f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
12 years ago
afd2f82768
AC_WPNav: bug fix for track covered being 2D
...
Replaced abs and fabs with fabsf
Added get_destination method
12 years ago
8ec7fd1c9c
AC_WPNav: add set_loiter_target to use velocity
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Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
12 years ago
fc972e2d42
InertialNav: add get_velocity method
12 years ago
3bfcc3b8d0
AC_WPNav: replace get_target_alt with get_destination_alt
12 years ago
c40080e76a
AC_WPNav: added set_target_alt
12 years ago
60060d8184
AC_WPNav: add get_target_alt
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Required because waypoint controller will be modified to control
altitude
12 years ago
0d70ba1030
AC_WPNav: bug fix to dt calculation
12 years ago
39bc3800c9
AC_WPNav: add distance and bearing to target methods
12 years ago
b92c4097d2
AC_WPNav: first implementation
12 years ago
76e20150e9
AP_InertialSensor: ensure parent class is initialised in instance classes
12 years ago
a5c3051929
AP_GPS: fixed initialisation error in uBlox driver
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found with valgrind
12 years ago
dca597cda1
L1_Control: added a comment on speed of the L1 control code
12 years ago
a3c2851120
AP_L1_Control: Addition of library for geometry calculations required for L1 Control.
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1) Explicit control of tracking loop period and damping which removes previous
variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance
The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
12 years ago
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
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Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
12 years ago
05ecb8d8fa
AP_AHRS: fixed functions that need to be virtual
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functions overridden in a child class need to be marked virtual, or
you get the parent class function
12 years ago
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
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these are very useful for navigation libraries
12 years ago
43c3c60de2
AP_Math: moved a lot of vector templates to cpp from .h
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this reduces the code size quite a lot on AVR
12 years ago
78eb12a4ac
AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH
12 years ago
8b119934ea
AP_Math: fixed grammar error
12 years ago
2d29a6a7be
AP_Math: added Vector2f.angle()
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useful for calculating the vector in polar coordinates
12 years ago
f6aacdc768
AP_Navigation: added a navigation controller class
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the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
12 years ago
cdb532a594
Copter: bug fix for loiter target
12 years ago
86fe79a662
INS: updated MPU6K_FILTER parameter description
12 years ago
217b8d7a59
cleanup: use const for struct Location pointers and references
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this allows the compiler to generate more efficient code
12 years ago
6516bffbb6
AP_Camera: enable relay off in all builds
12 years ago
8d992ae615
InertialSensor: added OilPan INS example
12 years ago
af13f6795c
INS: switch to global definition of GRAVITY_MSS
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saves 4 bytes of RAM
12 years ago
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
12 years ago
c07702f46d
Update AP_MotorsOctaQuad.cpp
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There were two "4"s in the motor test order values. Presumably a typo.
12 years ago
739e3c2b9a
Copter: adjust trapezoidal motor mixing
12 years ago
e32cbd827b
Copter: replace quad trapezoid frame with V
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Also update motor mixing
12 years ago
5bf55a9523
OpticalFlow: switch order of sin_yaw, cos_yaw
12 years ago
5667f5d817
AP_ADC: fixed APM1 HIL_SENSORS Ch6() return
12 years ago
310a5a6be1
DataFlash: don't try to write if no card inserted
12 years ago
6123ea2dac
PID: added get_pid_4500()
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this is a version of get_pid() that returns an int16_t constrained to
-4500 to 4500. This will prevent overflow errors for large PID gains
in ArduPlane and Rover
12 years ago
6816c45c39
InertialNav: reduce Z-axis time constant to 5
12 years ago
541fa13291
cleanup comments
12 years ago
2160bf135d
fix sitl segfault in hil
12 years ago
87292e0a4a
Init hil accel with gravity
12 years ago
39ba406957
Copter: add trapezoid frame type
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We still need to properly define the motor mixing for the trapezoid
frame in AP_MotorsQuad.cpp
12 years ago
a093926b04
Revert "RC_Channel: removed pwm_out variable from RC_Channel"
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This reverts commit 8e4a003d8d
12 years ago
8e4a003d8d
RC_Channel: removed pwm_out variable from RC_Channel
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saves 16 bytes
12 years ago
896fd52aa1
AP_AHRS: fixed functions that need to be virtual
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functions overridden in a child class need to be marked virtual, or
you get the parent class function
12 years ago
8459da202c
AP_AHRS: prevents compass flyaways for plane and rover
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this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
12 years ago
091b474a1d
AP_Math: added wrap_360_cd() and wrap_180_cd()
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moved from per-vehicle code
12 years ago
0ffc7dab6b
SITL: added GPS speed down to SITL state
12 years ago
93f7e61b66
UBLOX GPS: fix MSG_SOL typo
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"status" was used instead of "solution"
12 years ago
27309a553f
GPS: fixes after review
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Ensure 3D fix before returning velocity_down
UBLOX: restore check of fix_status as part of determining 2D or 3D fix
SIRF: add missing brackets on fix type check
12 years ago
24044dc0c4
AHRS: add support for GPS fix type 2D
12 years ago
Randy Mackay
Andrew Tridgell
Brandon Jones
priseborough
tobias
Stange Szilard
foobarbecue
Michael Oborne