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Use GPS for vertical velocity estimation on multirotors (#346)
2016-07-14
Ko
n
stantin Sharlaim
o
.
.
.
Fixed no-
m
ag detection
commit
|
commitdiff
|
tree
2016-07-12
Konstantin Sharlaimo
.
.
.
D
o
n't allow AIRMODE to override
MOTOR_
S
T
OP
.
Closes
.
.
.
commit
|
commitdiff
|
tree
2016-07-11
Konst
a
ntin
S
harlaimo
.
.
.
FURYF3 IO compatibility fi
x
es
commit
|
commitdiff
|
tree
2016-07-08
Konstantin Sha
r
la
i
mo
.
.
.
Reset AltHold s
e
t
p
o
int when transitionin
g
from RTH
.
.
.
commit
|
commitdiff
|
tree
2016-06-24
K
on
s
tantin Shar
l
aimo
.
.
.
RTH: Replace fixe
d
pre-
l
andin
g
d
e
l
ay
with waitin
g
for
.
.
.
commit
|
commitdiff
|
tree
2016-06-23
Kon
s
tantin S
h
a
r
laimo
.
.
.
Add
su
p
port
for BMP280 on CC3D
commit
|
commitdiff
|
tree
2016-06-22
Kon
s
tantin
S
harlaimo
.
.
.
GPS: C
h
a
n
ge SBAS default to NONE
.
Cl
o
ses #
1
93
commit
|
commitdiff
|
tree
2016-06-15
K
o
n
s
tantin Sharlaimo
.
.
.
MAVLink docum
e
ntation upda
t
e
commit
|
commitdiff
|
tree
2016-06-15
Ko
n
stantin Sh
a
rla
i
m
o
.
.
.
R
emove platform-s
p
ec
i
f
i
c p
a
rts of mavlink library
.
.
.
.
commit
|
commitdiff
|
tree
2016-06-15
Konstan
t
in Sharlaimo
.
.
.
MAVLink: Add
m
a
vl
i
nk_msg_global_posit
i
o
n_int message
.
.
.
commit
|
commitdiff
|
tree
2016-05-15
Konstantin
S
har
l
aimo
.
.
.
PID: D
i
sable PID atte
n
uat
i
on at
zero throttle on airplanes
commit
|
commitdiff
|
tree
2016-05-15
Kons
t
an
t
in Sha
r
laimo
.
.
.
FILT
E
R: PT1 with rate of cha
n
ge limiting
commit
|
commitdiff
|
tree
2016-05-15
Konstantin Sharlaimo
.
.
.
OLED: Disable ARMED_BITMAP on NAZE
commit
|
commitdiff
|
tree
2016-05-13
Kon
s
t
antin Sh
a
r
laim
o
.
.
.
Revert
t
o 1
.
0 gyro fi
l
ter
i
ng def
a
ult (42H
Z
)
commit
|
commitdiff
|
tree
2016-05-11
Kon
s
tantin Sharlaim
o
.
.
.
PID: P-term LPF on
Yaw axis
commit
|
commitdiff
|
tree
2016-05-11
Konst
a
n
t
in
Sh
a
rlaimo
.
.
.
P
ID
:
Replace
D
-term
B
iQuad with PT1 for lower p
h
a
se
.
.
.
commit
|
commitdiff
|
tree
2016-05-11
K
o
n
stantin Sharlai
m
o
.
.
.
Buffer size fix for f
l
oat point values
>
=
1
00
.
00 in CLI
commit
|
commitdiff
|
tree
2016-05-11
Konstantin
S
har
l
aimo
.
.
.
NAV: Disable manual altitude control in
RTH m
o
de
.
Closes
.
.
.
commit
|
commitdiff
|
tree
2016-05-11
Konstan
t
i
n Sharlaimo
.
.
.
GPS: gps_n
a
v_model replaced by gps_dyn_m
o
d
e
l with 3
.
.
.
commit
|
commitdiff
|
tree
2016-05-09
Konstantin Sharl
a
imo
.
.
.
GPS: Default to SBAS_AUTO
commit
|
commitdiff
|
tree
2016-05-09
Konstantin Sharlaim
o
.
.
.
Ena
b
le automatic mag
declination on S
P
AR
K
Y tar
g
e
t
commit
|
commitdiff
|
tree
2016-05-09
Konsta
n
tin Sha
r
laimo
.
.
.
GPS: Disab
l
e ublox setti
n
g
f
o
r 'apply integrity inf
o
rmati
o
n
.
.
.
commit
|
commitdiff
|
tree
2016-05-09
Konstantin Sharlaimo
.
.
.
GPS: Add possibility t
o
disa
b
le ground assist
a
nce
commit
|
commitdiff
|
tree
2016-05-09
Konstant
i
n Sha
r
laimo
.
.
.
Remove u
s
e
less code
i
n compass
.
c
commit
|
commitdiff
|
tree
2016-05-09
K
o
n
st
a
nti
n
Sharlaimo
.
.
.
PID:
Fixed I-term low
a
uthor
i
t
y
at
l
ow throttle
.
Fixes
.
.
.
commit
|
commitdiff
|
tree
2016-05-09
Konstantin Sharla
i
mo
.
.
.
ACC/GYRO: Cleanups
.
Thanks to @martinbudde
n
for
t
he
.
.
.
commit
|
commitdiff
|
tree
2016-05-05
K
o
nstantin Sharlaimo
.
.
.
GPS: Report proper fix type to MSP_RAW_GP
S
commit
|
commitdiff
|
tree
2016-05-05
Kon
s
ta
n
t
in Sha
r
lai
m
o
.
.
.
FILTER: Biquad filter precision
u
pdate
commit
|
commitdiff
|
tree
2016-05-05
Konstantin Sharlaimo
.
.
.
GPS: Chan
g
e Ublox
a
utoconfig settings to
allo
w
2D f
i
x
.
.
.
commit
|
commitdiff
|
tree
2016-05-04
Konstantin
Shar
l
aimo
.
.
.
Merge br
a
n
ch 'the
A
rc
h
La
d
der-smooth-r
t
h-d
e
cend'
commit
|
commitdiff
|
tree
2016-05-04
Konsta
n
ti
n
S
h
arlaim
o
.
.
.
R
e
factor de
s
cent sl
o
w
-
down code; move sanity check
.
.
.
commit
|
commitdiff
|
tree
2016-05-04
Konsta
n
tin
Sharlaimo
.
.
.
M
erge branch 'smooth
-
rth-decend' o
f
https://gith
u
b
.
.
.
commit
|
commitdiff
|
tree
2016-05-04
Konstant
i
n Shar
l
aimo
.
.
.
NA
V
:
F
ix
e
d
c
ompilation er
r
ors for
a
utom
a
tic ma
g
declination
.
.
.
commit
|
commitdiff
|
tree
2016-05-02
Konstantin Sharlai
m
o
.
.
.
E
M
ERGEN
C
Y: Switchi
n
g t
o
AltHold will
no
w
bail out fro
m
.
.
.
commit
|
commitdiff
|
tree
2016-04-30
Konstantin Shar
l
ai
m
o
.
.
.
Disable
c
e
rtain features on some targets to fit in
.
.
.
commit
|
commitdiff
|
tree
2016-04-30
Konsta
n
tin Sharlaimo
.
.
.
Re
v
ert
"ALTH
O
L
D: Remove
d
eadband from targe
t
climb
.
.
.
commit
|
commitdiff
|
tree
2016-04-28
Konst
a
n
ti
n
Sha
r
laimo
.
.
.
A
LTHOLD
:
R
e
move deadba
n
d
fro
m
target climb rate
.
Smoother
.
.
.
commit
|
commitdiff
|
tree
2016-04-28
Konsta
n
tin Sharl
a
imo
.
.
.
PID: Generic FIR filter
i
mp
l
ementation for D-term
.
.
.
commit
|
commitdiff
|
tree
2016-04-27
Konstantin Sharlaimo
.
.
.
PID
:
Switch
to one-sid
e
d differentiator - l
e
ss latenc
y
.
.
.
commit
|
commitdiff
|
tree
2016-04-22
Konstantin Sharlai
m
o
.
.
.
WP: Allow WP
mission to be activated only
by
f
lipp
i
ng
.
.
.
commit
|
commitdiff
|
tree
2016-04-21
Konst
a
ntin Sha
r
laimo
.
.
.
NA
V
: Reduce
d
def
a
ult wp ra
d
ius to 1m;
allowed sma
l
ler
.
.
.
commit
|
commitdiff
|
tree
2016-04-21
Konstantin Sh
a
rlaimo
.
.
.
N
e
w set of defaults
.
Sho
u
ld
b
e
m
o
stly suitabl
e
for
.
.
.
commit
|
commitdiff
|
tree
2016-04-21
Ko
n
st
a
nti
n
S
h
a
rlaimo
.
.
.
NAV: Fixed bugs in GPS fai
l
ure
handling;
RTH:
I
n
c
reased
.
.
.
commit
|
commitdiff
|
tree
2016-04-20
Konstantin Sharlaimo
.
.
.
F
W
: Switched to D-ter
m
from error in navigation cont
r
o
l
ler
.
.
.
commit
|
commitdiff
|
tree
2016-04-20
Konstantin Sh
a
rlaimo
.
.
.
Re
v
ert
"
FW
:
B
u
g
fix for
inco
r
rect un
i
ts for
h
ead
i
n
g
.
.
.
commit
|
commitdiff
|
tree
2016-04-19
Kon
s
tantin Sharlaimo
.
.
.
NA
V
:
A
ltHold won't prevent armi
n
g
commit
|
commitdiff
|
tree
2016-04-17
Kons
t
antin Sharlaimo
.
.
.
FW: Bugfix for incorr
e
ct units fo
r
heading c
o
rrecti
o
n
commit
|
commitdiff
|
tree
2016-04-16
Konsta
n
tin Sh
a
rlaimo
.
.
.
LTM:
Set G-framn
e
even
if GP
S
sensor is
not
available
.
.
.
commit
|
commitdiff
|
tree
2016-04-14
K
onstantin Sharlaimo
.
.
.
SAFETY:
Fix BOX
P
ASSTHRU blo
c
king
arm
i
ng when extra_arm
i
ng_sa
.
.
.
commit
|
commitdiff
|
tree
2016-04-13
K
o
nst
a
ntin
Sh
a
rlaimo
.
.
.
R
TH:
Upped max possible r
t
h altitude to 650m
commit
|
commitdiff
|
tree
2016-04-11
Kon
s
tantin Sharla
i
mo
.
.
.
S
E
N
SORS: G
y
ro/acc
e
l aligmnet
fix
commit
|
commitdiff
|
tree
2016-04-10
K
o
ns
t
antin Sharlaim
o
.
.
.
N
A
V
: More
consistent detection
o
f good GPS
o
n armi
n
g
.
.
.
commit
|
commitdiff
|
tree
2016-04-10
K
onstantin Sharlaimo
.
.
.
SURFACE:
B
e
tter ground
level detection
.
Reset sonar
.
.
.
commit
|
commitdiff
|
tree
2016-04-10
Konstantin Sharlaimo
.
.
.
LANDING:
Sona
r
-assised la
n
di
n
g
d
e
te
c
t
i
on
do
e
s no
t
override
.
.
.
commit
|
commitdiff
|
tree
2016-04-10
Konstanti
n
S
h
arlaimo
.
.
.
Extend e
x
t
ra arming sa
f
ety - prevent arming
w
h
e
n any
.
.
.
commit
|
commitdiff
|
tree
2016-04-08
Konstanti
n
S
h
arlaim
o
.
.
.
P
r
event
NAV modes fro
m
acti
v
atin
g
when not a
r
med
commit
|
commitdiff
|
tree
2016-04-08
Kons
t
antin
S
harlai
m
o
.
.
.
FLIGH
T
: Make max
i
mum inc
l
inatio
n
s
elec
t
a
b
l
e
fo
r
roll
.
.
.
commit
|
commitdiff
|
tree
2016-04-08
Konstantin
S
h
a
rlaimo
.
.
.
FW: Elevator c
o
m
pen
s
ation for
banke
d
turnes now adj
u
stable
.
.
.
commit
|
commitdiff
|
tree
2016-04-08
Ko
n
stanti
n
Sharlai
m
o
.
.
.
N
A
V: Disarm after landi
n
g
.
Co
n
tro
l
led by
'
nav_disarm_on_land
.
.
.
commit
|
commitdiff
|
tree
2016-04-08
Konstantin Shar
l
aimo
.
.
.
Post-merg
e
fixup
.
Enable LED_STRIP
commit
|
commitdiff
|
tree
2016-04-08
K
o
ns
t
antin Sha
r
l
a
i
mo
.
.
.
Merge br
a
n
c
h 'surface-tracking-mod'
commit
|
commitdiff
|
tree
2016-04-08
Konst
a
ntin Sh
a
rla
i
mo
.
.
.
EEPROM version bump
commit
|
commitdiff
|
tree
2016-04-08
Konstantin Sharlaimo
.
.
.
BE
E
PER: Fix not wor
k
ing beeper
s
ection in cli dump
commit
|
commitdiff
|
tree
2016-04-07
K
o
n
s
tan
t
i
n Sharl
a
im
o
.
.
.
VE
R
SION:
U
pdate
t
o
1
.
1
commit
|
commitdiff
|
tree
2016-04-07
K
o
ns
t
antin Sha
r
laimo
.
.
.
PID: Ne
w
(
safer) defaults
commit
|
commitdiff
|
tree
2016-04-07
Ko
n
sta
n
t
i
n Sha
r
laim
o
.
.
.
P
I
D: C
a
lcu
l
a
t
e
D-
t
erm from measurement, not fr
o
m error
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
Konstant
i
n Sharlaimo
.
.
.
PI
D
:
Prevent
I-term wi
n
d
up on multi
c
opters with M
O
TOR_STOP
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
Konstantin
S
h
arlaimo
.
.
.
PID: Reset integral error
i
f
n
ot
ARM
e
d
o
r in PASS
T
HRU
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
K
o
nstantin
Sh
a
r
laimo
.
.
.
PI
D
: Removed D
f
rom yaw
axis - no pos
i
tive effect
commit
|
commitdiff
|
tree
2016-04-07
Kons
t
antin Sharlaimo
.
.
.
PID: Typo fix
commit
|
commitdiff
|
tree
2016-04-07
K
o
nstantin Sharlai
m
o
.
.
.
P
ID: U
s
e M
A
G PID
gain f
o
r
heading lock mode
commit
|
commitdiff
|
tree
2016-04-07
Ko
n
s
t
ant
i
n Sharlaimo
.
.
.
P
I
D:
Reset
h
e
ad
i
ng
loc
k
integrator when disarmed or
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
Konstanti
n
S
harlaimo
.
.
.
PID: M
i
nor code rearrangement
.
Bugfix for HEADING L
O
CK
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
K
on
s
tantin Shar
l
aim
o
.
.
.
PID: H
e
ading lock mod
e
for
m
od
e
l
ocked-in ya
w
commit
|
commitdiff
|
tree
2016-04-07
Konstanti
n
S
h
arlaimo
.
.
.
PID: Bu
g
fixes
.
F
urhter separation of inner/outer l
o
ops
commit
|
commitdiff
|
tree
2016-04-07
Konst
a
n
tin
Sharlaim
o
.
.
.
PID:
Massive code refacto
r
i
ng
commit
|
commitdiff
|
tree
2016-04-07
Konstantin
S
ha
r
lai
m
o
.
.
.
PID:
D
eb
u
g
code
c
le
a
nup
commit
|
commitdiff
|
tree
2016-04-07
Konstantin S
h
arlaim
o
.
.
.
MI
X
ER: Lin
e
ar an
d
i
m
p
roved
mixer from Beta
f
light
;
AIR_MODE
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
K
onstantin S
h
arlai
m
o
.
.
.
PID: Fix for I
-
term w
i
ndup
in PASST
H
RU more (airplanes)
commit
|
commitdiff
|
tree
2016-04-07
Konstantin Shar
l
aimo
.
.
.
T
PA
r
evis
i
ted
;
removed some irrelevant an
d
re
d
u
nda
n
t
.
.
.
commit
|
commitdiff
|
tree
2016-04-07
Konstantin Sh
a
rlaimo
.
.
.
PID: Log rateTa
r
get to b
l
ackbox to assist debu
g
gi
n
g
commit
|
commitdiff
|
tree
2016-04-07
Konstantin Sharlaimo
.
.
.
PID:
Explanation fo
r
leve
l
l
p
f; Bugfix
f
or filter initia
l
i
s
ati
o
n
commit
|
commitdiff
|
tree
2016-04-07
K
onst
a
ntin Sha
r
lai
m
o
.
.
.
ST gyro LPF fix
.
Default gyro l
p
d to
98Hz
commit
|
commitdiff
|
tree
2016-04-07
Kon
s
tantin Sh
a
rlaim
o
.
.
.
PID:
L
uxFloa
t
rewritten
fr
o
m
s
cratch
.
N
e
w
I
-
term bac
k
.
.
.
commit
|
commitdiff
|
tree
2016-04-06
K
o
nstantin Sharla
i
m
o
.
.
.
AL
T
HO
L
D: Jumpless takeoff in A
L
THOLD mode
commit
|
commitdiff
|
tree
2016-04-06
Konstantin Sharlaimo
.
.
.
ESTIMATOR: Detect air
cushion effect during take off
.
.
.
commit
|
commitdiff
|
tree
2016-04-04
K
o
nstantin Sh
a
rlaimo
.
.
.
S
URFACE
:
D
i
ffer
e
nt gains
,
pr
o
per cl
i
mb rate calculation
commit
|
commitdiff
|
tree
2016-04-03
Konstantin Sha
r
laimo
.
.
.
MSP: Fix for incorrect length for
M
SP_GPSSTATIST
I
CS
.
.
.
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tree
2016-04-03
Kon
s
tantin Sharlaimo
.
.
.
Mer
g
e remote
-
tracking branch 'ori
g
i
n
/
gps-remo
v
e-
s
v
info'
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commitdiff
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tree
2016-04-02
Konstant
i
n Sharlaimo
.
.
.
RTH: Bugfix for altitude hold being
disabled w
h
en GPS
.
.
.
commit
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tree
2016-04-02
Konstantin
S
harlaimo
.
.
.
Merge
b
ranch
'rth-safety'
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commitdiff
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tree
2016-04-01
Kon
s
tantin Sharlaim
o
.
.
.
GPS: Fix
GPS
g
li
t
c
h
detection
.
Clos
e
s
#
136
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2016-04-01
K
o
nstan
t
i
n
Sharlaimo
.
.
.
SURFA
C
E:
Im
p
rove su
r
fac
e
tracking
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tree
2016-03-29
Konstanti
n
Sharlaimo
.
.
.
BA
R
O: Remove averag
i
n
g and
e
xtra LPF filtering
.
Chan
g
ed
.
.
.
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commitdiff
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tree
2016-03-28
Konstan
t
i
n
Sharlaimo
.
.
.
S
URFA
C
E: Bugfix
e
s
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2016-03-28
Konstantin Sharlaimo
.
.
.
SURFACE
:
Imp
r
oved surface offset handling logic
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commitdiff
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2016-03-28
Konstantin Sharlaimo
.
.
.
SUR
F
ACE:
N
ew flight mode behavour fixed
.
Surface tracking
.
.
.
commit
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commitdiff
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tree
2016-03-28
Ko
n
stant
i
n Sharlaimo
.
.
.
RTH:
B
et
t
er RTH
s
afety
.
Prevent RTH
f
r
om ac
t
ivati
n
g
.
.
.
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2016-03-28
Konstantin
Sharla
i
mo
.
.
.
NAV: Surface tracking
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2016-03-27
Konstantin Sharlaimo
.
.
.
NAV:
Use Throttle expo curve midpoint as hover po
i
nt
.
.
.
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