Paul Riseborough
a82c8b241f
DataFlash: Update NKF4 data logging
...
Add roll/pitch error metric
Reduce normalised magnetometer vector with a vector length
2015-10-10 21:22:57 +09:00
Paul Riseborough
20a3f9782e
AP_NavEKF2: Add full set of selectable pre-flight GPS checks
2015-10-10 21:22:53 +09:00
Paul Riseborough
f451a81ef9
AP_NavEKF: Add missing GPs check report
2015-10-10 21:22:49 +09:00
Paul Riseborough
a3a1dabb94
AP_NavEKF: Update GPS check description and default setting
...
Previous check default only checked the number of satellites and horizontal position accuracy.
Updated default value also checks HDoP and speed accuracy.
2015-10-10 21:21:25 +09:00
Paul Riseborough
db4dfce7b1
AP_NavEKF2: Add fix status to GPS check report message
2015-10-10 14:49:07 +09:00
Paul Riseborough
ef5049862a
AP_NavEKF: Add fix status to GPS check report message
2015-10-10 14:49:05 +09:00
Paul Riseborough
ba6387f206
DataFlash: Add logging of EKF GPS check status
2015-10-10 14:49:03 +09:00
Paul Riseborough
5177746c00
AP_NavEKF: Add reporting of GPS check status
2015-10-10 14:49:01 +09:00
Paul Riseborough
22920aafad
AP_NavEKF2: Improve GPS status reporting
2015-10-10 14:48:59 +09:00
Paul Riseborough
d0080b66cd
AP_NavEKF: Define a structure for reporting of GPS checks
2015-10-10 14:48:56 +09:00
Paul Riseborough
1cb2220107
AP_NavEKF2: Critical Bugfix
2015-10-10 14:48:54 +09:00
Paul Riseborough
f467a89fa3
AP_NavEKF2: Update comments for filter status output function
2015-10-10 14:48:52 +09:00
Paul Riseborough
b142cc7fd2
AP_NavEKF2: Rename files and re-distribute content
2015-10-10 14:48:50 +09:00
Siddharth Bharat Purohit
1ce3276d74
AP_NavEKF2: split EKF control and output get functions from state specific libs
2015-10-10 14:48:48 +09:00
Siddharth Bharat Purohit
2e388fb2f9
AP_NavEKF2: split otp flow from PosVelNED
2015-10-10 14:48:46 +09:00
Siddharth Bharat Purohit
290ea0e1e8
AP_NavEKF2: split up EKF_core into different files
2015-10-10 14:48:44 +09:00
Caio Marcelo de Oliveira Filho
b5abab9d37
AP_GPS_GSOF: minor tweak to avoid warning
...
Fixes the issue of three unused variables, two of which were used in a
commented Debug() call.
To keep the convenient debug message (and the variable names for the
data bytes), this patch uncomment the debug call but wrap the variables
and the debug call around an ifdef for the local symbol
gsof_DEBUGGING. So by turning it on, the debug will already be in place.
The Debug() call was modified to actually compile and include the third
variable in the output.
2015-10-10 14:34:54 +09:00
Paul Riseborough
2b0434f089
AP_NavEKF: Improved detection of GPS glitch behaviour
2015-10-08 15:09:45 +09:00
Paul Riseborough
d48d4ac950
AP_NavEKF: Add GPS glitching monitor to EKF status report
2015-10-08 15:09:43 +09:00
Paul Riseborough
8a9d9c04c5
AP_NavEKF: Add public function to declare GPS glitch
2015-10-08 15:09:40 +09:00
Paul Riseborough
21e4910149
AP_NavEKF: Allow user to select preflight GPS checks
2015-10-08 15:09:37 +09:00
Paul Riseborough
cdae84aec1
AP_NavEKF: Additional pre-arm GPS quality checks
2015-10-08 15:09:34 +09:00
Paul Riseborough
8a66c9c2ed
AP_NavEKF: Critical Bugfix
2015-10-08 10:54:34 +09:00
Randy Mackay
825abdbedc
Compass: example sketch displays in milligauss
2015-10-07 21:35:24 +09:00
Randy Mackay
d3066fcdad
GCS_MAVLink: send compass vector to GCS in milligauss
2015-10-07 21:35:21 +09:00
Randy Mackay
e9254ca1a9
DataFlash: log compass as milligauss
2015-10-07 21:35:19 +09:00
Randy Mackay
2deaf5280e
RangeFinder: add User to param descriptions
...
First sensor appears in standard list, second in advanced
2015-10-07 14:10:24 +09:00
Julien BERAUD
b37c52f7a3
AP_InertialSensor_MPU6000: Add heat support
...
Send current tempertaure to the Heater so the control loop sets the correct
temperature to the imu
2015-10-06 15:21:39 +11:00
Julien BERAUD
f231182cd9
AP_HAL: Add support for a Heater
...
Add heater class and non-pure virtual method to Util class in order to do
nothing in case the function is not implemented
2015-10-06 15:21:39 +11:00
Julien BERAUD
ffbb892a01
AP_HAL_Linux: add support for a pwm heater
...
It uses a heating resistor controlled by a pwm.
By changing the duty cycle of the pwm, we can control the temperature.
A simple PI algorithm is used in order to get to the correct temperature
fast enough and without too much overshoot
It is implemented as a member of the Util class in order not to make to much
modification to the current codebase
2015-10-06 15:21:39 +11:00
Julien BERAUD
1aadcdf538
AP_InertialSensor_MPU6000: read temperature
...
Read temperature as part of the normal burst. This is not very costly since it
is part of the burst read in i2c and already read in spi.
It is meant to be used for imu heating.
The filter is set to 1Hz on temperature because of the inherent inertia of
heating systems.
2015-10-06 15:21:39 +11:00
Peter Barker
af4ad01f23
DataFlash: make CAM a critical message
2015-10-06 15:20:08 +11:00
Michael Oborne
8ec9ab6ad3
AP_GPS: add SBF and GSOF to gps documentation
2015-10-06 15:00:46 +11:00
Michael Oborne
0fceb76493
AP_GPS_GSOF: add trimble gsof driver
2015-10-06 15:00:46 +11:00
Lucas De Marchi
0dad58ae8b
AP_HAL_Linux: RCOutput_Bebop: group writes
...
This allows to remove the hard limit of 4 motors in Bebop, allowing to
execute the motor test.
2015-10-06 11:03:30 +11:00
Lucas De Marchi
24f41538cb
AP_HAL_Linux: RCOutput_PCA9685: group writes
2015-10-06 11:03:30 +11:00
Lucas De Marchi
f43f6c53f7
AP_Motors: Group writes to motors
...
Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
2015-10-06 10:42:18 +11:00
Lucas De Marchi
fb643fbb53
AP_HAL: RCOutput: add methods to allow grouping writes
2015-10-06 10:42:18 +11:00
mirkix
ddb8e67954
AP_Compass: Add support for more then one AK8963
2015-10-06 10:38:21 +11:00
Julien BERAUD
22af74bfe6
AP_Menu: Fix warning
...
Declare member in an appropriate type so there is no warning
2015-10-06 10:36:22 +11:00
Julien BERAUD
1c46205c2b
AP_HAL_Linux: fix warning
...
Fix warning and use htole16 instead of trying to implement it.
The current code does nothing on little endian platforms.
Moreover, the status variable was unused.
2015-10-06 10:34:59 +11:00
Randy Mackay
6145794da2
AP_Math: remove duplicate RADIUS_OF_EARTH definition
2015-10-05 21:00:14 +09:00
Paul Riseborough
cde140354a
AP_NavEKF2: Clean up control logic
2015-10-05 13:35:32 +09:00
Paul Riseborough
f4db78fc11
AP_NavEKF2: Allow for larger gyro bias errors
...
MPU6000 data sheet indicates that variation on gyro ZRO across temperature range from -40 to +85 is +-20 deg/sec.
The limits on the gyro bias states have been increased to allow for this.
To enable the EKF to accommodate such large gyro bias values in yaw without the yaw error wrapping, leading to continual heading drift, an unwrap function has been applied to the compass heading error.
2015-10-05 13:35:29 +09:00
Paul Riseborough
325f4139fe
AP_NavEKF2: Clean up mode change logic
2015-10-05 13:35:26 +09:00
Paul Riseborough
ef624199f9
AP_NavEKF2: Enable GPS velocity fusion to be inhibited
2015-10-05 13:35:23 +09:00
Randy Mackay
9b96a2c385
GCS_MAVLink: send_home and send_home_all methods
2015-10-03 12:50:42 +09:00
Randy Mackay
88f32bc86f
GCS_MAVLink: version update after generate
2015-10-03 12:50:39 +09:00
Randy Mackay
544220b599
GCS_MAVLink: generate after importing home-position messages
2015-10-03 12:50:36 +09:00
Randy Mackay
b84b069080
GCS_MAVLink: home-position message defs from upstream
2015-10-03 12:50:33 +09:00
Lucas De Marchi
d3e8e8fd43
AP_InertialSensor: disable backend's copy constructor
...
We never want to copy a backend. This protects us of accidentally using
a copy instead of a reference for all subclasses.
2015-10-01 20:57:22 -03:00
Lucas De Marchi
a58bb0fc32
AP_InertialSensor: MPU6000: Fix using copy instead of reference
...
In 294298e
2015-10-01 20:57:22 -03:00
raspilot
aa4d16622e
HAL_Linux_Class: Init spi before rcin & rcout, because raspilot rcin & rcout use spi.
2015-10-02 09:54:55 +10:00
raspilot
831bb554e7
AP_Baro_MS5611: suspend timer when init to prevent other SPI drivers grabbing the bus.
2015-10-02 09:54:55 +10:00
mirkix
ba4db34c83
AP_Baro: Prevent busy waiting
2015-10-02 09:49:12 +10:00
raspilot
5dc18b9a54
HAL_Linux_Class: Fix the broken declare of "LinuxUtilRPI utilInstance" at building raspilot.
2015-10-02 09:47:18 +10:00
José Roberto de Souza
1a2b5ff677
AP_Compass: AK8963: Remove unused AP_HAL::Semaphore attributes
2015-10-01 10:42:51 -03:00
José Roberto de Souza
a9d34ac3bd
AP_Compass: AK8963: Rename some SPI/I2C method parameters
...
On read/write operations the argument is the register that will be read or
write not the address, SPI don't even have the concept of device address.
2015-10-01 10:42:40 -03:00
Randy Mackay
3d7ec3704d
Mount: add param descriptions to allow RC9 ~ RC12 inputs to be used to control gimbal
2015-09-29 16:41:51 +09:00
Lucas De Marchi
e938075581
AP_MotorsCoax: get rid of _motor_to_channel_map
2015-09-29 12:01:41 +09:00
Lucas De Marchi
ec4ebfde83
AP_MotorsSingle: get rid of _motor_to_channel_map
2015-09-29 12:01:28 +09:00
Lucas De Marchi
537599c01b
AP_MotorsTri: get rid of _motor_to_channel_map
2015-09-29 12:01:14 +09:00
Lucas De Marchi
1572c9d4f4
AP_MotorsMatrix: get rid of _motor_to_channel_map
2015-09-29 12:00:56 +09:00
Lucas De Marchi
43268b9822
AP_MotorsHeli: get rid of _motor_to_channel_map
2015-09-29 12:00:18 +09:00
Lucas De Marchi
7ea141b774
AP_Motors_Multi: get rid of _motor_to_channel_map
2015-09-29 11:59:48 +09:00
Lucas De Marchi
d97d97dc54
AP_Motors: get rid of _motor_to_channel_map
...
This was only used for supporting APM1. The removal was mostly automatic
with:
sed -i 's/pgm_read_byte(&_motor_to_channel_map\[\([^]]*\)\])/\1/g' libraries/AP_Motors/*.cpp
sed -i 's/_motor_to_channel_map\[\([^]]*\)\]/\1/g' libraries/AP_Motors/*.cpp
And then remove references to MOTOR_TO_CHANNEL_MAP and
_motor_to_channel_map and make sure the variable used in shifts is
unsigned
2015-09-29 11:59:25 +09:00
Lucas De Marchi
139b88f544
AP_HAL_VRBRAIN: remove unused write method
2015-09-29 11:53:53 +09:00
Lucas De Marchi
7d9c75478f
AP_HAL_SITL: remove unused write method
2015-09-29 11:53:51 +09:00
Lucas De Marchi
ce674f6926
AP_HAL_PX4: remove unused write method
2015-09-29 11:53:49 +09:00
Lucas De Marchi
191ec10554
AP_HAL_Linux: remove unused write method
2015-09-29 11:53:46 +09:00
Lucas De Marchi
9b4be3bf74
AP_HAL_FLYMAPLE: remove unused write method
2015-09-29 11:53:44 +09:00
Lucas De Marchi
302252d096
AP_HAL_Empty: remove unused write method
2015-09-29 11:53:42 +09:00
Lucas De Marchi
f1e53a9bdd
AP_HAL_AVR: remove unused write method
2015-09-29 11:53:40 +09:00
Lucas De Marchi
666dc3e440
AP_HAL: RCOutput: remove unused write method
...
This method is not used anymore since the introduction of channel map and
allowing motors to be enabled/disabled in AP_Motors.
Later we may introduce a method to write multiple values with a default
implementation that supports the channel and enable maps rather than
requiring all subclasses to implement this method.
2015-09-29 11:53:38 +09:00
Lucas De Marchi
a5cc0be531
AP_HAL_FLYMAPLE: remove the only user of multiwrite
...
This is the only place where this variant of RCOutput::write() is
called. Remove it so to use the common interface. It can be added back
later when there's support for asynchronous write.
2015-09-29 11:53:36 +09:00
Andrew Tridgell
b9aad88d17
SITL: moved ignition to channel 6
2015-09-29 10:59:41 +10:00
Andrew Tridgell
232fc8a64d
AP_AHRS: added send_ekf_status_report()
2015-09-29 10:58:54 +10:00
Lucas De Marchi
7ba6f92eb5
AP_Common: give some type safety to ARRAY_SIZE macro
...
Now that most places in the code use the ARRAY_SIZE macro instead of
coding it by hand, let's use some type safety in its definition. This is
a C++ version of similar macros used in kmod, Linux kernel and the
source of them, ccan.
A C++ version like this is used in V8 (the JS engine) and other open
source projects.
The main benefit of this version is that you get a compile error if you
pass in a variable that's not an array. For example,
Bla y[10];
Bla *y_ptr = y;
void foo(Bla x[])
{
// build error since x[] decay to a pointer in function
// parameter
for (int i = 0; i < ARRAY_SIZE(x); i++) {
...
}
// build error since y_ptr is not an array
for (int i = 0; i < ARRAY_SIZE(y_ptr); i++) {
...
}
}
I added the additional specialization to allow arrays of size 0.
2015-09-28 18:20:14 +10:00
stew@lovinggibbard.com
9ed6e6afa4
Copy paste errors and naming issues in documentation help.
2015-09-28 18:17:07 +10:00
Andrew Tridgell
e0810c2e54
AP_RSSI: fixed doc prefixes for RSSI variables
2015-09-25 22:00:22 +10:00
Paul Riseborough
53e58f1075
AP_NavEKF2: Update default parameters
...
Updates from preliminary tuning in Replay
2015-09-25 19:22:56 +10:00
Paul Riseborough
73686dfa89
DataFlash: fix error in NKF descriptor
2015-09-25 19:20:52 +10:00
Paul Riseborough
2fb72b6e6a
AP_NavEKF2: Clean up loss of GPS logic
2015-09-25 19:20:52 +10:00
Paul Riseborough
df0eb9d9d7
AP_NavEKF2: Don't run GPS checks when not required
2015-09-25 19:20:52 +10:00
Paul Riseborough
1986af021f
AP_NavEKF2: Remove un-used flight mode and duplicate variable
2015-09-25 19:20:52 +10:00
Paul Riseborough
7230472516
AP_NavEKF2: Adjust parameter defaults
2015-09-25 19:20:52 +10:00
Paul Riseborough
8bcedb228b
AP_NavEKF2: Bring pre-flight GPS checks up to date with EKF1
2015-09-25 19:20:52 +10:00
Andrew Tridgell
f22a1d3e6d
AP_Motors: display message in heli parameter_check()
2015-09-25 12:30:34 +10:00
Andrew Tridgell
9da2b2b430
AP_Motors: added H_GYR_GAIN_ACRO
2015-09-25 12:30:33 +10:00
Andrew Tridgell
ac363c5447
AP_RPM: added RPM_MAX parameter
...
attempt to avoid noise in the pulses
2015-09-25 12:05:43 +10:00
Andrew Tridgell
e3f7b002c2
AC_AttitudeControl: use non-flybar leaky I handling
...
The standard leaky-I handling works fine on a flybar, so better not to
have a special case that isn't needed
2015-09-25 12:05:43 +10:00
Randy Mackay
9f59b6f7b5
AP_AHRS: getLastYawResetAngle returns reset time
2015-09-24 16:57:41 +09:00
Randy Mackay
015f700bc0
AP_NavEKF2: getLastYawResetAngle returns last reset time
2015-09-24 16:57:38 +09:00
Randy Mackay
b5c49e0792
AP_NavEKF: minor comment fix
...
No functional change
2015-09-24 16:57:36 +09:00
Jonathan Challinger
51fb13a329
AP_NavEKF: fix getLastYawResetAngle to return yaw reset system time
2015-09-24 16:57:33 +09:00
Andrew Tridgell
06c0ad987e
AP_AHRS: fixed divide by zero in SITL
...
fixes issue#2875
2015-09-24 16:49:22 +10:00
Lucas De Marchi
fc2a1d27b4
AP_HAL_Linux: fix build for raspilot after Util change
...
Make sure raspilot also builds after making the Util class common for
RPI-based boards.
2015-09-24 15:31:32 +10:00
Lucas De Marchi
55e1d60b54
AP_HAL_Linux: Use from() method for downcast in Util class
2015-09-24 15:31:32 +10:00
Michael du Breuil
cf6e6b7e82
DataFlash: Remove stale UBX3 message
2015-09-23 20:42:42 -07:00
Michael du Breuil
75c0644b9a
AP_GPS: Use state.instance instead of trying to track instance numbers inside of the ublox driver
2015-09-23 20:42:42 -07:00
