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11649 Commits

Author SHA1 Message Date
Leonard Hall
be25ac4acf AP_MotorsMulticopter: Add current limit time constant variable 2016-06-18 11:55:49 +09:00
Leonard Hall
7e0e0ca874 AP_MotorsMulticopter: battery voltage compensation improvements 2016-06-18 11:55:49 +09:00
Leonard Hall
0ee7b00b0b AP_MotorsMulticopter: rename _thrust_curve_min to spin_min 2016-06-18 11:55:49 +09:00
Leonard Hall
142a67bb6d AP_MotorsMulticopter: minor comment change 2016-06-18 11:55:49 +09:00
Leonard Hall
5cace33ca5 AP_MotorsMulticopter: SPIN_MIN replaces min_throttle 2016-06-18 11:55:49 +09:00
Leonard Hall
2c811364d3 AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED 2016-06-18 11:55:49 +09:00
Leonard Hall
488f90b39d AP_Motors: add calc_spin_up_to_pwm to reduce repeated code 2016-06-18 11:55:49 +09:00
Randy Mackay
25778a24e2 AP_MotorsMulticopter: add HOVER_LEARN param 2016-06-18 11:55:49 +09:00
Leonard Hall
4f0db2bc36 AP_Motors: learned THST_HOVER replace THR_MID 
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1.  0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
 2016-06-18 11:55:49 +09:00
Leonard Hall
5a8fc6283e AP_Motors: replace throttle_rpy_mix with throttle_avg 
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
 2016-06-18 11:55:49 +09:00
Michael du Breuil
4d964fbf2f AP_BoardConfig: allow channels to be moved regardless of safety switch 2016-06-17 15:20:22 +10:00
Andrew Tridgell
63d0c040e4 AP_Scheduler: expose loop rate on all builds 
as discussed with Randy
 2016-06-17 15:02:28 +10:00
Andrew Tridgell
255bda9f9c AP_Motors: allow setting of loop rate 
this allows for SCHED_LOOP_RATE in copter
 2016-06-17 15:01:18 +10:00
Andrew Tridgell
fb4cdafef8 AP_Scheduler: allow SCHED_LOOP_RATE for copter in SITL 
very useful for slow simulation environment
 2016-06-17 15:01:18 +10:00
Andrew Tridgell
e360c6117e SITL: make SIM_* variables available to simulator backends directly 2016-06-17 08:36:13 +10:00
Grant Morphett
34fa2a39bd AP_InertialSensor: Changing the default gyro filter from 10 to 4 
This change is only for Rovers.
 2016-06-16 14:37:55 +09:00
Tom Pittenger
1770f314ac SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available 2016-06-15 17:22:54 -07:00
Andrew Tridgell
027788f72b SITL: fixed gimbal simulator for recent MAVLink2 changes 2016-06-16 10:17:28 +10:00
Andrew Tridgell
145ab1d626 SITL: fixed send of ADSB_Vehicle packets with recent MAVLink2 changes 2016-06-16 10:15:07 +10:00
Tom Pittenger
8036912173 AP_ADSB: clarified some minor logic 2016-06-14 21:05:44 -07:00
Tom Pittenger
0ed868d97b SITL: compiler warning, comparing float to 0 2016-06-14 21:05:38 -07:00
Tom Pittenger
c3b241ca88 SITL: change ADSB_VEHICLE update rate to 1Hz instead of 2Hz to match PING behavior 2016-06-14 21:05:32 -07:00
Tom Pittenger
52fcc36249 AP_HAL_SITL: remove -A --adsb argument, feature is now always enabled controlled by param 2016-06-14 21:05:23 -07:00
Tom Pittenger
f2b5f5f4a5 AP_HAL_SITL: adsb is always enabled in the sim, controlled by param SIM_ADSB_COUNT 2016-06-14 21:03:30 -07:00
Tom Pittenger
95da4accfb SITL: add SIM_ADSB_COUNT, RADIUS, ALT params 2016-06-14 21:00:39 -07:00
Tom Pittenger
ad81e56a64 AP_ADSB: allow buffer to add to the max, instead of one less than the max 2016-06-14 21:00:27 -07:00
Andrew Tridgell
120564f094 RC_Channel: set_radio() should not constrain values 
caller is supplying direct PWM value. The MIN/MAX should not apply
 2016-06-14 13:08:35 +10:00
Tom Pittenger
b4b0ec404c GCS_MAVLink: flag a link as active if it ever sends a message 2016-06-13 18:25:26 -07:00
Andrew Tridgell
e070aeebe3 AC_AttitudeControl: added accessors for P and D RMS controller values 2016-06-10 17:48:31 +10:00
Andrew Tridgell
1c463e3f3b AC_AttitudeControl: log rms P and D separately 
as discussed with Leonard
 2016-06-10 17:48:31 +10:00
Leonard Hall
b3fcab8044 AP_Motors: minor comment fix 2016-06-09 09:49:00 +09:00
dgrat
0b5ab7162d AP_HAL_Linux: Changes in RPi version detection 
If the RPi version detection fails, the standard version is now RPi2/3 instead of RPi1.
I think this is useful, because the RPi1 is not really supported (performance reasons).
 2016-06-08 11:50:43 -03:00
dgrat
15a915edd3 AP_HAL_Linux: Simplification of the code 
I applied the ArduPilot coding style guide and additionally simplified the code where possible.
 2016-06-08 11:50:43 -03:00
masierra
8fc494cfcd AP_AHRS_DCM: changed estimate to use prev values for dir & vel 2016-06-06 15:26:51 -07:00
Tom Pittenger
41c9cace68 AP_Mission: mavlink parsing should use check_lat/lng functions 2016-06-06 13:08:37 -07:00
Tom Pittenger
00aaa78757 AP_Math: add separate check_lat() and check_lng() 2016-06-06 13:02:56 -07:00
Michael du Breuil
fb07b8c4cc Mission: fix bounds checking of MISSION_ITEM lat/lon 2016-06-06 10:08:45 -07:00
Andrew Tridgell
a06e46a84c DataFlash: log 14 output channels in RCOU 
unfortunately this means we need to shorten the column headers, but at
least this makes us consistent with RCIN
 2016-06-06 15:14:28 +10:00
Andrew Tridgell
2239fd6a6e AP_GPS: fixed hexdigit in NMEA detector 
thanks to adorus for spotting this! See issue#4255
 2016-06-06 07:36:31 +10:00
Andrew Tridgell
3969bde84a AP_Math: fixed coverity warning in example 2016-06-05 07:20:46 +10:00
Andrew Tridgell
0166ab2038 HAL_SITL: check for SIM_RC_FAIL 2016-06-05 05:54:56 +10:00
Andrew Tridgell
4e3dd315cb RC_Channel: fixed double channel assignment 
this fixes RC_Channel_aux::set_aux_channel_default from assigning
k_heli_rsc twice, once at default channel and once at user designated
channel
 2016-06-05 05:54:56 +10:00
Peter Barker
cb16d0b6c6 AP_Math: correct examples build on px4 2016-06-04 12:31:36 -03:00
Andrew Tridgell
be26988b93 AP_Tuning: don't warn of controller errors when disarmed 2016-06-04 19:20:45 +10:00
Andrew Tridgell
9e9a048016 SITL: make heli RPM rpm1 in FlightAxis 2016-06-04 18:33:36 +10:00
Andrew Tridgell
f58d837026 AP_Motors: fixed heli RSC output range and float conversion 
adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
 2016-06-04 18:33:36 +10:00
Tom Pittenger
a512e807dc AP_HAL_PX4: disarm motors on reboot so ensure they are off during bootloader upload 2016-06-04 00:42:43 -07:00
Andrew Tridgell
79ffc28f68 SITL: fixed ground accel for helis in FlightAxis 
fixes landing detection
 2016-06-04 15:52:00 +10:00
Andrew Tridgell
7c227ac96c SITL: debug code for logging raw SITL data 2016-06-04 14:21:21 +10:00
Andrew Tridgell
f6a7c1839a SITL: use FlightAxis body accel 
less noisy than rotating early accel
 2016-06-04 14:20:55 +10:00
Andrew Tridgell
f6e42cb3e2 SITL: cope with restarting RealFlight while connected 2016-06-04 12:07:03 +10:00
Andrew Tridgell
9c13ac997e SITL: use FlightAxis accel when not touching the ground 2016-06-04 11:34:57 +10:00
Andrew Tridgell
0b9fca6ef9 SITL: use quaternion attitude from FlightAxis 2016-06-04 11:04:15 +10:00
Tom Pittenger
5df2e57209 AP_HAL_SITL: do not compile terrain class when terrain is not disabled via compile flag 2016-06-03 11:07:36 -07:00
Tom Pittenger
8b405e26ea GCS_MAVLink: battery2 current is in 10*mAh over mavlink 2016-06-02 16:59:29 -07:00
Tom Pittenger
a8c14e68da AP_Tuning: compile warning: float to double on print 2016-06-02 16:59:27 -07:00
Tom Pittenger
d2c9b02ca5 AP_BattMonitor: remove voltage2() since we have voltage(x) available 2016-06-02 16:59:26 -07:00
Tom Pittenger
4e4bc0bee4 GCS_MAVLink: use voltage(x) instead of voltage2() 2016-06-02 16:59:23 -07:00
Tom Pittenger
a1564bd337 AP_BattMonitor: check actual battery instances instead of max possible instances 2016-06-02 16:59:21 -07:00
Tom Pittenger
8939c5308f AP_Arming: check actual battery instances then max possible instances 2016-06-02 16:59:19 -07:00
Tom Pittenger
3ed2fafefa DataFlash: Log new CUR2 entry for battery2 data 2016-06-02 16:59:16 -07:00
Tom Pittenger
43c7b4d518 DataFlash: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:07 -07:00
Tom Pittenger
7a397475af DataFlash: log POWR.vcc and Vservo as float in volts instead of int16 mV 2016-06-02 16:59:05 -07:00
Tom Pittenger
608fbee867 GCS_MAVLink: send current2 over mavlink 2016-06-02 16:59:03 -07:00
Tom Pittenger
7b4c503052 AP_Math: use new check_latlng helper 2016-06-01 17:38:48 -07:00
Tom Pittenger
ce9ecf9f3d AP_Math: added check_latlng helper 2016-06-01 17:38:48 -07:00
Tom Pittenger
64c2510be9 AC_AttitudeControl: fix compile warning float to double promotion in string conversion 2016-06-01 17:38:47 -07:00
Andrew Tridgell
b4bdfa2451 AC_AttitudeControl: return roll, pitch and yaw controller error separately 
as discussed with Leonard
 2016-06-01 17:18:58 +10:00
Grant Morphett
d56e2b6a39 APM_Control: Get steer rate using earth frame. 
Rather then just using the standard z gyro by using the earth frame it
takes into account when a rover leans over in hard corners.  My rover
leans 15 degrees no problem which is why this is needed.
 2016-06-01 10:05:20 +09:00
Andrew Tridgell
b855c70139 GCS_MAVLink: don't route RADIO and RADIO_STATUS packets 
they don't mean anything off the local link
 2016-05-31 22:13:05 +10:00
Paul Riseborough
24d8cc62e2 AP_NavEKF2: rework yaw and magnetic heading reset logic 
Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
 2016-05-31 16:12:53 +10:00
Andrew Tridgell
a6cbc5d4a5 AP_AHRS: use EKF for groundspeed estimate if available 2016-05-31 15:56:25 +10:00
Leonard Hall
a16018f9fe AP_Motors: Missed Single fix 2016-05-31 12:44:17 +10:00
Peter Barker
1e146256cc GCS_MAVLink: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Grant Morphett
944541b287 PID: Added PID_Info to class for PID logging 2016-05-31 08:44:52 +10:00
Andrew Tridgell
abe850c397 PID: fixed example build 2016-05-31 08:36:14 +10:00
Andrew Tridgell
38965f4617 DataFlash: fixed example build 2016-05-31 08:36:07 +10:00
Andrew Tridgell
04f87a452e HAL_SITL: fixed tcp client mode 2016-05-30 16:42:28 +10:00
Peter Barker
e828525c94 GCS_MAVLink: adjust_rate_for_stream_trigger is no longer virtual 2016-05-29 21:24:41 +10:00
Peter Barker
43fed65f37 GCS_MAVLink: move adjust_rate_for_stream up 2016-05-29 19:38:49 +10:00
Andrew Tridgell
f4f0ae8c8b SITL: auto-reconnect FlightAxis on reset button 2016-05-29 19:17:29 +10:00
Peter Barker
03ded35d7c GCS_MAVLink: update routing example for mavlink namespacing 2016-05-29 16:21:21 +10:00
Peter Barker
56114dd37a GCS_MAVLink: use subclasses in vehicle directories 
Instead of the vehicles defining functions that are declared in the libraries directory, they will now create subclasses of GCS_MAVLINK
 2016-05-29 16:21:20 +10:00
Leonard Hall
d67f83559c AP_Motors: Single and Coax Fixes 2016-05-29 16:12:29 +10:00
Leonard Hall
e5bdf0a0a2 SITL: Single and Coax fixes 2016-05-29 16:12:13 +10:00
Andrew Tridgell
26ef71e130 AP_Notify: added tuning error tones 2016-05-28 17:33:30 +10:00
Andrew Tridgell
006aafab3f AP_Tuning: added monitoring of controller output 2016-05-28 17:33:30 +10:00
Andrew Tridgell
6330060e49 AC_AttitudeControl: added monitoring of controller error 
use RMS P+I+FF output. Thanks to Leonard for the suggestion
 2016-05-28 17:33:30 +10:00
Andrew Tridgell
fdac1d26cc AP_Tuning: added TUNE_MODE_REVERT parameter 2016-05-28 17:33:30 +10:00
Randy Mackay
72b86a3f99 AP_Motors: remove unused stabilizing flag 
Also initialise some members to resolve converity warnings
 2016-05-28 15:45:29 +09:00
Andrew Tridgell
7ec513668e GCS_MAVLink: reserve some space when param fetch fails 
this ensures we give some buffer space for parameter fetch when we are
low on buffer space

we reserve 100 bytes for 2 seconds after a param fetch fails due to
low buffer space
 2016-05-28 15:08:46 +10:00
Andrew Tridgell
f02c8f732c DataFlash: fixed BAR2 format for drift offset 2016-05-28 15:08:46 +10:00
Paul Riseborough
a94a19bd09 AP_NavEKF2: Fix bug causing continual yaw resets 2016-05-28 06:52:11 +10:00
Tom Pittenger
57d6ccc0dd AP_HAL_PX4: skip the 100ms delay on first px4io safety_state async attempt 2016-05-27 11:30:50 -07:00
Tom Pittenger
d3ac1dc161 AP_HAL: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Tom Pittenger
67aaf7e226 AP_HAL_PX4: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Andrew Tridgell
97e2203e70 AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core 
this reduces the risk that mag fusion errors will badly affect
attitude estimation.
 2016-05-27 21:27:06 +10:00
Andrew Tridgell
d17e3b17bf AP_AHRS: special handling for flying fixed wing with no compass 
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
 2016-05-27 10:18:53 +10:00
Paul Riseborough
de15928921 AP_NavEKF2: prevent potential arithmetic error in declination fusion 2016-05-27 09:00:41 +10:00
Paul Riseborough
722eb0d706 AP_NavEKF2: Fix bug for start of wind speed estimation 
The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
 2016-05-27 09:00:41 +10:00