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Author SHA1 Message Date
Konstantin Sharlaimov (DigitalEntity)
62aaa50f93 Fix for throttle drops/jumps due to not reset throttle LPF filter from last attempt. Uppered throttle LPF cutoff to 4Hz 2015-11-27 12:36:22 +10:00
Konstantin Sharlaimov (DigitalEntity)
68ba45f24d Fix for incorrect PH braking target in east direction 2015-11-27 12:26:04 +10:00
Konstantin Sharlaimov (DigitalEntity)
f5ac6a5514 Preliminary MSP waypoint protocol compatibility. Only WAYPOINT action is supported for now 2015-11-27 11:33:40 +10:00
Konstantin Sharlaimov (DigitalEntity)
3f16205f39 Beep out READY_BEEP when GPS fix acquired and HOME position set. Don't reset home position on GPS fix loss when disarmed - short GPS outages while on the ground won't ruin RTH 2015-11-27 11:09:59 +10:00
Konstantin Sharlaimov (DigitalEntity)
77caedcda2 Limit I2C GPS retry rate to 1/500ms. Prevent I2C bus from being flooded by failed I2C transactions when no I2C-GPS is present 2015-11-26 22:41:05 +10:00
Konstantin Sharlaimov (DigitalEntity)
ad3f5a8e3a Change I2C output type to OD 2015-11-26 22:30:21 +10:00
Konstantin Sharlaimov (DigitalEntity)
472ab7694c CLI fixes, emergency landing controller fixes 2015-11-26 17:32:58 +10:00
Konstantin Sharlaimov (DigitalEntity)
51d7babbdd PH braking revisited 2015-11-26 15:08:27 +10:00
Konstantin Sharlaimov (DigitalEntity)
b1ef5e053a A possible fix to zero throttle althold issue. Logging: navDebug[2] = AH PID output; navDebug[3] = AH throttle adjustment 2015-11-26 14:12:25 +10:00
Konstantin Sharlaimov (DigitalEntity)
55e5703e4b Debug: navDebug[0] = gpsGlitch status, navDebug[1] = landing detection status 2015-11-26 10:52:37 +10:00
Konstantin Sharlaimov (DigitalEntity)
68e60f5c37 Added a configurable mc_hover_throttle parameter to be used when calculating altitude controller 2015-11-26 10:20:52 +10:00
Konstantin Sharlaimov (DigitalEntity)
03bfb70a15 Remove unused filterWithBuffer code. Not useful anymore as inertial filter alone calculate velocity with sufficient accuracy 2015-11-25 22:56:57 +10:00
Konstantin Sharlaimov (DigitalEntity)
4dbd985046 GPS glitch detection fixes. Keep glitch detection disabled for the moment 2015-11-25 21:50:35 +10:00
Konstantin Sharlaimov (DigitalEntity)
6afd3741b2 Surface sensor (SONAR) assisted landing detection 2015-11-25 16:50:11 +10:00
Konstantin Sharlaimov (DigitalEntity)
6850fe324f RTH on failsafe can now be set via CLI. Disabled RC input when executing failsafe RTH. 2015-11-25 16:28:43 +10:00
Konstantin Sharlaimov (DigitalEntity)
ed0f85c41b Fix CLI parameter declaration for baro and PIDs 2015-11-25 15:03:54 +10:00
Konstantin Sharlaimov (DigitalEntity)
68abea6a04 Allow I2C GPS to be selected in CLI 2015-11-25 15:00:26 +10:00
Konstantin Sharlaimov (DigitalEntity)
ccf318003e Fixed a bug with NAV_FSM_EVENT_TIMEOUT event never being executed by FSM 2015-11-24 17:34:42 +10:00
Konstantin Sharlaimov (DigitalEntity)
e33dda884d Fix a bug in RTH altitude calculation. Bug is observed as RTH never finishing the CLIMB stage 2015-11-24 14:58:21 +10:00
Konstantin Sharlaimov (DigitalEntity)
5e2a537d8c Disable GPS glitch detection. Reason: doesn't work as expected. Needs debugging 2015-11-23 10:24:08 +10:00
Konstantin Sharlaimov (DigitalEntity)
0fa3a4d18f Setting magzero_* variables from CLI now sets the MAG_CALIBRATION_DONE persistent flag 2015-11-21 23:10:25 +10:00
Konstantin Sharlaimov (DigitalEntity)
c7e252aa8e Fix for NAV AH not functional without GPS 2015-11-21 10:46:16 +10:00
Konstantin Sharlaimov (DigitalEntity)
8fb4107d12 Fixes for bugs introduced during merge with vanilla 2015-11-19 10:26:11 +10:00
Konstantin Sharlaimov (DigitalEntity)
0f417d5246 Kalman filter for sonar readings. Provides surface rate velocity (currently unused) 2015-11-18 16:58:20 +10:00
Konstantin Sharlaimov (DigitalEntity)
fb5c13fefa Disabled baro climb rate calculation. Saves some code space. Need to investigate if this gives more variance in AH mode 2015-11-18 16:58:13 +10:00
Konstantin Sharlaimov (DigitalEntity)
0fbb691656 Disabled BMA280 and MMA8452 (code size issues) 2015-11-18 16:58:04 +10:00
Konstantin Sharlaimov (DigitalEntity)
b376eca7b4 LTM compatibility with NAV-REWRITE and DCM IMU 2015-11-18 16:57:41 +10:00
Jonathan Hudson
83a497ab05 Squashed commit for LTM telemetry implementation by @stronnag 2015-11-18 16:57:22 +10:00
digitalentity
34046169c7 An implenentaion of nav-rewrite (squashed commit, November 17th). 
Automatic magnetic declination from GPS coordinates (approximate to 1-2 degrees) (disabled)
Accelerometer bias compensation
Quaternion-based Mahony's DCM IMU (implementation by S. Madgwick)
Ability to lock heading to GPS cource for airplanes
Faster acquisition by initial attitude by using higher DCM kP gain on powerup
Changes to mag calibration algorithm (@HaukeRa's code). Compass calibration now independent from align_mag.
Changed acc calibration to proper 3-axis offset calculation code (same code as for mag). Changed board alignment angles to decidegrees (configurator incompatibility). Removed accelerometer trims (values passed thru MSP are ignored). Accel trim stick combo now adjusts board alignment directly (real-time, without reboot). Removed inflight acc calibration.
FIR filter implementation for different looptimes. Option gyro_cut_hz replaced with gyro_fir_enable (default gyro_soft_filter=3 preset - a very pessimistic filter with fairly large delay but low cutoff frequency for large or very noisy copters)
iNav-related PIDs renamed in CLI to avoid re-usage of old values when restoring config dumps.
PID with back-calculation and I-term anti-windup. Smarter max acceleration and jerk limiting
Initial support for airplane navigation. ALTHOLD, POSHOLD (circular loiter around the waypoint) and RTH should work. UNTESTED! RTH altitude probably needs some work. Autolanding will NOT function at the moment - the AUTOLAND phase will never complete. Absolutely no throttle control at the moment (fully manual control).
Increase delay for bmp085 baro detection. Resolves an issue with bmp085 not being detected sometimes on powerup
Fixed the missing checks for MIXER_CUSTOM_AIRPLANE
Lots of small fixes
 2015-11-17 15:19:46 +10:00
digitalentity
1a8657c7b7 An implementation of i2c gps support. i2c-nav driver ported from multiwii code. 
Features I2C-GPS autodetection. No need to set gps_provider. If no serial port selected for GPS, feature GPS enabled and I2C GPS connected and detected, gps_provider will automatically be set to '2'
 2015-11-17 14:16:45 +10:00
Dominic Clifton
f632a5048d Enable GTune by default on CJMCU again (due to other code size reductions). 2015-11-16 21:51:12 +00:00
Dominic Clifton
cbbc0aca67 Merge pull request #1483 from NightHawk32/master 
Added 3D configuration parameters to the MSP, so they can be changed …
 2015-11-16 21:42:55 +00:00
NightHawk32
05770f8f6b Merge remote-tracking branch 'upstream/master' 2015-11-15 11:20:55 -05:00
Dominic Clifton
80da784006 Merge branch 'borisbstyle-filter_extend' 2015-11-14 22:31:47 +00:00
Dominic Clifton
e7a87c466b Merge branch 'filter_extend' of 
https://github.com/borisbstyle/betaflight into borisbstyle-filter_extend

Conflicts:
	src/main/flight/pid.c
	src/main/io/serial_cli.c
	src/main/mw.c
 2015-11-14 22:31:29 +00:00
Dominic Clifton
df7d4be263 Ignore leading whitespace when setting values by name, 
Previously this didn't work:
`set blackbox_device = SPIFLASH`
Users had to type in:
`set blackbox_device =SPIFLASH`
 2015-11-14 16:35:42 +00:00
Dominic Clifton
2d73a74802 Enable Blackbox on CC3D by default since all CC3D's have a flash chip. 2015-11-14 16:15:40 +00:00
Dominic Clifton
f67cb01e65 Configure blackbox device via named valie (SERIAL / SPIFLASH) 2015-11-14 16:15:39 +00:00
Dominic Clifton
fc2f44c029 Merge pull request #1079 from borisbstyle/mag_hold_dead 
Decreased MAG_HOLD deadband to 15
 2015-11-14 13:38:55 +00:00
Dominic Clifton
4dfad9d2c8 Further documentation cleanups. 2015-11-14 02:56:51 +00:00
Dominic Clifton
3c57c3c778 Update CLI docs. 2015-11-14 02:54:04 +00:00
Dominic Clifton
9e99e531f6 Update pin controller documentation - remove numeric references. 2015-11-14 02:52:07 +00:00
Dominic Clifton
f66094ed51 Restore yaw_p_limit which was removed in error in 
e347e7d4bf
 2015-11-14 02:51:34 +00:00
Dominic Clifton
bf8daea1b9 Cleanup names of pid controllers. 2015-11-14 00:30:41 +00:00
Dominic Clifton
fd62dc53fb Bump API version. 2015-11-14 00:30:37 +00:00
Dominic Clifton
ecbc0cd915 Merge branch 'cli-named-values' 
Conflicts:
	src/main/io/serial_cli.c
 2015-11-13 23:54:32 +00:00
Dominic Clifton
e58595fcb8 Remove configuration of pid controller via name. 
Makes merging of #1488 easier.
 2015-11-13 23:44:25 +00:00
Dominic Clifton
fb85e7f08a Merge pull request #1012 from borisbstyle/pidCleanup 
PID controllers cleanup (less pid controllers)
 2015-11-13 23:30:40 +00:00
Dominic Clifton
238b3c3cea Support get/set configuration values by name. 
e.g. ON/OFF instead of 1/0.
 2015-11-13 22:30:37 +00:00
Dominic Clifton
9a15aa14f7 Merge pull request #1487 from borisbstyle/lux_defaults 
Luxfloat defaults
 2015-11-13 22:08:16 +00:00