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8264 Commits

Author SHA1 Message Date
Andrew Tridgell 3529e02675 AP_AHRS: if we have 3 gyros then only use first two 
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
 2015-05-09 21:00:49 +10:00
Paul Riseborough cb59570938 AP_NavEKF: Remove bug preventing external selection of optical flow mode 2015-05-09 18:31:18 +10:00
Randy Mackay 3390d9932e AP_AHRS: fix example sketch 2015-05-09 12:23:05 +09:00
Tom Pittenger 2deb0e08ea AP_NavEKF: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger 79605de8f5 AP_Mission: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger e20ffa8c75 AP_Math: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger 1c8efb25a8 AP_HAL_SITL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger 4b6d0d8e24 AP_HAL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger 9d74f57ed3 AP_PID: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger 70bef20a29 AC_AttitudeControl: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Andrew Tridgell 1127b716c4 SITL: lower the default noise 
prevents problems calibrating the gyro
 2015-05-09 07:22:37 +10:00
Andrew Tridgell 2552acbf12 AP_Arming: fixed accel cal test in arming 
use a per-imu time of last cal pass, and triple accel threshold for
IMU3. Raise threshold to 0.5 for IMU1/IMU2
 2015-05-08 21:01:52 +10:00
Tom Pittenger d94c95a6ef GCS_MAVLink: return true if mission recieve is complete 
when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission
 2015-05-08 21:01:51 +10:00
Paul Riseborough a232606fc9 AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins 
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:

1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
 2015-05-08 16:47:31 +09:00
Paul Riseborough 08382373f1 AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading 
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
 2015-05-08 16:47:29 +09:00
Randy Mackay 3781f133d7 AC_AttControlHeli: remove unused definitions 2015-05-08 14:50:38 +09:00
Randy Mackay bef5633ed5 AC_AttControlHeli: use params from parent class 2015-05-08 14:50:36 +09:00
Randy Mackay 7951346d72 AC_AttControl: bf_feedfoward_save made more concise 2015-05-08 14:29:49 +09:00
Randy Mackay 3d9a6a69e2 MotorsHeli: COLYAW to float 2015-05-08 14:14:36 +09:00
Randy Mackay edfa206bb8 Motors_Heli: nest heli params 2015-05-08 14:14:35 +09:00
Randy Mackay 68b05a4ca2 AP_Motors: is_throttle_mix_min returns bol 2015-05-08 14:14:32 +09:00
Leonard Hall cf45a1cf3a AC_AttitudeControl: add get accel and save ff 2015-05-08 14:14:30 +09:00
Leonard Hall 1900cc7582 AC_AttitudeControl: Enable FF by default 2015-05-08 14:14:21 +09:00
Leonard Hall 0f894ac1a8 AP_Motors: Rename and move Throttle Mix / Comp 2015-05-08 14:14:17 +09:00
Jonathan Challinger 142e018a18 AP_NavEKF: fix bug causing takeoff to fail 2015-05-08 09:15:45 +09:00
Randy Mackay fa4ba456b4 GPS: fix example sketches 2015-05-07 14:01:14 +09:00
Andrew Tridgell afc9812d0b AP_InertialSensor: update VibTest after moving messages info DataFlash 2015-05-07 13:25:37 +10:00
Andrew Tridgell 7d90033a36 AP_InertialSensor: support raw accel and gyro dataflash logging 2015-05-07 12:08:30 +10:00
Andrew Tridgell 21d805422d DataFlash: added defines for raw accel and gyro logging 2015-05-07 12:08:04 +10:00
Andrew Tridgell f5140e25b0 AP_InertialSensor: updated VibTest for latest PX4 interfaces 2015-05-07 10:51:52 +10:00
Andrew Tridgell cbdc9f0706 SITL: fixed autotest SITL 2015-05-06 10:09:43 +10:00
Andrew Tridgell 2369e06815 AP_HAL: fixed SITL build on windows 2015-05-06 09:07:03 +10:00
Andrew Tridgell b09fcfc20e HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS 
such as my ubuntu 14.04 laptop :-)
 2015-05-05 21:42:46 +10:00
Andrew Tridgell 6a8da06d19 HAL_SITL: hook in CRRCSim backend 2015-05-05 21:42:46 +10:00
Andrew Tridgell 93d5101bf9 SITL: added CRRCSim simulation connection 2015-05-05 21:42:45 +10:00
Andrew Tridgell 4c11002976 AP_HAL: added HAL_OS_SOCKETS define 
used for systems with BSD sockets
 2015-05-05 21:34:19 +10:00
Andrew Tridgell 08b9ed3342 AP_HAL: added socket handling class 2015-05-05 21:34:19 +10:00
Randy Mackay 9dede2f0ec Math: remove duplicate HALF_SQRT_2 definition 2015-05-05 14:23:14 +09:00
Randy Mackay 151707cb0a Filter: replace 2*M_PI_F with M_2PI_F 2015-05-05 14:22:52 +09:00
Peter Barker 463270e0ee AP_AHRS: avoid FPE when we don't have a compass reading 2015-05-05 15:02:35 +10:00
Andrew Tridgell 77a2b4acf6 AP_Math: removed fast_atan 2015-05-05 13:57:22 +10:00
Andrew Tridgell 872583f441 AC_AttitudeControl: removed fast_atan 2015-05-05 13:57:16 +10:00
Andrew Tridgell 8ba5272b0e AP_Scheduler: fixed PSTR() usage 2015-05-05 13:54:27 +10:00
Andrew Tridgell 88fb7ddff8 AP_Param: fixed PSTR() usage 2015-05-05 13:54:15 +10:00
Andrew Tridgell 089e63f987 AP_InertialSensor: fixed PSTR handling 
must use PSTR on code compiled for AVR
 2015-05-05 13:54:00 +10:00
Andrew Tridgell 31693e332e AP_InertialSensor: use non-PSTR printf 
this is not built on AVR
 2015-05-05 13:48:34 +10:00
Andrew Tridgell 730644eaeb AP_Mount: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:25 +10:00
Andrew Tridgell 84ac721340 AC_AttitudeControl: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:19 +10:00
Andrew Tridgell f9114f849b Filter: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell bcc6c7d380 AP_Param: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell a140a5e77f AP_NavEKF: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell 7c9e3d4b58 AP_Mount: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 0b897e04bb AP_Math: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell e6a8a6da07 AP_InertialSensor: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 015fce5183 AP_Compass: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell d2167633f0 AP_Camera: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 48fb7f8159 AP_BARO: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell 4d4a607b80 AP_AHRS: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell c08b62f9e4 AC_WPNAV: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell 33555b7f12 AC_PID: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell aa1bfb1ca7 AC_Fence: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Andrew Tridgell 326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Andrew Tridgell 936fbbb362 AP_Math: removed AP_Math class 2015-05-05 13:27:03 +10:00
Tom Pittenger 7fd285f483 AC_WPNav: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger 4ec2fb3a9c AP_Math: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:02 +10:00
Tom Pittenger 1b84bbc3e7 AC_WPNav: Compiler warnings: add in the appropriate whitrespace 2015-05-05 13:27:02 +10:00
Tom Pittenger 0e076d6dc8 AP_InertialSensor: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:02 +10:00
Tom Pittenger 6acd92be1e AP_RangeFinder: compiler warnings: compare signed to unsigned 2015-05-05 13:27:02 +10:00
Tom Pittenger 9e98c68099 AP_InertialSensor: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:01 +10:00
Tom Pittenger d823541eb1 AP_Scheduler: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:01 +10:00
Tom Pittenger bfd1b2b11a AP_Param: compile warnings: format not a string literal, argument types not checked 2015-05-05 13:27:01 +10:00
Tom Pittenger b9771ca37c AP_Param: compile warnings: float to double. print statements require doubles 2015-05-05 13:27:00 +10:00
Tom Pittenger 330e4126bb Ap_Math: compile warnings: float to double. use atan2f instead of atan2 2015-05-05 13:27:00 +10:00
Tom Pittenger 440438fdda AP_Param: compiler warnings: apply is_zero(float) or is_equal(float) 
due to an include cross-dependency between ap_param and ap_math, I punted and reimplemented is_equal() for this one function in the header
 2015-05-05 13:26:58 +10:00
Tom Pittenger 820f0bf02a AP_Math: compiler warnings: float to double promotion 
cast as float because we're in magical template land where T minus T means promote to double
 2015-05-05 13:26:58 +10:00
Tom Pittenger 1c3ad00aa7 AP_Math: compiler warnings: use double for the constant so the template can handle it 2015-05-05 13:26:57 +10:00
Tom Pittenger 6e6f481ecb AP_Math: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:56 +10:00
Tom Pittenger 98c5137107 AP_HAL_PX4: compiler warnings: float to doubles 2015-05-05 13:26:56 +10:00
Tom Pittenger 54f4d4b07c AP_PID: compiler warnings: reordered constructor 2015-05-05 13:26:56 +10:00
Tom Pittenger 0b29848277 AP_Baro: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:56 +10:00
Tom Pittenger d275e6711d AP_HAL_VRBRAIN: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:55 +10:00
Tom Pittenger 20f47417d5 AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Tom Pittenger 94ffc9b942 AC_Fence: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:55 +10:00
Tom Pittenger 1bca81eaed AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Tom Pittenger 6d1b517aae Filter: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:55 +10:00
Tom Pittenger 913d00f525 AP_WPNav: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Tom Pittenger 98ca790cb9 AP_DataFlash: compiler warnings: float to double 2015-05-05 13:26:54 +10:00
Tom Pittenger 4ac1f8a2fa AP_Mount: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Tom Pittenger 9b53961a7d AP_NavEKF: compiler warnings: float to double 2015-05-05 13:26:52 +10:00
Tom Pittenger 3276eec30e AP_NavEKF: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:52 +10:00
Tom Pittenger 35f7a466e5 AP_Math: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:52 +10:00
Tom Pittenger a5d2f3a82f AP_Math: compiler warnings: float to double 2015-05-05 13:26:52 +10:00
Tom Pittenger d09ef4783d AP_Compass: compiler warnings: reorder constructors 2015-05-05 13:26:52 +10:00
Tom Pittenger ad11a57f57 AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:51 +10:00
Tom Pittenger 820199635b AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:51 +10:00
Tom Pittenger 01180d52c4 AP_PID: compiler warnings: apply is_zero(float) 2015-05-05 13:26:51 +10:00
Tom Pittenger ac4e7b2b03 AP_Math: compiler warnings: apply is_equal(float) 2015-05-05 13:26:51 +10:00
Tom Pittenger c93c773de2 AP_Math: change is_equal and is_zero to static class for better visability 2015-05-05 13:26:50 +10:00
Tom Pittenger 3cb2221315 AP_IntertialSensor: double to float warning 2015-05-05 13:26:50 +10:00
Tom Pittenger bdda11b327 AP_Math: compiler warning: is_zero special case for vector3.h in a template 2015-05-05 13:26:50 +10:00
Andrew Tridgell 878eb88c3a AP_GPS: avoid expanding the ublox buffer on APM2 2015-05-05 13:25:34 +10:00
Micheal Knight ee85d37ee2 AP_GPS: added logging of RXM_RAW messages for UBlox 
this will allow for post-flight RTK processing of DF logs
 2015-05-05 13:25:34 +10:00
Andrew Tridgell f8e09da50e DataFlash: added GRAW raw GPS message 
for saving RXM_RAW for post flight RTK
 2015-05-05 13:25:34 +10:00
Andrew Tridgell 42c6801d61 SITL: reformat SITL code with astyle 2015-05-05 11:49:54 +10:00
Andrew Tridgell c81ad1d622 HAL_SITL: reformat HAL_SITL with astyle 2015-05-05 10:59:07 +10:00
Lucas De Marchi d640bc8345 AP_HAL_Linux: use kernel's limit of msgs per I2C transaction 
Instead of hardcoding 8 as the limit for I2C msgs, use whatever the
kernel exported to us.  In upstream this is 42 so it means we can group
together 21 addr/data pair instead of only 8.
 2015-05-05 09:56:44 +10:00
Andrew Tridgell d8791134f9 HAL_SITL: need to use fabs() for double checking 2015-05-05 09:45:59 +10:00
Andrew Tridgell b9abf30785 HAL_SITL: removed unused cygwin code 2015-05-05 09:45:58 +10:00
Andrew Tridgell 5158f91263 HAL_SITL: converted command line code to getopt_cpp 2015-05-05 09:45:58 +10:00
Andrew Tridgell a58a663085 SITL: fixed build on APM2 2015-05-05 09:45:58 +10:00
Andrew Tridgell 35d22b9d57 AP_HAL: added getopt_cpp class 
a simple port of getopt_long to C++
 2015-05-05 09:45:58 +10:00
Andrew Tridgell 438f954379 DataFlash: fixed some build warnings 2015-05-05 09:45:58 +10:00
Andrew Tridgell d8ca0658d7 AP_Mount: fixed some build warnings 2015-05-05 09:45:58 +10:00
Andrew Tridgell b2b5c8cd18 HAL_SITL: fixed some build warnings 2015-05-05 09:45:58 +10:00
Andrew Tridgell a7c3125bcc AP_GPS: fixed warnings in SBP driver 2015-05-05 09:45:57 +10:00
Andrew Tridgell 212e0ec002 StorageManager: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Andrew Tridgell fa688a7b14 RC_Channel: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Andrew Tridgell f449b34fdd PID: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell 2d89b8b53d GCS_MAVLink: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell 69f9d25cd0 DataFlash: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell cf4602afc1 AP_TECS: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell a4e8d960d2 AP_Scheduler: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell c80a631813 AP_Relay: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell ac43972883 AP_RangeFinder: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell 4ee54a8915 AP_OpticalFlow: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell 9f10e2d26c AP_Notify: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Andrew Tridgell c4d6f9d040 AP_NavEKF: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell 2e57c62ebb AP_Motors: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell 0c142bb25a AP_Mission: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell eca675c556 AP_Math: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell ef527d9daa AP_InertialSensor: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell 2be45bc7e6 AP_GPS: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell dd94cc18a1 AP_Common: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell 8055e5792d AP_BattMonitor: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell 7d9d594283 AP_Baro: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell f23bc463cb AP_Airspeed: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell e597575747 AP_AHRS: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell d8cd986696 APM_Control: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell e789984c98 AC_WPNav: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell 777685ce1f AC_PID: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell 40e3b422b5 HAL_SITL: rename HAL_AVR_SITL to HAL_SITL 
it is nothing to do with the original AVR emulation now
 2015-05-05 09:45:54 +10:00
Andrew Tridgell 24fc1d8ebf HAL_SITL: added -F option for FDM address 2015-05-05 09:45:54 +10:00
Andrew Tridgell 630cd14252 HAL_SITL: added rover simulator support 2015-05-05 09:45:53 +10:00
Andrew Tridgell 64fa219c05 SITL: converted rover simulator from python to C++ 2015-05-05 09:45:53 +10:00
Andrew Tridgell 11df612c04 HAL_SITL: added a table of simulator constructors 2015-05-05 09:45:53 +10:00
Andrew Tridgell 6ec6158b8b SITL: converted helicopter simulator from python 2015-05-05 09:45:53 +10:00
Andrew Tridgell be3d6c924e AP_Compass: rename enum values to avoid header conflicts for 'ERROR' 2015-05-05 09:45:53 +10:00
Andrew Tridgell 963e5c5977 HAL_SITL: removed pthread.h as no longer needed 2015-05-05 09:45:53 +10:00
Michael Oborne c26f2c9b1c SITL: add missing include 'select' 2015-05-05 09:45:53 +10:00
Andrew Tridgell 878549530d HAL_SITL: g_state is not needed any more 2015-05-05 09:45:53 +10:00
Andrew Tridgell a17fc9e5ab SITL: fixed time handling type 2015-05-05 09:45:53 +10:00
Andrew Tridgell ce0a863d01 AP_NavEKF: allow for optimisation of the EKF 
disable optimisation when debugging needed
 2015-05-05 09:45:53 +10:00
Andrew Tridgell 25de563687 HAL_SITL: support direct RC input 2015-05-05 09:45:52 +10:00
Andrew Tridgell 77f007ab27 SITL: support speedup setting on the command line 2015-05-05 09:45:52 +10:00
Andrew Tridgell a6f41b3ca6 HAL_SITL: removed the need for the FDM thread 
this also removes the need for the barriers
 2015-05-05 09:45:52 +10:00
Andrew Tridgell 19147a05f6 SITL: support functions for new simulators 2015-05-05 09:45:52 +10:00
Andrew Tridgell 437e1bdba0 SITL: added fill_fdm() for FDM output from simulator 2015-05-05 09:45:52 +10:00
Andrew Tridgell ab2d4349b4 HAL_SITL: initial support for internal simulators 2015-05-05 09:45:52 +10:00
Andrew Tridgell 24b051565b AP_Math: added normalize() method to Matrix3f 2015-05-05 09:45:52 +10:00
Andrew Tridgell 914b91af9e SITL: initial conversion of multicopter sim to C++ 2015-05-05 07:12:36 +10:00
Randy Mackay 2a6421d1bf Airspeed: fix example sketch 2015-05-02 20:53:49 +09:00
Randy Mackay 55298a4c73 Baro: fix example sketch 2015-05-02 17:25:44 +09:00
Paul Riseborough be04be9b43 AP_NavEKF: Fix bug preventing home position being set by copter 
The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
 2015-05-02 17:20:21 +09:00
Randy Mackay 75e2498da2 Scheduler: fix example sketch 2015-05-02 11:55:50 +09:00
Randy Mackay c78068b8b8 StorageManager: fix example sketch 2015-05-01 21:03:13 +09:00
Randy Mackay 5b15c07d47 RC_Channel: fix example sketch 2015-05-01 21:02:57 +09:00
Randy Mackay 240a845206 Notify: fix example sketches 2015-05-01 20:58:34 +09:00
Randy Mackay b223e90ef6 AP_Motors: fix example sketches 2015-05-01 20:58:20 +09:00
Randy Mackay ed61d961c3 Mission: fix example sketch 2015-05-01 20:58:06 +09:00
Randy Mackay fecbf06008 AP_Math: fix example sketches 2015-05-01 20:57:38 +09:00
Jonathan Challinger 2b29060a4e AC_WPNav: remove unused set_loiter_velocity 2015-05-01 16:46:53 +09:00
Randy Mackay 187dd0dccd HAL_PX4: fix example sketch 2015-05-01 16:44:10 +09:00
Randy Mackay fb7e75594f AP_NavEKF: replace memset with quaternion.initialise 2015-05-01 16:37:35 +09:00
Randy Mackay eaedeeb7bf AP_Math: add quaternion.initialise 2015-05-01 16:37:34 +09:00
Randy Mackay c366fbbc96 AP_NavEKF: remove unused haveDeltaAngles 2015-05-01 16:37:33 +09:00
Randy Mackay 6773c0b232 AP_InertialSensor: default primary accel and gyro 2015-05-01 16:37:33 +09:00
Paul Riseborough b71b8f4bda AP_NavEKF: Always return a NED relative position if possible 
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
 2015-05-01 16:37:32 +09:00
Paul Riseborough 20ba1e6b1b AP_NavEKF: Always return a WGS-84 location if possible 
If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
 2015-05-01 16:37:31 +09:00
Paul Riseborough dd1e0b2f0b AP_NavEKF: Add missing function to return the NED to XYZ quaternion 2015-05-01 16:37:30 +09:00
Paul Riseborough 2c4572eb50 AP_NavEKF: Make ground effect variable names more descriptive 2015-05-01 16:37:29 +09:00
Paul Riseborough 3986851c51 AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff 
The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
 2015-05-01 16:37:28 +09:00
Paul Riseborough 2cba60c731 AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion 
Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
 2015-05-01 16:37:27 +09:00
Paul Riseborough c4c0f819b5 AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step 2015-05-01 16:37:26 +09:00
Paul Riseborough 5dc29699ab AP_NavEKF: Publish the INS delta quaternion 2015-05-01 16:37:25 +09:00
Paul Riseborough d273302ce7 AP_NavEKF: Improve rate of accel bias learning before flight 2015-05-01 16:37:24 +09:00
Paul Riseborough 8dc6354a54 AP_NavEKF: Prevent touchdown baro errors tripping height innovation check 
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
 2015-05-01 16:37:23 +09:00
Jonathan Challinger 2f38dd1b67 AP_NavEKF: use quaternion functions to apply IMU delta angles 2015-05-01 16:37:22 +09:00
Jonathan Challinger 9c374eb4a8 AP_NavEKF: apply constrained floor to barometer innovation while landing 2015-05-01 16:37:21 +09:00
Jonathan Challinger 3c6446fadd AP_NavEKF: refactor meaHgtAtTakeOff filter 2015-05-01 16:37:20 +09:00
Paul Riseborough 744de74c16 AP_NavEKF: Reduce ground effect baro induced height errors during takeoff 2015-05-01 16:37:19 +09:00
Paul Riseborough 13616d6436 AP_NavEKF: Add takeoff and touchdown expected to reported filter status 2015-05-01 16:37:19 +09:00
Jonathan Challinger 8c92524b8a AP_NavEKF: add takeoffExpected and touchdownExpected 2015-05-01 16:37:18 +09:00
Jonathan Challinger b6b55bf6f2 AP_NavEKF: integrate gravity over correct time period 2015-05-01 16:37:17 +09:00
Jonathan Challinger cb0c424da1 AP_NavEKF: rewrite readIMUData 2015-05-01 16:37:16 +09:00
Jonathan Challinger bb88a4f8fe AP_InertialSensor: healthy() checks bounds 2015-05-01 16:37:15 +09:00
Jonathan Challinger af80f20a51 AP_InertialSensor: add get_primary_gyro, fix get_primary_accel 2015-05-01 16:37:14 +09:00
Randy Mackay 0acc06d713 AP_Motors: minor comment for interlock 2015-05-01 14:30:45 +09:00
Robert Lefebvre 1a482de5e2 AP_MotorsHeli: Overload output_armed_zero_throttle 2015-05-01 14:30:25 +09:00
Robert Lefebvre 6bdace30d2 AP_Motors: Add throttle interlock functionality 
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
 2015-05-01 14:30:24 +09:00
Randy Mackay 31edd6a72b AC_PosControl: add_takeoff_climb_rate method 
This function simply increments the current altitude target given a
climb rate and dt
 2015-05-01 12:56:30 +09:00
Jonathan Challinger 348001e786 AP_Motors: add get_throttle_warn function 2015-05-01 12:56:11 +09:00
Andrew Tridgell 74581a55bc HAL_SITL: fixed startup of SITL in synthetic clock mode 2015-04-30 17:19:56 +10:00
Andrew Tridgell df21c6c68d AP_HAL: support micros64() and millis64() on all platforms 
this will allow for 64 bit timestamps in DF logs (Peter is working on
that)
 2015-04-30 12:17:34 +10:00
Andrew Tridgell 4c4a4f9ea5 AP_RangeFinder: fixed cm to meter comparison 
thanks to EShamaev for this fix (see PR #1352)
 2015-04-30 11:26:36 +10:00
Randy Mackay dfadcad69d Mission: allow zoom_step to be negative 2015-04-29 14:36:25 +09:00
Randy Mackay bae1722946 AP_Motors: get_compensation_gain gets div-by-zero check 2015-04-29 14:36:22 +09:00
Randy Mackay 1b381b5675 Baro: get_air_density_ratio gets div-by-zero check 2015-04-29 14:36:20 +09:00
Jonathan Challinger 41ae7207c7 AP_Motors: scale roll/pitch/yaw gain for air density 2015-04-29 14:36:15 +09:00
Jonathan Challinger e2ba351149 AP_Motors: refactor apply_thrust_curve_and_volt_scaling 2015-04-29 14:36:12 +09:00
Jonathan Challinger f381ef93e8 AP_Baro: add get_air_density_ratio 2015-04-29 14:36:10 +09:00
Randy Mackay b55367ccc7 GCS_MAVLink: fix example sketch 2015-04-29 10:18:57 +09:00
Randy Mackay 67b0c6f5c4 AC_PID: replace is_equal with is_zero 2015-04-28 16:22:08 +09:00
Randy Mackay 3514177314 AC_PI_2D: minor format fix 2015-04-28 16:21:53 +09:00
dgrat 303cfd683a AC_PID: replace floating point '==' with is_equal 
Also add div-by-zero check to fix calc_filt_alpha

Also get_i and get_shrink_i do not need to set values to zero in Vector2f
constructor because this is already done.
 2015-04-28 16:21:46 +09:00
Randy Mackay 0392292489 AP_Math: inline is_equal, add is_zero 2015-04-28 16:19:01 +09:00
dgrat 726d7df710 AP_Math: add is_equal to compare floats 2015-04-28 16:18:59 +09:00
Grant Morphett 444841537e AP_Camera: Just putting the newline at the end of the file. 2015-04-28 15:23:34 +09:00
Andrew Tridgell 007b01533d AP_InertialSensor: switched to 16g accel range for MPU9250 
this matches the Pixhawk, and makes us less prone to vibration. We
have seen clipping at 8g
 2015-04-28 15:30:29 +10:00
Randy Mackay 33431acaa4 AC_WPNav: protect against div-by-zero related to gnd_speed_limit 2015-04-28 13:53:19 +09:00
Paul Riseborough 7481217445 AC_WPNav: Improve application of EKF optical flow speed limit 2015-04-28 13:53:17 +09:00
Andrew Tridgell 514c349060 AP_NavEKF: raise DCM error_rp threshold to 0.05 
it was failing on many boards with fixed wing
 2015-04-28 14:07:39 +10:00
Andrew Tridgell 6bfca648b9 AP_AHRS: raise DCM P gains when disarmed for first 20 seconds 2015-04-28 14:07:39 +10:00
Andrew Tridgell 42d2addbdd HAL_SITL: removed the special code for cygwin 
we no longer need special timing code for cygwin
 2015-04-28 13:15:40 +10:00
Andrew Tridgell 063a33ebce HAL_SITL: implement barriers using pthread condition variables 
this avoid pthread_barrier_*, which is not available on cygwin
 2015-04-28 13:14:12 +10:00
Jonathan Challinger 3812773485 AP_Math: make quaternion divide by zero protection more conservative 2015-04-28 11:42:13 +10:00
Jonathan Challinger fb8da1b2d8 AP_Math: add get_euler_(roll|pitch|yaw) functions to quaternion 2015-04-28 11:42:13 +10:00
Andrew Tridgell 020d9ea78a HAL_PX4: only consider power to have changed when armed 
this prevents false positives with multi-battery setups
 2015-04-28 11:05:29 +10:00
Randy Mackay 608bb3d611 Notify: minor format fix 2015-04-27 12:10:17 +09:00
Andrew Tridgell 028248d1f5 HAL_SITL: avoid floating point exceptions on i386 
fixes issue #2147
 2015-04-27 13:09:21 +10:00
Andrew Tridgell 4e86a6cd0e GCS_MAVLink: merged upstream header changes 2015-04-27 09:00:38 +10:00
Randy Mackay 35874292a0 AC_WPNav: move stop below all loiter methods 
No functional change
 2015-04-26 16:26:53 +09:00
Robert Lefebvre 4a7fe83b0f AC_WPNav: Create Stop Mode functions 2015-04-26 16:11:45 +09:00
Andrew Tridgell fdac41dbab GCS_MAVLink: re-generate headers 2015-04-25 09:12:16 +10:00
Michael Day 3d3267d472 AP_Mission: Now support mission item MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Michael Day 98d7f943ef GCS_MAVLink: Added definition for MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Jonathan Challinger a07b322d31 AP_Motors: set_throttle takes a float 2015-04-24 16:30:45 +09:00
Jonathan Challinger ab2532a609 AC_AttitudeControl: constrain _angle_boost to avoid overflow 2015-04-24 16:30:43 +09:00
Randy Mackay fdf226ebc1 AP_NavEKF: include AP_RangeFinder.h 2015-04-24 15:49:11 +09:00
Tom Pittenger 10c933966b AP_Math: fix compile warning re float constants 2015-04-24 14:25:02 +09:00
Tom Pittenger dbc01e2f1a BattMon: fix compile warning re to unused variable 2015-04-24 14:18:36 +09:00
Tom Pittenger 3b3752468d HAL_PX4: fix compile warnings re unused variables 2015-04-24 14:18:24 +09:00
Tom Pittenger 84d3069a77 AttControl_Heli: fix compile warning re member init order 2015-04-24 14:15:35 +09:00
Tom Pittenger 52474faa2e AP_ADC: fix compile warning re member init order 2015-04-24 14:15:24 +09:00
Tom Pittenger 4191c44bbd Baro: fix compile warning re member init order 2015-04-24 14:15:11 +09:00
Tom Pittenger 16e71ec1ce Compass: fix compile warning re member init order 2015-04-24 14:15:00 +09:00
Tom Pittenger 179c72bfa9 HAL_PX4: fix compile warning re member init order 2015-04-24 14:14:38 +09:00
Tom Pittenger ee1a415baa HAL_VRBrain: fix compile warning re member init order 2015-04-24 14:14:27 +09:00
Tom Pittenger a340d13d01 NavEKF: fix compile warning re member init order 2015-04-24 14:14:12 +09:00
Tom Pittenger f3d13656ba PID: fix compile warnings re float constants 2015-04-24 14:04:24 +09:00
Tom Pittenger 91476d78ae SITL: fix compile warnings re float constants 2015-04-24 14:04:19 +09:00
Tom Pittenger 1575abff63 GCS_Console: fix compile warnings re float constants 2015-04-24 14:04:17 +09:00
Tom Pittenger 347fc1e59c Filter: fix compile warnings re float constants 2015-04-24 14:04:14 +09:00
Tom Pittenger f700f76923 DataFlash: fix compile warnings re float constants 2015-04-24 14:04:12 +09:00
Tom Pittenger 5ead138917 RangeFinder: fix compile warnings re float constants 2015-04-24 14:04:10 +09:00
Tom Pittenger 5f49b79d2f Rally: fix compile warnings re float constants 2015-04-24 14:04:08 +09:00
Tom Pittenger 2179705791 PerfMon: fix compile warnings re float constants 2015-04-24 14:04:06 +09:00
Tom Pittenger 66ddfdeae6 AP_Param: fix compile warnings re float constants 2015-04-24 14:04:04 +09:00
Tom Pittenger d6b34209b5 NavEKF: fix compile warnings re float constants 2015-04-24 14:04:02 +09:00
Tom Pittenger a5ffadf201 AP_Motors: fix compile warnings re float constants 2015-04-24 14:04:00 +09:00
Tom Pittenger a8dda9f2ed AP_Math: fix compile warnings re float constants 2015-04-24 14:03:54 +09:00
Tom Pittenger a4b8575432 InertialSensor: fix compile warnings re float constants 2015-04-24 14:03:49 +09:00
Tom Pittenger ae6d44bf82 HAL_VRBrain: fix compile warnings re float constants 2015-04-24 14:03:38 +09:00
Tom Pittenger 7e18480cd2 HAL_PX4: fix compile warnings re float constants 2015-04-24 12:49:18 +09:00
Tom Pittenger 11951dbf48 HAL_Flymaple: fix compile warnings re float constants 2015-04-24 12:48:20 +09:00
Tom Pittenger b7fb4022b4 AVR_SITL: fix compile warnings re float constants 2015-04-24 12:47:11 +09:00
Tom Pittenger 12b604663c FrSky_Telem: fix compile warnings re float constants 2015-04-24 12:39:21 +09:00
Tom Pittenger dffcdbd751 Curve: fix compile warnings re float constants 2015-04-24 12:39:02 +09:00
Tom Pittenger bf1d128d70 Compass: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:29:07 +09:00
Tom Pittenger c1d4992dac Camera: fix compile warnings re float constants 2015-04-24 12:28:03 +09:00
Tom Pittenger 0926cf17dd BattMon: fix compile warnings re float constants 2015-04-24 12:27:23 +09:00
Tom Pittenger 8f11507594 Arming: fix compile warnings re float constants 2015-04-24 12:27:05 +09:00
Tom Pittenger e28c555889 AHRS_DCM: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:26:08 +09:00
Tom Pittenger f4bfc12316 AP_ADC: fix compile warnings re float constants 2015-04-24 12:24:49 +09:00
Tom Pittenger 7132b39dcf AP_AutoTune: fix compile warnings re float constants 2015-04-24 12:24:19 +09:00
Tom Pittenger 2f9e0c1938 APM_PI: fix compile warnings re float constants 2015-04-24 12:24:02 +09:00
Tom Pittenger b9865c5f3e AC_Circle: fix compile warnings re float constants 2015-04-24 12:23:38 +09:00
Tom Pittenger 4b97cc1957 AC_PID: fix compile warnings re float constants 2015-04-24 12:22:43 +09:00
Randy Mackay b05bdd657d AP_NavEKF: getHeightControlLimit modifies height on success 2015-04-24 10:58:05 +09:00
Randy Mackay ba94a993f5 AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success 2015-04-24 10:58:00 +09:00
Paul Riseborough 51624149e1 AP_InertialNav: Add function to return EKF height control limit 2015-04-24 10:57:58 +09:00
Paul Riseborough cf04600710 AP_NavEKF: Add public function to limit height control during OF nav 2015-04-24 10:57:56 +09:00
Paul Riseborough 68b225de4d AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height 2015-04-24 10:57:54 +09:00
Paul Riseborough c2e6fdb56c AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate 
This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
 2015-04-24 10:57:51 +09:00
Paul Riseborough fd7fdc1ad9 AP_NavEKF: Remove unnecessary state resets on arm and disarm 
Resetting states unnecessarily creates transients due to presence of bias errors
 2015-04-24 10:57:49 +09:00
Paul Riseborough 3e67080002 AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias 2015-04-24 10:57:47 +09:00
Paul Riseborough e48171ab11 AP_NavEKF: Improve takeoff with optical flow and range data loss 
Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
 2015-04-24 10:57:45 +09:00
Paul Riseborough 3e061b174e AP_NavEKF: Report unhealthy for all filter faults 2015-04-24 10:57:43 +09:00
Paul Riseborough 6c4c54c2ba AP_NavEKF: Use default on ground range parameter from range finder object 2015-04-24 10:57:41 +09:00
Jonathan Challinger 10476333d8 AP_NavEKF: don't run when previously disarmed and time has slipped 2015-04-24 10:57:39 +09:00
Jonathan Challinger 085faaac6a AP_NavEKF: fix delay detection so that filter properly resets after a delay 2015-04-24 10:57:36 +09:00
Randy Mackay a01fb64f12 RangeFinder: fix example sketch 2015-04-24 10:57:25 +09:00
Randy Mackay 715da653c3 RangeFinder_Analog: set status 2015-04-24 10:57:23 +09:00
Randy Mackay fadfa70e99 RangeFinder_MaxSonar: set status 2015-04-24 10:57:21 +09:00
Randy Mackay e212ebb0d0 RangeFinder_PulsedLight: set status 2015-04-24 10:57:19 +09:00
Randy Mackay aa04bef5af RangeFinder_PX4: set status and consume out of range samples 2015-04-24 10:57:16 +09:00
Randy Mackay 71de0ab815 RangeFinder_PX4_PWM: set status and consume out of range samples 2015-04-24 10:57:12 +09:00
Randy Mackay 7663b8eade RangeFinder: replace healthy with status and no_data methods 2015-04-24 10:57:10 +09:00
Randy Mackay 8ed6207ca8 RangeFinder: add pre-arm checks 2015-04-24 10:57:05 +09:00
Randy Mackay f1cbd1f03b RangeFinder: add ground clearance parameter 2015-04-24 10:57:03 +09:00
Paul Riseborough 1c8e3f9444 AP_NavEKF: Allow EKF to pull data from range finder object 2015-04-24 10:57:01 +09:00
Paul Riseborough 7f1749dc1c AP_AHRS: Allow EKF to pull data from range finder object 2015-04-24 10:56:58 +09:00
Andrew Tridgell f21aa17980 AP_GPS: fixed sending of GPS_RAW_INT with multiple links 
thanks to ziltoid2 for this fix! See PR #2132
 2015-04-24 08:21:00 +10:00
Niels Joubert 2a5b25ddbf GCS_MAVLink: Re-enable GPS Injection Packets 2015-04-24 08:01:32 +10:00
Niels Joubert a5beef00d1 GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS 
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.

THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.

NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
 2015-04-24 08:01:32 +10:00
Fergus Noble 0480867de2 SITL: Update SBP simulation functions for pseudo-absolute mode 2015-04-24 08:01:32 +10:00
Paul Riseborough 405862bd8f AP_AHRS: Reduce time delay for EKF initialisation 2015-04-23 20:35:52 +09:00
Paul Riseborough 4a5bf0a266 AP_NavEKF: Reduce EKF start time 
Makes EKF start conditional on DCM solution tilt error
 2015-04-23 20:35:48 +09:00
Paul Riseborough 5184bca87f AP_AHRS: Prevent DCM reporting good tilt error when inverted 2015-04-23 20:35:39 +09:00
Paul Riseborough ea8217bd3a AP_AHRS: Reduce time constant on filtering of DCM error reporting 
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
 2015-04-23 20:35:35 +09:00
Randy Mackay 7e43eaafab GPS: TYPE param description to PX4-UAVCAN 2015-04-23 20:17:26 +09:00
Randy Mackay 6e30093924 AP_AHRS: correct sanity checks on update_trig 2015-04-23 09:45:43 +09:00
Jonathan Challinger 6a6ccb4f32 AP_AHRS: add sanity checks 2015-04-22 21:50:51 +09:00
Randy Mackay c6f71ea2e0 AHRS: make get_error_rp and get_error_yaw const 2015-04-21 22:42:17 +09:00
Randy Mackay 18a73d8630 Camera: use camera feedback flag 2015-04-21 22:22:57 +09:00
Randy Mackay 26383183d2 GCS_MAVLink: version update after generate 2015-04-21 22:22:54 +09:00
Randy Mackay 48c6803717 GCS_MAVLink: generate after fixing camera feedback flags 2015-04-21 22:22:52 +09:00
Randy Mackay 8e2616ddcf GCS_MAVLink: prefix camera feedback flags 2015-04-21 22:22:49 +09:00
Dario Lindo Andres a21d328b93 GCS_Mavlink: Update ardupilotmega.xml 
Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.
 2015-04-21 22:22:47 +09:00
Randy Mackay 8ced9cc904 Gimbal: only include for high performance CPUs 2015-04-21 21:47:18 +09:00
Randy Mackay 93ba2d2d32 Mount_MAVLink: uses vehicle's sysid 2015-04-21 21:47:17 +09:00
Randy Mackay e726a05f3b Gimbal: fix to parameter init order 
resolves a compiler warning
 2015-04-21 21:47:16 +09:00
Randy Mackay e9b2153672 Gimbal: formatting fixes 
Also isCopterFlipped returns bool instead of uint8_t
No functional change
 2015-04-21 21:47:15 +09:00
Randy Mackay db6bb295c7 Mount: add gimbal parameter descriptions 2015-04-21 21:47:14 +09:00
Randy Mackay 924a3b2c67 GCS_MAVLink: version update after generate 2015-04-21 21:47:13 +09:00
Randy Mackay 9f10c43708 GCS_MAVLink: generate after GIMBAL/GOPRO msgs added 2015-04-21 21:47:12 +09:00
Angus Peart 86b81120fd GCS_MAVLink: update gopro message definitions 2015-04-21 21:45:53 +09:00
Jonathan Challinger 231f776dd7 AP_Gimbal: change isCopterFlipped() 2015-04-21 21:45:52 +09:00
Arthur Benemann e59c6ddbae AP_SmallEKF: increase start-up time of the SmallEKF 2015-04-21 21:45:51 +09:00
Arthur Benemann 21b909f670 AP_Gimbal: report gimbal angles using a 312 rotation vector 2015-04-21 21:45:50 +09:00
Arthur Benemann 2850c7ab4a AP_Gimbal: nest AP_Gimbal files into AP_Mount library 2015-04-21 21:45:49 +09:00
Arthur Benemann 608017ba4a AP_Gimbal: optimize function calls using const refrences 2015-04-21 21:45:48 +09:00
Arthur Benemann 03c0e17a4d AP_Gimbal: fix typo 2015-04-21 21:45:47 +09:00
Arthur Benemann 03974c93bb AP_Gimbal: use new quaternion math to handle gimbal lock issue 2015-04-21 21:45:46 +09:00
Arthur Benemann 255c5b3025 AP_Mount: report MAVLink gimbal angle to the GCS 2015-04-21 21:45:45 +09:00
Arthur Benemann b3c35aee4e AP_Gimbal: fix problem with rotation math on control loop 2015-04-21 21:45:44 +09:00
Arthur Benemann 4bdf909bbf AP_Mount: Create new copter parameters to hold gimbal settings 2015-04-21 21:45:43 +09:00
Arthur Benemann cf2377d113 AP_Gimbal: Move gimbal parameters to a structure 2015-04-21 21:45:42 +09:00
Arthur Benemann 9b94f26583 AP_Gimbal: Relax minimal angle constrains on the gimbal 2015-04-21 21:45:41 +09:00
Arthur Benemann a05fe7e117 AP_Gimbal: Re-implement the target low-pass filter 2015-04-21 21:45:40 +09:00
Arthur Benemann b3dd8891c8 AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class 2015-04-21 21:45:38 +09:00
Arthur Benemann ee8c92c850 AP_Gimbal: clean-up for AP_Mount merge 2015-04-21 21:45:37 +09:00
Arthur Benemann 4ad3e786a5 AP_NavEKF: fix initialization of the SmallEKF 
The constructor 'states' variable was not being called. To make sure other variables where also zeroed now
 2015-04-21 21:45:36 +09:00
Arthur Benemann 0189f80462 AP_Gimbal: update getGimbalRateDemVecTilt to use quaternions 2015-04-21 21:45:35 +09:00
Arthur Benemann 4bdae02cfd AP_Gimbal: disable gimbal motors if copter is fliped 2015-04-21 21:45:34 +09:00
Arthur Benemann ebaf1e28b1 AP_Gimbal: smooth the RC input with a low pass filter 2015-04-21 21:45:33 +09:00
Arthur Benemann 534790634b AP_Gimbal: add a radio failsafe state to the gimbal 2015-04-21 21:45:32 +09:00
Arthur Benemann 1da4be3a87 AP_Gimbal: initial implementation of the rate controlled gimbal library 2015-04-21 21:45:30 +09:00
Arthur Benemann 1d9beed42f AP_SmallEKF: add function to report if the EKF is stable 2015-04-21 21:45:29 +09:00
Arthur Benemann 7b28bf7d44 AP_NavEKF: Remove small EKF dependency on navigation EKF 2015-04-21 21:45:28 +09:00
Arthur Benemann 558a69bdca Mount_MAVLink: remove code now in AP_Gimbal 2015-04-21 21:44:56 +09:00
Jonathan Challinger 2053d5e42e GCS_MAVlink: add GIMBAL_ and GOPRO_ messages 2015-04-21 21:40:05 +09:00
Randy Mackay 87e6452ee9 Mission: bug fix when jump target is zero 
This would result in copter flying to a waypoint high above home
 2015-04-21 20:42:49 +09:00
Andrew Tridgell a0969905ce AP_AHRS: make get_error_rp() and get_error_yaw() const 
this makes them usable by multiple consumers, and allows use by EKF
 2015-04-21 21:42:17 +10:00
Andrew Tridgell 2dfe3cb844 DataFlash: added a perf counter for microSD overruns 
this allows us to tell if a microSD can handle a high logging rate
 2015-04-21 20:45:30 +10:00
Andy Piper b0937154f5 DataFlash: log compass health 
This patch simply logs the health of each compass for easy diagnosis.
 2015-04-21 13:18:24 +09:00
Andrew Tridgell c153d31dd2 DataFlash: speed up DataFlash in Replay 2015-04-21 10:14:41 +10:00
Andrew Tridgell dcb25632fb AP_Compass: removed old setHIL compass offset 2015-04-21 08:30:05 +10:00
Andrew Tridgell a4bad1c703 HAL_SITL: use SIM_MAG_OFS in SITL compass 2015-04-21 08:29:51 +10:00
Andrew Tridgell 1ce9cb693a SITL: added SIM_MAG_OFS for setting compass offsets in SITL 2015-04-21 08:29:27 +10:00
Andrew Tridgell 179e47c618 HAL_Linux: prevent time from going backwards in Replay 2015-04-20 15:12:51 +10:00
Andrew Tridgell d7000c4105 AP_Compass: fixed compass timestamps in Replay 2015-04-20 15:12:51 +10:00
Randy Mackay 337a94e52e Camera: remove empty configure_msg method 2015-04-20 13:50:15 +09:00
Randy Mackay d456b97fd2 Camera: control_cmd triggers pic 2015-04-20 13:50:12 +09:00
Jaime Machuca 38491c4ff7 Camera: fix mission cmds sending msgs to components 
mission commands were triggering the sending of
mavlink mission items when they should have been sending
command long messages
 2015-04-20 13:50:10 +09:00
Randy Mackay 4eb3263653 Camera: mission cmds send do-digicam msgs to components 
This allows digicam-control and digicam-configure mission
command to trigger sending the equivalent mavlink messages
to components
 2015-04-20 13:50:08 +09:00
Randy Mackay 8dcd555037 Camera: trigger_pic sends do-digicam-control to components 
This (optionally) allows pictures triggered from ch7/ch8
switch to send a mavlink do-digicam-control message to
components
 2015-04-20 13:50:06 +09:00
Randy Mackay 1f705eb6a3 GCS_MAVLink: add send_to_components method 2015-04-20 13:50:04 +09:00
Randy Mackay 888c2289ce Mission: support do-digicam-control parameters 2015-04-20 13:50:01 +09:00
Peter Barker c95348c1d9 SITL: Avoid run-time FPEs due to bad gyro settings if SIM_DRIFT_TIME is set to 0 
_gyro_drift essentially suffers a divide-by-zero if SIM_DRIFT_TIME is 0.  The gyro initialisation routines in AP_InertialSensor do not return once the generated NaN propogates back to them.
 2015-04-19 07:24:45 +10:00
Jonathan Challinger 12957867fd AC_PosControl: fix thr twitch when changing modes 2015-04-18 12:38:44 +09:00
Randy Mackay 44d2ae06fb Mount: unix style line endings 2015-04-17 22:59:34 +09:00
Randy Mackay 06ea18f97e Filter: fix LPF example sketch 2015-04-17 22:54:06 +09:00
Randy Mackay 99a9a88529 Filter: dt check fix for LPF 2015-04-17 10:59:03 +09:00
Jonathan Challinger f20a91ec95 Filter: add dt<0 check to LPF 2015-04-17 10:47:06 +09:00
Randy Mackay 22e1156c31 Filter: add some comments to LowPassFilter 2015-04-17 10:47:04 +09:00
Jonathan Challinger 738b1967ad AC_PosControl: use LowPassFilterVector2f 2015-04-17 10:47:01 +09:00
Jonathan Challinger 8f667b3d1c AC_PosControl: fix up comments 2015-04-17 10:46:59 +09:00
Jonathan Challinger 4993fd4d71 AP_Motors: use new lowpass filter 2015-04-17 10:46:47 +09:00
Jonathan Challinger 87500d9d70 AC_AttitudeControl: use new lowpass filter 2015-04-17 10:46:45 +09:00
Jonathan Challinger 76da2868d0 Filter: rework LowPassFilter 2015-04-17 10:46:42 +09:00
Leonard Hall c2a6a0a9e2 AC_PosControl: add accel filter parameter 2015-04-16 21:00:45 +09:00
Leonard Hall a632a57d79 AC_PosControl: accessors to log z-axis vel and accel 2015-04-16 21:00:32 +09:00
Leonard Hall 0aca3c4be6 AC_PosControl: add relax Alt Hold controllers 2015-04-16 21:00:25 +09:00
Leonard Hall 24b8d32b0e AC_AttitudeControl: add comment 2015-04-16 21:00:22 +09:00
Leonard Hall 7cb3c4ba39 AC_PosControl: add feed forward to Alt Hold 2015-04-16 21:00:20 +09:00
Randy Mackay a1e6a3ee32 AC_PosControl: minor format fix 2015-04-16 21:00:14 +09:00
Jonathan Challinger 3e0dab7b2d AC_PosControl: remove accel error filter and set throttle output filter instead 2015-04-16 21:00:07 +09:00
Jonathan Challinger b7f7624aac AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions 2015-04-16 21:00:04 +09:00
Jonathan Challinger e80776f1f5 AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter 2015-04-16 21:00:01 +09:00
Jonathan Challinger 518e798f53 AC_AttitudeControl: rework angle_boost 2015-04-16 20:59:58 +09:00
Jonathan Challinger 7abd02baf2 AC_PosControl: change int32/int16 to float in accel_to_throttle 2015-04-16 20:59:55 +09:00
Jonathan Challinger d14893fcd5 AC_PosControl: don't limit throttle any more 2015-04-16 20:59:51 +09:00
Jonathan Challinger f3555d0d43 AC_AttitudeControl: modify throttle interface to specify stabilization 2015-04-16 20:59:45 +09:00
Jonathan Challinger 5c2341009a AC_AttitudeControl: throttle is a float 2015-04-16 20:59:42 +09:00
Jonathan Challinger 8e442675a7 AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output 2015-04-16 20:59:40 +09:00
Jonathan Challinger bc2afb31dd AP_Motors: virtual not necessary in child class 2015-04-16 20:59:37 +09:00
Jonathan Challinger a2c69fe90d AP_Motors: add optional motor output throttle filter 2015-04-16 20:59:31 +09:00
Leonard Hall 4d9da2720b AC_AttitudeControl: add get for angle bf errors 2015-04-16 13:29:52 +09:00
Leonard Hall 88be3d67e7 AP_Motors: add get for throttle comp 2015-04-16 13:29:50 +09:00
Leonard Hall 791fbcf9b3 AP_Motors_Class: time constants of throttle comp 2015-04-16 13:29:46 +09:00
Michael du Breuil 04e9141881 AP_TECS: Allow tecs to control throttle during takeoff 2015-04-16 08:56:37 +10:00
Michael du Breuil a9fc2b8a32 AP_Vehicle: Moved takeoff_throttle_max into plane parameters 2015-04-16 08:56:36 +10:00
Andrew Tridgell 4586de6637 AP_NavEKF: enable optimisation in Linux build 
only really need debugging for SITL
 2015-04-16 08:36:16 +10:00
Leonard Hall 48fb487a8c AC_AttitudeControl: Formatting fix 2015-04-15 22:04:27 +09:00
Paul Riseborough dffa2e19bf AP_NavEKF: Make copter glitch accel consistent with timeout and radius 2015-04-15 17:32:48 +09:00
Paul Riseborough 5d70854c08 AP_NavEKF: Fix minor bug in calculation of innovation variance 
the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.
 2015-04-15 17:32:46 +09:00
Paul Riseborough 1008c6390c AP_NavEKF: Fail absolute position status if GPS repeatedly rejected 2015-04-15 17:32:44 +09:00
Paul Riseborough 77d3798278 AP_NavEKF: Reduce recovery time after a GPS fusion timeout 2015-04-15 17:32:41 +09:00
Paul Riseborough 0852aeab6e AP_NavEKF: Allow raw innovations to be monitored during timeouts 2015-04-15 17:32:39 +09:00
Paul Riseborough d3f4b4a02b AP_NavEKF: Fix name consistency for data check time stamps 2015-04-15 17:32:36 +09:00
Jonathan Challinger 6ea91d012e AC_PID: calculate filt_alpha every time the filter is run 2015-04-14 16:19:02 +09:00
Randy Mackay f06c859d93 AC_Fence: add comment re check_fence method 2015-04-14 16:10:09 +09:00
Jonathan Challinger 05fda4ee4c AC_Fence: accept curr_alt parameter instead of getting alt from inav 2015-04-14 16:10:07 +09:00
Jonathan Challinger f06cc5d0c1 AC_Fence: change inav to const reference 2015-04-14 16:10:02 +09:00
Staroselskii Georgii dff430e136 AP_HAL_Linux: added UART port for second GPS 2015-04-14 15:59:34 +10:00
Staroselskii Georgii da6316ed4c AP_HAL_Linux: fixed TCP client connection in LinuxUARTDriver 2015-04-14 15:59:33 +10:00
Randy Mackay 39213584da AC_WPNav: minor comment and formatting changes 2015-04-14 14:50:58 +09:00
Jonathan Challinger fd55068620 AC_WPNav: fix double-twitch on stop in loiter 2015-04-14 14:50:55 +09:00
Jonathan Challinger 1da410a6c6 AC_WPNav: allow user to tune loiter 2015-04-14 14:50:53 +09:00
mirkix 13ee34c58a AP_InertialSensor: MPU9150 fix compiler warnings 2015-04-14 11:14:48 +10:00
Staroselskii Georgii 4a3e61f4e4 AP_GPS: turn UBlox autodetection only for NavIO 2015-04-14 10:45:49 +10:00
Staroselskii Georgii 716fd56c62 AP_HAL_Linux: added support for dynamic speed configration in LinuxSPIUARTDriver 2015-04-14 10:45:49 +10:00
Staroselskii Georgii 47a336d192 AP_GPS: added Ublox' hardware generation autodetection 2015-04-14 10:45:49 +10:00
Staroselskii Georgii baf2b4da4e AP_HAL_Linux: renamed AnalogIn_Navio 2015-04-14 10:16:26 +10:00
Mikhail Avkhimenia 7ba6a5e346 AP_HAL: Specify terrain directory for Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii 930aeaf556 AP_HAL_Linux: add RPi version runtime detection 2015-04-14 10:16:25 +10:00
Mikhail Avkhimenia c11304ba7a AP_HAL_Linux: change GPIO register address for Raspberry Pi 2 2015-04-14 10:16:25 +10:00
Staroselskii Georgii 641fa05028 AP_HAL_Linux: added buffering in RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii e6c2977da2 AP_HAL_Linux: fixed style in RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii 024825f95a AP_HAL_Linux: fixed PCA9685 initialization for RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii 2a137b6ea9 AP_HAL_Linux: fixed RCInput initialization on NavIO 2015-04-14 10:16:24 +10:00
Sean O\'Brien 6474aa2477 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:38 +10:00
Sean O\'Brien bfba8870e2 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:35 +10:00
Lucas De Marchi b292873304 AP_InertialSensor: fix starvation in L3G4200D 
The main thread would always be blocked on the semaphore to read the
data from accelerometer and gyroscope. Especially if we have a slow
update of these values in _accumulate() due to the I2C transfer function
taking too much time: the timer thread would never give up the CPU,
causing starvation on the main thread.

This fixes the issue by reducing the critical region using a flip-buffer
so _accumulate() can work on its own copy of the data. Now that the
critical region is smaller, also avoid the semaphore and use a spinlock
instead.
 2015-04-14 10:01:47 +10:00
Andrew Tridgell b17878c8c4 SITL: lower default GPS delay to 0.2 seconds 
this matches typical uBlox
 2015-04-14 09:57:47 +10:00
Andrew Tridgell d7249cc1e6 AP_AHRS: only use EKF for plane and rover if all data available 
we need position and velocity to be working for plane and rover
 2015-04-14 09:57:45 +10:00
Lucas De Marchi 996739df12 AP_Compass: Do not panic if compass is not found 
Copter uses 2 compasses for linux configuration, but one of them may not
be available. Do not panic if a AK8963 isn't found.
 2015-04-14 09:29:12 +10:00
Gustavo Jose de Sousa be67b019a7 AP_GPS: Add missing setup for GPS_AUTO_test 
GPS_AUTO_test was missing some setup lines.
 2015-04-14 09:27:41 +10:00
Andrew Tridgell 7f7d92913e HAL_Linux: allow running as non-root 
this is needed for Replay, plus is very useful for debugging
 2015-04-14 09:25:35 +10:00
Lucas De Marchi f049c8e4c5 AP_HAL_Linux: remove needless call to mlockall() 
All threads share the same address space and have the same pages locked
into memory so it's not necessary to call mlockall() for each of them.

Grepping /proc/<tid>/status gives the same VmLck for all of them, even
when only the main thread locks the memory:

    # for i in `seq 477 482`; do \
	name=$(cat /proc/$i/comm); \
	vm=$(cat /proc/$i/status |grep VmLck); \
        echo -e "$name\t$vm"; \
    done
    ArduCopter.elf  VmLck:     57868 kB
    sched-timer     VmLck:     57868 kB
    sched-uart      VmLck:     57868 kB
    sched-rcin      VmLck:     57868 kB
    sched-tonealarm VmLck:     57868 kB
    sched-io        VmLck:     57868 kB
 2015-04-14 09:17:21 +10:00
Lucas De Marchi b7355dc62b AP_HAL_Linux: set thread name for ease debug 
Use pthread_setname_np() to set thread name so it's easier to debug
what't going on with each of them. This is the example output of the
relevant par of "ps -Leo class,rtprio,wchan,comm":

FF      12 futex_ ArduCopter.elf
FF      15 usleep sched-timer
FF      14 hrtime sched-uart
FF      13 poll_s sched-rcin
FF      11 hrtime sched-tonealarm
FF      10 hrtime sched-io
 2015-04-14 09:17:21 +10:00
Lucas De Marchi 2c48434110 AP_HAL_Linux: use a table to initialize threads 
Refactor function calls into a table and pass in the name so it can be
used in error message.
 2015-04-14 09:17:21 +10:00
Lucas De Marchi e3d78b8960 AP_HAL_Linux: fix passing callback to member function 
It's undefined behavior to pass the callback to pthread to a class
member like we were doing. Refactor the code so the callbacks are static
members.

This fixes the following warnings:

libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void*)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);
 2015-04-14 09:17:20 +10:00
Lucas De Marchi 62c2f737d5 AP_HAL_Linux: fix setting RT priorities 
LinuxScheduler::init() was not really working as it should. This was the
result of "ps -Leo class,rtprio,wchan,comm | grep ArduCopter":

FF      12 futex_ ArduCopter.elf
FF      12 usleep ArduCopter.elf
FF      12 hrtime ArduCopter.elf
FF      12 poll_s ArduCopter.elf
FF      12 hrtime ArduCopter.elf
FF      12 hrtime ArduCopter.elf

As can be seen all the threads run with the same priority, the one of the main
thread. There were basically 2 mistakes:

	1) pthread_attr_setschedpolicy() needs to be called before
	   pthread_attr_setschedparam(). Otherwise the latter will just return
	   an error and not set the priority

	2) pthread_create() defaults to ignore the priority and inherit the
	   it from the parent thread. pthread_attr_setinheritsched() needs to
	   be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See
	   pthread_attr_setinheritsched(3) for an example program to test the
	   behaviors.

Also, it's undefined behavior to call pthread_attr_init() several times on the
same pthread_attr_t. Although we could reutilize the same attribute without
calling  pthread_attr_init() again, lets refactor the code a little bit, so all
the pthread calls are in a single place. Then also call pthread_attr_destroy()
when we are done.
 2015-04-14 09:17:20 +10:00
Lucas De Marchi 29b667efdf AP_HAL_Linux: remove useless mlock of stack 
In Linux the default stack size is always greater than 32k, either 2MB
or 8MB depending on the architecture. There's no point in creating a
function to lock 32k.
 2015-04-14 09:17:20 +10:00
Randy Mackay e2071a4630 Notify: ToneAlarm fix to stopping continuous tones 2015-04-13 17:44:45 +09:00
Randy Mackay 2472702838 Notify: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca 043d24f03a Notify: add Lost Copter tone 2015-04-13 17:42:07 +09:00
Andrew Tridgell 0695277773 HAL_SITL: use pthread barriers for synthetic clock synchronisation 
this avoids siganls and provides a race free way of keeping time in
lock step
 2015-04-13 06:05:55 +10:00
Paul Riseborough e79ccf1fcc AP_NavEKF: Fix bug allowing terrain to be above vehicle position 
The terrain state and vehicle state need to be compared at the same time horizon.
 2015-04-11 15:51:08 +09:00
Paul Riseborough 6d58c63c4c AP_NavEKF: Prevent potential divide by zeros in OF fusion 2015-04-11 15:51:03 +09:00
Paul Riseborough 89142f1c5f AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates. 
the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.
 2015-04-11 15:19:05 +09:00
Randy Mackay 56d2306a18 BattMon_SMBus_PX4: read capacity 2015-04-11 14:10:22 +09:00
Randy Mackay c6440a48b3 BattMon_Backend: add init and set_capacity methods 2015-04-11 14:10:19 +09:00
Paul Riseborough 9268024094 AP_NavEKF: Update default parameters for copter optical flow fusion 2015-04-10 11:08:11 +09:00
Paul Riseborough 4fbdab27ff AP_NavEKF: Use range finder for primary hgt ref in opt flow mode 
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
 2015-04-10 11:08:07 +09:00
Paul Riseborough ff9917d338 AP_AHRS: Fix bug preventing EKF from initialising 2015-04-10 11:07:42 +09:00
Paul Riseborough d618c55e2f AP_NavEKF: Improved handling of noisy GPS speed accuracy data 2015-04-10 11:07:34 +09:00
Paul Riseborough 53358a4e10 AP_OpticalFlow: Add parameter to compensate for flow sensor yaw angle 
AP_OpticalFlow: update parameter name
 2015-04-10 11:07:31 +09:00
Paul Riseborough cab171b580 AP_InertialNav: Add method to return EKF height above ground estimate 
AP_InertialNav: Add validity flag to height above ground estimate
 2015-04-10 11:07:27 +09:00
Paul Riseborough e98edaa6cb AP_NavEKF: Return more accurate validity status for height above ground 2015-04-10 11:07:24 +09:00
Paul Riseborough 586e4a7d2b AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
Jonathan Challinger dc5bdd5ad8 AP_AHRS: use filtered INS output to compute _accel_ef_blended 2015-04-09 20:19:56 +09:00
Randy Mackay a095a8c3a1 AC_PID: more protection against NaN and Inf 2015-04-09 20:19:55 +09:00
Randy Mackay bdfe8bbc54 AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX 2015-04-09 20:19:54 +09:00
Leonard Hall afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Leonard Hall ae77c18a19 AC_PID: Protect against NaN and INF 2015-04-09 18:30:12 +09:00
Andrzej Zaborowski 132cdc4916 Motors: Use _motor_to_channel_map in tricopter consistently. 
In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
 2015-04-09 11:43:22 +09:00
Randy Mackay 558018d839 InertialNav: add get_location method 2015-04-09 10:56:57 +09:00
Tom Pittenger 9ecbd0e30f AP_L1_Control: fixed uTurn-wobble 
When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.
 2015-04-08 15:21:02 -07:00
Jonathan Challinger 6e8008ab69 AP_SerialManager: use protocol_match in find_baudrate 2015-04-08 09:14:31 -07:00
Randy Mackay f260536373 AC_PID: fix example sketch compile error 2015-04-08 15:05:29 +09:00
Jonathan Challinger 6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger 07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Paul Riseborough c57e25142c AP_NavEKF: Update optical flow fusion maths to reduce height errors 2015-04-07 20:51:18 -07:00
Andrew Tridgell 35bac3ab4f GCS_MAVLink: regenerate without mavlink_frame_char changes 2015-04-06 16:43:02 -07:00
Andrew Tridgell df948e7358 AP_Mount: fixed for new GIMBAL_REPORT message 2015-04-06 16:42:23 -07:00
Andrew Tridgell 33824e0b2f GCS_MAVLink: re-ran generate.sh 2015-04-06 16:30:16 -07:00
Jonathan Challinger 73b8890bd3 GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages 2015-04-06 16:29:02 -07:00
myly10 55befdc345 AP_NavEKF: Typo correction for EAS_NOISE description 2015-04-06 15:52:29 -07:00
mirkix 445f358839 AP_HAL_Linux: Fix compiler warning of MAX_PWMS redefinition (previously defined) 2015-04-06 15:34:50 -07:00
Andrew Tridgell 5284211c96 AP_SerialManager: fixed matching bug in protocol_match() 
thanks to Mike Clement for noticing this
 2015-04-06 15:28:03 -07:00
Mike Clement c5c40adb76 GCS_MAVLink: use instance in find_baudrate 2015-04-06 14:47:51 -07:00
Mike Clement 89a50b99bb SerialManager: use instance in find_baudrate 2015-04-06 14:47:11 -07:00
Paul Riseborough 9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell 6e52ef2a74 GCS_MAVLink: added send_local_position() 2015-04-05 09:16:41 -07:00
Andrew Tridgell baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough 7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell 389148ac54 AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C 2015-04-04 17:03:00 -07:00
Andrew Tridgell 55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell 5a755c0400 AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults 
this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to
override the default parameters for a build. This is useful to build a
firmware that has different default parameters
 2015-04-04 09:01:40 -07:00
Andrew Tridgell 82a51e8791 GCS_MAVLink: use AP_Param::set_param_by_name() 2015-04-04 09:01:40 -07:00
Andrew Tridgell 5ca38e3d75 AP_Param: added set_param_by_name() 
this simplifies the GCS_MAVLink code
 2015-04-04 09:01:39 -07:00
Andrew Tridgell c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough d44cf14178 AP_AHRS : Publish EKF learned compass offsets 2015-04-03 15:24:47 -07:00
Paul Riseborough 10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger 95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell 79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell 3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough 98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough 92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough 5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough 398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough 5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough 14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough 1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough 98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough 961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough 496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough 8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough 19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough 70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00
Paul Riseborough ed9c05cf2a AP_NavEKF: Remove logic used to delay fusion for load levelling 
Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.
 2015-04-03 15:15:07 -07:00
Paul Riseborough c0d23ffc30 AP_NavEKF: Filter accuracy and stability improvements 
Improvements in PX4 firmware have reduced the computational load  and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch:

1) Ensures that a covariance prediction is always performed prior to fusion of any observation
2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step
3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step
 2015-04-03 15:15:07 -07:00
Jonathan Challinger de1f7f5e63 AP_NavEKF: use published delta velocities and delta angles if available 2015-04-03 15:15:07 -07:00
priseborough 3421a320b5 AP_NavEKF: Compensate for ground effect when takeoff or landing expected 2015-04-03 15:15:07 -07:00
Jonathan Challinger 20d92f5f9d AP_NavEKF: floor GPS velocity noise at parameter value for conservatism 2015-04-03 15:15:07 -07:00
priseborough 9a797a5d49 AP_NavEKF: Use GPS reported speed accuracy if available 
UBlox receivers report an estimate of the speed accuracy that tests show correlates well to speed glitches. Using this to scale the GPS velocity observation noise will reduce the effect of bad GPS velocity data.
 2015-04-03 15:15:06 -07:00
Andrew Tridgell 45e016ea5b AP_InertialSensor: check for zero delta_velocity dt 2015-04-03 15:10:47 -07:00
Jonathan Challinger b306d7a356 AP_InertialSensor: accel cal sample for 400ms instead of 1s 2015-04-03 14:54:19 -07:00
Jonathan Challinger 1e1d8efa22 AP_InertialSensor: use expected update rate for accel cal sampling 2015-04-03 14:54:17 -07:00
Jonathan Challinger bd84328440 AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample 2015-04-03 14:54:15 -07:00
Jonathan Challinger b2b42e081a AP_InertialSensor: use delta_velocity/dt for calibration if available 2015-04-03 14:54:10 -07:00
Jonathan Challinger 423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
Andrew Tridgell 4147825b87 AP_InertialSensor: fixed gyro calibration bug 
we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
 2015-04-03 06:57:30 -07:00
Andrew Tridgell 728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00
Randy Mackay d738eda59d GCS_MAVLink: integrate Serial Manager instance 2015-04-01 14:59:23 -07:00
Randy Mackay 1ed7737669 Mount: integrate Serial Manager instance 2015-04-01 14:59:21 -07:00
Randy Mackay cbcd32d698 GPS: integrate Serial Manager instance 2015-04-01 14:59:20 -07:00
Randy Mackay c148330c2b FrSkyTelem: integrate Serial Manager instance 2015-04-01 14:59:18 -07:00
Randy Mackay aef16160dc SerialManager: consolidate MAVLink1 and 2 2015-04-01 14:59:17 -07:00
Randy Mackay ca92821445 Filter: LowPassFilter gets another div-by-zero check 2015-04-01 10:34:28 -07:00
Jonathan Challinger 57f8a4d29d Filter: add get_cutoff_frequency 2015-04-01 10:15:07 -07:00
Jonathan Challinger 1828515b3b AP_Motors: bug fix to _batt_voltage_filt 2015-04-01 10:15:06 -07:00
Jonathan Challinger 89cdd02f58 AP_Motors: remove duplicate get_throttle function 2015-04-01 10:15:05 -07:00
Jonathan Challinger 0e53c0a892 AP_Motors: make output_armed() and output_disarmed() pure virtual 2015-04-01 10:14:38 -07:00
Andrew Tridgell 5acc4c333b AP_Arming: accept accel/gyro if OK in last 10 seconds 
this should prevent short periods of movement from triggering arming
status change alarms
 2015-03-31 15:37:24 -07:00
Randy Mackay 3f3e622be5 AC_PID: fix example sketch 2015-03-30 16:07:56 -07:00
Andrew Tridgell 8ba043e593 AP_AHRS: fixed EKF startup bug 
This fixes the EKF for when GPS lock takes more than 10 seconds

fixes issue #2010
 2015-03-28 10:52:22 -07:00
Andrew Tridgell 3289d38339 AP_NavEKF: make the init functions return bool 
we need to know if it has initialised successfully
 2015-03-28 10:51:38 -07:00
Andrew Tridgell 7cd7ff89fd HAL_PX4: recover 12k of ram from USB buffers 
faster NuttX means we don't need such larger buffers
 2015-03-27 15:08:52 -07:00