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3526 Commits

Author SHA1 Message Date
Jason Short f8e9fa8b61 Set loiter rate enabled by default 2012-02-26 12:29:28 -08:00
Jason Short bab1faf644 Added OPtion for non-rate based loiter 2012-02-26 11:33:37 -08:00
Jason Short 9a2be4701f removed Constraint that caused JLN's horizontal drift. 2012-02-26 11:33:37 -08:00
Jason Short 3ce1633157 Added Loiter Rate Tuning 2012-02-26 11:33:37 -08:00
Jason Short 1b7a038043 Added Loiter_rate_tuning 2012-02-26 11:33:36 -08:00
Jason Short 00d5ad9343 Added more Logging for PIDs. 2012-02-26 11:33:36 -08:00
Andrew Tridgell 5bf138fb38 DCM: fixed the sense of the compass GPS test in initial yaw 
we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
 2012-02-26 22:24:45 +11:00
Hazy cf749ef29c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2012-02-26 19:16:25 +08:00
Hazy 43ed41ca5e APM Planner 
fix CAPM update firmware error
 2012-02-26 19:14:08 +08:00
rmackay9 747e045193 ModeFilter - corrected shadowed variable compiler warning for drop_high_sample 2012-02-26 17:57:28 +09:00
rmackay9 e01477a7a8 Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows 2012-02-26 17:34:36 +09:00
rmackay9 b345529241 Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!) 
increased maximum sample buffer size from 6 to 10
 2012-02-26 17:17:46 +09:00
rmackay9 4501c488b4 ArduPlane - added Filter.h to unbreak the build! 2012-02-26 17:05:56 +09:00
rmackay9 41ea8e3eff ArduCopter - added #include <Filter.h> to unbreak the build! 2012-02-26 17:05:41 +09:00
rmackay9 3f0d27ec87 ModeFilter - remove older ModeFilter library (new library is now in Filter directory) 2012-02-26 15:36:23 +09:00
rmackay9 6363da2829 ArduPlane - switch sonar to use new mode filter from filter library 2012-02-26 15:35:42 +09:00
rmackay9 add3133100 ArduCopter - change sonar to use new mode filter from Filter library 2012-02-26 15:35:14 +09:00
rmackay9 00a1b5cd53 AP_RangeFinder - cut over to use new ModeFilter from Filter library 2012-02-26 15:34:50 +09:00
rmackay9 ae8fd43335 Filter - first version of filter library include ModeFilter 2012-02-26 15:34:05 +09:00
rmackay9 f6f05755d9 AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0 2012-02-26 15:31:56 +09:00
Jason Short e4e8189448 added a simple rest of nav_throttle just in case 2012-02-25 13:31:21 -08:00
Jason Short cd55498a5c increased speed of alt hold I term based on Jani's Logs 2012-02-25 13:31:21 -08:00
Jason Short a3f65b4a23 increased the rate error for more responsive alt hold 2012-02-25 13:31:21 -08:00
Jason Short 68739f3cc4 Based on Jani's latest logs I've made two tweaks to alt hold. 
The first is to remove the filter on the throttle output for alt_hold.

The second was to open up the constraint on climb rate. This is to deal with larger than expected disturbances causing altitude changes.
 2012-02-25 13:31:21 -08:00
Andrew Tridgell bd2776aedd Compass: use constructor to set initial values for _learn and _use_for_yaw 
this ensures they are set if you have MAG_ENABLE==0
 2012-02-25 17:36:31 +11:00
Andrew Tridgell 56bb74ef36 DCM: disable compass null offsets when setting initial yaw 
we need to ensure the compass null offsets code doesn't see a sudden
yaw change, or it will change the offsets by a large amount very
suddenly
 2012-02-25 16:02:24 +11:00
Andrew Tridgell 6b265c5034 ACM: use a NULL gps pointer in DCM init 
current DCM API does need a GPS reference passed in, but it can be
NULL
 2012-02-25 15:08:49 +11:00
Andrew Tridgell f50f4357ca Compass: catch the case of a user enabling a compass mid-flight 
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 3fe5b3151b allow MAG_ENABLE to be changed in flight 
this disables the compass in DCM if MAG_ENABLE is changed in
flight. Without this we would use a fixed yaw once the compass is
disabled

This also makes sure we don't pass the compass to DCM till we have
done a read. This ensures we have a good compass fix for the initial
DCM heading
 2012-02-25 14:51:09 +11:00
Andrew Tridgell 3abe035557 DCM: use the new use_for_yaw() compass method 2012-02-25 14:51:09 +11:00
Andrew Tridgell c3319afadd Compass: added COMPASS_LEARN and COMPASS_USE parameters 
these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.

The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
 2012-02-25 14:51:08 +11:00
Andrew Tridgell d1f655beee ACM: check the return of compass.init() 
if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell ce5c7c2c85 ACM: don't pass a gps pointer to DCM 
after discussion with Randy, we don't want ArduCopter to fall back to
GPS for yaw when the compass becomes unhealthy. So we shouldn't pass
the gps object to the DCM code at all.
 2012-02-25 14:51:08 +11:00
Andrew Tridgell 051bd78b37 AP_Param: added some comments on AP_Vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell 3cf0eebac8 DCM: don't reset _have_initial_yaw for GPS heading unless very slow 
wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 42528e9c33 test: updated VARTest for new AP_Param vector3f handling 2012-02-25 11:37:20 +11:00
Andrew Tridgell 17718720b1 GCS: force scalar type in copy_name() 
this enables access to compass offsets over MAVLink
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 007a6b8958 AP_Param: added special handling for Vector3f 
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
 2012-02-25 11:37:20 +11:00
Andrew Tridgell 1d95137b71 SITL: added -C option to desktop mode 
this allows running APM to stdout, which is useful for test sketches
 2012-02-25 11:37:20 +11:00
Andrew Tridgell f221bd13ab libs: removed unused library GPS_IMU 2012-02-25 11:37:20 +11:00
Andrew Tridgell 1a21c78062 libs: removed unusued library GCS_SIMPLE 2012-02-25 11:37:20 +11:00
Andrew Tridgell af0765bb0a autotest: fixed xAccel calculation in fakepos.py 2012-02-25 11:37:20 +11:00
Andrew Tridgell c63ca9c697 DCM: tidy up use of error_course and in_motion 
in_motion is not a good name now it is also used for the compass

The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
 2012-02-25 11:37:20 +11:00
Andrew Tridgell d5b619218c DCM: use rotation_matrix_from_euler() to calculate initial yaw 
When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
 2012-02-25 11:37:20 +11:00
Jason Short ab945f36df Compass heading added to ATT log 2012-02-24 12:11:15 -08:00
Michael Oborne 06be0d24ba APM Planner 1.1.41 
fix mono ssl issue
modify log download
fix param dl on arduplane 2.28 (2x nulls in param list)
fix connect cancel
mono - add more comports
more error checking on radio
 2012-02-24 19:39:02 +08:00
rmackay9 ab0e1d7632 TradHeli - increase max yaw input to 45 degrees 2012-02-24 20:18:40 +09:00
Jason Short ed5db98522 updated Gains for Marco's loiter test 2012-02-23 22:03:26 -08:00
Jason Short 22982cda0f Loiter updates 2012-02-23 22:03:26 -08:00
Michael Oborne 58bca7d4a4 APM Planner 1.1.41 
add NaN checking/error message
add config page shortcuts - F5, ctl-s and ctl-o
add +++ passthrough on terminal
add longer delay to log download
modify param receive process.
modify connecting and param receive process - re Andrew
 2012-02-24 09:38:56 +08:00