Randy Mackay
a1f1dd8059
AC_PosControl: add is_active_z method
...
Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
2014-05-08 16:15:22 +09:00
Andrew Tridgell
74227cd7f0
AP_HAL: prevent some FastDelegate warnings
2014-05-08 11:11:03 +10:00
Andrew Tridgell
a295760e56
AP_Rally: fixed indentation
...
previous indentation confused emacs24
2014-05-08 11:01:52 +10:00
Andrew Tridgell
4efcae46ab
SITL: cope with more rubbish startup values from JSBSim
2014-05-04 17:30:10 +10:00
Andrew Tridgell
320834a5e7
HAL_PX4: read from FRAM in 128 byte chunks (2nd try)
...
this time without the amazingly silly bug
2014-05-02 22:12:45 +10:00
Andrew Tridgell
db6b96caa0
Revert "HAL_PX4: read from FRAM in 128 byte chunks"
...
This reverts commit a92366c455
.
This commit may be associated with FRAM corruption on Pixhawk. Revert
until we understand why
2014-05-02 21:52:26 +10:00
Andrew Tridgell
a92366c455
HAL_PX4: read from FRAM in 128 byte chunks
...
this fixes FRAM read on Roberts Pixhawk. We don't know why yet.
2014-05-02 12:24:54 +10:00
Randy Mackay
937e9ea687
AC_PosControl: add set_target_to_stopping_point_xy method
...
Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
2014-04-30 21:46:20 +09:00
Randy Mackay
7dd366d84e
AC_WPNav: init_loiter sets speed, accel before calcing stopping distance
...
The stopping distance depends upon the speed and acceleration so these
must be updated first
2014-04-30 21:46:18 +09:00
Randy Mackay
0103ae2eb0
AC_WPNav: add WPNAV_ACCEL_Z
...
Allows configurable z-axis acceleration during missions
2014-04-30 21:46:12 +09:00
Randy Mackay
9f63de9b59
AC_PosControl: set_speed_z accepts positive descent speeds
2014-04-30 21:46:09 +09:00
Randy Mackay
510c9920a6
AC_WPNav: rename get_horizontal_velocity to get_speed_xy
...
This new method name is consistent with the equivalent in the
AC_PosControl class
2014-04-30 21:46:06 +09:00
Andrew Tridgell
eb1fb63e57
APM_Control: added logging of parameter changes in AUTOTUNE
...
this will make it easier to analyse logs
2014-04-30 22:22:13 +10:00
Andrew Tridgell
871d0c0e44
APM_Control: moved the log structure to ArduPlane core
...
this allows it to work with old style .log files
2014-04-30 21:22:28 +10:00
Andrew Tridgell
4f250579db
DataFlash: added LOG_ATRP_MSG define
2014-04-30 21:22:28 +10:00
priseborough
114bd56e2a
AP_NavEKF: Fix display names in parameter list
2014-04-30 06:35:41 +10:00
Randy Mackay
5cc26569fc
AP_Motors: fix example sketch
2014-04-29 20:46:34 +09:00
priseborough
5fefce5899
AP_NavEKF: Synthetic sideslip fusion numerical error protections
2014-04-29 17:26:45 +10:00
Jonathan Challinger
0bb7b8e938
AP_GPS: Fix bug that causes permanent lag if we miss a message
2014-04-29 15:35:46 +10:00
Randy Mackay
2be99d7a92
TriCopter: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:16 +09:00
Randy Mackay
07766e55f9
SingleCopter: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:14 +09:00
Randy Mackay
3610cfe24c
TradHeli: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:13 +09:00
Randy Mackay
8f74f5b3b0
CoaxCopter: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:12 +09:00
Randy Mackay
d63d82ec17
MotorMatrix: output_test for individual motors
...
Based on original work by Nils Hogberg
2014-04-29 11:41:10 +09:00
Vizual54
11d02ea5d2
AP_Motors: output_test for individual motors
...
Modified and integrated by Randy Mackay
2014-04-29 11:36:58 +09:00
Randy Mackay
6517638670
GCS_MAVLink: generate after adding DO_MOTOR_TEST
2014-04-29 11:23:07 +09:00
Randy Mackay
28846c6c99
GCS_MAVLink: add DO_MOTOR_TEST message
2014-04-29 11:23:04 +09:00
Andrew Tridgell
818e500509
AP_Mission: improve the AP_Mission docs
...
DisplayName isn't a description
2014-04-29 11:46:06 +10:00
Andrew Chapman
782fbe1ec5
AP_Mission: added reset() function
2014-04-29 11:46:06 +10:00
Andrew Chapman
a80e72ff82
AP_Mission: added MIS_AUTORESTART parameter
...
- added MIS_AUTORESTART parameter, defaults to 0
- added start_or_resume() function to either start or resume a mission
based on that parameter value
2014-04-29 11:46:06 +10:00
Andrew Tridgell
cf9b67d8fc
GCS_MAVLink: prevent uninitialised bytes being written to a serial port
2014-04-27 15:34:30 +10:00
Randy Mackay
e855cfec02
AC_Fence: add 10sec manual recovery
...
This resolves issue #461 by giving the pilot a minimum of 10 seconds to
attempt to manually recover before the autopilot will attempt to retake
control to bring the copter home or land.
2014-04-27 11:11:07 +09:00
Randy Mackay
db51d37071
AC_WPNav: add clear_pilot_desired_acceleration
...
This allows quickly clearing out the pilot desired acceleration for
loiter contoller.
2014-04-25 14:45:14 +09:00
Randy Mackay
06bef6e3b8
Parachute: clear release time when enabled
...
This resolves an issue in which the parachute could be suddenly released
when the user enabled the parachute. The sequence that could have
caused this bad behaviour were (1) the parachute is triggered (2) the
user disables the parachute in the 0.5sec between the trigger and the
actual release, (3) the user re-enables the parachute and the old
release time from (1) is used.
2014-04-24 19:22:11 +09:00
Randy Mackay
ad99918fee
AC_WPNav: recalc leash lengths if set_horizontal_velocity is called
...
Resolves bug in which do-set-speed allowed reducing the speed during the
mission but not increasing it.
Slow down distance is also recalculated.
Unnecessary call to calc_wp_leash_length removed from
set_spline_origin_and_destination.
2014-04-24 13:16:08 +09:00
Randy Mackay
46fba47c8e
AC_WPNav: slow target point's speed near destination
2014-04-24 13:16:00 +09:00
priseborough
ecc8e45eda
AP_NavEKF: Fix bug in position reset logic
2014-04-23 18:16:02 +10:00
Andrew Tridgell
b0fd94f18e
AP_GPS: initialise a variable in uBlox driver
2014-04-23 18:15:53 +10:00
Randy Mackay
7c02a02bd8
AC_WPNav: reset_I flag moved to position controller
2014-04-23 15:00:14 +09:00
Randy Mackay
098f8169b0
AC_PosControl: add keep_xy_I_terms method
...
Stops horizontal PID's I terms from being reset when the controller is
next updated
2014-04-23 15:00:12 +09:00
Randy Mackay
4d5b73b968
AC_WPNav: add reset_I to set_loiter_target
2014-04-23 15:00:07 +09:00
Ju1ien
6c71569775
AC_PosControl: update_xy_controller allows not resetting I term
2014-04-23 14:59:49 +09:00
Ju1ien
5d0476e522
AC_WPNav: add reset_I to init_loiter_target
2014-04-23 14:59:47 +09:00
Randy Mackay
09a35cf90f
AC_PosControl: bugfix for freezing I-term build-up
2014-04-23 11:33:53 +09:00
Randy Mackay
559a258ede
AC_WPNav: bug fix to limit target point from moving beyond leash
...
Also pull Z-axis acceleration from position controller instead of using
#define
2014-04-22 23:05:11 +09:00
Randy Mackay
9c6995d8bb
AC_PosControl: add get_accel_z method
2014-04-22 23:05:08 +09:00
Randy Mackay
e565ee6d33
AC_PosControl: stop I term build-up when motors at max
2014-04-22 23:05:06 +09:00
Andrew Tridgell
e10542dcae
AP_Mission: added get_current_nav_index() function
...
this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission
(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
2014-04-22 11:40:18 +10:00
Michael Day
96173bfb8a
AP_Rally: Added one getter method and made a utility method public.
2014-04-22 11:40:18 +10:00
Randy Mackay
0e065e4894
AP_InertialNav: get_velocity_xy const
2014-04-21 21:59:38 +09:00
Randy Mackay
6f6c9e2585
AC_PosControl: bug fix to vertical speed limit
...
Vehicle was not reaching target climb or descent rate because of
incorrectly defaulted acceleration
2014-04-21 21:36:02 +09:00
Andrew Tridgell
25667a11a0
AP_NavEKF: use AHRS vehicle class for sideslip calculation
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 18:13:12 +10:00
Andrew Tridgell
5acd17b843
AP_NavEKF: cleanup some build warnings
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 18:13:12 +10:00
Andrew Tridgell
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
...
used by EKF to control use of get_fly_forward()
2014-04-21 18:13:12 +10:00
priseborough
bd28cdbdcf
AP_NavEKF: Improved magnetometer consistency checks
...
A magnetometer axis that fails the innovation consistency check will cause
all axes not to be used. If this condition continues for 10 seconds, a
magnetometer timeout condition will be declared. When the timeout has
occurred, if it is not a fly forward vehicle, then individual channels
will be used again, but with a reduced weighting.
2014-04-21 16:31:31 +10:00
Randy Mackay
648787a6c8
AC_WPNav: rename some definitions
2014-04-21 15:06:29 +09:00
Randy Mackay
2167dd7d3e
AC_WPNav: update target speed immediately
2014-04-21 14:51:26 +09:00
Andrew Tridgell
05bffb5915
HAL_SITL: enable use of SIM_FLOAT_EXCEPT parameter
2014-04-21 15:37:08 +10:00
Andrew Tridgell
e0db7b117f
SITL: added SIM_FLOAT_EXCEPT parameter
...
this enables checking for floating point exceptions
2014-04-21 15:37:08 +10:00
Andrew Tridgell
610a930612
AP_NavEKF: catch covarience errors and reset filter
...
this catches covariance values beyond a reasonable limit and resets
the filter is they happen
2014-04-21 15:37:08 +10:00
Andrew Tridgell
7e5a491f14
AP_Math: prevent a floating point exception
2014-04-21 15:37:08 +10:00
Andrew Tridgell
4d24a86088
AP_AHRS: prevent a infinity value
2014-04-21 15:37:07 +10:00
Randy Mackay
d382fa51ee
AC_WPNav: run loiter and wp nav at 50hz on Pixhawk
2014-04-21 13:32:02 +09:00
Randy Mackay
72d2712c4e
AC_WPNav: integrate update_xy_controller name change
2014-04-21 13:31:58 +09:00
Randy Mackay
966340a02a
Circle: integrate update_xy_controller name change
2014-04-21 13:31:57 +09:00
Randy Mackay
7e376bc517
PosControl: update_pos_controller renamed to update_xy_controller
2014-04-21 13:31:55 +09:00
Andrew Tridgell
4756dbee84
AP_NavEKF: fixed millisecond subtraction for rollover
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-21 13:16:20 +10:00
Andrew Tridgell
be9d0c1c4d
APM_OBC: setup termination values in PX4IO
...
this sets up the PX4IO board with failsafe values in case the FMU is
not running
2014-04-21 11:52:53 +10:00
Andrew Tridgell
0d4985079e
RC_Channel: added support for LimitValue settings
...
this allows you to set a channel failsafe or radio_out to a limit
value
2014-04-21 11:52:41 +10:00
Andrew Tridgell
7f4178d967
RC_Channel: added setup_failsafe_trim_all() function
...
sets all channels to output trim values on FMU failure
2014-04-21 08:37:24 +10:00
Andrew Tridgell
5cd145a307
AP_HAL: added set_failsafe_pwm() API
...
this allows the PWM values for FMU firmware failure to be setup
2014-04-21 08:36:52 +10:00
Andrew Tridgell
7f9a9107c7
APM_Control: logging_started needs to be static
...
prevents writing log headers twice
2014-04-21 07:13:06 +10:00
Andrew Tridgell
68f1ae3036
AP_NavEKF: fixed some matlab ! -> ~ typos
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-20 21:44:37 +10:00
Andrew Tridgell
5a7afbf2cd
AP_GPS: prevent writing GPS log headings multiple times
2014-04-20 21:44:14 +10:00
Randy Mackay
e3ffd5c0dd
Common: remove RallyLocation defintion
2014-04-19 15:00:28 +09:00
Randy Mackay
7011ab40c2
Rally: define RALLY_WP_SIZE and RallyLocation
2014-04-19 15:00:25 +09:00
Michael Day
a2aab2ab5e
AP_Rally: Minor fixes to AP_Rally after initial testing
...
- If a Rally point is being used, always respect the altitude set by the
user (don't take the max of that and the home point altitude).
- No need for constructor to pass in size of RallyLocation struct
2014-04-19 09:16:02 +10:00
Andrew Chapman
5825bac410
AP_Rally library
2014-04-19 09:15:59 +10:00
Randy Mackay
5322093475
Mission: fix example sketch after GPS lib changes
2014-04-17 16:41:38 +09:00
Andrew Tridgell
b4c5f31b17
APM_Control: reduce the number of parameter saves in autotune
...
don't save a parameter unless it has changed by 0.1%
2014-04-17 17:20:40 +10:00
Paul Riseborough
ccc7d36493
APM_Control: Modify D and I gain scaling
2014-04-17 17:11:48 +10:00
Randy Mackay
94d38ee294
AC_Circle: add get_closest_point_on_circle
...
init_start_angle method added to use current heading or position to
decide on initial start angle
2014-04-16 16:28:04 +09:00
Kevin Hester
c2184cb8e4
PID: fixup line endings
2014-04-15 15:57:56 +09:00
Kevin Hester
72e97cbf5c
AP_Param: fixup line endings
2014-04-15 15:57:47 +09:00
Kevin Hester
a7820e6c71
OptFlow: fixup line endings
2014-04-15 15:57:33 +09:00
Kevin Hester
fce1277b0e
Notify: fixup line endings
2014-04-15 15:57:11 +09:00
Kevin Hester
b7bed437c2
Compass: fixup line endings
2014-04-15 15:56:57 +09:00
Kevin Hester
80cb13e222
BattMon: fixup line endings
2014-04-15 15:56:43 +09:00
Kevin Hester
d09e871319
AP_Airspeed: fixup line endings
2014-04-15 15:56:26 +09:00
Kevin Hester
c34c4d79f6
AP_ADC: fixup line endings
2014-04-15 15:56:13 +09:00
Kevin Hester
b7410494e3
AC_PID: fixup line endings
2014-04-15 15:55:59 +09:00
L. Preston Sego III
3ecdc4b741
Copter: Add support for V-Tail Quads
2014-04-14 14:54:02 +09:00
Randy Mackay
02775e8dc5
AC_PosControl: get_accel_target returns const ref
2014-04-14 11:34:14 +09:00
Randy Mackay
60f522a094
AC_WPNav: set_wp_destination to use current target
...
Previously we used the projected stopping point if the vehicle had not
reached the destination but this could lead to large jumps in target
position
2014-04-13 22:42:50 +09:00
Andrew Tridgell
ae7293ef68
APM_Control: added support for AUTOTUNE_LEVEL
...
10 levels of tune, for what type of tune the user wants
2014-04-13 22:11:57 +10:00
Andrew Tridgell
86f167fc7f
AP_Vehicle: added autotune_level to fixed wing parms
2014-04-13 22:11:28 +10:00
Andrew Tridgell
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:49 +10:00
Andrew Tridgell
4abc2999a6
AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement
...
this will cope better with users with low roll/pitch gains, to ensure
they get enough control on takeoff
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:23 +10:00
priseborough
d745dc2b6f
AP_NavEKF : Increased position gate default to reduce impact of accel errors
...
Flight testing with windup turns has shown that the position gate threshold
can be tripped with good GPS data causing position jerks. This increases the
initial GPS glitch rejection threshold to effectively 5m when using the
default POSNE_NOISE value of 0.5m.
2014-04-13 19:37:22 +10:00
priseborough
188bea6bab
AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing
...
This patch also cleans up the logic associated with use of the synthetic
sideslip measurement so that it can never be used for a non fly-forward
vehicle type
This patch adds functionality that initialises the wind-speed vector to the
reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives
a better initial wind velocity estimate on launch by assuming:
a) launch will be into wind
b) wind speed is equal to global average
It also helps prevent a headwind causing initial underestimation of airspeed
causing high autopilot gains and limit cycles on climb-out, until first
turn when the EKF is able to estimate the wind.
2014-04-13 19:37:19 +10:00
Andrew Tridgell
df192a9efd
AP_AutoTune: lower min tau to 0.2
2014-04-13 19:25:54 +10:00
Andrew Tridgell
3343af602e
APM_Control: fixed saving of new rate gains
2014-04-13 15:35:52 +10:00
Andrew Tridgell
b9a8ef3b51
APM_Control: fixed a bug in autotune servo saturation check
...
its in degrees not centi-degrees
2014-04-13 15:28:36 +10:00
Andrew Tridgell
64170d0f04
APM_Control: added dataflash logging to autotune
2014-04-12 18:21:50 +10:00
Andrew Tridgell
7f5eeabadc
DataFlash: reserve a range of msg types for autotuning logs
2014-04-12 18:21:31 +10:00
Andrew Tridgell
50fc75917e
APM_Control: first version of APM_Control autotuning
...
this adds autotune to the roll/pitch controllers using a very simple
mechanism. The plan is that this provides a framework which Paul and
Jon will build upon.
2014-04-12 14:11:33 +10:00
Andrew Tridgell
3b8839d2f7
AP_GPS: fixed num_sensors on APM2
2014-04-11 21:32:55 +10:00
Andrew Tridgell
7404fc9d40
SITL: added SIM_BARO_DISABLE parameter
...
useful for testing baro failure
2014-04-11 16:47:40 +10:00
Andrew Tridgell
ad18019fb1
APM_OBC: added pressure altitude termination
2014-04-11 16:47:40 +10:00
Andrew Tridgell
41dd280739
AP_Baro: expose get_altitude_difference()
...
this is useful for pressure altitude calculations
2014-04-11 16:34:02 +10:00
Andrew Tridgell
8b9b4026f0
SITL: support -P option
...
this allows changing a parameter on initial startup
2014-04-11 12:28:32 +10:00
Michael Day
312a2fc8dc
AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight.
2014-04-10 15:42:49 +10:00
Andrew Tridgell
95304e27c9
DataFlash: added separate logging of each GPS
2014-04-10 10:29:30 +10:00
Andrew Tridgell
a821b0e198
AP_GPS: fixed a build warning
...
Debug() should not be exposed in public headers
2014-04-10 10:28:55 +10:00
Andrew Tridgell
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
...
the EKF does not estimate wind without an airspeed sensor
2014-04-10 06:49:23 +10:00
Randy Mackay
b78e59ea30
AP_Motors: add stability patch test to example sketch
2014-04-09 21:21:29 +09:00
Andrew Tridgell
a15e4633b7
SITL: prevent wind effects at negative altitudes
...
this prevents crashes on takeoff with barometer noise
2014-04-09 15:28:14 +10:00
Andrew Tridgell
1ca6583df8
AP_BoardConfig: restore /dev/vroutput change from Emile
...
my mistake, sorry Emile!
2014-04-08 21:05:41 +10:00
Emile Castelnuovo
79996986ad
VRBRAIN: corrected ADC pins for volt and current sensing.
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
7fe4847b6c
VRBRAIN: Added NuttX driver vroutput for PWM out
...
Modified script rc.APM to launch modules vrinput and vroutput
Modified startup scripts to run APM without SD
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
d1e4fbf267
AP_EPM: added #defines for VRBRAIN board
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
e8b9e9d53c
AP_Airspeed: added #defines for VRBRAIN board
2014-04-08 16:19:20 +10:00
Emile Castelnuovo
69d2633465
AP_Relay: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
25f1c5774f
AP_NavEKF: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
39d9e93904
AP_BoardConfig: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
1d27e0d127
AP_BattMonitor: added #defines for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
ab9a320187
DataFlash: added #ifdefs for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
06744ea7d2
AP_InertialSensor: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
4ad83f3c8a
AP_Notify: new files and definitions for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
1bc199c5bd
AP_Compass: new files and definition for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
7b5c002d2f
AP_Common: new board ID for VRBRAIN
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
f4784fe6a1
AP_Baro: new files for VRBRAIN board
2014-04-08 16:19:19 +10:00
Emile Castelnuovo
201332caef
AP_HAL: New VRBRAIN board definition and libraries
2014-04-08 16:19:19 +10:00
priseborough
db043744a4
AP_NavEKF : Reduce Z accel bias process noise to provide a more stable estimate
2014-04-07 21:08:25 +10:00
priseborough
1f8b5a6d23
AP_NavEKF : Tighten GPS velocity glitch gate default setting for plane
2014-04-07 21:08:15 +10:00
priseborough
0c2489b07b
AP_NavEKF : Fix bug in logging of airspeed innovation consistency ratio
2014-04-07 21:01:00 +10:00
priseborough
95c83255d7
AP_NavEKF : adjust default values for accelerometer process noise
...
Slows down estimate and allows for smaller values to be set
2014-04-07 21:00:43 +10:00
Jonathan Challinger
9959a44453
AP_Motors: properly constrain thr_adj_max
2014-04-07 14:14:32 +09:00
Randy Mackay
3600bed47a
Parachute: relay parameter description update
2014-04-07 13:37:14 +09:00
Randy Mackay
879d447404
Parachute: alt_min units to meters
2014-04-07 13:37:11 +09:00
Randy Mackay
50df95316a
Parachute: initialise released variable
2014-04-07 13:37:09 +09:00
Randy Mackay
5876a2fe47
AC_AttControl: increase default rp accel to 900deg/s/s
2014-04-07 13:37:08 +09:00
Randy Mackay
95579229ed
Parachute: add 0.5sec delay before parachute is released
...
This allows a short warning to the user through the new parachute_release tone
2014-04-07 13:37:05 +09:00
Randy Mackay
103772abe2
Parachute: add AP_Notify.h to example sketch
2014-04-07 13:37:04 +09:00
Randy Mackay
a639df0256
Parachute: set AP_Notify parachute_release flag
2014-04-07 13:37:02 +09:00
Randy Mackay
e3e7fc284d
Notify: add parachute release tune for Pixhawk
2014-04-07 13:37:01 +09:00
Randy Mackay
699b84e8ca
Parachute: minor comment changes
2014-04-07 13:36:58 +09:00
Randy Mackay
d8f9a1c6c6
Mission: add support for MAV_CMD_DO_PARACHUTE
2014-04-07 13:36:55 +09:00
Randy Mackay
a682f652d0
GCS_MAVLink: generate after MAV_CMD_DO_PARACHUTE added
2014-04-07 13:36:53 +09:00
Randy Mackay
cec7574465
GCS_MAVLink: add MAV_CMD_DO_PARACHUTE
2014-04-07 13:36:52 +09:00
Randy Mackay
b478c3a321
AC_AttControl: return angle_ef_targets as const ref
2014-04-07 13:36:49 +09:00
Randy Mackay
d4cb51d8f7
AP_Parachute: add example sketch
...
Only tests that the lib compiles
2014-04-07 13:36:37 +09:00
Randy Mackay
8600b9d4f1
RC_Channel: add parachute_release to function enum
2014-04-07 13:36:33 +09:00
Randy Mackay
9d807802cc
Parachute: initial draft library
2014-04-07 13:36:25 +09:00
Andrew Tridgell
efdb678e00
AP_Motors: fixed example build
2014-04-07 11:55:56 +10:00
Andrew Tridgell
f4cbec0ce1
APM_OBC: removed unused example code
2014-04-07 11:55:46 +10:00
Andrew Tridgell
cc212be41e
AP_Mission: added get_next_ground_course_cd() API
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this gives the ground course of the next navigation leg, which can be
used to calculate the amount of steering required
2014-04-07 09:29:54 +10:00
Andrew Tridgell
e566802bf3
AP_Math: fixed example build
2014-04-07 07:37:34 +10:00
Andrew Tridgell
6f55dc1686
APM_OBC: update for AP_Mission and AP_GPS changes
2014-04-07 07:28:21 +10:00
Andrew Tridgell
43ebd86bb1
AP_GPS: disable SBP driver on APM2
...
the driver uses double precision floating point, which can't work on
8bit AVR with gcc
2014-04-05 21:47:46 +11:00
Andrew Tridgell
5a585b90e8
AP_GPS: fixed some warnings in SBP driver
2014-04-05 14:18:01 +11:00
Niels Joubert
33576dfdd9
AP_GPS: Swift Binary Protocol SINGLE-POINT-POSITIONING Driver
...
This is the SBP driver for Piksi, Lodestar and other forthcoming Swift Navigation GPSes.
This driver currently implements three things:
- Implements a lightweight SBP protocol detection system
- Implements Piksi as a single-point-positioning GPS (same as ublox/others)
- Implements hardware logging of GPS health and baseline messages
Forthcoming iin future updates:
- Need to implement the RTK functionality
2014-04-05 13:42:23 +11:00
Niels Joubert
e32b73f075
AP_HAL_AVR_SITL: Adding Swift Binary Protocol stand-alone simulator
2014-04-05 13:42:23 +11:00
Niels Joubert
00064ac883
SITL: Adding GPS types for Swift Binary Protocol
2014-04-05 13:42:23 +11:00
Niels Joubert
879eb5936b
AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices
2014-04-05 13:42:23 +11:00
Niels Joubert
161b5f99b3
SITL: Adding Swift Binary Protocol GPS type
2014-04-05 13:42:23 +11:00
Niels Joubert
552f33b39e
AP_GPS: Support fix types of DGPS and RTK
2014-04-05 13:42:23 +11:00
Niels Joubert
64d4a1236f
AP_Notify: Support all GPS status flags, with status >= GPS_OK_FIX_3D notified as having a lock
2014-04-05 13:42:23 +11:00
Andrew Tridgell
67ed5b73ef
AP_GPS: added lock_port() interface
...
used by SERIAL_CONTROL message
2014-04-05 07:34:33 +11:00
Andrew Tridgell
b8675b9abc
GCS_MAVLink: implement SERIAL_CONTROL MAVLink message
2014-04-05 07:34:33 +11:00
Andrew Tridgell
493c5dd63f
GCS_MAVLink: rebuild MAVLink headers
2014-04-04 21:57:22 +11:00
Andrew Tridgell
14b3696959
GCS_MAVLink: added SERIAL_CONTROL message definition
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will be used for on-board radio and GPS firmware update and control
over USB
2014-04-04 21:57:22 +11:00
Andrew Tridgell
07d621c4be
AP_NavEKF: used state structure in more places
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makes the code a bit easier to read
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-04 21:30:16 +11:00
priseborough
aa5335b16e
AP_NavEKF : Improved GPS position glitch handling
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When using GPS after previously rejecting it, the GPS position will
always be offset if outside the specified glitch radius. This was the
original intent of the design and makes handling of glitches smoother.
It has been tested on replay using glitchy flight data
2014-04-04 21:01:22 +11:00
priseborough
b1786cf1e5
AP_NavEKF : Do not reset on GPS velocity timeout if good position data
2014-04-04 21:01:20 +11:00
priseborough
d25883f712
AP_NavEKF : Limit rate of Z accel bias adaptation
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Aliasing can causes the bias estimate to fluctuate very rapidly as it tries
to keep up, which degrades the benefit of switching between
accelerometers to avoid aliasing.
This patch give a much more stable bias estimate during aliasing, and
allows the bias to adapt at a maximum rate of 1.0 m/s2 in 50 seconds
2014-04-04 21:01:18 +11:00
priseborough
36b3cbc365
AP_NavEKF : Relax aliasing check limits
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This reduces the chance of noisy data inhibiting GPS glitch protection
2014-04-04 21:01:15 +11:00
priseborough
0ae736c3a0
AP_NavEKF : clean up convoluted logic used in sensor health checks
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This doesn't change the behavior, but does make the code easier to
understand
2014-04-04 21:01:13 +11:00
Andrew Tridgell
013aaf4d3e
GCS_MAVLink: moved comms functions to not be inline
...
saves a bit of flash space
2014-04-04 13:19:15 +11:00
Andrew Tridgell
d9d038345a
AP_GPS: save 800 bytes of code space on APM2
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we can assume a single GPS
2014-04-04 10:08:28 +11:00
Andrew Tridgell
9f857529ca
AP_GPS: auto-switch primary GPS based on status and number of satellites
2014-04-04 08:32:34 +11:00
Andrew Tridgell
11f196318e
RC_Channel: added static functions to simplify operations on all channels
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this avoids vehicle code having to loop over all channels for common
operations
2014-04-03 12:18:56 +11:00
Andrew Tridgell
21c205a57e
AP_GPS: cope with different MON-HW message size in u-Blox Neo7
2014-04-03 10:55:05 +11:00
Andrew Tridgell
cd3038fabd
AP_NavEKF: fixed return of offset in getVariances()
2014-04-03 07:49:06 +11:00
Andrew Tridgell
dcb42af3e9
AP_BattMonitor: fixed example build
2014-04-03 07:49:06 +11:00
Craig Elder
3a92d75936
Ublox: Enable 1Hz Lock LED by default
2014-04-01 20:57:18 -07:00
Andrew Tridgell
067bbf5b5c
DataFlash: hdop is unsigned
2014-04-02 07:55:28 +11:00
Andrew Tridgell
e40a048009
AP_GPS: handle multiple GPS in GPS setHIL()
2014-04-02 07:55:28 +11:00
Andrew Tridgell
79f5618f6f
AP_GPS: zero state structure on driver release
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this ensures no values are left from the previous driver
2014-04-02 07:55:28 +11:00
Randy Mackay
2ddc414f4d
InertialNav: replace safe_sqrt with pythagorous2
2014-04-01 20:43:53 +09:00
Randy Mackay
90e205c905
AC_PosControl: replace safe_sqrt with pythagorous2
2014-04-01 20:43:51 +09:00
Randy Mackay
15da01cf3a
AC_WPNav: replace safe_sqrt with pythagorous2
2014-04-01 20:43:45 +09:00
Andrew Tridgell
b8e4e35a0d
AP_Airspeed: use pythagorous3()
2014-04-01 22:15:12 +11:00
Andrew Tridgell
a7f213a5c5
AP_NavEKF: use pythagorous2()
2014-04-01 22:13:03 +11:00
Andrew Tridgell
9ab1a79b5a
AP_Airspeed: changed sqrt() to sqrtf()
2014-04-01 22:09:21 +11:00
priseborough
09c5ba1aed
Dataflash : Improved logging of EKF sensor health checks
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This changes the definition sof the messages in the EKF4 message to make it more useful
The values shown now relate directly to how much margin there is before a measurement
is rejected, enabling better tuning of error trap parameters
2014-04-01 21:27:07 +11:00
priseborough
04036d7777
AP_NavEKF : Updated GPS glitch protection logic
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This adds new functionality to the detection and compensation of GPS
glitches:
1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
2014-04-01 21:22:14 +11:00
Andrew Tridgell
7e2ef0cfc0
AP_GPS: fixed GPS for Replay
2014-04-01 17:25:15 +11:00
Andrew Tridgell
9278685cdf
AP_Math: fixed location build on SITL
2014-04-01 14:20:10 +11:00
Andrew Tridgell
77e2f48581
AP_GPS: fixed notify updates for new API
2014-04-01 06:38:25 +11:00