d52cb7e574
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
13 years ago
ffa3330f93
autotest: fixed the calculation of the acceleration due to gravity
...
this fixes the attitude calculation for the multicopter simulation
13 years ago
16009777d9
APM: expanded parameter area to match ACM
...
this ensures waypoints and basic eeprom layout remain in sync
13 years ago
6929226b96
ACM: expanded EEPROM parameter area by 256 bytes
13 years ago
bb352c6bcf
don't need AP_Math.h here any more
13 years ago
718a5b70e3
AP_Param: fixed saving of sensor calibration
...
this fixes the saving of the accel and gyro calibration to EEPROM,
which was initially broken by the AP_Param conversion
13 years ago
baac883eb1
IMU: move _sensor_cal to general IMU class
...
this makes it available both in shim and INS subclasses
13 years ago
882cd4ea83
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
13 years ago
85ecb05261
CPUInfo: added timing of sqrt()
13 years ago
78babd37fa
APM: use set_and_save_ifchanged() for GCS stream rates
...
this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
13 years ago
4b15b63d21
AP_Param: fixed copy-assignment operators for AP_Param vectors
13 years ago
7f3858cb7f
AP_Param: added a set_and_save_ifchanged() method
...
this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
13 years ago
80a6773b8b
AP_Param: added an initialised() method
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this will be used by the compass code
13 years ago
b532cb91b1
added Rate_D tuning value
13 years ago
0075901f77
upped rate loop to 250hz
13 years ago
62b104cbfa
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
...
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
13 years ago
e2c15008c2
APM Planner 1.1.37
...
fix misc errors
update polish
fix linux/mac bug. - seems alot more stable
13 years ago
5218220f0f
re-implemented WII Dampening filter for Marco.
13 years ago
b052dab80d
Adjusted gains to move closer to Marco's tests
13 years ago
24ce02c6a4
made I term return in same pattern as D term
13 years ago
17c6c7b294
added extra gain logging
13 years ago
908ca4e915
scaled X velocity
13 years ago
bc1593e89c
cast to float
13 years ago
632cc783a1
cast D term to float just in case
13 years ago
36a120d8df
removed some unused vars,
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formatting, made loop speed same as PIDT1 to eliminate variable.
13 years ago
79d622939a
ADC: on channel overflow we should not zero last_ch6_micros
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this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
13 years ago
9242c157ee
APM: Fix rudder in elevon mode.
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elevon planes can have rudders too
13 years ago
a43ee36bee
CH 6 Range setup
13 years ago
3d63bb6cd4
Added acro_p to the params
13 years ago
e8b6f5ecee
allow auto-land if failsafe is triggered
13 years ago
fabeccad4a
Marco's updated Motor testing code
13 years ago
73591a0ca5
Added lengthy note about motor testing
13 years ago
9a3e862b55
added option in code for Loiter specific gains
13 years ago
e249c8466d
AP slew rate
13 years ago
21856e7696
new defaults for params
13 years ago
fcb24ee17d
Added Acro_P
13 years ago
574b86b02e
synced params
13 years ago
91edeeeef2
added RTL_land_enabled
...
added auto_pilot slew rate
13 years ago
aa0662008b
Added new params for CH6 Tuning
...
moved enums to give more room for additional PIDs for Loiter
added new Acro_P gain
added auto_land_enabled option
added pi_loiter_lon and pi_loiter_lat for separate tuning of loiter
13 years ago
05abe44f32
Added range setting via a parameter for CH6 tuning
13 years ago
026e4a6567
change constant to float 44330.0
13 years ago
2f81776b0d
eedump ap param in perl
13 years ago
a48a118128
SITL: adjust the SITL compass code to have saner z values
13 years ago
62326c0f72
Compass: enable compass offsets for HIL compass
...
this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
13 years ago
048aed5427
fixed dump size
13 years ago
089db43183
show group_element too
13 years ago
ea6a46fc9b
AP_Param: added eeprom_aaparam.c dump utility
13 years ago
c14097ffa1
APM: changed hold_course for landing to be based on yaw_sensor
...
when we are in the final stages of a landing (less than 2 seconds from
landing waypoint, or less than 3m above landing altitude) we switch
the navigation to use a fixed course. The code previously used the
crosstrack_bearing for this, but this can lead to a large nav_roll in
this final stage of the approach, which can put a wing into the
runway. In autotest we were seeing a nav_roll value of -45 degrees as
we crossed the transition point for the landing, which often led to a
crash.
This changes the code to use the current yaw_sensor value instead,
which is much less likely to lead to large rolls in the final landing
stages.
13 years ago
c662140a2b
APM: report the nav_bearing as hold_course when enabled
...
this gives a more accurate view of the navigation code, as when
hold_course is not -1 it overrides nav_bearing
13 years ago
330ff5dc8b
APM: added some comments related to hold_course
...
hold_course is either -1 (for disabled) or a course to hold for
takeoff/landing. This makes the code a bit clearer.
It also resets hold_course in all non-auto modes, to ensure it isn't
used
13 years ago
Andrew Tridgell
Jason Short
justinbeech
Michael Oborne
Phil