Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-06 07:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity
15,934 Commits 71 Branches 510 Tags 766 MiB
0926cf17dd
Commit Graph

7495 Commits

Author SHA1 Message Date
Leonard Hall
3e960dfc3b Motors: add get_voltage_comp_gain 
This clarifies that lift_max is the inverse of the battery voltage gain
compensation
 2015-03-03 15:49:04 +09:00
Leonard Hall
997c6f0868 Motors: move battery resistance calcs to parent 
Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
 2015-03-03 15:49:02 +09:00
Randy Mackay
09d7cdbc23 Motors: batt_voltage_filt becomes filter object 2015-03-03 15:49:00 +09:00
Randy Mackay
4b78b2ce80 Filter: add get method to LowPassFilter 2015-03-03 15:48:58 +09:00
Leonard Hall
529c6fed3a Motors: move over current throttle limiting to parent 
Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
 2015-03-03 15:48:54 +09:00
Randy Mackay
812473fd9a MotorsMatrix: use get_hover_throttle_as_pwm 2015-03-03 15:48:52 +09:00
Randy Mackay
1a9d3125ef Motors: _hover_out to pct * 10 instead of pwm 2015-03-03 15:48:50 +09:00
Leonard Hall
6b7bdf64bd Motors: move batt voltage lift_max calcs to parent 
Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
 2015-03-03 15:48:48 +09:00
Randy Mackay
c549b58eb7 MotorsMatrix: remove check of throttle_curve_enabled 2015-03-03 15:48:46 +09:00
Randy Mackay
5fb3de48ee MotorsTri, Single, Coax: use new thrust curve 2015-03-03 15:48:44 +09:00
Randy Mackay
2eaa4a8445 Motors: remove old throttle curve 2015-03-03 15:48:42 +09:00
Leonard Hall
751dbb7df7 Motors: move thrust curve and volt scaling to parent 
Moving from MotorsMatrix to Motors allows it to be used from other frames
 2015-03-03 15:48:41 +09:00
Randy Mackay
80b498f598 Motors: add loop_rate to test sketch 2015-03-03 15:48:39 +09:00
Randy Mackay
7ab76dbd0e Motors: add loop_rate to constructor for all frames 2015-03-03 15:48:34 +09:00
Randy Mackay
77d4b3a2ae Motors: add loop_rate to constructor 2015-03-03 15:48:32 +09:00
Leonard Hall
ec9d7dd99e Motors: minor comment fixes 2015-03-03 15:48:30 +09:00
Leonard Hall
1d0ee68116 Motors: over current throttle limiting 2015-03-03 15:48:28 +09:00
Randy Mackay
1217ab9579 BattMon: add get_type method 2015-03-03 15:48:24 +09:00
Randy Mackay
f6523c0997 Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control 2015-03-03 15:48:21 +09:00
Leonard Hall
83e3e2fec2 Motors: thrust curve and voltage scaling for matrix supported frames 2015-03-03 15:48:19 +09:00
Leonard Hall
5b0bd49ff2 Motors: configurable yaw headroom for matrix frames 2015-03-03 15:48:15 +09:00
Randy Mackay
51213235b4 OreoLED_PX4: available only on PX4 2015-03-02 16:58:17 +09:00
Randy Mackay
f1ce70e748 Notify: disable oreoled by default 2015-03-02 16:58:14 +09:00
Randy Mackay
89cd74c35f Notify: OreoLED supports handle_led_control 
includes support for send bytes ioctl
 2015-03-02 16:58:12 +09:00
Randy Mackay
90cac02bd7 Notify: OreoLED fix to fade-in when armed 2015-03-02 16:58:10 +09:00
Randy Mackay
35a3a52f29 Notify: add support for handle_led_control 2015-03-02 16:58:06 +09:00
Randy Mackay
9159c7107d GCS_MAVLink: version update after LED_CONTROL added 2015-03-02 16:58:03 +09:00
Randy Mackay
26d54398e2 GCS_MAVlink: generate after LED_CONTROL added 2015-03-02 16:58:01 +09:00
Randy Mackay
3fdabb3667 GCS_MAVlink: define LED_CONTROL in ardupilotmega.xml 2015-03-02 16:57:59 +09:00
Randy Mackay
b8ef765b3e Notify: add OreoLED to PX4 2015-03-02 16:57:56 +09:00
Randy Mackay
0a33a7c15a Notify: OreoLED_PX4 driver 2015-03-02 16:57:50 +09:00
Jonathan Challinger
e9bbe062f3 AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation 2015-02-24 16:41:03 +09:00
Andrew Tridgell
1f417dce86 AP_SerialManager: added note on external converter requirement for Frsky 
thanks to Luis for the suggestion
 2015-02-24 10:19:42 +11:00
Andrew Tridgell
a6d76b4e03 AP_RangeFinder: added PX4-PWM rangefinder 
uses PWM input driver to read a rangefinder
 2015-02-23 14:15:14 +11:00
Randy Mackay
b650d39786 InertialSensor: remove product_id set to zero 2015-02-21 09:14:33 +09:00
Jonathan Challinger
7b0e806db1 AP_Mount: correct status_msg to conform to MAVLink specification 2015-02-21 08:33:50 +09:00
Andrew Tridgell
3a51bac0d0 AP_Arming: use new enum for home_is_set 2015-02-21 10:13:43 +11:00
Andrew Tridgell
a53395cdb8 AP_Common: added HomeState enum from copter 2015-02-21 10:13:17 +11:00
Andrew Tridgell
6781a8d329 AP_AHRS: fixed get_position for EKF to use correct relative altitude 
we need to use the EKF relative height plus the current AHRS home
 2015-02-21 10:12:53 +11:00
Andrew Tridgell
869fb23062 HAL_SITL: implement SIM_GPSDRIFTALT 2015-02-21 08:33:01 +11:00
Andrew Tridgell
63c792bc1c SITL: added SIM_GPSDRIFTALT simulation control 2015-02-21 08:32:49 +11:00
Randy Mackay
73e00108e4 Mount: SToRM32 remove unnecessary include 2015-02-20 11:27:15 +09:00
Randy Mackay
23f0bab5d6 Mount: integrate SToRM32 backend 2015-02-20 11:05:40 +09:00
Randy Mackay
92c7949355 Mount: SToRM32 mount backend 2015-02-20 11:05:31 +09:00
Andrew Tridgell
b21c00fcf9 AP_L1_Control: changed default L1 tuning to 20 
this is more appropriate for most aircraft
 2015-02-19 16:19:33 +11:00
Andrew Tridgell
ec70042d25 APM_Control: raise default IMAX to 3000 
on the first flight users often need more I gain to overcome poor
choices for the P gain
 2015-02-19 16:15:33 +11:00
Andrew Tridgell
6959cdbf15 RC_Channel: fixed usage of _reverse to be consistent 
users could set RCn_REV to 0 and get very confusing results
 2015-02-18 12:47:56 +11:00
Andrew Tridgell
26ac29840c AP_Common: added UNUSED_FUNCTION macro 
useful for functions that are only in some builds
 2015-02-18 11:12:43 +11:00
Andrew Tridgell
50a11c7d5a AP_Mount: added an alternative tilt-only gimbal control method 
this adds some nice control characteristics based on work by Paul and
Arthur, but is tilt only
 2015-02-16 16:48:55 +11:00
Andrew Tridgell
9b2d44d6ed AP_InertialSensor: use delay_microseconds_boost() 
this gives much more consistent timing for PX4
 2015-02-16 12:19:13 +11:00
Andrew Tridgell
18131eae13 HAL_PX4: added delay_microseconds_boost() 
implemented using hrt callback with sem_post wrapper
 2015-02-16 12:19:13 +11:00
Andrew Tridgell
c63540f7b1 AP_HAL: added delay_microseconds_boost() 
this will be used by wait_for_sample() to boost priority for a short
period at the end of each delay_microseconds()
 2015-02-16 11:52:37 +11:00
Andrew Tridgell
f54d799bff AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues 2015-02-16 10:12:10 +11:00
Randy Mackay
8e75c9580c InertialNav: get_origin returns zero when no origin 
If the EKF has not yet set the origin return location of all zeros
instead of uninitialised location
 2015-02-15 11:17:37 +09:00
Andrew Tridgell
04bef5ccf3 AP_InertialSensor: don't skip delay if we are a bit early 
this produces a bit more even timing
 2015-02-14 12:25:44 +11:00
Andrew Tridgell
619196b6b3 HAL_PX4: fixes for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell
38d63d51a5 AP_RangeFinder: change for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell
995311f807 AP_OpticalFlow: change for new PX4 device paths 2015-02-14 12:25:44 +11:00
Andrew Tridgell
9f7e20090c AP_Notify: change for new PX4 device paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
4537acb898 AP_InertialSensor: change for new PX4 device paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
99ed508903 AP_Compass: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
beeb9173ea AP_Baro: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
26a77dc502 AP_Airspeed: change for new PX4 paths 2015-02-14 12:25:43 +11:00
Andrew Tridgell
001643d5a3 HAL_PX4: always use the hrt semaphore based delay 
the up_udelay() could cause too much timing jitter
 2015-02-14 12:25:43 +11:00
Andrew Tridgell
7f0060b881 HAL_PX4: reduce the amount of time between loop() calls 
500usec is too long for 400Hz copter
 2015-02-14 12:25:43 +11:00
myly10
7bb079b348 AP_Parachute.cpp: Typo correction. 2015-02-13 16:16:10 +09:00
Staroselskii Georgii
75cd41a7c1 AP_HAL_Linux: added NavioAnalogIn 2015-02-12 12:57:45 +11:00
Staroselskii Georgii
b5aef01f72 AP_ADC: added ADS1115 support 2015-02-12 12:57:45 +11:00
Staroselskii Georgii
195aa5fc6b AP_HAL_Linux: take the semaphore in SPIUARTDriver for shorter periods of time 2015-02-12 12:52:56 +11:00
Staroselskii Georgii
64da7f0360 AP_HAL_Linux: fix macro that defines number of I/O callbacks 2015-02-12 12:52:56 +11:00
Staroselskii Georgii
5b21bd2f1d AP_HAL_Linux: make Ublox transactions shorter 2015-02-12 12:52:56 +11:00
Staroselskii Georgii
4034004194 AP_HAL_Linux: switch NavIO to kernel CS handling 2015-02-12 12:52:56 +11:00
Paul Riseborough
9f552eaa4b AP_NavEKF: Fix bug that resets position to origin when vehicle arms 2015-02-12 12:40:55 +11:00
Paul Riseborough
b8d3da3846 AP_NavEKF: Report last known position when vehicle is disarmed 2015-02-12 12:40:55 +11:00
Andrew Tridgell
4aa8a012de GCS_MAVLink: re-generate headers (updated stdint.h usage) 2015-02-12 09:13:17 +11:00
Andrew Tridgell
991afa9999 GCS_MAVLink: re-generate headers 2015-02-12 09:03:34 +11:00
Andrew Tridgell
7a6d91035e GCS_MAVLink: merge upstream changes 2015-02-12 09:03:22 +11:00
Andrew Tridgell
55041c7a7a AP_NavEKF: prevent division by zero in SmallEKF 2015-02-12 09:02:59 +11:00
Andrew Tridgell
db9c8548a5 HAL_VRBrain: call parent Util constructor 2015-02-11 20:57:28 +11:00
Andrew Tridgell
ebacb2b496 HAL_PX4: call parent Util constructor 2015-02-11 20:57:28 +11:00
Jonathan Challinger
59cf1c29ff AP_HAL_VRBRAIN: attempt to initialize USB while soft-disarmed 2015-02-11 20:57:28 +11:00
Jonathan Challinger
e908fcafb1 AP_HAL_PX4: attempt to initialize USB while soft-disarmed 2015-02-11 20:57:27 +11:00
Jonathan Challinger
50466848f7 AP_NavEKF: use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
Jonathan Challinger
180c85817d AP_AHRS: remove armed state, use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
Jonathan Challinger
aa7776ea59 AP_HAL: add soft_armed state to hal.util 2015-02-11 20:25:10 +11:00
Andrew Tridgell
fdcd5ca1a1 GCS_MAVLink: re-generate headers 2015-02-11 20:14:08 +11:00
Andrew Tridgell
b227f8463f GCS_MAVLink: merge upstream mavlink changes 2015-02-11 20:13:27 +11:00
Andrew Tridgell
8cfe8c5823 GCS_MAVLink: moved send_autopilot_version() to common code 2015-02-11 19:50:40 +11:00
Andrew Tridgell
8e35baaef8 GCS_MAVLink: re-generate headers 2015-02-11 19:13:31 +11:00
Jonathan Challinger
0d1f0f4eb0 GCS_MAVLink: add AUTOPILOT_VERSION_REQUEST 2015-02-11 19:11:30 +11:00
Andrew Tridgell
e43fe520e8 AP_BoardConfig: added BRD_SBUS_OUT parameter 
when this is set to 1 it enables SBUS servo output on the SBUS
connector.
 2015-02-11 18:35:34 +11:00
mirkix
460b434708 AP_InertialSensor: add apm1 oilpan support 2015-02-11 18:22:44 +11:00
mirkix
98b78e61c2 AP_InertialNav: fix apm1 oilpan support 2015-02-11 18:22:42 +11:00
mirkix
49d81a9c99 AP_AHRS: fix apm1 oilpan support 2015-02-11 18:22:39 +11:00
Grant Morphett
3a5eb33d86 GCS_MAVLink: Bug - CLI_ENABLED check should be in vehicle code only. 
Changes to fix the warnings in rover sitl build.
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Grant Morphett
4860c84dff AP_NavEKF: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Grant Morphett
300a02f4e4 AP_Math: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Grant Morphett
b511410b48 AP_InertialSensor: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
525787078f AP_HAL: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
e7e9e1adf0 AP_GPS: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
52c5db8440 AP_Compass: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Grant Morphett
0b4ac5d256 AP_Common: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:45 +11:00
Andrew Tridgell
ac3dd87790 AP_Baro: added hil_mode support 2015-02-10 09:53:30 +11:00
Jonathan Challinger
5f7480b740 AP_Math: change fast_atan2 to use atan2f on fast CPUs 2015-02-09 22:24:09 +09:00
Andrew Tridgell
b64077ac2e GCS_MAVLink: fixed example build 2015-02-09 13:09:29 +11:00
Andrew Tridgell
af5f84f4e4 DataFlash: fixed example builds 2015-02-09 13:09:16 +11:00
Andrew Tridgell
d5e129457e AP_InertialNav: fixed example builds 2015-02-09 13:09:02 +11:00
Andrew Tridgell
84cda98bec HAL_AVR: fixed example build 2015-02-09 13:08:45 +11:00
Andrew Tridgell
78dadcb5c6 AC_AttitudeControl: fixed example build 2015-02-09 13:08:34 +11:00
Andrew Tridgell
dd0e45db41 GCS_MAVLink: fixed build of example sketches 2015-02-09 11:49:25 +11:00
Andrew Tridgell
2f3b5006e7 AP_Mount: fixed build of example sketches 2015-02-09 11:49:10 +11:00
Andrew Tridgell
a8c1d3a134 AP_GPS: fixed SerialManager for test sketches 2015-02-09 11:47:31 +11:00
Andrew Tridgell
9eb07ffde2 HAL_VRBRAIN: implement updated new_input() semantics 2015-02-09 10:39:14 +11:00
Andrew Tridgell
f548d48fdc HAL_PX4: implement updated new_input() semantics 2015-02-09 10:39:12 +11:00
Andrew Tridgell
7275d2b804 HAL_SITL: implement updated new_input() semantics 2015-02-09 10:39:10 +11:00
Andrew Tridgell
5d6f883887 HAL_AVR: implement updated new_input() semantics 2015-02-09 10:39:07 +11:00
Andrew Tridgell
3075cb058d AP_HAL: changed semantics of RCInput.new_input() 
this makes calling new_input() in RCInput clear the new input
flag. This fixes an issue with calls to read() for auxillary channels
clearing the new_input flag, which could cause brief failsafe
conditions.
 2015-02-09 10:39:05 +11:00
Andrew Tridgell
7a5ec6d75b GCS_MAVLink: allow use of RC_CHANNELS message on AVR too 
can have up to 11 channels
 2015-02-08 21:47:31 +11:00
Andrew Tridgell
33a3254d8b HAL_Linux: accept a smaller sync pulse width 2015-02-08 21:47:28 +11:00
Andrew Tridgell
7fb114752c AP_HAL_AVR: accept a much shorted sync pulse width on RCInput 
this should fix issues with OpenLRSng default settings
 2015-02-08 21:47:26 +11:00
Andrew Tridgell
f2a919c55e AP_HAL_PX4: moved size of main thread stack to Scheduler.h 
make it more obvious
 2015-02-07 08:06:53 +11:00
Andrew Tridgell
1c270d17a8 AP_Airspeed: ignore temperatures below -80 
ETS driver on PX4 returns -1000
 2015-02-06 21:41:15 +11:00
Andrew Tridgell
4ecd99eb76 AP_Arming: added check for logging available 
this is used for refusing to fly without microSD inserted
 2015-02-06 19:05:02 +11:00
Randy Mackay
fc4442bf61 AC_WPNav: rename xy_mode 2015-02-06 17:00:57 +09:00
Randy Mackay
186337f18e AC_PosControl: rename xy_mode enum values 
Also added a few comments and fixed formatting
 2015-02-06 17:00:55 +09:00
Jonathan Challinger
626521c366 AC_WPNav: update usage of update_xy_controller 2015-02-06 17:00:53 +09:00
Jonathan Challinger
3faca88423 AC_PosControl: allow control of xy rate constraint behavior 2015-02-06 17:00:48 +09:00
Andrew Tridgell
cabf21194a AP_Arming: improved docs 2015-02-06 08:40:59 +11:00
Emile Castelnuovo
5c68980f05 AP_Notify: removed unused VRBRAIN files 2015-02-05 14:22:08 +09:00
Randy Mackay
b66a1135d9 AHRS: fix example sketch compile error 2015-02-03 15:57:11 +09:00
Paul Riseborough
aa94ff629d AP_NavEKF: Prevent bad GPS pre-arming casuing initial position errors 
If the vehicle moves significantly or the GPS changes position significantly pre-armed, then the GPS glitch logic was being invoked when the first GPs measurements were fused. This patch resets the position to the GPS when the vehicle arms.
 2015-02-03 15:57:10 +09:00
priseborough
bc5581d634 AP_NavEKF: Prevent arming delays from failing GPS 
Due to the way that gyro calibration is done, the EKF could be effectively not run for up to 30 seconds in extreme cases, making it possible that the GPS would be failed on arming and the copter put into a non-GPS mode.

the longer term solution is to update the gyro calibration so that it does not hold up other processing. the short tyermfix in thsi patch is to look for evidence of a 3D lock in the last received GPS message.
 2015-02-03 15:57:09 +09:00
priseborough
2c012c2763 AP_NavEKF: Always check for new GPS data 
This fixes a bug that meant that once the EKF had started up in a non-GPS mode, it would no longer read the GPS and therefore would never be able to use GPS again until reset.
 2015-02-03 15:57:08 +09:00
Robert Lefebvre
14d76d158a AC_AttitudeControl: Correct comment. 2015-02-03 14:55:30 +09:00
Jonathan Challinger
baa3e802ee AC_WPNav: clean up atan2 2015-02-03 14:48:04 +09:00
Randy Mackay
112f6a1854 AP_InertialNav: add comments 
No functional change
 2015-02-03 12:05:24 +09:00
Jonathan Challinger
c95e7b2282 AP_InertialNav: add get_origin function 2015-02-03 11:38:21 +09:00
Andrew Tridgell
fa7c584733 AP_Mount: fixed build on non-EKF systems 2015-02-03 09:49:17 +11:00
Andrew Tridgell
f77f919588 AP_Mount: enable pan pointing in MAVLink backend 2015-02-03 09:49:17 +11:00
Andrew Tridgell
81f60bde06 AP_Mount: fill in all Location flags in ROI pointing 2015-02-03 09:49:17 +11:00
Andrew Tridgell
cf76dcfbf3 AP_Mount: fixed mount MAVLink backend to match SITL sim behaviour 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:17 +11:00
Andrew Tridgell
75b1330843 AP_Mount: fixed radians to degrees error 2015-02-03 09:49:17 +11:00
Andrew Tridgell
032dcc3660 AP_Mount: fixed references to state in backends 2015-02-03 09:49:17 +11:00
Paul Riseborough
925d625ed1 AP_NavEKF: fix bug in small EKF velocity fusion 2015-02-03 09:49:17 +11:00
Paul Riseborough
8d6f0d08c9 AP_Mount: Update attitude control calculations and debug printing 2015-02-03 09:49:17 +11:00
Paul Riseborough
255252f387 AP_Math: Fix bug in quaternion division 2015-02-03 09:49:16 +11:00
Paul Riseborough
1660aefc90 AP_Mount: Add a simple attitude control loop to the gimbal report handling 2015-02-03 09:49:16 +11:00
Paul Riseborough
5f24603ceb AP_NavEKF: Publish small EKF quaternion and gyro bias outputs 2015-02-03 09:49:16 +11:00
Paul Riseborough
17445d03f0 AP_Math: Add quaternion division 2015-02-03 09:49:16 +11:00
Andrew Tridgell
79017096e2 AP_Mount: prototype code to send biases 2015-02-03 09:49:16 +11:00
Andrew Tridgell
da27a8696d AP_Mount: added initial ekf estimation of gimbal bias 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
ee9c778834 AP_AHRS: added a get_NavEKF_const() function 
needed for AP_Mount_MAVLink

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
4c8b663200 AP_NavEKF: added initial version of SmallEKF 
This will be used for gimbal bias estimations. 

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
1bbe633691 GCS_MAVLink: re-generate headers 2015-02-03 09:49:15 +11:00
Andrew Tridgell
b81cdf9250 GCS_MAVLink: change to delta_time in GIMBAL_REPORT 2015-02-03 09:49:15 +11:00
Andrew Tridgell
01b264951a AP_Mount: added handling of GIMBAL_REPORT messages 2015-02-03 09:49:15 +11:00
Andrew Tridgell
35c14c787e GCS_MAVLink: added handle_gimbal_report() function 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-02-03 09:49:15 +11:00
Andrew Tridgell
a1536d575b GCS_MAVLink: added GIMBAL msgs to routing 2015-02-03 09:49:14 +11:00
Andrew Tridgell
01325b701a GCS_MAVLink: re-generate headers 2015-02-03 09:49:14 +11:00
Andrew Tridgell
3b2332a0c7 GCS_MAVLink: added target_system/component to GIMBAL_REPORT 2015-02-03 09:49:14 +11:00
Andrew Tridgell
51ce4d3217 GCS_MAVLink: re-generate 2015-02-03 09:49:14 +11:00
Andrew Tridgell
df735e2ddb GCS_MAVLink: change euler312 order conventions 2015-02-03 09:49:13 +11:00
Andrew Tridgell
53adcc9a25 GCS_MAVLink: regenerate MAVLink headers 2015-02-03 09:49:13 +11:00
Andrew Tridgell
73670edda6 GCS_MAVLink: added GIMBAL messages, mavlink ID and type 2015-02-03 09:49:13 +11:00
Randy Mackay
6cfd48d0c6 Buzzer: handle arming_failed as event 2015-02-03 06:14:55 +09:00
Randy Mackay
a991b4a823 Linux: handle arming_failed as event 2015-02-03 06:14:54 +09:00
Randy Mackay
3361002379 ToneAlarm: handle arming_failed as event 2015-02-03 06:14:53 +09:00
Randy Mackay
bd1ae13fdb Notify: arming_failed flag moved to events 2015-02-03 06:14:53 +09:00
Randy Mackay
6a827459ad Notify: increase size of flags type 2015-02-03 06:14:52 +09:00
Randy Mackay
0a68d4ef39 Notify: clear all flags and events during init 2015-02-03 06:14:44 +09:00
Randy Mackay
272768bc0f Notify: init RGBLed members 2015-02-03 06:14:35 +09:00
Randy Mackay
3550e52560 MotorsTri: add 80% throttle limit 
This limit was moved from the main copter flight code to the motors
library in order that the throttle_upper flag could be set properly.
 2015-02-02 22:31:06 +09:00
Emile Castelnuovo
c044901f9f AP_Notify: added missing VRBRAIN led files 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
ebc3dcd142 DataFlash: Clean up, VRBRAIN deleted unused boards. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
90663664f3 AP_BattMonitor: VRBRAIN deleted unused boards, corrected default batt volt divider. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
a863f0bca8 AP_Airspeed: VRBRAIN code clean up. Deleted unused boards. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
d78ff43971 AP_HAL_VRBRAIN: code clean up. Deleted unused boards. 2015-02-02 08:44:00 +11:00
Emile Castelnuovo
5e8c1b61b5 AP_Compass: AP_Compass_VRBRAIN.cpp added _is_external overwrite to deal with external compass attached to internal I2C BUS 2015-02-02 08:44:00 +11:00
LukeMike
61f4239e47 AP_Airspeed: enabled PX4 library for VR boards 2015-02-02 08:44:00 +11:00
LukeMike
6473ae2c37 Storage: updated to the PX4 library 2015-02-02 08:44:00 +11:00
Emile Castelnuovo
26432d6064 AP_Notify: use RGB driver for board led in VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
3e97592e5c AP_Rangefinder: added #if for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
c38b11eec8 AP_RangeFinder: added VRBRAIN to use PX4 libraries 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
25818f08a3 AP_Airspeed: added VRBRAIN board type 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
ffd26e59cd DataFlash: added new VRBRAIN boards 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
b0b892e578 AP_Rangefinder: added support for VRBRAIN boards 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
731329fc55 AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN 2015-02-02 08:43:58 +11:00
Emile Castelnuovo
92e0bc3a2f AP_HAL_VRBRAIN: updates to libraries for new boards 2015-02-02 08:43:58 +11:00
Emile Castelnuovo
a0673b56f9 AP_HAL: added new VRBRAIN boards and new subtypes 2015-02-02 08:43:58 +11:00
Emile Castelnuovo
de8a0ebc08 AP_Airspeed: added #defines for new VR boards. 2015-02-02 08:43:58 +11:00
LukeMike
edd0f13845 AP_HAL: mapped the different sizes of storage for all VR boards 2015-02-02 08:43:58 +11:00
LukeMike
6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +11:00
LukeMike
b29f50ba9b AP_Airspeed: Defined AirSpeed analog inputs for ArduPlane on VR Micro Brain 5 2015-02-02 08:43:57 +11:00
LukeMike
7dc5541484 AP_HAL_VRBRAIN: Added analog inputs for ArduPlane on VR Micro Brain 5 2015-02-02 08:43:57 +11:00
Andrew Tridgell
a2adb9b1b0 AP_Arming: check for AHRS health and calibration for arming 2015-02-01 14:13:57 +11:00
Andrew Tridgell
6e62e1ca7b AP_InertialSensor: make calibrated() const 2015-02-01 14:13:54 +11:00
Andrew Tridgell
68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Andrew Tridgell
850af14949 AP_NavEKF: raise EKF_POS_GATE and EKF_GLITCH_RAD for planes 
This weights GPS position more heavily for planes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-01-31 21:49:20 +11:00
Holger Steinhaus
8911dfd791 DataFlash: fix out-of-bounds read when logging 
Checked in my rmackay9
 2015-01-31 13:24:34 +09:00
Randy Mackay
0d94d5441f SerialManager: correct protocol comments 
Correct value for 2nd MAVLink protocol
 2015-01-31 12:18:47 +09:00
Matthias Badaire
b5b67cf68a SerialManager: Fix SERIALX_PROTOCOL comments 
Fix SERIALX_PROTOCOL to have a proper documentation of the protocol types available
 2015-01-31 12:18:36 +09:00
Randy Mackay
07a0388f25 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
 2015-01-30 14:13:52 +09:00
Robert Lefebvre
02f3f96310 AC_PosControl: Enable altitude limit checking. 2015-01-30 14:13:45 +09:00
Andrew Tridgell
79cad28a25 AP_Mount: simplify some uses of frontend 2015-01-29 17:23:33 +11:00
Andrew Tridgell
c05f36d29b AP_SerialManager: make the state structure private 2015-01-29 16:02:24 +11:00
Andrew Tridgell
1d272e5a32 AP_Frsky_Telem: don't use flow control for FrSky 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:53:41 +11:00
Andrew Tridgell
362b53e1da AP_GPS: force flow control off on GPS serial ports 2015-01-29 15:53:20 +11:00
Andrew Tridgell
5980ff8e1c AP_Common: removed map_baudrate() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:47:48 +11:00
Andrew Tridgell
d6ab4722cd AP_SerialManager: moved map_baudrate() into class 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:47:36 +11:00
Andrew Tridgell
085a926e61 AP_Frsky_telem: update for find_serial() change 2015-01-29 15:37:18 +11:00
Andrew Tridgell
9ba2fefde3 AP_GPS: update for find_serial() change 2015-01-29 15:37:08 +11:00
Andrew Tridgell
60f266da19 AP_Mount: update for new find_serial() interface 2015-01-29 15:36:38 +11:00
Andrew Tridgell
59d5351dab GCS_MAVLink: update for new find_serial() 2015-01-29 15:36:19 +11:00
Andrew Tridgell
e28deacc4c AP_SerialManager: simplify interface, returning direct uart 
added find_baudrate() for getting baudrate

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:35:42 +11:00
Randy Mackay
0a195671b3 SerialManager: set_console_baud uses first matching protocol 
This ensures we set the baud to the first serial port with the specified
protocol instead of the last.
 2015-01-29 14:05:15 +11:00
Matthias Badaire
5f432eaa2d AP_Mount_Alexmos : take into account available negative numbers 
uartdriver->available () function brings back a signed int, we should be carefull to avoid an endless loop if that happens.
 2015-01-29 14:05:15 +11:00
Randy Mackay
4a4387530a Mount: remove unused num_instances 2015-01-29 14:05:14 +11:00
Randy Mackay
d6433266d2 Mount_MAVLink: use SerialManager for init 
use serial_manager's get_mavlink_channel
 2015-01-29 14:05:14 +11:00
Randy Mackay
4848b03ac6 Mount_AlexMos: use SerialManager for init 2015-01-29 14:05:14 +11:00
Randy Mackay
56f872b38c Mount_Servo: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay
886cc9aa46 Mount: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay
19aa8939de FrSky_Telem: init uart when protocol is S-Port 2015-01-29 14:05:13 +11:00
Randy Mackay
5c086acc15 FrSky_Telem: comments, formatting and reordering 
No functional change
Added comments and moved main functions to the top
Removed spaces between function name and brackets
 2015-01-29 14:05:13 +11:00
Randy Mackay
6ef996d553 FrSky_Telem: init all members to zero and move to cpp 2015-01-29 14:05:13 +11:00
Randy Mackay
d16f787bd0 Frsky_Telem: use SerialManager for init 2015-01-29 14:05:12 +11:00
Randy Mackay
ebf5f98dbd GPS: detect_instance does not set uart rx, tx size 2015-01-29 14:05:12 +11:00
Randy Mackay
2eddecb10d GPS: use SerialManager for init 2015-01-29 14:05:12 +11:00
Randy Mackay
0c3a8f585a GCS_MAVLink: add get_uart accessor 
use by flight code to print messages during startup
 2015-01-29 14:05:12 +11:00
Randy Mackay
1275ff7d40 GCS_MAVLink: have_flow_control uses mavlink_comm 2015-01-29 14:05:12 +11:00
Randy Mackay
1157c13eb6 GCS_MAVLink: mavlink_comm_x become UARTDrivers 2015-01-29 14:05:12 +11:00
Randy Mackay
febda988af GCS_MAVLink: mavlink_channel from SerialManager 2015-01-29 14:05:11 +11:00
Randy Mackay
c6326fc9b7 GCS_MAVLink: use SerialManager for setup_uart 2015-01-29 14:05:11 +11:00
Randy Mackay
0fe4436c72 SerialManager: do not init uart for FrSky S-Port 2015-01-29 14:05:11 +11:00
Randy Mackay
cc71db1e2f SerialManager: lib to configure UART protocol 2015-01-29 14:05:11 +11:00
Randy Mackay
ee369f8a0d Mount_AlexMos: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay
b083c99966 Mount_MAVLink: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay
32ea258594 Mount_Servo: use reference to state 2015-01-29 14:05:10 +11:00
Randy Mackay
acbcf3c54e Mount: backends use reference to their state 2015-01-29 14:05:10 +11:00
Randy Mackay
bf82e82282 Mount_MAVLink: remove unused _enable and find_mount 2015-01-29 14:05:10 +11:00
Randy Mackay
b5127b680f Mount: set primary to first instance 2015-01-29 14:05:10 +11:00
Matthias Badaire
24af65a41a AP_Mount_Alexmos: critical fix to avoid endless loop if byte arrive to fast in serial buffer 
This fix reads the number of bytes available and iterates on it instead of looking for new bytes in the serial buffer (potentially forever)
 2015-01-29 14:05:10 +11:00
Matthias Badaire
46e92f99fe AP_Mount_Alexmos: use struct for CMD_CONTROL command 
new struct created in header and used in control_axis function
 2015-01-29 14:05:09 +11:00
Matthias Badaire
81d60af4a8 AP_Mount_Alexmos : cleanup initialization of class fields 2015-01-29 14:05:09 +11:00
Randy Mackay
c5ef5d21d3 Mount: add Alexmos to MNT2_TYPE param description 2015-01-29 14:05:09 +11:00
Randy Mackay
93323e2136 Mount_Alexmos: comments and formatting 
No functional change
 2015-01-29 14:05:09 +11:00
Matthias Badaire
1e5ddf3ce7 AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal 
get_angles calls the Alexmos API to get the current angles. It was not being called before.
 2015-01-29 14:05:09 +11:00
Matthias Badaire
0b88f15a37 AP_Mount: fix Backend enum for AP_Mount_Alexmos and add comments 
fix Backend enum for AP_Mount_Alexmos and add comments
 2015-01-29 14:05:09 +11:00
Matthias Badaire
cdeb1fb8f3 AP_Mount_Alexmos : changes some define to avoid conflicting 
change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well
 2015-01-29 14:05:08 +11:00
Matthias Badaire
6e5e438b0f AP_Mount: Make use of the new AP_Mount_Alexmos backend 
This is adding AP_Mount_Alexmos as one of the available backend
 2015-01-29 14:05:08 +11:00
Matthias Badaire
dfc086f9e9 AP_Mount_Alexmos : Add Alexmos Serial support for 8bit cards 
This is the initial implementation of Alemox gimbal protocol. the uart output is for the moment hard coded but should become a parameter.
 2015-01-29 14:05:08 +11:00
Randy Mackay
66ad56161b Mount_MAVLink: fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay
f509dad991 Mount_Servo: bug fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay
a78309734d Mount_MAVLink: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay
99c35d5cf7 Mount_Servo: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay
72fec52f0f Mount_Backend: move set_roi_target, configure to backend 2015-01-29 14:05:07 +11:00
Randy Mackay
efeb05876e AP_Mount: initialise mode to default 2015-01-29 14:05:07 +11:00
Randy Mackay
ace1fd8740 Mount_MAVLink: handle RC and GPS targeting in lib 
Previously we expected the mount to do this but it is likely that the
first versions of MAVLink enable mounts will only be capable of pointing
at a particular angle
 2015-01-29 14:05:07 +11:00
Randy Mackay
9d4210b82a Mount_Backend: move RC target handling to backend 2015-01-29 14:05:07 +11:00
Randy Mackay
b3044ced1f Mount_Backend: move calc_angle_to_lcoation to backend 2015-01-29 14:05:07 +11:00
Randy Mackay
8fabacf5ff Mount_MAVLink: use sysid from vehicle, compid of 10 2015-01-29 14:05:06 +11:00
Randy Mackay
6af5a6687f Mount: add params for second mount 2015-01-29 13:57:19 +11:00
Randy Mackay
5d30af233a Mount: move param underscore to lib 2015-01-29 13:57:18 +11:00
Randy Mackay
2ed4ca409c Mount_Servo: check_servo_map every 3sec 2015-01-29 13:57:18 +11:00
Randy Mackay
cb5a122dab Mount_Servo: add set_mode 2015-01-29 13:57:17 +11:00
Randy Mackay
a41ff2375b Mount_Backend: add set_mode virtual method 2015-01-29 13:57:17 +11:00
Randy Mackay
ef719b145b Mount: rename MODE to DFLT_MODE, move set_mode to backend 2015-01-29 13:57:17 +11:00
Randy Mackay
6c766051e8 Mount_MAVLink: minimalist mavlink backend 
We assume MAVLink enabled mount will do all the hard work of support all modes
 2015-01-29 13:57:17 +11:00
Randy Mackay
8a9df1c894 Mount_Servo: Servo functions moved to backend 2015-01-29 13:57:17 +11:00
Randy Mackay
7df2892b8d Mount_Backend: add backend class 2015-01-29 13:57:17 +11:00
Randy Mackay
88db50c3a7 Mount: parent class becomes front-end 2015-01-29 13:57:17 +11:00
Randy Mackay
12bd5cd6b1 AP_HAL_PX4: fix example sketch 2015-01-28 21:00:30 +09:00
Randy Mackay
aa7f946e04 GCS_MAVLink: fix example sketch 2015-01-28 17:15:52 +09:00
Randy Mackay
857c3ef0e9 Scheduler: fix example sketch 2015-01-28 17:15:51 +09:00
Randy Mackay
d5f02ec0df RangeFinder: fix example sketch 2015-01-28 17:15:50 +09:00
Randy Mackay
6e482d5c56 PerfMon: fix example sketch 2015-01-28 17:15:49 +09:00
Randy Mackay
52ca06fc22 Parachute: fix example sketch 2015-01-28 17:15:48 +09:00
Randy Mackay
f48a71f30a OptFlow: fix example sketch 2015-01-28 17:15:47 +09:00
Randy Mackay
775cbfba38 Notify: fix example sketch 2015-01-28 17:15:47 +09:00
Randy Mackay
314eb2536f Mount: fix example sketch 2015-01-28 17:15:46 +09:00
Randy Mackay
38702a7e23 Motors: fix example sketch 2015-01-28 17:15:45 +09:00
Randy Mackay
355a92aff4 Mission: fix example sketch 2015-01-28 17:15:44 +09:00
Randy Mackay
689cc9e298 AP_Math: fix example sketch 2015-01-28 17:15:43 +09:00
Randy Mackay
b43dc3bdfb INS: fix example sketch 2015-01-28 17:15:42 +09:00
Randy Mackay
7c293f01d9 HAL_AVR: fix example sketch 2015-01-28 17:15:41 +09:00
Randy Mackay
f84d31b838 HAL: fix example sketch 2015-01-28 17:15:40 +09:00
Randy Mackay
1141363868 GPS: fix example sketches 2015-01-28 17:15:39 +09:00
Randy Mackay
635ff92d6b Compass: fix example sketch 2015-01-28 17:15:39 +09:00
Randy Mackay
1475cf27ac AP_Common: fix example sketch 2015-01-28 17:15:38 +09:00
Randy Mackay
bb4204c045 Baro: fix example sketch 2015-01-28 17:15:37 +09:00
Randy Mackay
293eb74a37 AirSpeed: fix example sketch 2015-01-28 17:15:36 +09:00
Randy Mackay
d8664d15d6 AHRS: fix example sketch 2015-01-28 17:15:35 +09:00
Randy Mackay
d0d1254f03 AC_WPNav: fix example sketch 2015-01-28 17:15:34 +09:00
Randy Mackay
a5ec3e3ec1 AC_Sprayer: fix example sketch 2015-01-28 17:15:33 +09:00
Randy Mackay
99046ebda6 AC_Fence: fix example sketch 2015-01-28 17:15:32 +09:00
Randy Mackay
d7f7af8c13 AC_AttControl: fix example sketch 2015-01-28 17:15:32 +09:00
Randy Mackay
51cb7185f2 InertialNav: fix example sketch 2015-01-28 17:15:27 +09:00
Randy Mackay
0480828350 Dataflash: fix example sketch 2015-01-28 16:31:50 +09:00
Andrew Tridgell
3d433d2106 AP_Mission: loop check is only needed in one place 2015-01-23 13:48:45 +11:00
Andrew Tridgell
540cadc086 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 13:14:27 +11:00
Andrew Tridgell
4ee9575e6d AP_Frsky_Telem: fixed code formatting 
match ArduPilot coding standards
 2015-01-22 16:49:39 +11:00
Matthias Badaire
f59f85d4a4 AP_Frsky_Telem: add SBUS support 
add sbus support using a timer on a thread
 2015-01-22 16:49:39 +11:00
priseborough
5df733a883 AP_NavEKF: Allow flight transition to optical flow mode if GPS is lost 2015-01-22 14:41:04 +09:00
priseborough
04810c012d AP_NavEKF: Increase flow data valid timeout to handle arming delays 
When Copter arms, the AHRS/EKF may not be run for a few hundred msec depending on conditions. This can cause the arming check to fail the optical flow sensor and place the EKF in a constant position mode.
 2015-01-22 14:41:01 +09:00
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
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
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
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
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
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
Randy Mackay
842efe71be DataFlash: move COMPASS2,3 formats to extra structures 2015-01-21 14:38:13 +09:00
Randy Mackay
e7471c5fe5 DataFlash: fix message id and CURR formatting 2015-01-21 14:38:03 +09:00
Randy Mackay
09e3dcd821 DataFlash: pass ahrs, batt, targets by reference 2015-01-21 14:38:01 +09:00
Randy Mackay
f23959b5fa DataFlash: fix missing slash lost in merge 2015-01-21 14:37:59 +09:00
Robert Lefebvre
80929c389e DataFlash: Handle multiple compass instances natively inside the Library. 2015-01-21 14:37:50 +09:00
Robert Lefebvre
5b70550b73 DataFlash: Fix potentially uninitialized variable compiler warning. 2015-01-21 14:37:27 +09:00
Robert Lefebvre
be803f4f39 DataFlash: Minor whitespace changes/cleanup. No effect. 2015-01-21 14:37:25 +09:00
Robert Lefebvre
2657610373 DataFlash: Add common-vehicle Mode logging method. 
Conflicts:
	libraries/DataFlash/DataFlash.h
 2015-01-21 14:37:18 +09:00
Robert Lefebvre
12c3593bc3 DataFlash: Add common-vehicle Compass logging method. 2015-01-21 14:37:14 +09:00
Robert Lefebvre
2fdcd99db2 Arducopter: Move Attitude Message structure definition to the Base Structures section. 
Conflicts:
	libraries/DataFlash/DataFlash.h
 2015-01-21 14:37:12 +09:00
Robert Lefebvre
d2adf2cdd7 DataFlash.h: Move format characters string to a more convenient location. 2015-01-21 14:37:10 +09:00
Robert Lefebvre
392e5257cc DataFlash: Add voltage2 data to Current log, to be used by plane. 2015-01-21 14:37:07 +09:00
Robert Lefebvre
50b5376945 DataFlash: Add common-vehicle Current logging message. 2015-01-21 14:37:01 +09:00
Robert Lefebvre
db1a066f43 DataFlash: Add common-vehicle Attitude logging message. 2015-01-21 14:36:56 +09:00
Robert Lefebvre
743c5e4fde AC_AttitudeControl: Remove un-needed #include 2015-01-21 14:36:54 +09:00
Andrew Tridgell
8b59c72eb9 AP_InertialSensor: cope with 2 IMUs in SITL 2015-01-20 19:47:45 +11:00
Andrew Tridgell
a37f3680e4 AP_Arming: support skip_gyro_cal 
also break up arming INS reports, to be clearer for users
 2015-01-20 19:47:15 +11:00
Andrew Tridgell
765d833efa AP_Arming: check compass.use_for_yaw() 2015-01-20 11:33:39 +11:00
Andrew Tridgell
e8017a5079 AP_NavEKF: cope with the changed semantics of airspeed.use() 2015-01-20 11:28:14 +11:00
Andrew Tridgell
ed0a56cc3c AP_AHRS: cope with the changed semantics of airspeed.use() 2015-01-20 11:27:58 +11:00
Andrew Tridgell
850b3b89ea AP_Arming: added INS checks and airspeed checks 
this also displays all failing arming checks, not just the first
one. That is more useful for the user
 2015-01-20 11:27:13 +11:00
Andrew Tridgell
2235d18d67 AP_Airspeed: make it possible to tell if a airspeed sensor is unhealthy 
we need use() to reflect if the user wants to use the sensor, so the
arming checks can tell if it is not working as expected
 2015-01-20 11:26:20 +11:00
Andrew Tridgell
b3ce56d34d AP_InertialSensor: fixed 2nd IMU in Replay 
this makes for much more accurate replay runs
 2015-01-20 09:20:47 +11:00
Andrew Tridgell
5d83124675 DataFlash: moved airspeed msg to DataFlash 
so it can be used by Replay
 2015-01-20 09:10:33 +11:00
Andrew Tridgell
62e7778ba8 AP_GPS: fixed build warning 2015-01-19 11:22:10 +11:00
Randy Mackay
aeecc46f7b AC_PosControl: remove unnecessary set of desired_accel 
The desired_accel is set again 11 lines lower so this line did nothing.
 2015-01-14 16:23:26 +09:00
Jonathan Challinger
9ebd0e9960 AC_PosControl: reincarnate dead block of code 2015-01-14 16:20:17 +09:00
Jonathan Challinger
a580cd83e8 AC_PosControl: Fill _vel_desired.z for reporting 2015-01-14 16:08:48 +09:00
priseborough
c40c3632bb AP_NavEKF: Critical Bug Fix 
Prevents possible loss of attitude reference for flights without optical flow and GPS.

The optical flow measurement timeout can reset the velocity states which decouples the position states from IMU errors and therefore significantly reduces the amount of attitude error correction.
 2015-01-13 16:05:31 +13:00
mirkix
62a05a0438 AP_Notify: fix if statement 2015-01-13 12:15:32 +13:00
mirkix
fa950a735e AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
mirkix
c58a022111 AP_HAL_Linux: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
mirkix
70445d11f6 AP_HAL: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
Randy Mackay
c93e7a69a7 Baro: init external_temperature in constructor 2015-01-12 13:56:35 +09:00
mirkix
b03a9e2911 AP_Notify: ToneAlarm_Linux.h includes itself 2015-01-11 11:50:07 +09:00
Andrew Tridgell
b1d8df3d54 AP_Baro: only allow calibrated sensors to be used 2015-01-09 12:59:01 +11:00
Andrew Tridgell
e8b1fc72e0 DataFlash: fixed build warning 2015-01-09 12:43:15 +11:00
Andrew Tridgell
3320dfd7fa AP_Baro: fixed ms5611 spelling error 2015-01-09 11:59:49 +11:00
Andrew Tridgell
0a8677b3e2 AP_Baro: fixed build after rebase with all_healthy() 2015-01-09 11:51:52 +11:00
Andrew Tridgell
1c2a6deaaf AP_Baro: added all_healthy() method 2015-01-09 11:51:51 +11:00
Andrew Tridgell
8359c082ca AP_Baro: fixed baro on NavIO 
don't use the 1kHz timer as it conflicts with other I2C devices
 2015-01-09 11:51:51 +11:00
Andrew Tridgell
b85001bf4a DataFlash: added logging of 2nd baro 2015-01-09 11:51:51 +11:00
Andrew Tridgell
b1342c2d39 GCS_MAVLink: send SCALED_PRESSURE2 if available 2015-01-09 11:50:57 +11:00
Andrew Tridgell
19c717df2e AP_OpticalFlow: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
8aa1a89081 AP_Mission: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
cd7fbddcce AP_InertialNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
197c09fcd8 AP_Baro: added num_instances() API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
d2c827aa4b AP_AHRS: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
25f69f05eb AC_WPNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
5ec8ce933e AC_Sprayer: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
55ec316718 AC_Fence: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
5c4440a9ac AC_AttitudeControl: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
bb6deb4817 GCS_MAVLink: re-generated headers 2015-01-09 11:50:55 +11:00
Andrew Tridgell
56f682f186 GCS_MAVLink: added SCALED_PRESSURE2 message 2015-01-09 11:50:55 +11:00
Andrew Tridgell
8a3d3bed72 SITL: changes for new AP_Baro API 2015-01-09 11:50:54 +11:00
Andrew Tridgell
f1891cea1f AP_Baro: BMP085 driver done, but untested 2015-01-09 11:50:54 +11:00
Andrew Tridgell
5bb57a31f7 AP_Baro: split into frontend/backend 
this allows for support of multiple sensors on a board
 2015-01-09 11:50:54 +11:00
Andrew Tridgell
464714f1ab HAL_PX4: fixed build warning 2015-01-09 11:37:46 +11:00
Andrew Tridgell
d34e5b3f42 AP_GPS: fixed PX4 GPS driver for new upstream format 2015-01-09 11:37:38 +11:00
Andrew Tridgell
ef5cdb0d6c AP_NavEKF: use more array bounds checked variables 2015-01-09 11:05:07 +11:00
Andrew Tridgell
fefdc37a4d AP_Math: fixed warnings on bounds checking in quaternion 2015-01-09 11:04:50 +11:00
priseborough
3d46680348 AP_NavEKF: Make NED origin independent of home position 
This enables the filter to report the last known position after disarm.
The LLH location of the filters NED origin is published and should be logged every time the vehicle is armed to assist with post-flight trajectory reconstruction.
The LLH location of the filters NED origin can be set externally whilst the vehicle is disarmed.
 2015-01-09 10:51:24 +11:00
priseborough
f0ea858e4c AP_NavEKF: Make LLH output report last known position in const pos mode 2015-01-09 10:51:24 +11:00
priseborough
a0957a83f8 AP_NavEKF: Fix bug in reported position and velocity 
The last known position was being output on the velocities when in constant position mode.
 2015-01-09 10:51:24 +11:00
priseborough
7d1cd604a8 AP_NavEKF: Report last known position when GPS is lost 2015-01-09 10:51:24 +11:00
priseborough
1789dc08a3 AP_NavEKF: Correctly report position timeout when GPS is lost 2015-01-09 10:51:24 +11:00
Randy Mackay
3e583e3650 DataFlash: fix EKF4 logging 2015-01-09 10:51:24 +11:00
Randy Mackay
e6e6a781c1 AP_NavEKF: init filter status bits to zero 2015-01-09 10:51:23 +11:00
priseborough
ffd9f7a4ed AP_NavEKF: Predict filter solution status 2015-01-09 10:51:23 +11:00
Randy Mackay
3896dadc77 DataFlash: EKF logs filter status as uint16 2015-01-09 10:51:23 +11:00
Randy Mackay
657afcfe7a AP_NavEKF: add pred_horiz_pos flags to filter status 2015-01-09 10:51:23 +11:00
Randy Mackay
54cff29fc2 DataFlash: EKF logging uses nav_filter_status 2015-01-09 10:51:23 +11:00
Randy Mackay
f4d8bc586c Nav_EKF: getFilterStatus returns nav_filter_status struct 2015-01-09 10:51:23 +11:00
Randy Mackay
8a914af4a8 AP_NavEKF: add nav_filter_status definition 2015-01-09 10:51:23 +11:00
priseborough
d57e0b6bde AP_NavEKF: Remove compiler warning messages 2015-01-09 10:51:23 +11:00
priseborough
a4ba4d1000 AP_NavEKF: Fix bug in optical flow innovation variances 
Also improves protection against badly conditioned variances
 2015-01-09 10:51:23 +11:00
priseborough
8bc8d1444a AP_NavEKF: Extend definition of GPS availability to include user inhibit 2015-01-09 10:51:22 +11:00
priseborough
d0d49065e7 AP_NavEKF: Prevent potential repeated use of optical flow data 2015-01-09 10:51:22 +11:00
priseborough
b0c703e4f7 AP_NavEKF: Fix bug in optical flow fusion control logic 2015-01-09 10:51:22 +11:00
priseborough
d656c94bbc AP_NavEKF: Fix out of bounds index bug 2015-01-09 10:51:22 +11:00
priseborough
300ba65f64 AP_NavEKF: Remove duplicate flow measurement state correction 2015-01-09 10:51:22 +11:00
priseborough
92bb75a635 AP_NavEKF: Prevent load leveling from dropping flow measurements 2015-01-09 10:51:22 +11:00
priseborough
873860e810 DataFlash: Allow negative HAGL values in the EKF optical flow debug log 2015-01-09 10:51:22 +11:00
priseborough
2f5aa210ce AP_NavEKF: Enable recovery from extended flow measurement rejection 2015-01-09 10:51:21 +11:00
priseborough
d470d55234 DataFlash: Update EKF optical flow debug logging 2015-01-09 10:51:21 +11:00
priseborough
9f4baaa865 AP_NavEKF: Update flow debug logging 2015-01-09 10:51:21 +11:00
priseborough
8d1dae3ac1 AP_NavEKF: Improve optical flow terrain height estimation 
The two state auxiliary EKF has been replaced with a single state filter that only estimates terrain offset. The new filter fuses a optical flow line of sight rate scalar (length of the optical flow LOS rate vector) which provides a terrain offset estimate that is less affected by yaw errors.
Estimation of focal length scale factor error in flight wasn't accurate enough and will be replaced with a pre-flight intrinsic sensor calibration procedure as the scale factor error does not change over time provided the lens assembly is not adjusted.

AP_NavEKF: Remove unwanted printf
 2015-01-09 10:51:21 +11:00
priseborough
d599fa588e AP_NavEKF: Don't allow EKF to initialise without GPS lock if we are a plane 
This is needed because planes arm automatically.

AP_NavEKF: Fix bug in GPS patch
 2015-01-09 10:51:21 +11:00
Staroselskii Georgii
c16eb5d330 AP_Compass: fixed corrections for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii
4394f0cf75 AP_Compass: fixed external compass detection for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii
f0753e965e AP_Compass: eliminated possible division by zero in AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii
b804430276 AP_Compass: changed default orientation for AK8963 on Navio 2015-01-09 06:38:22 +11:00
Mikhail Avkhimenia
954b0795d4 HAL_Linux: Enable PCA9685 output after its setup 2015-01-09 06:38:21 +11:00
Randy Mackay
2a5a133bbf AC_AttControl: remove deprecated trigger_xy method 2015-01-07 14:03:49 +09:00
Randy Mackay
ed7e176c61 LandingGear: command_mode becomes enum 2015-01-07 11:58:22 +09:00
Robert Lefebvre
c297aaeeab AP_LandingGear: Add force_deploy method. 2015-01-07 11:58:19 +09:00
Robert Lefebvre
4177852d89 AP_LandingGear: Remove relay control from library. 2015-01-07 11:58:17 +09:00
Robert Lefebvre
4935a42054 RC_Channel_Aux: Add new landing gear control to Aux_servo_function_t enum. 
Conflicts:
	libraries/RC_Channel/RC_Channel_aux.h
 2015-01-07 11:58:17 +09:00
Robert Lefebvre
9b0a33c453 AP_LandingGear: Create LandingGear Library. 2015-01-07 11:58:15 +09:00
Andrew Tridgell
1b3c3c754d AP_InertialSensor: use correct ifdef for AK8963 2015-01-07 11:58:05 +11:00
Andrew Tridgell
9835544163 AP_Compass: fixed build on non-Linux platforms 2015-01-07 08:41:14 +11:00
Andrew Tridgell
2ddf3e728a DataFlash: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell
9d3a9c20a8 HAL_VRBrain: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell
0c73dc2440 HAL_PX4: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell
4da0a24887 HAL_Linux: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell
6fb00f4fc3 AP_HAL: create a common utility/RingBuffer.h header 2015-01-07 08:41:14 +11:00
Staroselskii Georgii
43c88c37eb AP_Baro: fixed MS5611 initialisation in order to get rid off conflicts with other I2C devices 2015-01-07 08:41:13 +11:00
Staroselskii Georgii
f7f9cd2173 AP_InertialSensor: prevented MPU9250 from disabling I2C slaves 2015-01-07 08:41:13 +11:00
Staroselskii Georgii
a08a34f863 AP_HAL: changed default compass for Navio 2015-01-07 08:41:13 +11:00
Staroselskii Georgii
0d1cf347c7 AP_Compass: added AK8963 support 2015-01-07 08:41:12 +11:00
Staroselskii Georgii
e4a21f291d AP_HAL_Linux: added LinuxSPIUARTDriver that can handle SPI-driven Ublox 2015-01-07 08:41:12 +11:00
Staroselskii Georgii
2b589d4604 AP_HAL_Linux: enable output for PCA9685 PWM in NavioRCOuput 2015-01-07 08:41:12 +11:00
Randy Mackay
f41d7ddaee 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 15:55:47 +09:00
Andrew Tridgell
e9058df31f SITL: added optional flow delay 2015-01-06 14:19:02 +11:00
Andrew Tridgell
228b04e21e SITL: added SIM_FLOW_DELAY parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell
0076413c0a SITL: produce flow data at the requested rate 2015-01-06 14:19:02 +11:00
Andrew Tridgell
5758f39127 SITL: added SIM_FLOW_RATE parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell
b499cd1b59 AP_AHRS: fixed examples build 
using a relative include works as the object is just passed through,
not used, in this header
 2015-01-05 07:04:27 +11:00
priseborough
2f0b1b3d9c AP_NavEKF: Fix bug preventing use of optical flow without GPS 2015-01-03 21:49:22 +11:00
Andrew Tridgell
f13248e5f5 SITL: implement SIM_TERRAIN 
either use AP_Terrain or flat earth
 2015-01-03 21:47:54 +11:00
Andrew Tridgell
9b65376961 SITL: added SIM_TERRAIN parameter 
to choose either flat earth or AP_Terrain for sonar and optical flow
AGL emulation
 2015-01-03 21:47:28 +11:00
Andrew Tridgell
d25bd8955d GCS_MAVLINK: move send_opticalflow() into common library 2015-01-03 15:53:22 +11:00
Andrew Tridgell
66a03d100e SITL: make some units clearer in comment 2015-01-03 15:44:19 +11:00
Andrew Tridgell
16affe51be AP_NavEKF: avoid an extra quaternion copy 2015-01-03 15:44:07 +11:00
Andrew Tridgell
023c42593f SITL: fixed units of body frame conversion for optical flow 2015-01-03 15:43:30 +11:00
priseborough
bf4ebcfda1 AP_HAL_AVR_SITL: Add maths for calculation of truth optical flow rates 2015-01-03 14:45:13 +11:00
Andrew Tridgell
70c2aeca42 AP_AHRS: make optflow available via AHRS 
same pattern as compass and airspeed sensor
 2015-01-03 14:16:34 +11:00
Andrew Tridgell
51cd64b3b2 SITL: make velocity and rotmat available to the optical flow simulator 2015-01-03 14:16:34 +11:00
Andrew Tridgell
aff01c6d09 AP_OpticalFlow: fixed reversed timestamp 
thanks to Randy
 2015-01-03 14:16:34 +11:00
Andrew Tridgell
d2634a26bd SITL: added framework for SITL optical flow sensor 2015-01-03 14:16:34 +11:00
Andrew Tridgell
254aa32d4e SITL: added SIM_FLOW_ENABLE option 2015-01-03 14:16:34 +11:00
Andrew Tridgell
11ff12dfd3 AP_OpticalFlow: split library into frontend/backend 
this will make it easier to add a SITL backend
 2015-01-03 14:16:33 +11:00
priseborough
a9eec29e45 DataFlash: Update EKF optical flow data logging 2015-01-03 14:09:15 +11:00
priseborough
69e86d3ea4 AP_NavEKF: Update EKF optical flow data logging 2015-01-03 14:09:12 +11:00
priseborough
b651eac48d AP_NavEKF: Apply timeout to terrain offset validity reporting 
The terrain offset solution status is usable for a short period of time without state updates so a timeout has been added which prevents the rapid changes in solution status due to short duration sensor read errors.
 2015-01-03 14:09:09 +11:00
priseborough
e6474d676e AP_NavEKF: Report correct horiz vel sol'n status during optical flow nav 2015-01-03 14:09:05 +11:00
priseborough
75201c8968 AP_NavEKF: Prevent divide by zero casued by Tnb_flow.c.z = 0 2015-01-03 14:07:13 +11:00
Andrew Tridgell
6bb4a8c361 AP_Math: make location_path_proportion() and location_passed_point() more efficient 
the dot product is much more efficient than the trigonometry. Thanks
to Paul for the suggestion
 2015-01-03 14:06:59 +11:00
Andrew Tridgell
6993be54b7 HAL_Linux: raise storage size to 16k 
match PX4 size
 2015-01-03 14:06:54 +11:00
Andrew Tridgell
745b739ab7 AP_InertialSensor: make calibrated() function fast enough to call in flight 
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.

Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
 2015-01-03 14:06:42 +11:00
Randy Mackay
5ba1b20d3b BattMon: add SMBus to MONITOR param description 2015-01-02 17:20:05 +09:00
Randy Mackay
ffbc3862bd Compass: update compass orient param description 
Update rotation 38 to Yaw293Pitch68Roll90
 2015-01-02 17:19:12 +09:00
Jonathan Challinger
9e5a30d5ba AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90 2015-01-02 17:15:18 +09:00
Andrew Tridgell
ef55a3c6a6 AP_GPS: keep reporting GPS status messages when no GPS at 1Hz 
to ensure the GCS knows that we have lost the GPS we need to keep
reporting GPS_RAW_INT messages when the GPS disappears. Sending at 1Hz
should be sufficient

Fixes issue #1722
 2015-01-02 17:10:23 +11:00
priseborough
8d3940ce1b AP_NavEKF: Improved use of enumerated type for aiding mode 2015-01-02 12:10:41 +09:00
priseborough
76d1378962 AP_NavEKF: Fix compiler warning messages 2015-01-01 23:39:48 +11:00
priseborough
3e3dd9d695 AP_NavEKF: Fix parenthesis error in EKF status reporting and clean up logic 
This fixes a bug which could have caused the realative position status to be incorrectly reported under some conditions and also caused a compiler warning message. the logic used to report the filter solution status has been broken down into smaller, easier to understand statements.
 2015-01-01 23:39:48 +11:00
priseborough
c06f6e105e AP_NavEKF: Consistent initialisation of tuning parameters and variables 
Non user adjustable parameters are now declared as 'const' in the header.
The _ prefix has been removed from non user adjustable tuning parameters.
We use a function call rather than a constructor to initialise variables because it enables the filter to be re-started in flight if necessary.
For consistency some signed integer type declarations have been changed to unsigned where appropriate.
 2015-01-01 23:39:31 +11:00
priseborough
f1dfa282dc AP_NavEKF: Consolidate constant velocity mode decision logic 
The decision to switch to constant velocity mode during optical flow operation and te decision to switch back were previously being made in two different places in code. Both decisions are now made in the one place which makes the code easier to follow and maintain.
 2015-01-01 19:53:21 +11:00
priseborough
9caf2ac895 AP_NavEKF: Make reversion to no GPS mode unambiguous 2015-01-01 19:53:21 +11:00
priseborough
58e9dd5dcd AP_NavEKF: Enumerate Position and Velocity aiding status 2015-01-01 19:53:21 +11:00
Andrew Tridgell
fb5e53e1e4 AP_Param: cope with older gcc versions 
Travis-CI uses 4.6.3
 2015-01-01 18:55:11 +11:00
Andrew Tridgell
9ae0dd05f8 AP_Param: avoid build warning due to %S format 2015-01-01 18:25:05 +11:00
Andrew Tridgell
f38f86ab8c AP_Math: added location_path_proportion() 
this can be used for glide slope calculations
 2015-01-01 15:17:10 +11:00
Andrew Tridgell
4e5510c99e AP_TECS: fixed warning 2015-01-01 15:14:48 +11:00
Andrew Tridgell
f8bce994b5 AP_OpticalFlow: don't write an error message if no flow sensor 
most users have no flow sensor
 2015-01-01 11:02:43 +11:00
Andrew Tridgell
06a72839ed AP_InertialSensor: fixed error detection on secondary IMUs 
the break; was preventing error detection on lsm303d/l3gd20
 2015-01-01 08:55:57 +11:00
Randy Mackay
022c549339 BattMon_SMBus_I2C: use get_PEC to check reads 2014-12-31 15:23:00 +09:00
Randy Mackay
bf0e5a350c BattMon_SMBus_I2C: add get_PEC method 2014-12-31 15:22:59 +09:00
Randy Mackay
3951e4d99b BattMon: example sketch reads from SMBus 2014-12-31 15:22:58 +09:00
Randy Mackay
aecc8aac1f BattMon: correct typo in monitor type enum 2014-12-31 15:22:57 +09:00
Randy Mackay
909d525206 BattMon: fix example sketch compile error 2014-12-31 15:22:51 +09:00
Randy Mackay
cf36fd55bd GCS_MAVlink: correct sending of 2nd battery's voltage 2014-12-31 15:22:49 +09:00
Randy Mackay
76a28a962c BattMon: remove #defines for monitor type 2014-12-31 15:22:47 +09:00
Randy Mackay
f077ecd338 BattMon_PX4: class to read from PX4Firmware via orb 2014-12-31 15:22:46 +09:00