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5987 Commits

Author SHA1 Message Date
Randy Mackay
375b9a5bb1 AC_PosControl: move alt limit to set_alt_target_from_climb_rate 
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
 2015-02-03 09:50:45 +09:00
Robert Lefebvre
b32081fae6 AC_PosControl: Enable altitude limit checking. 2015-02-03 09:50:40 +09:00
Andrew Tridgell
b010556f37 AP_Mission: prevent infinite loop with linked jump commands 
this prevents a "jump loop" from causing a firmware lockup. Thanks to
dellarb for reporting this!
 2015-01-23 11:18:38 +09:00
Jonathan Challinger
2d82672893 AC_PosControl: Fill _vel_desired.z for reporting 2015-01-14 16:06:16 +09:00
Jonathan Challinger
79975b1309 AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90 2015-01-12 15:19:57 +09:00
Andrew Tridgell
eb9b2bf4e9 AP_Math: fixed build warning 2015-01-12 15:19:47 +09:00
Randy Mackay
4b5411e86a AP_Math: add new rotation to example rotation sketch 2015-01-12 15:18:32 +09:00
Randy Mackay
6b0e636abf AP_Math: add yaw 293, pitch 68, roll 180 rotation 2015-01-12 15:16:53 +09:00
Andrew Tridgell
b058f3fdce AP_InertialSensor: added missing files 2015-01-08 20:51:17 +09:00
Andrew Tridgell
712b95bf8e AP_HAL: added micros64() method 2015-01-08 20:51:08 +09:00
Andrew Tridgell
94f3c64df9 HAL_SITL: fixed for changes in AP_InertialSensor API 2015-01-08 20:50:51 +09:00
Andrew Tridgell
827e60f948 AP_InertialSensor: roll up to latest AP_InertialSensor from master 2015-01-08 20:50:48 +09:00
Randy Mackay
1266a31631 Rally: reduce distance limit to 300m for copter 
This reduces the chance that a forgotten rally point will cause the
vehicle to RTL to a distant location because instead it will RTL to
home.
 2015-01-06 15:56:34 +09:00
Randy Mackay
44c5fdffdf Notify: add pre_arm_gps_check flag 
RGB LED will remain flashing blue when vehicle is disarmed and this
check has failed (i.e. false).
 2014-12-26 15:10:31 +09:00
Randy Mackay
59350821a3 AC_PosControl: fix to default force_descend param 2014-12-24 14:44:56 +09:00
Jonathan Challinger
77bbd2532b AC_PosControl: add force_descend option to set_alt_target_from_climb_rate 2014-12-24 14:44:54 +09:00
Andrew Tridgell
0c371f1b98 DataFlash: don't try and open logfile on failure more than once 
this prevents a corrupted microSD card from causing a continuous
attempt to open a log file while in flight, which can cause large
scheduler delays

Pair-Programmed-With: Grant Morphett <grant@gmorph.com>
 2014-12-23 16:03:02 +09:00
Andrew Tridgell
60ded486c2 DataFlash: don't write out parameters if log open fails 2014-12-23 16:02:59 +09:00
Andrew Tridgell
d5108195da HAL_PX4: FRAM does not support fsync 
the fsync just wastes time reopening /fs/mtd
 2014-12-19 09:18:31 +09:00
Emile Castelnuovo
412de3cf76 AP_Compass: VRBRAIN add #if !defined() for VRBRAIN 4.5 boards. 2014-11-11 11:14:13 -08:00
LukeMike
1455d700d4 VRBRAIN: defined AirSpeed inputs for ArduPlane on VR Micro Brain 5 2014-11-11 11:13:54 -08:00
Emile Castelnuovo
2de18f844b AP_Compass: VRBRAIN. Deal with external mag connected on internal I2C on VRBRAIN 4.5 
This enables user to set the external parameter to true even if only one compass is connected
 2014-11-11 11:13:49 -08:00
priseborough
fecad46336 AP_NavEKF : add INIT_GYRO_BIAS_UNCERTAINTY definition 2014-10-29 17:42:10 +09:00
priseborough
a7caa91cef AP_NavEKF : Add public method to reset gyro bias states 2014-10-29 15:42:34 +09:00
priseborough
d04a740bcb AP_AHRS : Add reset of EKF gyro bias states 2014-10-29 15:42:31 +09:00
Randy Mackay
1ab5d71927 GPS: init primary_instance to zero 2014-10-29 15:42:28 +09:00
Benoit PEREIRA DA SILVA
a8a6368f05 GPS: use primary for Notification 2014-10-29 15:42:26 +09:00
Randy Mackay
95538d2992 AHRS: add reset_gyro_drift method 2014-10-29 15:42:20 +09:00
Andrew Tridgell
fae45b29fa AP_InertialSensor: fixed timer bug in HIL sensors 2014-10-27 21:10:55 +09:00
Randy Mackay
8041613c06 RangeFinder: PulsedLight I2C addr to 0x62 2014-10-24 15:00:47 +09:00
Andrew Tridgell
7ad0b6177f AP_RangeFinder: auto-update PX4 ll40ls max/min distance 
this allows the range of the Lidar to be set by the user using
RNGFND_MAX_CM and RNGFND_MIN_CM
 2014-10-24 13:48:38 +09:00
Randy Mackay
bafd9fd53f RangeFinder: reduce num instances to 1 2014-10-23 22:20:05 +09:00
Randy Mackay
47418b78d6 Relay: reduce num relays to 2 2014-10-23 22:20:01 +09:00
Randy Mackay
a4da667e2b Mount: remove CMD_DO_MOUNT_CONFIGURE support 2014-10-23 22:19:52 +09:00
Randy Mackay
5cbcbf9b37 DataFlash: log baro climbrate 2014-10-22 17:40:55 +09:00
Randy Mackay
ba5e368175 AC_WPNav: bug fix sanity check of set_speed_xy 
This corrects a bug that allowed the waypoint speed to be set to zero
 2014-10-21 22:11:26 +09:00
Randy Mackay
65472eaf62 AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P 2014-10-21 22:11:23 +09:00
Randy Mackay
3638bfb614 AC_PosControl: bug fix dt calculation 
fixes issue in which now could be earlier than _last_update_xy_ms
leading to a large dt value and a sudden lean on takeoff
 2014-10-21 11:41:55 +09:00
priseborough
d37c788394 AP_NavEKF: Track baro alt when pre-armed 
This will help prevent spurious alt disparity warning messages for copter
 2014-10-20 17:13:37 +09:00
Randy Mackay
d71b08af0c AP_Motors: reduce slow-start increment for fast CPUs 2014-10-18 20:54:59 +09:00
Randy Mackay
cd35293a7b Parachute: set servo or relay to off position on every update 
This resolves the issue of the parachute servo's position not being
initialised to the off position due to an ordering problem of the
auxiliary servos being initialised after the parachute object.
 2014-10-18 17:27:12 +09:00
Andrew Tridgell
820b4e2bed AP_Compass: added set_offsets() interface 
this will be used by Replay to prevent the need for saving parameters
 2014-10-17 21:34:05 +09:00
Andrew Tridgell
ed30c0938e AP_AHRS: use a common function for updating the CD values 
this ensures the wrapping of yaw is consistent between the 3 use cases
 2014-10-15 11:28:30 +09:00
Andrew Tridgell
f61ae9e9e5 AP_AHRS: restore DCM attitude before update() 
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
 2014-10-15 11:28:25 +09:00
Andrew Tridgell
0dcf501766 AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 11:28:23 +09:00
Jonathan Challinger
4f427c6215 AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy 2014-10-10 21:19:45 +09:00
Randy Mackay
31c256bdd8 AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled 2014-10-09 20:13:40 +09:00
Andrew Tridgell
811e8571f1 AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled 
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-10-09 20:13:37 +09:00
Randy Mackay
d309ecb587 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:25:42 +09:00
Randy Mackay
51de79c2f8 MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag 
Also trigger throttle_upper flag when throttle in reaches 1000
 2014-10-04 23:51:04 +09:00