-14 08:58:56 +11:00
Andrew Tridgell
3907cf81f8
Mavlink: report the corrected pitch via MAVLink
...
this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
2012-02-14 08:58:56 +11:00
Andrew Tridgell
a1c041b597
use stdint types in the compass code
2012-02-14 08:35:03 +11:00
Andrew Tridgell
6c20ff9492
AP_Param: allow dumping of AP_Vector3f
...
this means the 'show' command in the CLI shows the compass offsets now
2012-02-14 08:34:50 +11:00
Andrew Tridgell
8d88dbdf79
added some AP_Param testing of the compass
2012-02-14 08:34:25 +11:00
Andrew Tridgell
da16ccf993
fixed some printf casts
2012-02-14 08:34:10 +11:00
Andrew Tridgell
c6f3f7065c
APM: the CLI fits nicely on the 1280 again now
...
I find the CLI very useful for testing, so enable it by default on the
1280. Logging is still off by default.
2012-02-14 08:33:49 +11:00
Andrew Tridgell
4ec3857476
GPS: change back to 4Hz for MTK GPS
...
this will hopefully fix the NO_GPS problems that have been regularly
happening in recent months. I will watch the logs carefully to see if
the problem recurs
2012-02-13 22:50:20 +11:00
Andrew Tridgell
e70e1814ac
AP_Baro: fixed some signed/unsigned warnings
...
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
Andrew Tridgell
d4572e841c
autotest: fixed displayed git hash in autotest
2012-02-13 20:29:55 +11:00
Andrew Tridgell
6b8b3e2287
autotest: fixed git hash parsing
2012-02-13 18:02:35 +11:00
Andrew Tridgell
550b0be231
move AP_Var code and example into libraries/AP_Var
...
you can use AP_Var by defining USE_AP_VAR
2012-02-13 16:22:53 +11:00
Andrew Tridgell
e7e7450f90
fixed imax load/save in PID
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c497ad9b7e
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
Andrew Tridgell
845d056c18
fixed PID initialisation
2012-02-13 16:22:53 +11:00
Andrew Tridgell
9e4145b2c3
make the sw version different for VARTest
...
so we don't accidentially load bad parameters into ArduPlane
2012-02-13 16:22:53 +11:00
Andrew Tridgell
c6b6898266
RC_Channel_aux: catch invalid function settings
...
a bad function setting would overwrite the heap
2012-02-13 16:22:53 +11:00
Andrew Tridgell
131861b629
make it easy to run simulator under valgrind
2012-02-13 16:22:53 +11:00
Andrew Tridgell
d41c56214c
fixed types in GPS detect code
...
using int everywhere is wasteful and non-portable
2012-02-13 16:22:53 +11:00
Andrew Tridgell
153575a01c
token is 16 bits now
2012-02-13 16:22:53 +11:00
Andrew Tridgell
a948241fa1
check sizes in VARTest
...
ensures the AP types are plain old data
2012-02-13 16:22:52 +11:00
Andrew Tridgell
16a5b5c3ee
added AP_Param::show_all()
...
this moves the logic into common code
2012-02-13 16:22:52 +11:00
Andrew Tridgell
781617cae0
token size for first()/next() is now 16 bits
2012-02-13 16:22:52 +11:00
Andrew Tridgell
ee2cb32a44
change back to 256 max variables in _var_info[]
...
this keeps the header to 24 bits, and allows the token to be 16
bits. If we need more variables we can put them in a nested group.
2012-02-13 16:22:52 +11:00
Andrew Tridgell
50f9d12ad5
go back to 1024 bytes for variables in EEPROM
2012-02-13 16:22:52 +11:00
Andrew Tridgell
f5f6e2d4ec
added group indexes to GCS_MAVLINK class
2012-02-13 16:22:52 +11:00
Andrew Tridgell
7e62a9ce53
update VARTest to use exact variables from ArduPlane
2012-02-13 16:22:52 +11:00
Andrew Tridgell
6cf7015859
added indexes to group info structures
2012-02-13 16:22:52 +11:00
Andrew Tridgell
7621b96a52
AP_Param: added group idx, and change packing of header elements
...
adding a idx element to the GroupInfo will make it less likely that a
developer will change the IDs of group elements, and make it easier to
see that these IDs are important for identifying a variable in EEPROM
The header packing has changed to make it 24 bits on all platforms,
which allows us to lower the EEPROM variable max size to 1024 bytes
again
2012-02-13 16:22:52 +11:00