Randy Mackay
|
451910fc94
|
AC_AttControlHeli: replace APM_PI with AC_P
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
ff9f4fe6e7
|
AC_AttControl: replace APM_PI with AC_P
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
94fb9c4274
|
AC_PosControl: replace APM_PI with AC_P
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
fbf8106280
|
AC_Circle: remove AC_PID include
This is no longer required with introduction of PosControl lib
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
e86a21a254
|
AC_WPNav: remove AC_PID include
This is no longer required with introduction of PosControl lib
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
8fae75ee87
|
AC_PID: add AC_P controller
Used for stabilize angle controllers, alt hold and loiter
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
fbc5af2705
|
AC_PID: results returned as float
|
2014-02-15 06:09:08 +11:00 |
|
Randy Mackay
|
a6ad51b38f
|
AC_AttControl: rename most methods
|
2014-02-15 06:09:08 +11:00 |
|
lthall
|
65c2fc0cc6
|
AC_AttControl: ACRO fixes
|
2014-02-15 06:09:08 +11:00 |
|
Andrew Tridgell
|
0bbe038587
|
GCS_MAVLink: re-generate MAVLink headers
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
801ceacaf2
|
AP_AHRS: re-run update_trig() after EKF AHRS update
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
a88212eb7a
|
AP_InertialNav: fixed EKF version for new AHRS API
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
a7a44a9a5c
|
AP_NavEKF: fixed init order warning
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
9b8311580b
|
AP_TECS: update for AHRS API change
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
25ef0d5a7b
|
AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
this avoids some linking issues, plus the functions are inaccurate
without EKF
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
6964529124
|
AP_Baro: _calculate can be private
|
2014-02-15 05:48:24 +11:00 |
|
Andrew Tridgell
|
c62ccce9d8
|
AP_AHRS: make estimate_wind() public
this avoids it linking into copter
|
2014-02-15 05:48:24 +11:00 |
|
Paul Riseborough
|
b56c8211c9
|
AP_NavEKF: Reduced number of Mavlink tuneable parameters
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
c20fac1269
|
AP_NavEKF: Updated comments for private functions
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
deb64c4cbd
|
AP_NavEKF: Pos Vel reset after long GPS timeout
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
7ac0172db1
|
AP_NavEKF: removed repeated intialisation
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
28fb5e364b
|
AP_NavEKF: Fixed bug in pos/vel/hgt reset on timout
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
f74cce8b4e
|
AP_NavEKF : Removed double to float conversions
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
80f6dba694
|
AP_NavEKF: Improved control of fusion update intervals
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
13b9daeff5
|
AP_NavEKF: Added constraints to Mavlink tuneable parameters
|
2014-02-15 05:48:23 +11:00 |
|
Paul Riseborough
|
b123e1bb16
|
AP_NavEKF: Improved in-air reset behaviour
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
1651980b9f
|
AP_NavEKF: Improved behaviour following loss and regaining of GPS
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
14eb63e7c9
|
AP_NavEKF: Made most tuning parameters Mavlink adustable
|
2014-02-15 05:48:22 +11:00 |
|
Andrew Tridgell
|
f800f5592d
|
AP_NavEKF: fixup parameter handling
|
2014-02-15 05:48:22 +11:00 |
|
Andrew Tridgell
|
f09ae0c2d0
|
AP_AHRS: expose get_NavEKF as non-const
better than having two methods
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
f0f76920fa
|
AP_NavEKF : Mavlink tunable parameter - first attempt
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
128f71157d
|
AP_NavEKF: Fixed bug in pre GPS fix updates
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
08267cea87
|
AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
357743ee2d
|
AP_NavEKF: Adjusted tuning parameters for plane use
|
2014-02-15 05:48:22 +11:00 |
|
Paul Riseborough
|
b4171853b1
|
AP_NavEKF: allow initialisation before GPS lock to aid indoor testing
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
7fb60812c2
|
AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
9d375da550
|
AP_NavEKF: changed sqrt to sqrtf
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
1f0b4b02d0
|
AP_NavEKF: fixed merge error that inverted static mode
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
17e24521e8
|
DataFlash : Added logging of NavEKF innovations and variances
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
9bbddb2f66
|
AP_TECS : Use NavEKF height and height rate data if available
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
0599817aa9
|
AP_AHRS : EKF initialisation changed to use bootstrap method
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
401e3aee43
|
AP_NavEKF : Changes to test harness to support accel bias states
|
2014-02-15 05:48:21 +11:00 |
|
Paul Riseborough
|
5219869389
|
AP_NavEKF : Added Z accel bias state and bootstrap initialisation method
|
2014-02-15 05:48:21 +11:00 |
|
Randy Mackay
|
301a04b74a
|
AP_NavEKF: update params for copter
|
2014-02-15 05:48:21 +11:00 |
|
Randy Mackay
|
f068d0ff7e
|
AP_AHRS_NavEKF: expose non-const EKF for tuning
|
2014-02-15 05:48:20 +11:00 |
|
Randy Mackay
|
7c73020015
|
AP_NavEKF: make params public so they can be tuned
|
2014-02-15 05:48:20 +11:00 |
|
Randy Mackay
|
9f130b40a0
|
AP_AHRS_NavEKF: override set_correct_centrifugal
|
2014-02-15 05:48:20 +11:00 |
|
Randy Mackay
|
8f6fd86f69
|
AP_AHRS: make set_correct_centrifugal virtual
|
2014-02-15 05:48:20 +11:00 |
|
Paul Riseborough
|
a87df0ad56
|
AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual
|
2014-02-15 05:48:20 +11:00 |
|
Paul Riseborough
|
5c3dea28dc
|
AP_NavEKF : Enable staticMode to be set externally
|
2014-02-15 05:48:20 +11:00 |
|
Andrew Tridgell
|
3617c65af7
|
AP_InertialSensor: make HIL treat time like PX4 does
|
2014-02-15 05:48:20 +11:00 |
|
Andrew Tridgell
|
77c4968342
|
AP_NavEKF: enable plotting in plot2.dat too
|
2014-02-15 05:48:20 +11:00 |
|
Andrew Tridgell
|
ab2a5a0672
|
AP_NavEKF: enable some debug
|
2014-02-15 05:48:20 +11:00 |
|
Paul Riseborough
|
0d4d287215
|
AP_NavEKF: comment and parameter tweaks for ground testing
|
2014-02-15 05:48:20 +11:00 |
|
Paul Riseborough
|
b6b0c2a489
|
AP_NavEKF: fixed bug in flag reset for hgt fusion
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
2f3b2a7111
|
AP_NavEKF: second attempt at higher rate baro fusion
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
cdbc5a3f35
|
AP_NavEKF: added position observations to static mode
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
da2c341914
|
Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed"
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
32cc427ff4
|
AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
2998aa1a6a
|
AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
f9aae1b90b
|
AP_NavEKF: fixed bug in variance constraint code
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
735c9684da
|
AP_NavEKF: removed error in constructor comments
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
8f999fe787
|
AP_NavEKF: Misc tuning adjustments for Plane testing
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
c87a5aaf34
|
AP_NavEKF: added PositionReset public function to fix pre-arm loss of solution
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
fec4fd463c
|
AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
619fffec3e
|
AP_NavEKF: added static mode for pre-arm and bench testing
|
2014-02-15 05:48:18 +11:00 |
|
Paul Riseborough
|
ab08a5c7d6
|
AP_AHRS : altered NavEKF set home to reset position instead of reset filter
|
2014-02-15 05:48:18 +11:00 |
|
Paul Riseborough
|
d0831c708d
|
AP_NavEKF : Added position and height reset public method
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
1b1f9e41ab
|
AP_NavEKF: improved playback initialisation
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
d9ef45234b
|
AP_NavEKF: useful plotting function
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
0816642436
|
AP_NavEKF: handle intertial nav
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
77c6e3206a
|
AP_NavEKF: some debug code
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
2cd781997f
|
AP_Baro: changed HIL driver to use floats and better handle starup
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
c995f994c5
|
AP_InertialNav: make some functions protected
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
c33da7b3a2
|
AP_NavEKF: fixed log playback for copter
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
78ff078988
|
HAL_Linux: fixed stopped clock delay
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
9b53db66cb
|
AP_NavEKF: tweak parameters based on randys copter log
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
9e3bf685c2
|
SITL: use sinf() and cosf()
for some strange reason the double precision functions can crash
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
bb0eed5c14
|
SITL: prevent initialisation error
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
574946f0aa
|
AP_AHRS: start EKF 5 seconds after getting GPS lock
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
df271fbd59
|
AP_AHRS: fill in _dcm_matrix whenever EKF started
this ensures get_dcm_matrix() always returns valid data
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
4c42f53636
|
AP_NavEKF: use INS delta_time
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
5193ce90dc
|
AP_NavEKF: copter specific dtIMUAvg
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
ada7d4fb98
|
AP_AHRS: use the right DCM matrix when EKF not enabled
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
a74fcc5a93
|
AP_AHRS: added set_ekf_use()
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
38ac8d404a
|
SITL: fixed PX4 build
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
fba0891617
|
SITL: fixed SIM df altitude
|
2014-02-15 05:48:17 +11:00 |
|
Paul Riseborough
|
8b1d056e07
|
AP_NavEKF: updated timeout for GPS retry and reduced onGround gyro bias noise multiplier
|
2014-02-15 05:48:16 +11:00 |
|
Paul Riseborough
|
7e026d41df
|
AP_NavEKF: explicitly zeroed covariance matrix priro to setting initial values
|
2014-02-15 05:48:16 +11:00 |
|
Paul Riseborough
|
6e6e3d923e
|
AP_NavEKF: improved covariance matrix numerical stability protection
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
45177df354
|
DataFlash: moved EKF logging to common code
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
9aea781248
|
GCS_MAVLink: moved send_ahrs2 to common code
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
66dbaa6657
|
AP_NavEKF: make health() API const
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
47f541e143
|
AP_InertialNav: implement InertialNav in terms of AHRS when available
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
5d43a1d704
|
AP_AHRS: added inertial nav interfaces to AHRS
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
658110dd8c
|
AP_InertialNav: added AP_InertialNav_NavEKF wrapper class
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
99097d80a1
|
AP_InertialNav: use AHRS home location
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
c493d980d8
|
AP_NavEKF: fixed check for airspeed sensor available
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
2dbfed19b8
|
AP_NavEKF: fixed airspeed estimate check
|
2014-02-15 05:48:15 +11:00 |
|
Paul Riseborough
|
e69eea3086
|
AP_NavEKF: Bug fix in covariance error correction
|
2014-02-15 05:48:15 +11:00 |
|