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18,959 Commits 71 Branches 511 Tags 730 MiB
0b1a6a2157
Commit Graph

9397 Commits

Author SHA1 Message Date
Paul Riseborough
0b1a6a2157 AP_NavEKF2: Clean up GPS timeout logic 2015-10-30 12:24:06 +09:00
Paul Riseborough
f67f6b01f4 AP_AHRS: Publish the EKF position and velocity reset deltas 2015-10-30 12:24:05 +09:00
Paul Riseborough
74da4d8e57 AP_NavEKF2: Remove GPS glitch offset logic 
Correction for steps in position and velocity caused by resets following GPS glitches and other events are now handled by the control loops.
 2015-10-30 12:24:04 +09:00
Paul Riseborough
4fdec67546 AP_NavEKF2: Publish the position and velocity state reset deltas 
Used by the control loops to compensate for step changes in position and velocity when the EKF needs to do a reset of these states.
 2015-10-30 12:24:02 +09:00
Paul Riseborough
7c40448bab AP_NavEKF: Remove GPS glitch offset logic 
The correction for offsets due to position and velocity resets will now be handled in the control loops.
 2015-10-30 12:24:01 +09:00
Paul Riseborough
5489ff9118 AP_NavEKF: publish position and velocity state reset data 
Used by the control loops to compensate for steps in velocity and/or position resulting from state resets.
 2015-10-30 12:24:00 +09:00
Tom Pittenger
0d36c4c07b GCS_MAVLink: version update after generate 2015-10-30 11:16:30 +09:00
Tom Pittenger
bf9d4b5898 GCS_MAVLink: generate adds abort Alt label in MAV_CMD_NAV_LAND 
code is already implemented and released
 2015-10-30 11:15:50 +09:00
Randy Mackay
c52f16b86f AC_WPNav: increase param description max for LOIT_JERK 2015-10-29 12:16:30 +09:00
Randy Mackay
49c4a133d7 AC_WPNav: set jerk separately for wpnav and loiter 2015-10-29 12:10:47 +09:00
Randy Mackay
ee0abb1750 AC_PosControl: add set_jerk_xy 2015-10-29 12:10:44 +09:00
Jonathan Challinger
853f8bfaf4 AC_WPNav: stop gradually in loiter 2015-10-28 20:21:55 +09:00
Randy Mackay
73f4533995 AC_PosControl: minor comment update 2015-10-28 20:21:53 +09:00
Randy Mackay
895a40893d AC_PosControl: use_desvel_ff flag added 
This allows turning on/off desired velocity feedforward without setting desired_vel.z to zero.  Setting desired_vel.z to zero has the side effect of disrupting the landing detection which needs to know if we are trying to descend
 2015-10-28 20:21:52 +09:00
Leonard Hall
aec66c5db6 AC_PosControl: faster z-axis slowdown when over speed 2015-10-28 20:21:38 +09:00
Leonard Hall
245f7ce268 AC_PosControl: allow desired vel z to be above speed limit 2015-10-28 17:59:36 +09:00
Leonard Hall
f55c31a157 AC_PosControl: add alt hold without feed forward 2015-10-28 17:57:20 +09:00
Andrew Tridgell
aee2543b75 AP_Parachute: fixed release bug 
if release() is called within 1 millisecond of update() the release
wouldn't happen
 2015-10-27 16:06:34 +11:00
Andrew Tridgell
0d9715cfe8 AP_Parachute: added a released() function 
used to help with throttle suppression in plane
 2015-10-27 16:06:34 +11:00
Randy Mackay
ca942f39dd AP_Motors_Heli: remove unused allow_arming check 2015-10-27 09:14:40 +09:00
Andrew Tridgell
724f5511aa SITL: support multiple jsbsim aircraft types 
use -f jsbsim:ModelName
 2015-10-27 10:01:34 +11:00
Randy Mackay
e9cec1203a GCS_MAVLink: version update after generate 2015-10-26 16:28:54 +09:00
Randy Mackay
e51498aa45 GCS_MAVLink: generate after adding DO_SEND_BANNER 2015-10-26 16:28:52 +09:00
Jonathan Challinger
36bb5a25a2 GCS_MAVLink: add MAV_CMD_DO_SEND_BANNER 2015-10-26 16:28:49 +09:00
squilter
9de2ec04f6 AC_PrecLand: update comments to reflect change from bf_angle to angle 2015-10-26 09:45:05 +09:00
squilter
9e7099f5ee AC_PrecLand: implement frame of reference 2015-10-26 09:45:03 +09:00
squilter
e409bd0a58 AC_PrecLand: rename bf_angle to angle 2015-10-26 09:45:01 +09:00
Andrew Tridgell
c228ea4371 AP_NavEKF2: prevent a valgrind error on startup 2015-10-26 11:34:32 +11:00
Jonathan Challinger
c762865d66 AP_Mount: use configured function to determine if MNT_TYPE has been configured 2015-10-26 11:15:54 +11:00
Jonathan Challinger
f0f5239d8f AP_L1_Control: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Jonathan Challinger
21e7d46944 RC_Channel: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Jonathan Challinger
39246c13ad AP_Param: add set_default, configured 2015-10-26 11:15:54 +11:00
Paul Riseborough
87ea9acc7f AP_NavEKF2: Fix mavlink parameter label 2015-10-26 08:05:15 +11:00
Paul Riseborough
1cf626692c AP_NavEKF: Reduce impact of altimeter flow disturbance error on Copter alt hold 
This increase in assumed altimeter noise and reduction in accel noise has been flight tested by L.Hall with noticeable reduction in the immediate response to Baro errors during moving flight.
This increases the time constant of response to baro errors such that the pilot can more easily compensate.
 2015-10-26 08:05:15 +11:00
Paul Riseborough
e692e30988 AP_NavEKF2: Reduce allowance for magnetometer timing errors 
The previous gain from rate to magnetometer error was excessive. The revised value is equivalent to a magnetic field length of 0.5 with a timing uncertainty of 0.01 sec
 2015-10-26 08:05:15 +11:00
Paul Riseborough
4c5ba60578 AP_NavEKF2: Remove dead code 2015-10-26 08:05:15 +11:00
Andrew Tridgell
142aa59bce AP_InertialSensor: fixed vibration logging after recent changes 2015-10-26 07:26:17 +11:00
Lucas De Marchi
9eaf7c5660 AP_HAL: add format attribute to panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
2322b8014d AP_HAL: use common macro for printf formatting 2015-10-24 14:26:36 +11:00
Lucas De Marchi
dc95145de2 AP_Common: add attribute to sanitize prinf-like functions 
Make the compiler emit warnings if the variables don't match the
printf format string. To be added in functions with printf-like
arguments.
 2015-10-24 14:26:36 +11:00
Lucas De Marchi
3650eb468f AP_HAL_FLYMAPLE: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
e2d1fab863 AP_HAL_Empty: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
6027a02fe9 AP_HAL_SITL: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
e9d92c446c AP_HAL_VRBRAIN: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
f791767fb2 AP_HAL_PX4: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
4b54bcbfad AP_HAL_Linux: use variadic panic() 
While at it also add a prefix with the name of the driver.
 2015-10-24 14:26:36 +11:00
Lucas De Marchi
2af4244854 AP_HAL_Linux: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi
ad61a93c14 AP_HAL: turn panic() into a variadic method 
Change the declaration on all HAL implementations so panic() in future
may implement a printf-like interface.
 2015-10-24 14:26:35 +11:00
Lucas De Marchi
0b4aa5ac85 AP_HAL: Scheduler: reorder includes 
Follow the following order for includes:

   - Corresponding header file (if exists)
   - System headers
   - Other ArduPilot library headers
   - "Local" headers (from the same library)
 2015-10-24 14:26:35 +11:00
Paul Riseborough
55ac8f0230 AP_NavEKF2: Update parameter values. 
Testing on different platforms has shown that the new EKF has smaller innovations enabling innovation consistency checks that reject GPS and baro errors to be tightened.
The position and velocity thresholds for plane have been left the same because planes are less sensitive to GPS glitches as they fly higher and with more separation to surrounding objects. They are also more prone to bad inertial data due to the installation practices.
The altitude noise has been increased on plane to allow for the larger baro disturbances that result from the higher speeds and lack of a proper static pressure source. The innovation consistency gate has been adjusted to provide the same baro error limit of ~20m before baro is rejected.
 2015-10-24 07:26:50 +11:00