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11,522 Commits 71 Branches 509 Tags 758 MiB
Commit Graph

4988 Commits

Author SHA1 Message Date
Andrew Tridgell 31082f4ce2 AP_Mission: fixed a bug re-entering AUTO 
this fixes a bug found by Marco where we would continue in CRUISE mode
with no waypoint if we re-entered AUTO after a mission reset
 2014-03-31 06:18:07 +11:00
Randy Mackay 93f8d53d1b Mission: make get_prev_nav_cmd_index const 2014-03-30 23:09:54 +09:00
Randy Mackay b15d4379d8 AC_WPNav: use atan2f, make methods const 2014-03-30 23:09:51 +09:00
Randy Mackay 3ad635feeb AC_AttControl: 45deg/sec yaw rate for Auto, RTL 2014-03-30 15:44:14 +09:00
Randy Mackay d27ca53a9d AC_WPNav: spline sets origin vel to zero when no prev segment 
Issue caught by Michael Oborne
 2014-03-30 15:19:18 +09:00
Randy Mackay 7dfde39e19 AC_WPNav: advance_spline to use dt 2014-03-30 15:02:07 +09:00
Randy Mackay c0458b786a AC_WPNav: check acceleration is non zero 2014-03-30 11:52:44 +09:00
Randy Mackay f0f3688172 AC_WPNav: rounder corners for short spline segments 2014-03-30 11:52:41 +09:00
priseborough 9c5f564dc5 AP_NavEKF : Fixes bug in initial earth magnetic field states 
The calculation for these states was not being bias corrected
 2014-03-30 07:43:52 +11:00
Randy Mackay 7bff8e9312 AC_AttControl: constrain earth frame yaw angle error 
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
 2014-03-29 20:42:21 +09:00
Randy Mackay 197683d539 WPNav: clean up spline comments 2014-03-29 17:57:47 +09:00
priseborough e1819bb53a AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane 2014-03-29 14:06:43 +11:00
Randy Mackay ac339a0289 Mission: add decoding of NAV_SPLINE command 2014-03-28 09:23:30 +09:00
Randy Mackay e7be622eef GCS_MAVLink: generate after adding NAV_SPLINE cmd 2014-03-28 09:23:28 +09:00
Randy Mackay 519d5fc444 GCS_MAVLink: add MAV_CMD_NAV_SPLINE_WAYPOINT cmd 
This is the same as a NAV_WAYPOINT except that the vehicle flies a
spline curved path to the destination
 2014-03-28 09:23:23 +09:00
Randy Mackay 24eb195aa3 WPNav: add yaw control for straight line wp nav 2014-03-28 09:23:13 +09:00
Randy Mackay b42b12f7be AC_WPNav: add get_spline_yaw 2014-03-28 09:23:07 +09:00
Randy Mackay f2d9ad41aa Mission: minor comment update 2014-03-28 09:22:56 +09:00
Randy Mackay e5e71ce371 WPNav: add spline support 2014-03-28 09:22:53 +09:00
Michael Day e1d193f539 GCS_MAVLink: Generated code from message additions for autofence. 2014-03-27 09:26:20 +11:00
Michael Day c5ebd120f1 GCS_MAVLink: XML for MAV_CMD_DO_FENCE_ENABLE and MAV_SYS_STATUS_GEOFENCE 2014-03-27 09:26:20 +11:00
priseborough 55c60b8f07 AP_NavEKF : Reduce Magnetometer innovation consistency check threshold 2014-03-26 21:29:47 +11:00
priseborough 45b1a2fa46 AP_NavEKF : Reduce GPS position innovation consistency fail threshold 
This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres
This will provide copters with more protection for close in loiter situations
 2014-03-26 21:29:45 +11:00
Andrew Tridgell 8c0c9c317e RC_Channel: prevent a numerical exception with bad mount parameters 2014-03-26 17:38:27 +11:00
Andrew Tridgell bafc664750 AP_NavEKF: use APM_BUILD_TYPE() macro 2014-03-26 12:42:11 +11:00
Andrew Tridgell fbec098e2f AP_Vehicle: added APM_BUILD_TYPE() macro 
this makes checking build type less fragile
 2014-03-26 12:41:53 +11:00
Andrew Tridgell e3792f9b26 AP_NavEKF: added a mechanism for per-vehicle-type defaults in EKF 2014-03-26 12:30:17 +11:00
Andrew Tridgell 6b2f0b9553 AP_Vehicle: added defines for main vehicle types 2014-03-26 12:15:45 +11:00
Andrew Tridgell 6bf2b5033e DataFlash: support logging up to 14 RC input channels 2014-03-25 16:39:19 +11:00
Andrew Tridgell 6039eab442 RC_Channel: support up to 12 aux channels on PX4 
this allows RC13 and RC14 to work correctly as aux outputs on Pixhawk
 2014-03-25 15:42:48 +11:00
Andrew Tridgell 64772cede8 GCS_MAVLink: rebuild MAVLink headers 2014-03-25 14:47:43 +11:00
Andrew Tridgell d24547b390 GCS_MAVLink: merge latest msgs from upstream 2014-03-25 14:47:05 +11:00
Andrew Tridgell 6eee2421cc AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() 
the valid_channels() method was inconsistently implemented between
boards, and served two quite different purposes. It is clearer as two
functions
 2014-03-25 14:39:41 +11:00
Andrew Tridgell 27dbf608c8 DataFlash: fixed a build warning 2014-03-25 13:31:21 +11:00
Andrew Tridgell 2a9a89e020 HAL_PX4: fixes for merged upstream PX4Firmware 2014-03-25 10:30:00 +11:00
priseborough 17cdac7bc8 AP_NavEKF : Clean up angle and mag field initialisation 
This path reduces duplicated code, eliminates unused variables and
causes the earth magnetic field states to be reset when exiting static mode
which will occur every time copter is armed. This enables copters to be
powered on and initialised inside vehicles or houses, without bad earth
field values affecting flight.
 2014-03-24 19:54:48 +11:00
Andrew Tridgell f05b90bfd2 GCS_MAVLink: fixed some compiler warnings 2014-03-24 12:52:39 +11:00
Andrew Tridgell 0af35bd636 AP_Mission: fixed some compiler warnings 2014-03-24 12:52:27 +11:00
Andrew Tridgell 2763393908 AP_InertialSensor: fixed some compiler warnings 2014-03-24 12:52:16 +11:00
Andrew Tridgell c6f3e0a81c AP_GPS: fixed example builds 2014-03-24 12:20:34 +11:00
Andrew Tridgell 271ba3a6bc AP_InertialNav: fixed example build 2014-03-24 12:03:47 +11:00
Andrew Tridgell 1b1a92251f DataFlash: allow drivers to setup their own logging formats 
this allows drivers to ask the dataflash driver to add new log formats
 2014-03-24 12:03:31 +11:00
Andrew Tridgell 5630bb1ef6 AP_GPS: added detailed hardware status logging for uBlox 
this gives us noise, jamming and RF information from the uBlox
protocol. This will hopefully allow a more detailed investigation of
antenna choices and RF interference
 2014-03-24 12:02:37 +11:00
Andrew Tridgell 7ff293ca38 AP_GPS: added DataFlash to GPS init to allow for detailed logging 
this will allow GPS drivers to log much more detailed device specific
information
 2014-03-24 12:01:13 +11:00
Andrew Tridgell 485ae596fc AP_Compass: fixed last_update for secondary compass with primary failed 
this ensures EKF and DCM will use a secondary compass if the primary
fails
 2014-03-23 22:05:17 +11:00
Matthew Lloyd 60a4f74de6 AP_Compass: avoid division by zero if we haven't received any mag reports 
Otherwise, get_field() will return NaNs after once every few calls to
read() during compassmot on PX4 platforms, which causes compassmot to fail.

This is a quick hack around the deeper issue, which could be something
like the PX4 mag driver experiencing starvation and skipping mag reports,
buffer overrun or something else that causes mag reports to be dropped.
Or perhaps we should never expect in the first place that we will always
receive at least one mag report between calls to read().
 2014-03-23 21:22:32 +11:00
priseborough 7ae86b3979 AP_NavEKF : Track baro height observations pre-arm 
This prevents copter from failing the pre-arm height discrepancy test
 2014-03-23 18:25:50 +11:00
priseborough 7780d55788 AP_NavEKF : Prevent large magnetic field adaptations early in flight 2014-03-22 19:55:26 +11:00
Randy Mackay 3efad982c0 GCS_Mavlink: return MISSION_INVALID when conversion fails 
Requested by MichaelO to allow better error message to be displayed to
user when the mission upload from the GCS to vehicle fails
 2014-03-22 11:29:36 +09:00
Paul Riseborough f7007569d1 AP_NavEKF : Fix bug that limits copter sensor delay compensation to 125 
msec
 2014-03-21 21:52:20 +11:00