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13677 Commits

Author SHA1 Message Date
priseborough 01551a4423 AP_NavEKF3: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
priseborough 8c46d4316b AP_NavEKF2: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
Randy Mackay 341b926a43 AP_HAL_SITL: add glitch for 2nd ublox 2017-03-13 11:31:51 +11:00
Randy Mackay 07ce7b8bd6 SITL: add GPS2_GLITCH parameter 2017-03-13 11:31:51 +11:00
Michael Oborne e4ff445ea7 AP_GPS_GSOF-NOVA: fix last_gps_time_ms 2017-03-09 10:41:48 -08:00
mirkix 9e1345453f AP_HAL_Linux: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
mirkix ac60ddfdde AP_OpticalFlow: allow to search on I2C bus 2 2017-03-07 22:48:48 -08:00
mirkix ad208cab56 AP_OpticalFlow: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
mirkix 81da61a68d AP_HAL: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
Michael du Breuil be1fd147fc Arming: Remove the SITL protection around GPS configuration, and rely upon the GPS library instead 2017-03-07 12:43:30 +11:00
Michael du Breuil 398ff823c0 AP_GPS: Always consider ublox as configured in sitl 2017-03-07 12:43:30 +11:00
Francisco Ferreira f6687a2d6c AP_Baro: fix example output 
PX4 boards can only start console after USB is connected so we need to
check it is available
 2017-03-07 09:37:14 +11:00
jaxxzer b98573d55f SITL: Improved Sub simulation 
-Constrain z axis movement between -100m (seafloor) and 0m (water
surface)
-More accurate thruster modelling
 2017-03-07 09:35:41 +11:00
Michael du Breuil 44bcd74a57 AP_GPS: Remove dead SBF code 
CID 125035
 2017-03-06 15:24:22 +00:00
Randy Mackay 7a7f8eb7c1 AC_Avoidance: only stop below alt-fence if fence is enabled 2017-03-06 18:02:03 +09:00
Randy Mackay 3e039a6ba4 AP_NavEKF3: minor formatting fixes 
No functional change
 2017-03-06 18:40:18 +11:00
Randy Mackay a80c0a231d AP_NavEKF3: attempt to set-up every core 
previously we would only call setup_core for the 2nd core if the first had been setup successfully
 2017-03-06 18:40:18 +11:00
priseborough 7a8783f35e AP_NavEKF3: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
priseborough b7c4945000 AP_NavEKF2: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Michael du Breuil 7f11cf3ca6 AP_Mount: Remove solo gimbal from the minimal build support 2017-03-06 11:53:08 +11:00
Randy Mackay 67097c8d59 AC_AttitudeControl: use gyro_latest 
This allows moving the attitude control before the ahrs/ekf update

We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions.  We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
 2017-03-03 13:14:28 +11:00
Randy Mackay d3aca5544e AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction 
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
 2017-03-03 13:14:28 +11:00
Andrew Tridgell ce978595cd AP_BoardConfig: added support for ICM-20602 detection 2017-03-02 14:21:36 +11:00
Andrew Tridgell 875274e761 AP_InertialSensor: added support for ICM-20602 
treat the same as a 20608
 2017-03-02 14:21:36 +11:00
Andrew Tridgell e7024d9203 AP_Landing: restructure parameters into a structure 2017-03-02 12:38:59 +11:00
Michael du Breuil 547d06febf AP_Landing: Add deepstall support 2017-03-02 12:38:59 +11:00
Michael du Breuil 8b20577b74 AP_Landing: Add a servo override interface and PID logging interface 2017-03-02 12:38:59 +11:00
Michael du Breuil ed359a5833 Dataflash: Add landing PID logging 2017-03-02 12:38:59 +11:00
Michael du Breuil c10fe2e7a4 AP_Landing: Add more interfaces from vehicle code 
Fixs up some documentation about expected return values
 2017-03-02 12:38:59 +11:00
Michael du Breuil c5c94949bf AP_Math: Extend vector2::angle(vector2) to distinguish parallel and antiparallel vectors 
There are a number of use cases where distingusihing antiparallel from parallel vectors is important
 2017-03-02 00:50:44 +00:00
Andrew Tridgell 05cbc19ad6 AP_RangeFinder: added type 15 for LidareLiteV3 2017-03-01 22:44:37 +11:00
Andrew Tridgell cf3db7560c AP_BoardConfig: fixed AUAV21 board ID to not overlap with VRBrain boards 2017-03-01 18:07:44 +11:00
Jacob Walser 507b461388 AP_Motors: Initialize throttle range directly 
This was causing SITL to hang at boot when motors object is statically allocated.
 2017-02-28 22:34:35 -08:00
Andrew Tridgell b86513f503 AP_InertialSensor: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell 37c9e08316 AP_Compass: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell d5cad2ae44 AP_Baro: support AUAV21 board 2017-03-01 17:24:10 +11:00
Andrew Tridgell 1989f31ae3 AP_BoardConfig: added AUAV21 board type 
unfortunately this uses the same sensor types as the PHMini, which
means we can't auto-detect the difference between them.
 2017-03-01 17:24:10 +11:00
Randy Mackay d79403707b AC_AttControl: add feed forward param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay fd94ab43fa AP_Proximity: minor fix to param description 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay 36bcabb4e4 SRV_Channel: add constraint to move_servo 2017-02-28 19:29:00 +11:00
Randy Mackay 7b3af58634 AC_Avoidance: fix AVOID_ANGLE_MAX parameter description 2017-02-28 15:33:59 +09:00
Andrew Tridgell adf215998f SRV_Channel: added MotorTilt to docs for SERVOn_FUNCTION 2017-02-28 08:10:56 +11:00
Randy Mackay 2b43c6aeed DataFlash: log range finder orientation 2017-02-27 15:18:40 +09:00
Randy Mackay e725ae866b AP_OpticalFlow: fix example sketch 2017-02-27 15:18:13 +09:00
Randy Mackay a74833a04a AP_AHRS: fix example sketch 2017-02-27 15:18:13 +09:00
Randy Mackay 65c8f87b17 AP_Frsky_Telem: only use downward facing rangefinder 2017-02-27 15:18:12 +09:00
Randy Mackay 3f6a734a71 AP_NavEKF3: only use downward facing rangefinder 2017-02-27 15:18:11 +09:00
Randy Mackay 563be389ee AP_NavEKF2: only use downward facing rangefinder 2017-02-27 15:18:10 +09:00
Randy Mackay a093bcb05f AP_Proximity: add rangefinder driver 
This allows avoidance using upward or forward facing range finders
 2017-02-27 15:18:09 +09:00
Randy Mackay c98e598ae2 AP_RangeFinder: fix example sketch 2017-02-27 15:18:08 +09:00