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4291 Commits

Author SHA1 Message Date
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
Jason Short 9c19138fb8 Log.pde : Updated Flash Logging to log Floats properly vs scaled integers. 2012-04-21 15:25:53 -07:00
Jason Short e22832a832 Added a union for casting floats to ints and back when storing Floats to the DataFlash 2012-04-21 15:17:09 -07:00
rmackay9 090f5aaa6f ArduCopter - config.h - set standard RC_SPEED to 125 for helicopter frame 2012-04-21 23:46:36 +09:00
rmackay9 c993049c48 ArduCopter - combined CH6_DAMP and CH6_STABILIZE_KD tuning parameters to avoid confusion 2012-04-21 23:24:57 +09:00
rmackay9 11a384a7ff AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
Michael Oborne fd2409a730 APM Planner 1.1.73 
fix udp and tcp connections
 2012-04-21 21:37:12 +08:00
rmackay9 533772339e ArduCopter - Attitude.pde - added logging of optical flow pid controller 2012-04-21 20:17:12 +09:00
rmackay9 3e95ade004 ArduCopter - changed optflow object to be APM2 version if necessary 2012-04-21 20:15:55 +09:00
rmackay9 919f004b27 ArduCopter - changed Optical Flow for APM2 to use A3 pin 2012-04-21 20:15:16 +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
Michael Oborne 671989c14b APM Planner 1.1.72 
fix turn radius length (100m)
modify 3dr radio options
modify heli Setup
 2012-04-21 15:30:15 +08:00
Craig Elder 4ff0510fce Test: Initial Test commit 
This is a test

Signed-off-by: Craig Elder <Craig@3DRobotics.com>
 2012-04-20 18:11:57 -07:00
Michael Oborne 7d376a6dc7 fix y6 firmware 2012-04-21 08:29:40 +08:00
Michael Oborne d1a9eec74d firmware build 2012-04-21 08:04:59 +08:00
Adam M Rivera 7d13371acf Merge branch 'master' of https://code.google.com/p/ardupilot-mega into auto-approach 2012-04-20 11:45:38 -05:00
James Goppert 20cdc3a0ac MAVLink update to 1.0.7 2012-04-20 12:31:50 -04:00
rmackay9 f0a9209935 ArduCopter - regressed version back to 2.5.4 2012-04-20 21:58:32 +09:00
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
Michael Oborne 8d797fec3c fix potential null pointer 2012-04-20 17:57:06 +08:00
Andrew Tridgell 1478191ecf sitl: make it easy to run sitl for MAVLink 1.0 2012-04-20 10:09:21 +10:00
Andrew Tridgell 1cc7adbac0 sitl: allow sitl build with MAVLink 1.0 2012-04-20 10:09:21 +10:00
Michael Oborne 71206ea778 APM Planner 1.1.71 
add arduplane level
more image georef options - now does gpx for dronemapper.
 2012-04-20 08:05:33 +08:00
James Goppert 5390467f3d Worked on ArduCopter cmake options. 2012-04-19 16:05:08 -04:00
James Goppert ba89f39781 Updated MAVLink to 1.0.6 release. 2012-04-19 15:46:29 -04:00
Adam M Rivera c233defbe6 Merge branch 'retro-loiter' of https://code.google.com/r/a432511-wip into auto-approach 
Conflicts:
	Tools/ArdupilotMegaPlanner/Common.cs
 2012-04-19 11:08:34 -05:00
Adam M Rivera 1676e09f12 navigation.pde: Put the new calc_GPS_velocity method in a compiler if that checks the new RETRO_LOITER_MODE config value (saves space and ensures its not being used unless retro loiter mode is enabled) 2012-04-19 10:21:04 -05:00
Adam M Rivera 24363ccb83 Merge branch 'master' of https://code.google.com/p/ardupilot-mega into retro-loiter 2012-04-19 10:17:36 -05:00
Adam M Rivera d29f1ef331 Loiter: Made the "retro loiter" routines configurable. Add RETRO_LOITER_MODE ENABLED to APM_Config.h to enable the older loiter shtuff. 2012-04-19 10:16:29 -05:00
Michael Oborne c5a77f2666 APM Planner 1.1.70 
language by hazy
move turning circle to be based on cog
add APPROACH
add autodec on/off
mod 3dr radio uploader to read in 64 byte packets
add more georef caching. much faster now on more than 1 run.
 2012-04-19 19:22:02 +08:00
James Goppert 6fae800dc2 Working on ArduPlane options. 2012-04-19 02:23:54 -04:00
Adam M Rivera a7bc3d2cc6 Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity. 2012-04-18 23:07:35 -05:00
Adam M Rivera d4a4641ae6 navigation.pde: Added calc_GPS_velocity. Added constraint to x/y error and x/y rate error. 2012-04-18 23:06:15 -05:00
James Goppert 53c143a575 Improved cmake options. 2012-04-18 23:15:29 -04:00
James Goppert 0f90164f03 Changed default cmake port for ArduPlane. 2012-04-18 21:31:46 -04:00
James Goppert 0e7e77760a Updated ArduPlane/ArduCopter cmake options. 2012-04-18 15:16:02 -04:00
Adam M Rivera a3842734a9 Planner/defines.h: Updated the enumeration value for APPROACH so as not to disturb the order of the universe. 2012-04-18 10:32:01 -05:00
Hazy 909c85cff2 APM Planner 
add some Chinese translation
 2012-04-18 19:05:36 +08:00
James Goppert 54d7f1ca21 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-04-17 23:09:56 -04:00
James Goppert a9f0bd24d7 Switched to project specific cmake lists. 
This is better since each project has very different options.
 2012-04-17 23:07:20 -04:00
James Goppert fb07cddd6f Making cmake local to projects. 2012-04-17 21:31:10 -04:00
Michael Oborne d577fb7338 APM Planner 1.1.69 
add ability to geotag images from log file. - will release guide soon
 2012-04-18 08:04:57 +08:00
James Goppert bce4410419 Working on cmake options. 2012-04-17 16:59:52 -04:00