rmackay9
e13cea03ea
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2012-12-20 00:06:20 +09:00
rmackay9
a193cbb812
AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations
2012-12-18 16:38:56 +09:00
rmackay9
ee50e63705
AP_AHRS: remove debug messages
2012-12-17 23:51:47 +09:00
rmackay9
323d7fac43
Filter: #include AP_Buffer.h no longer needed now that completementary filter has been moved to InertialNav library
2012-12-17 20:52:53 +09:00
rmackay9
b10d61b2c2
AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch)
2012-12-17 15:28:42 +09:00
rmackay9
d4b73e7b07
AP_InertialNav: increase time constant for Z axis to 7 seconds
2012-12-17 14:46:02 +09:00
rmackay9
1726744b5d
AP_InertialSensor: resolved compile warning re uninitialised variable
2012-12-16 16:23:17 +09:00
rmackay9
ce63d7a77a
AP_GPS_MTK16: saved 22 bytes of ram by moving error message into program space.
...
Perhaps there's no point in writing an error message to a console that likely nobody will be viewing anyway.
2012-12-16 16:21:53 +09:00
rmackay9
2da0ef4183
AP_GPS_MTK19: small bug fix re "==" vs "="
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Also saved 22 bytes of RAM by moving error message into program space.
2012-12-16 16:20:33 +09:00
Craig@3DR
867192de0a
Added support for Mediatek firmware Rev 1.9
2012-12-14 18:47:35 -08:00
rmackay9
59b20c6fe4
AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm
2012-12-12 23:30:52 +09:00
rmackay9
66133f4e59
AP_AHRS: save trim to eeprom when set_trim is called
2012-12-12 17:24:28 +09:00
rmackay9
50bd21d548
AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles
2012-12-12 16:27:27 +09:00
rmackay9
2b6fbe5c01
AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle
2012-12-12 16:22:56 +09:00
Craig@3DR
cbcc1437b8
Updated the MediaTek configuration
...
to set the minimum speed the GPS must be moving to update the position to 0 m/s.
to enable SBAS / WAAS / DGPS position fixes.
2012-12-12 11:13:24 +09:00
rmackay9
0b815d9afb
AC_PID, AP_AHRS: added descriptions to some parameters
2012-12-10 22:28:39 +09:00
rmackay9
037efef3fb
AP_Motors: add comments for parameters
2012-12-10 21:37:20 +09:00
rmackay9
d5bda7a99c
AP_InertialNav_test: small change to #include in example sketch
2012-12-10 00:49:09 +09:00
rmackay9
b98f0448a3
ThirdOrderCompFilter: delete because now combined with AP_InertialNav library
2012-12-10 00:48:43 +09:00
rmackay9
b65f050b8a
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
2012-12-10 00:43:11 +09:00
rmackay9
b2b5ad4b0e
AP_Buffer: add size 5 float fifo buffer to predeclared types
2012-12-10 00:41:59 +09:00
rmackay9
88522d5db2
RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch
2012-12-09 16:42:58 +09:00
rmackay9
a4ee5d2c81
ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz.
2012-12-09 14:27:33 +09:00
Robert Lefebvre
083c451ec6
ACM: TradHeli
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Fix to make update_throttle_cruise work with stab_throttle scaling.
2012-12-08 15:12:39 -05:00
rmackay9
47af1fd255
AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5)
2012-12-07 12:57:12 +09:00
rmackay9
f4cd7b870b
AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo.
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Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
2012-12-06 17:46:09 +09:00
rmackay9
8ab535f75f
RC_Channel_aux: immediately send output to servos when set_radio, set_radio_to_min, set_radio_to_max, set_radio_to_trim or set_servo_out functions are called.
2012-12-06 17:41:42 +09:00
rmackay9
a83f6e54b5
ThirdOrderCompFilter: remove last_time_constant_xy and _z static variables to save 8 bytes.
2012-12-06 10:24:58 +09:00
rmackay9
12e1ce50e2
AP_Buffer: bug fix to allow buffer to completely fill up.
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Also removed redundant _tail parameter which saves 1 byte.
2012-12-06 10:18:00 +09:00
rmackay9
0092960a68
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:35:55 +09:00
rmackay9
399fe2e8cd
AP_InertialSensor: add comments to give credit for accel calibration method to Rolfe Schmidt
2012-12-05 09:20:31 +09:00
Robert Lefebvre
e86243e7a3
ACM: TradHeli
...
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
2012-12-04 15:09:27 -05:00
Andrew Tridgell
dfc252a78d
AP_InertialSensor: removed axis getters for accel/gyro
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these were only being used in one place, and in that place were used
incorrectly!
2012-12-04 09:11:55 +11:00
Andrew Tridgell
c41ca45e84
MAVLink: clarify frame of reference for HIL_STATE
2012-12-03 23:31:34 +11:00
Andrew Tridgell
90c027cd97
MAVLink: use a smaller maximum payload to reduce memory
...
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
2012-12-03 23:28:23 +11:00
Andrew Tridgell
aa79ffc301
AP_InertialSensor: fixed stub driver to work correctly with sensors HIL
2012-12-03 23:27:21 +11:00
Andrew Tridgell
48403e3bbc
AP_InertialSensor: Added INS_MPU6K_FILTER option
...
this allows the user to select the MPU6000 filtering frequency
2012-11-30 07:15:19 +11:00
Andrew Tridgell
d58088c2b8
AP_InertialSensor: return the example sample count in Oilpan
2012-11-30 07:15:19 +11:00
Andrew Tridgell
9411b11072
InertialNav: update example for new interface
2012-11-30 07:15:19 +11:00
Andrew Tridgell
7ef7c7f04f
AHRS: update example for new ins interface
2012-11-30 07:15:19 +11:00
Andrew Tridgell
2d8d6b2459
AP_InertialSensor: allow specification of sample rate in init() call
...
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen.
This also changes the MPU6k filtering to be less than half the sample
rate
2012-11-30 07:15:18 +11:00
Andrew Tridgell
4f37a9363a
SITL: prevent the GPS pipe filling up and delaying GPS readings
2012-11-28 14:23:53 +11:00
Andrew Tridgell
54235f7a23
SITL: cleanup RC control for rover support
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added vehicle type, and setup right initial throttle
2012-11-28 09:35:42 +11:00
Andrew Tridgell
29f978b8e5
AC_PID: suppress the derivative immediately after reset
...
use _last_derivative == NAN to flag that the derivative is invalid
2012-11-27 18:45:49 +11:00
Andrew Tridgell
86526e9a79
PID: use NAN to flag a D reset
...
this saves a byte per PID for a flag, and gives us a safe way to
reset_I() without causing a spike in D
2012-11-27 18:41:31 +11:00
Andrew Tridgell
bbd6c5154e
AC_PID: save 8 bytes per AC_PID object
...
we don't need the _derivative or _output variables
2012-11-27 18:06:22 +11:00
Andrew Tridgell
b8d5a5904a
AHRS: improved some more doc strings
2012-11-27 15:56:53 +11:00
Andrew Tridgell
48b37cac5a
AHRS: improved docs for AHRS_GPS_USE
...
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
2012-11-27 15:41:52 +11:00
Andrew Tridgell
b773529d09
cleanup: removed unused AP_PID library
2012-11-27 13:39:45 +11:00
Andrew Tridgell
c55e6d3e6a
PID: don't reset _last_error on reset_I()
...
resetting _last_error when you have a non-zero D term causes the D
contribution to the next call to be massively amplified. This can
cause crazy behaviour on auto takeoff in ArduPlane if you have a
non-zero D term for the roll or picth controllers
Thanks to Chris Miser for providing the tlog that allowed this bug to
be found.
2012-11-27 13:35:09 +11:00
