Niels Joubert
2a5b25ddbf
GCS_MAVLink: Re-enable GPS Injection Packets
2015-04-24 08:01:32 +10:00
Niels Joubert
704e75d140
ArduCopter: Remove kruft from old RTK driver
2015-04-24 08:01:32 +10:00
Niels Joubert
a5beef00d1
GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS
...
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.
THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.
NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
2015-04-24 08:01:32 +10:00
Fergus Noble
0480867de2
SITL: Update SBP simulation functions for pseudo-absolute mode
2015-04-24 08:01:32 +10:00
Paul Riseborough
405862bd8f
AP_AHRS: Reduce time delay for EKF initialisation
2015-04-23 20:35:52 +09:00
Paul Riseborough
4a5bf0a266
AP_NavEKF: Reduce EKF start time
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Makes EKF start conditional on DCM solution tilt error
2015-04-23 20:35:48 +09:00
Paul Riseborough
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
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Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
2015-04-23 20:35:35 +09:00
Randy Mackay
7e43eaafab
GPS: TYPE param description to PX4-UAVCAN
2015-04-23 20:17:26 +09:00
Randy Mackay
6e30093924
AP_AHRS: correct sanity checks on update_trig
2015-04-23 09:45:43 +09:00
Jonathan Challinger
6a6ccb4f32
AP_AHRS: add sanity checks
2015-04-22 21:50:51 +09:00
Randy Mackay
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
2015-04-21 22:42:17 +09:00
Randy Mackay
18a73d8630
Camera: use camera feedback flag
2015-04-21 22:22:57 +09:00
Randy Mackay
26383183d2
GCS_MAVLink: version update after generate
2015-04-21 22:22:54 +09:00
Randy Mackay
48c6803717
GCS_MAVLink: generate after fixing camera feedback flags
2015-04-21 22:22:52 +09:00
Randy Mackay
8e2616ddcf
GCS_MAVLink: prefix camera feedback flags
2015-04-21 22:22:49 +09:00
Dario Lindo Andres
a21d328b93
GCS_Mavlink: Update ardupilotmega.xml
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Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.
2015-04-21 22:22:47 +09:00
Randy Mackay
bfd24801ea
Copter: minor format fix
2015-04-21 21:47:19 +09:00
Randy Mackay
8ced9cc904
Gimbal: only include for high performance CPUs
2015-04-21 21:47:18 +09:00
Randy Mackay
93ba2d2d32
Mount_MAVLink: uses vehicle's sysid
2015-04-21 21:47:17 +09:00
Randy Mackay
e726a05f3b
Gimbal: fix to parameter init order
...
resolves a compiler warning
2015-04-21 21:47:16 +09:00
Randy Mackay
e9b2153672
Gimbal: formatting fixes
...
Also isCopterFlipped returns bool instead of uint8_t
No functional change
2015-04-21 21:47:15 +09:00
Randy Mackay
db6bb295c7
Mount: add gimbal parameter descriptions
2015-04-21 21:47:14 +09:00
Randy Mackay
924a3b2c67
GCS_MAVLink: version update after generate
2015-04-21 21:47:13 +09:00
Randy Mackay
9f10c43708
GCS_MAVLink: generate after GIMBAL/GOPRO msgs added
2015-04-21 21:47:12 +09:00
Angus Peart
86b81120fd
GCS_MAVLink: update gopro message definitions
2015-04-21 21:45:53 +09:00
Jonathan Challinger
231f776dd7
AP_Gimbal: change isCopterFlipped()
2015-04-21 21:45:52 +09:00
Arthur Benemann
e59c6ddbae
AP_SmallEKF: increase start-up time of the SmallEKF
2015-04-21 21:45:51 +09:00
Arthur Benemann
21b909f670
AP_Gimbal: report gimbal angles using a 312 rotation vector
2015-04-21 21:45:50 +09:00
Arthur Benemann
2850c7ab4a
AP_Gimbal: nest AP_Gimbal files into AP_Mount library
2015-04-21 21:45:49 +09:00
Arthur Benemann
608017ba4a
AP_Gimbal: optimize function calls using const refrences
2015-04-21 21:45:48 +09:00
Arthur Benemann
03c0e17a4d
AP_Gimbal: fix typo
2015-04-21 21:45:47 +09:00
Arthur Benemann
03974c93bb
AP_Gimbal: use new quaternion math to handle gimbal lock issue
2015-04-21 21:45:46 +09:00
Arthur Benemann
255c5b3025
AP_Mount: report MAVLink gimbal angle to the GCS
2015-04-21 21:45:45 +09:00
Arthur Benemann
b3c35aee4e
AP_Gimbal: fix problem with rotation math on control loop
2015-04-21 21:45:44 +09:00
Arthur Benemann
4bdf909bbf
AP_Mount: Create new copter parameters to hold gimbal settings
2015-04-21 21:45:43 +09:00
Arthur Benemann
cf2377d113
AP_Gimbal: Move gimbal parameters to a structure
2015-04-21 21:45:42 +09:00
Arthur Benemann
9b94f26583
AP_Gimbal: Relax minimal angle constrains on the gimbal
2015-04-21 21:45:41 +09:00
Arthur Benemann
a05fe7e117
AP_Gimbal: Re-implement the target low-pass filter
2015-04-21 21:45:40 +09:00
Arthur Benemann
b3dd8891c8
AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class
2015-04-21 21:45:38 +09:00
Arthur Benemann
ee8c92c850
AP_Gimbal: clean-up for AP_Mount merge
2015-04-21 21:45:37 +09:00
Arthur Benemann
4ad3e786a5
AP_NavEKF: fix initialization of the SmallEKF
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The constructor 'states' variable was not being called. To make sure other variables where also zeroed now
2015-04-21 21:45:36 +09:00
Arthur Benemann
0189f80462
AP_Gimbal: update getGimbalRateDemVecTilt to use quaternions
2015-04-21 21:45:35 +09:00
Arthur Benemann
4bdae02cfd
AP_Gimbal: disable gimbal motors if copter is fliped
2015-04-21 21:45:34 +09:00
Arthur Benemann
ebaf1e28b1
AP_Gimbal: smooth the RC input with a low pass filter
2015-04-21 21:45:33 +09:00
Arthur Benemann
534790634b
AP_Gimbal: add a radio failsafe state to the gimbal
2015-04-21 21:45:32 +09:00
Arthur Benemann
7cf883a61c
Copter: increase the telemetry receive function rate to 400Hz
...
gimbal loop runs at 100Hz so to respond in time the gcs_check_input must run at a faster rate, the process are asyncronus
2015-04-21 21:45:31 +09:00
Arthur Benemann
1da4be3a87
AP_Gimbal: initial implementation of the rate controlled gimbal library
2015-04-21 21:45:30 +09:00
Arthur Benemann
1d9beed42f
AP_SmallEKF: add function to report if the EKF is stable
2015-04-21 21:45:29 +09:00
Arthur Benemann
7b28bf7d44
AP_NavEKF: Remove small EKF dependency on navigation EKF
2015-04-21 21:45:28 +09:00