priseborough
073b8e7c43
AP_NavEKF: Always explicitly set required const pos or vel mode when arming
...
This additional explicit setting of the constPosMode and constVelMode reduces the likelihood of logic errors being introduced in the future as it places the intended setting of these parameters at arming in the one place. the constVelmode and constPosMode only have one set of conditions each that can trigger these modes in flight, so if these modes are true after arming it will be clear that it was the in-flight condition that triggered.
2015-01-22 14:40:59 +09:00
priseborough
9c6dabe1cc
AP_NavEKF: Add separate flow default parameters for platform types
...
Also reduces flow measurement noise default for copter only and increases gate to compensate.
2015-01-22 14:40:57 +09:00
priseborough
d2da16e652
AP_NavEKF: Consistently set timeout flags whenever aiding is inhibited
...
This ensures the position and velocity measurement status will be set as timed out immediately after use of those measurements is inhibited. This will improve the timeliness of filter status reporting.
2015-01-22 14:40:55 +09:00
priseborough
824425625c
AP_NavEKF: Update public method used to inhibit GPS use
...
This method is not currently used by any of our vehicle types, but will be required to enable a user selectable 'indoor mode'.
2015-01-22 14:40:52 +09:00
priseborough
1033f5fc1e
AP_NavEKF: Apply flow nav vehicle limits regardless of sensor health
...
It does not make sense to relax the limits on vehicle speed and nav gains just because we have received some invalid flow data. This could make the situation worse if the invalid data was being caused by too much speed.
If we are relying on flow data the vehicle limits should always be applied.
2015-01-22 14:40:50 +09:00
priseborough
14b51f6d74
AP_NavEKF: Unconditionally fuse velocity in constant velocity mode
...
The zero velocity measurements in this mode are by definition always correct and should never be rejected
2015-01-22 14:40:48 +09:00
priseborough
6663d80176
AP_NavEKF: Simplify nested logic - functionally equivalent
...
Additional if else statement was unnecessary
2015-01-22 14:40:45 +09:00
priseborough
12c3368c4d
AP_NavEKF: Bypass GPS glitch logic when not aiding
...
When we are not using GPS measurements, we should not be allowing the GPS glitch logic to reset position states as this can interfere with operation of non GPS modes.
2015-01-22 14:40:43 +09:00
priseborough
5c8e71a8d1
AP_NavEKF: Don't reset the position measurement timeout if not aiding
...
When PV aiding is disabled, then the timeout time reference should not be reset becasue we want the position measurement timeout status to remain true the whole time the measurement is not being used.
2015-01-22 14:40:41 +09:00
priseborough
c505a458de
AP_NavEKF: Always declare a position measurement timeout if aiding not used
...
If position and velocity aiding is turned off, then the position measurement should always be reported as timed out.
2015-01-22 14:40:39 +09:00
priseborough
3b166372cc
AP_NavEKF: Always declare a velocity measurement timeout if velocity not used
...
If position and velocity aiding is turned off, then the velocity measurement should always be reported as timed out.
2015-01-22 14:40:36 +09:00
priseborough
95c3197170
AP_NavEKF: Ensure velocity will not be reset unless needed for aiding
2015-01-22 14:40:34 +09:00
priseborough
8aeec82846
AP_NavEKF: Continually turn off aiding whilst the vehicle is disarmed
...
This prevents the possibility of any logic errors turning aiding back on.
AP_NavEKF: Fix bug in logic
2015-01-22 14:40:31 +09:00
priseborough
81ee339e25
AP_NavEKF: Synchronise non-aiding mode state corrections
...
Synchronise with covariance prediction to improve numerical stability and accuracy of angle corrections. The 'noise' this produces in the position and velocity estimate is irrelevantbecause these are not used by the control loops during this mode of operation (they are nominally zero anyway).
2015-01-22 14:40:29 +09:00
priseborough
ae6b85e63d
AP_NavEKF: Explicitly set aiding to off when disarmed
...
This fixes a bug that could cause the AHRS to drift whilst the vehicle was disarmed depending sensor combinations at startup.
2015-01-22 14:40:27 +09:00
priseborough
fb1962b111
AP_NavEKF: Let reported position whilst disarmed show inertial errors
...
Showing the positon states (which are nominally zero) in addition to the last known offset can provide useful log information.
2015-01-22 14:40:25 +09:00
Randy Mackay
d26121036f
AutoTest: param file to enable SIM OptFlow
2015-01-22 14:40:23 +09:00
Randy Mackay
1819bd48f4
Copter: remove home_is_set checks from Loiter, PosHold, RTL
...
This allows these flight modes to potentially operate even when the
vehicle has never had a GPS lock.
Potentially we should replace this with a check that the EKF's origin
has been set
2015-01-22 14:40:19 +09:00
Randy Mackay
01c669ee15
RangeFinder: minor param description update
...
Also initialise primary instance to 0.
No functional change.
2015-01-22 14:40:16 +09:00
Randy Mackay
d49489ca7e
Copter: optflow_position_ok requires using EKF
2015-01-22 14:40:13 +09:00
Randy Mackay
01f1ce4cb3
Copter: position_ok false when EKF in const pos mode
2015-01-22 14:40:11 +09:00
Randy Mackay
74ac79ba10
Copter: Drift uses throttle_zero flag
2015-01-22 14:40:08 +09:00
Randy Mackay
02d0b05926
Copter: minor format fix
2015-01-22 14:40:05 +09:00
Randy Mackay
4185d17915
Copter: fix to RTL, PosHold and Loiter's use of filter status
2015-01-22 14:40:02 +09:00
Randy Mackay
cc52bbbffb
Copter: update current loc once home is set
2015-01-22 14:39:59 +09:00
Randy Mackay
f1a6b06586
Copter: remove redundant filter status checks
2015-01-22 14:39:57 +09:00
Randy Mackay
3641d3d508
Copter: send inav velocities in global position message
...
Also absolute alt now calculated from home alt + current alt above home
instead of using GPS absolute alt
2015-01-22 14:39:54 +09:00
Randy Mackay
e464909ddf
Copter: position_ok true when EKF predicts it will be ok
...
This resolves the chicken and egg problem of the EKF filter status's
position flags not becoming true until after the vehicle has been armed
at least once.
2015-01-22 14:39:52 +09:00
Randy Mackay
58ac9de94b
Copter: update home position when disarmed
...
This resolves the issue in which the vehicle's position jumped back to
it's home location when disarmed and using the EKF. This also makes
copter consistent with plane.
2015-01-22 14:39:50 +09:00
Randy Mackay
fd0b82f669
Copter: add optflow_position_ok and use for loiter
...
This allows entering Loiter flight mode with only optical flow based
position
2015-01-22 14:39:47 +09:00
Randy Mackay
199dc3454d
Copter: replace GPS_ok with position_ok
...
position_ok uses the EKF's filter status if the EKF is being used
otherwise it falls back to the GPS based checks used by inertial nav
2015-01-22 14:39:45 +09:00
Randy Mackay
a4f71e5946
Copter: replace inav's position_ok with get_filter_status
2015-01-22 14:39:42 +09:00
Randy Mackay
c24e997fb2
AC_Fence: use inertial nav's get_filter_status
2015-01-22 14:39:40 +09:00
Randy Mackay
f35efc56e0
InertialNav_EKF: get_filter_status replaces position_ok
2015-01-22 14:39:37 +09:00
Randy Mackay
5d80481723
InertialNav: get_filter_status replaces position_ok
...
altitude_ok also replaced.
2015-01-22 14:39:35 +09:00
Dario Lindo Andres
7f5243026d
Plane: Cleanup code to remove 1280 ifdefs
...
Due to the imposibility to fit actual code on Legacies 1280 chips, some
cleanup is needed.
2015-01-22 16:12:26 +11:00
Andrew Tridgell
61be4ce2d2
HAL_Linux: fixed #if for linux builds
2015-01-22 15:58:20 +11:00
Víctor Mayoral Vilches
2b74d018fe
HAL_Linux: Adjust set_system_clock
...
Do nothing for HAL_BOARD_SUBTYPE_NONE.
2015-01-22 15:43:16 +11:00
Víctor Mayoral Vilches
974f243c7e
HAL_Linux: Add set_system_clock
2015-01-22 15:43:16 +11:00
Jonathan Challinger
d679831c75
GCS_MAVLink: run generate.sh
2015-01-22 15:28:44 +11:00
Jonathan Challinger
0997ab23a4
GCS_MAVLink: merge upstream changes to common.xml
2015-01-22 15:19:47 +11:00
Grant Morphett
5b4443a137
Rover: Improved message when AUTO selected but no commands loaded.
...
I updated the message when you select AUTO mode but you haven't put
any waypoints in. It now says "No commands so can't set AUTO- setting
HOLD instead"
2015-01-22 15:12:00 +11:00
Grant Morphett
236efad159
AP_HAL_AVR: Increased number of AVR input channels from 8 to 11
2015-01-22 14:48:15 +11:00
mirkix
d11c5286c3
AP_HAL: HAL_COMPASS_AK8963 used but not defined anywhere
2015-01-22 14:35:51 +11:00
mirkix
9a65a8c8fb
AP_Compass: add AK8963 to auto-detect in test suite
2015-01-22 14:34:23 +11:00
mirkix
e9d4165a8d
AP_Compass: add AK8963 support to test suite
2015-01-22 14:34:17 +11:00
mirkix
7ceb93befa
AP_HAL: make the examples usable with Linux
2015-01-22 14:30:47 +11:00
Andrew Tridgell
b4ce3e0ba5
autotest: lock in the altitude before the FBWB test
2015-01-22 11:33:25 +11:00
Andrew Tridgell
5512a6f8a0
SITL: lower the default noise in SITL
...
the noise levels were well above realistic levels, especially for gyro
noise, and were causing EKF issues
2015-01-22 11:33:09 +11:00
Andrew Tridgell
d239d8314a
Replay: fixed replay for re-organised dataflash messages
2015-01-21 14:38:37 +09:00
