30faf87715
InertialNav: use AP_Math's longitude_scale
12 years ago
7c9d9b9800
AP_Math: use DEG_TO_RAD in longitude_scale
...
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
12 years ago
38fc0e61c6
AP_AHRS: optimise yaw drift correction
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use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
12 years ago
737f0305ef
AP_Math: implement vector2 cross product
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useful in DCM for faster yaw correction
12 years ago
f4189e083b
AP_Math: added mulXY() for matrix3 and vector3
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returns the XY components of the product
12 years ago
ee2daf25b6
AHRS: perf improvement by caching declination vector
12 years ago
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
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if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
12 years ago
c20eac7a70
AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants
12 years ago
99d21854f9
SITL: fixed drift rate limit in simulator
12 years ago
53ebcfeba5
SITL: fixed compass vector to be based on yaw not GPS heading
...
Many thanks to Randy for noticing this, and apologies for the wasted time!
12 years ago
1cfd5900a8
Copter: add support for H-quad frame
...
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
12 years ago
647a93e78e
Copter: remove jerk when entering RTL or AUTO
...
Loiter target position was not being initialised properly.
Add a few more comments
12 years ago
bd75de6a22
AC_Fence: reduce to 150m radius and 100m high
...
100m high,
12 years ago
6cc9939891
AP_ADC: added dummy stop_pin and settle_time calls
12 years ago
0e66bac70b
AP_RangeFinder: removed special case for APM1
...
the airspeed port doesn't have enough power for the sonar anyway
12 years ago
244a10aeb6
HAL_SMACCM: fixed build for new AnalogIn API
12 years ago
9bc48c9894
HAL_PX4: fixed build with new AnalogIn API
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pin settle times not actually implemented on PX4 yet
12 years ago
5ac493908c
SITL: fixed build with new AnalogIn API
12 years ago
09ca9d4283
AP_Rangefinder_analog: implement settle time and stop_pin
12 years ago
5d80a5619d
HAL_Empty: add new API functions
12 years ago
912ed2c97c
HAL_AVR: initialise settle time
12 years ago
e7a6b12ac1
HAL_AVR: support set_stop_pin() and set_settle_time() for analogin
...
useful for dual sonar support
12 years ago
0b6cfc7294
AP_HAL: added set_stop_pin() and set_settle_time() interfaces to analogin
...
this is for multiple sonars on one vehicle, to prevent them
interfering with each other
12 years ago
0242d50ad4
DataFlash: added Log_Write_Message()
...
useful for logging general messages
12 years ago
ccd38e58a1
HAL_PX4: fixed the scaling on the analog pins
12 years ago
500497f5fa
AP_HAL: update AnalogIn test to show the first 16 pins
12 years ago
c90d44c121
AP_Compass_HIL: fixed indentation
12 years ago
26bf636541
AP_Baro: fixed a build warning
12 years ago
65183887e5
SITL: use new baro setHIL method
12 years ago
90cf1b0386
AP_ADC: removed unused setHIL method
12 years ago
7cec3caf19
AP_Baro: cleaned up setHIL method
...
move pressure calculation into library
12 years ago
c6c1fce2f1
AP_Baro: removed HIL constructor
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this wasn't calling the parent class
12 years ago
811c2ccc11
libraries: fixes for AP_Baro_HIL
12 years ago
2d089174cd
AP_Baro: rename AP_Baro_BMP085_HIL to AP_Baro_HIL
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there is nothing specific to the BMP085 in it
12 years ago
a09c53a3ea
SITL: use new HIL compass API
12 years ago
f72dd560cb
AP_Compass: fixed the HIL sensors compass
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this sets up good compass values for HIL sensors
12 years ago
86027f6e0f
AP_Compass: fixed PX4 build
12 years ago
af50b652f8
AP_Compass: removed old orientation defines
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we now use the rotations in libraries/AP_Math/rotations.h
12 years ago
261eb6d841
AP_Declination: fixed example build
12 years ago
54b826a583
AP_AHRS: update for new compass API
12 years ago
217f34e155
AP_Compass: added COMPASS_ORIENT parameter, to support external compasses
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this allows the user to configure the compass for any orientation
supported by our rotation library
12 years ago
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
12 years ago
813e767efb
AP_Param: use const refs in a few more places
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reduces code size by a couple of hundred bytes
12 years ago
4fcb189c97
GCS_MAVLink: typo in message definition
12 years ago
2d17688363
AC_Fence: add backup fence
...
Also includes fixes from code review with Tridge
12 years ago
0fce0eb488
AP_Compass_PX4: fixed handling of a saturated compass
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a saturated compass is now marked unhealthy, rather than causing the
code to spin waiting for a valid sample. This fixes a problem with
strong magnets causing the main flight loop to stop
12 years ago
d7ec985029
AP_Baro_PX4: fixed baro driver to run at full rate
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we were skipping samples due to a timer handling bug. It now checks
for new samples at 100Hz
12 years ago
ad01aeee44
Copter: increase max loiter overshoot to 8.12m
12 years ago
8122a32114
InertialNav: reduce XY TC to 2.5 (was 3)
...
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
12 years ago
c139134192
Copter: increase max loiter speed to 7.5m/s
12 years ago
Randy Mackay
Andrew Tridgell