[paparazzi-commits] [paparazzi/paparazzi] 2bb40c: some Trojan tuning

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[paparazzi-commits] [paparazzi/paparazzi] 2bb40c: some Trojan tuning

From:	GitHub
Subject:	[paparazzi-commits] [paparazzi/paparazzi] 2bb40c: some Trojan tuning
Date:	Tue, 03 Apr 2012 08:16:36 -0700

  Branch: refs/heads/4.0_beta
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 2bb40c0cec93f1d09c778eb864e52d2cee47ff41
      
https://github.com/paparazzi/paparazzi/commit/2bb40c0cec93f1d09c778eb864e52d2cee47ff41
  Author: Martin Mueller <address@hidden>
  Date:   2012-04-01 (Sun, 01 Apr 2012)

  Changed paths:
    M conf/airframes/mm/fixed-wing/trojan.xml

  Log Message:
  -----------
  some Trojan tuning


  Commit: 82a020f299a570bea35cb2ba884f81f335d966ad
      
https://github.com/paparazzi/paparazzi/commit/82a020f299a570bea35cb2ba884f81f335d966ad
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/actuators/supervision.c

  Log Message:
  -----------
  supervision: set override values for testing motor failure to STOP_MOTOR


  Commit: d30966785ef57c8f7b419e85147adedb1f989b0a
      
https://github.com/paparazzi/paparazzi/commit/d30966785ef57c8f7b419e85147adedb1f989b0a
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M sw/airborne/math/pprz_algebra_int.h

  Log Message:
  -----------
  math: added two more convenience macros for fixed point


  Commit: d77a086b57adf08c7fc1f4b275c0db94257f84be
      
https://github.com/paparazzi/paparazzi/commit/d77a086b57adf08c7fc1f4b275c0db94257f84be
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
  M sw/airborne/subsystems/ahrs/ahrs_float_utils.h
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
  M sw/airborne/subsystems/ahrs/ahrs_int_utils.h
  M sw/airborne/test/ahrs/ahrs_on_synth.c
  M sw/airborne/test/ahrs/ahrs_on_synth.h

  Log Message:
  -----------
  ahrs: heading update from gps course with hard realignment on first good 
measurement
* fixed realignment for float_cmpl
* implemented it for int_cmpl_quat
* recommended to disable mag update if this is used


  Commit: 61bc161fea8b223307d6325c4845a8d7f6f7f647
      
https://github.com/paparazzi/paparazzi/commit/61bc161fea8b223307d6325c4845a8d7f6f7f647
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M conf/airframes/CDW/LisaAspirin2.xml
  M conf/airframes/CDW/yapa3_aspirin2.xml
  M conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
  M conf/airframes/flixr_discovery.xml
  M conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
  A conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
  A conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
  M sw/airborne/firmwares/fixedwing/main_ap.c
  M sw/airborne/firmwares/rotorcraft/main.c
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

  Log Message:
  -----------
  make it globally configurable whether to use mag or not
default is yes for all ahrs algos, except float_dcm where the default is not to 
use the mag
to disable the mag, explicitly configure USE_MAGNETOMETER to zero. e.g.:
<subsystem name"ahrs" type="int_cmpl_quat">
  <configure name="USE_MAGNETOMETER" value="0"/>
</subsystem)


  Commit: 2035f6c6602152a4d4021be27c7e7e7ee2a61288
      
https://github.com/paparazzi/paparazzi/commit/2035f6c6602152a4d4021be27c7e7e7ee2a61288
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M conf/airframes/flixr_discovery.xml
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

  Log Message:
  -----------
  fix typo: it's AHRS_USE_GPS_HEADING, not AHRS_UPDATE_GPS_HEADING


  Commit: 7d9242213cd94c6022d6e361f3abf933e33721a7
      
https://github.com/paparazzi/paparazzi/commit/7d9242213cd94c6022d6e361f3abf933e33721a7
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h

  Log Message:
  -----------
  ahrs int_cmpl_quat: added gravity heuristic


  Commit: afe5c5b62cdb64d9c8ff614ab7d9803e396c5136
      
https://github.com/paparazzi/paparazzi/commit/afe5c5b62cdb64d9c8ff614ab7d9803e396c5136
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M Makefile.ac

  Log Message:
  -----------
  make telemetry settings the first tab


  Commit: e33817f5a3f996dfd8d3263c3cafd47eaf936b15
      
https://github.com/paparazzi/paparazzi/commit/e33817f5a3f996dfd8d3263c3cafd47eaf936b15
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/main_ap.c

  Log Message:
  -----------
  only scale mag if USE_MAGNETOMETER is set, this is just to fix some builds 
right now, this should not necessarily be the case


  Commit: 657714cf27d2e0161729b77774d4a7ff7e257592
      
https://github.com/paparazzi/paparazzi/commit/657714cf27d2e0161729b77774d4a7ff7e257592
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-02 (Mon, 02 Apr 2012)

  Changed paths:
    M sw/supervision/pc_aircraft.ml

  Log Message:
  -----------
  paparazzi center: set telemetry/default_fixedwing.xml when creating a new 
airframe


  Commit: d25a335cbe6a89fb2ec607cfabdf7b24aade7a15
      
https://github.com/paparazzi/paparazzi/commit/d25a335cbe6a89fb2ec607cfabdf7b24aade7a15
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-03 (Tue, 03 Apr 2012)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/navigation.h

  Log Message:
  -----------
  rotorcraft nav: fix NavVerticalThrottleMode, throttle is no longer scaled to 
200


  Commit: 9f980d65519a84e6bd28af9febf76a2f2723ad5c
      
https://github.com/paparazzi/paparazzi/commit/9f980d65519a84e6bd28af9febf76a2f2723ad5c
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-03 (Tue, 03 Apr 2012)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  rotorcraft horizontal guidance: fix earth.y command, rshift instead of lshift


  Commit: 9be470a9085671bb12cd75e6c45c4ccc834257d3
      
https://github.com/paparazzi/paparazzi/commit/9be470a9085671bb12cd75e6c45c4ccc834257d3
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-03 (Tue, 03 Apr 2012)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  rotorcraft guidance horizontal: divide gain scale for accel (feed-forward) 
gain by 256, should be same as in master again


  Commit: e06ca8125168ca9d9034613cff1807fe3f17c70e
      
https://github.com/paparazzi/paparazzi/commit/e06ca8125168ca9d9034613cff1807fe3f17c70e
  Author: Felix Ruess <address@hidden>
  Date:   2012-04-03 (Tue, 03 Apr 2012)

  Changed paths:
    M Makefile.ac
  M conf/airframes/CDW/LisaAspirin2.xml
  M conf/airframes/CDW/yapa3_aspirin2.xml
  M conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
  M conf/airframes/flixr_discovery.xml
  M conf/airframes/mm/fixed-wing/trojan.xml
  M conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
  A conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
  M conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
  A conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
  M conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
  M sw/airborne/firmwares/fixedwing/main_ap.c
  M sw/airborne/firmwares/rotorcraft/actuators/supervision.c
  M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
  M sw/airborne/firmwares/rotorcraft/main.c
  M sw/airborne/firmwares/rotorcraft/navigation.h
  M sw/airborne/math/pprz_algebra_int.h
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
  M sw/airborne/subsystems/ahrs/ahrs_float_utils.h
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
  M sw/airborne/subsystems/ahrs/ahrs_int_utils.h
  M sw/airborne/test/ahrs/ahrs_on_synth.c
  M sw/airborne/test/ahrs/ahrs_on_synth.h
  M sw/supervision/pc_aircraft.ml

  Log Message:
  -----------
  Merge branch 'dev' into 4.0_beta
* rotorcraft: fixes for horizontal guidance
* rotorcraft: fix throttle scaling in VERTICAL_MODE_MANUAL
* ahrs: improvements for AHRS_USE_GPS_HEADING, and implemented for int_cmpl_quat
* make it globally configurable whether to use mag or not
  to disable the mag, explicitly configure USE_MAGNETOMETER to zero. e.g.:
    <subsystem name"ahrs" type="int_cmpl_quat">
  <configure name="USE_MAGNETOMETER" value="0"/>
    </subsystem)


Compare: https://github.com/paparazzi/paparazzi/compare/af56974...e06ca81

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