eb35e0e8ac
DCM: fixed the sense of the compass GPS test in initial yaw
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we were only disabling null offsets when we didn't have a compass,
which doesn't make much sense!
13 years ago
a9eb37d9f3
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
13 years ago
71b73a669c
APM Planner
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fix CAPM update firmware error
13 years ago
297d2ae457
ModeFilter - corrected shadowed variable compiler warning for drop_high_sample
13 years ago
b9b88ba237
Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows
13 years ago
f53ff8de97
Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!)
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increased maximum sample buffer size from 6 to 10
13 years ago
e1114bf7f7
ArduPlane - added Filter.h to unbreak the build!
13 years ago
8193c786ef
ArduCopter - added #include <Filter.h> to unbreak the build!
13 years ago
74f7d7a1c0
ModeFilter - remove older ModeFilter library (new library is now in Filter directory)
13 years ago
21d7a77009
ArduPlane - switch sonar to use new mode filter from filter library
13 years ago
69132e0fe7
ArduCopter - change sonar to use new mode filter from Filter library
13 years ago
f264e29814
AP_RangeFinder - cut over to use new ModeFilter from Filter library
13 years ago
c14d7768f7
Filter - first version of filter library include ModeFilter
13 years ago
952e5d7bbc
AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0
13 years ago
f27e9f9ca1
added a simple rest of nav_throttle just in case
13 years ago
cc5ab4aebf
increased speed of alt hold I term based on Jani's Logs
13 years ago
1ce267f904
increased the rate error for more responsive alt hold
13 years ago
a924c3685e
Based on Jani's latest logs I've made two tweaks to alt hold.
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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.
13 years ago
d0a6359b37
Compass: use constructor to set initial values for _learn and _use_for_yaw
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this ensures they are set if you have MAG_ENABLE==0
13 years ago
900388a85a
DCM: disable compass null offsets when setting initial yaw
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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
13 years ago
e2bbc795ad
ACM: use a NULL gps pointer in DCM init
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current DCM API does need a GPS reference passed in, but it can be
NULL
13 years ago
f59297d7a7
Compass: catch the case of a user enabling a compass mid-flight
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if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
13 years ago
0248b48d30
allow MAG_ENABLE to be changed in flight
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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
13 years ago
eb71b26d3f
DCM: use the new use_for_yaw() compass method
13 years ago
664622523d
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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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
13 years ago
864ed1a87f
ACM: check the return of compass.init()
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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.
13 years ago
698749dd92
ACM: don't pass a gps pointer to DCM
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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.
13 years ago
f10097a6d5
AP_Param: added some comments on AP_Vector3f handling
13 years ago
5e2fbdb6cf
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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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.
13 years ago
9d6ac9032e
test: updated VARTest for new AP_Param vector3f handling
13 years ago
690dc9052a
GCS: force scalar type in copy_name()
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this enables access to compass offsets over MAVLink
13 years ago
2e9105c68a
AP_Param: added special handling for Vector3f
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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
13 years ago
d6bfceef7c
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
13 years ago
54aa8297af
libs: removed unused library GPS_IMU
13 years ago
185ab5aea9
libs: removed unusued library GCS_SIMPLE
13 years ago
57971e0ddf
autotest: fixed xAccel calculation in fakepos.py
13 years ago
55e33c3359
DCM: tidy up use of error_course and in_motion
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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
13 years ago
ab8cc3d478
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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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
13 years ago
1e254cbca0
Compass heading added to ATT log
13 years ago
23cc9c6132
APM Planner 1.1.41
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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
13 years ago
57e5eee8c8
TradHeli - increase max yaw input to 45 degrees
13 years ago
385828824d
updated Gains for Marco's loiter test
13 years ago
24345d4f43
Loiter updates
13 years ago
d85596841f
APM Planner 1.1.41
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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
13 years ago
ddeda1c367
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
13 years ago
06f37aad75
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
13 years ago
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
13 years ago
1cd3172954
ACM: ensure update_trig() doesn't cause NAN values for cos_roll/cos_pitch
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the DCM matrix could have a value over 1.0 for c.x due to rounding
errors
13 years ago
c354879f1f
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
13 years ago
17d16bc8c6
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
13 years ago
Andrew Tridgell
Hazy
rmackay9
Jason Short
Michael Oborne