Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity
11,147 Commits 71 Branches 509 Tags 753 MiB
148fd889bc
Commit Graph

4824 Commits

Author SHA1 Message Date
Mike McCauley
0a43cf8c5c AP_InertialSensor: AP_InertialSensor_Flymaple removed redundant definition of 
healthy().
 2014-02-17 05:56:37 +11:00
Mike McCauley
f7279aa13f AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health 
and get_accel_health.
 2014-02-17 05:56:37 +11:00
Mike McCauley
4dc33c8de8 AP_HAL_FLYMAPLE: updated FlymaplePortingNotes.txt 2014-02-17 05:56:37 +11:00
Randy Mackay
d277b6cabd AC_AttControl: fix @Units parameter descriptions 2014-02-16 22:36:59 +09:00
Paul Riseborough
7a82746fcc AP_NavEKF : fixed bug in pos and vel reset when in static mode 2014-02-16 22:35:19 +11:00
Paul Riseborough
275ef86f86 AP_NavEKF : Position and Velocity reset bugfix 2014-02-16 21:05:37 +11:00
Paul Riseborough
b22dc706b2 AP_NavEKF : staticMode bugfix and robustness improvements 2014-02-16 21:04:55 +11:00
Paul Riseborough
2926602718 AP_NavEKF : Cleaned up InitialiseFilterDynamic 2014-02-16 21:04:51 +11:00
Paul Riseborough
404fbafe26 AP_NavEKF : Changed timout behaviour to only reset PosVel states 2014-02-16 21:04:46 +11:00
Andrew Tridgell
856dfd0ee6 AC_AttitudeControl: fixed example build 2014-02-16 18:43:15 +11:00
Andrew Tridgell
ee37bc3d27 AP_AHRS: ensure we have HAL_CPU_CLASS available 2014-02-16 17:57:09 +11:00
Randy Mackay
6af705d455 AC_Circle: bug fix for pos target when radius is zero 2014-02-16 13:46:38 +11:00
Randy Mackay
9130c88f15 AC_PosControl: throttle rate to simple P controller 2014-02-16 13:35:44 +11:00
Randy Mackay
a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +11:00
Randy Mackay
34b62fc078 AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX 2014-02-16 13:35:26 +11:00
lthall
b8d9bdb794 AC_AttControl: accel limit for roll, pitch yaw rates 2014-02-16 13:35:23 +11:00
Andrew Tridgell
189d635493 AP_Compass: constrain compass offsets to +/- 2000 
this is prompted by a user log showing NaN compass offsets, resulting
in a crash. The patch ensures we never end up with NaN offsets, and
also constrains the offsets to a reasonable limit
 2014-02-16 13:33:41 +11:00
Andrew Tridgell
6618bdae67 DataFlash: periodically use lseek to avoid NuttX seek bug 2014-02-16 13:21:35 +11:00
Andrew Tridgell
9bb8f73d56 Compass: split compass learning out to its own C++ file 2014-02-16 13:21:06 +11:00
Andrew Tridgell
24e1070eb2 AP_NavEKF: initialise quaternion from rotation matrix 2014-02-15 12:21:11 +11:00
Andrew Tridgell
2df314799e AP_Math: added tests for quaternion to/from rotation matrix 2014-02-15 12:20:51 +11:00
Andrew Tridgell
689f230d40 AP_Math: added quaternion.from_rotation_matrix() 2014-02-15 12:20:31 +11:00
Andrew Tridgell
c6b24c521b AP_NavEKF: force healthy false when initialising 
this prevents us feeding off our own values when booting

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-02-15 09:25:40 +11:00
Andrew Tridgell
be33a9634e AP_AHRS: move using_EKF to .cpp to make it easier in gdb 2014-02-15 09:25:40 +11:00
Andrew Tridgell
eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Andrew Tridgell
4d3f714a5d AP_Notify: fixed example build 2014-02-15 06:40:39 +11:00
Andrew Tridgell
830afefcef AP_HAL: fixed example build 2014-02-15 06:40:29 +11:00
Andrew Tridgell
3af38a778d AP_Baro: fixed example build 2014-02-15 06:40:15 +11:00
Andrew Tridgell
8201f9c928 AP_NavEKF: don't build example 2014-02-15 06:40:06 +11:00
Andrew Tridgell
c1dff6aa65 AP_Math: fixed example build 2014-02-15 06:39:43 +11:00
Andrew Tridgell
f9d0747750 AP_InertialSensor: fixed example build 2014-02-15 06:39:35 +11:00
Randy Mackay
5bdc564191 AP_AHRS: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
c18b3f6094 AP_Airspeed: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
bb715424ee Baro: fix BMP085 example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
d761ddd4af AP_Motors: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
ae59bef6d1 AC_INav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
42d9225fbe HAL_AVR: ArduCopterLibs to use AC_P library 2014-02-15 06:09:08 +11:00
Randy Mackay
bf3effcd10 AC_WPNav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
889ee1bfef AC_Sprayer: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
4484a4232a AC_Fence: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
c35bd84e21 AC_AttControl: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
451910fc94 AC_AttControlHeli: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay
ff9f4fe6e7 AC_AttControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay
94fb9c4274 AC_PosControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay
fbf8106280 AC_Circle: remove AC_PID include 
This is no longer required with introduction of PosControl lib
 2014-02-15 06:09:08 +11:00
Randy Mackay
e86a21a254 AC_WPNav: remove AC_PID include 
This is no longer required with introduction of PosControl lib
 2014-02-15 06:09:08 +11:00
Randy Mackay
8fae75ee87 AC_PID: add AC_P controller 
Used for stabilize angle controllers, alt hold and loiter
 2014-02-15 06:09:08 +11:00
Randy Mackay
fbc5af2705 AC_PID: results returned as float 2014-02-15 06:09:08 +11:00
Randy Mackay
a6ad51b38f AC_AttControl: rename most methods 2014-02-15 06:09:08 +11:00
lthall
65c2fc0cc6 AC_AttControl: ACRO fixes 2014-02-15 06:09:08 +11:00
Andrew Tridgell
0bbe038587 GCS_MAVLink: re-generate MAVLink headers 2014-02-15 05:48:24 +11:00
Andrew Tridgell
801ceacaf2 AP_AHRS: re-run update_trig() after EKF AHRS update 2014-02-15 05:48:24 +11:00
Andrew Tridgell
a88212eb7a AP_InertialNav: fixed EKF version for new AHRS API 2014-02-15 05:48:24 +11:00
Andrew Tridgell
a7a44a9a5c AP_NavEKF: fixed init order warning 2014-02-15 05:48:24 +11:00
Andrew Tridgell
9b8311580b AP_TECS: update for AHRS API change 2014-02-15 05:48:24 +11:00
Andrew Tridgell
25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF 
this avoids some linking issues, plus the functions are inaccurate
without EKF
 2014-02-15 05:48:24 +11:00
Andrew Tridgell
6964529124 AP_Baro: _calculate can be private 2014-02-15 05:48:24 +11:00
Andrew Tridgell
c62ccce9d8 AP_AHRS: make estimate_wind() public 
this avoids it linking into copter
 2014-02-15 05:48:24 +11:00
Paul Riseborough
b56c8211c9 AP_NavEKF: Reduced number of Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough
c20fac1269 AP_NavEKF: Updated comments for private functions 2014-02-15 05:48:23 +11:00
Paul Riseborough
deb64c4cbd AP_NavEKF: Pos Vel reset after long GPS timeout 2014-02-15 05:48:23 +11:00
Paul Riseborough
7ac0172db1 AP_NavEKF: removed repeated intialisation 2014-02-15 05:48:23 +11:00
Paul Riseborough
28fb5e364b AP_NavEKF: Fixed bug in pos/vel/hgt reset on timout 2014-02-15 05:48:23 +11:00
Paul Riseborough
f74cce8b4e AP_NavEKF : Removed double to float conversions 2014-02-15 05:48:23 +11:00
Paul Riseborough
80f6dba694 AP_NavEKF: Improved control of fusion update intervals 2014-02-15 05:48:23 +11:00
Paul Riseborough
13b9daeff5 AP_NavEKF: Added constraints to Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough
b123e1bb16 AP_NavEKF: Improved in-air reset behaviour 2014-02-15 05:48:22 +11:00
Paul Riseborough
1651980b9f AP_NavEKF: Improved behaviour following loss and regaining of GPS 2014-02-15 05:48:22 +11:00
Paul Riseborough
14eb63e7c9 AP_NavEKF: Made most tuning parameters Mavlink adustable 2014-02-15 05:48:22 +11:00
Andrew Tridgell
f800f5592d AP_NavEKF: fixup parameter handling 2014-02-15 05:48:22 +11:00
Andrew Tridgell
f09ae0c2d0 AP_AHRS: expose get_NavEKF as non-const 
better than having two methods
 2014-02-15 05:48:22 +11:00
Paul Riseborough
f0f76920fa AP_NavEKF : Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough
128f71157d AP_NavEKF: Fixed bug in pre GPS fix updates 2014-02-15 05:48:22 +11:00
Paul Riseborough
08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +11:00
Paul Riseborough
357743ee2d AP_NavEKF: Adjusted tuning parameters for plane use 2014-02-15 05:48:22 +11:00
Paul Riseborough
b4171853b1 AP_NavEKF: allow initialisation before GPS lock to aid indoor testing 2014-02-15 05:48:21 +11:00
Paul Riseborough
7fb60812c2 AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment 2014-02-15 05:48:21 +11:00
Paul Riseborough
9d375da550 AP_NavEKF: changed sqrt to sqrtf 2014-02-15 05:48:21 +11:00
Paul Riseborough
1f0b4b02d0 AP_NavEKF: fixed merge error that inverted static mode 2014-02-15 05:48:21 +11:00
Paul Riseborough
17e24521e8 DataFlash : Added logging of NavEKF innovations and variances 2014-02-15 05:48:21 +11:00
Paul Riseborough
9bbddb2f66 AP_TECS : Use NavEKF height and height rate data if available 2014-02-15 05:48:21 +11:00
Paul Riseborough
0599817aa9 AP_AHRS : EKF initialisation changed to use bootstrap method 2014-02-15 05:48:21 +11:00
Paul Riseborough
401e3aee43 AP_NavEKF : Changes to test harness to support accel bias states 2014-02-15 05:48:21 +11:00
Paul Riseborough
5219869389 AP_NavEKF : Added Z accel bias state and bootstrap initialisation method 2014-02-15 05:48:21 +11:00
Randy Mackay
301a04b74a AP_NavEKF: update params for copter 2014-02-15 05:48:21 +11:00
Randy Mackay
f068d0ff7e AP_AHRS_NavEKF: expose non-const EKF for tuning 2014-02-15 05:48:20 +11:00
Randy Mackay
7c73020015 AP_NavEKF: make params public so they can be tuned 2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0 AP_AHRS_NavEKF: override set_correct_centrifugal 2014-02-15 05:48:20 +11:00
Randy Mackay
8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 2014-02-15 05:48:20 +11:00
Paul Riseborough
a87df0ad56 AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual 2014-02-15 05:48:20 +11:00
Paul Riseborough
5c3dea28dc AP_NavEKF : Enable staticMode to be set externally 2014-02-15 05:48:20 +11:00
Andrew Tridgell
3617c65af7 AP_InertialSensor: make HIL treat time like PX4 does 2014-02-15 05:48:20 +11:00
Andrew Tridgell
77c4968342 AP_NavEKF: enable plotting in plot2.dat too 2014-02-15 05:48:20 +11:00
Andrew Tridgell
ab2a5a0672 AP_NavEKF: enable some debug 2014-02-15 05:48:20 +11:00
Paul Riseborough
0d4d287215 AP_NavEKF: comment and parameter tweaks for ground testing 2014-02-15 05:48:20 +11:00
Paul Riseborough
b6b0c2a489 AP_NavEKF: fixed bug in flag reset for hgt fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough
2f3b2a7111 AP_NavEKF: second attempt at higher rate baro fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough
cdbc5a3f35 AP_NavEKF: added position observations to static mode 2014-02-15 05:48:19 +11:00
Paul Riseborough
da2c341914 Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed" 
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
 2014-02-15 05:48:19 +11:00
Paul Riseborough
32cc427ff4 AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed 2014-02-15 05:48:19 +11:00
Paul Riseborough
2998aa1a6a AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions 2014-02-15 05:48:19 +11:00
Paul Riseborough
f9aae1b90b AP_NavEKF: fixed bug in variance constraint code 2014-02-15 05:48:19 +11:00
Paul Riseborough
735c9684da AP_NavEKF: removed error in constructor comments 2014-02-15 05:48:19 +11:00
Paul Riseborough
8f999fe787 AP_NavEKF: Misc tuning adjustments for Plane testing 2014-02-15 05:48:19 +11:00
Paul Riseborough
c87a5aaf34 AP_NavEKF: added PositionReset public function to fix pre-arm loss of solution 2014-02-15 05:48:19 +11:00
Paul Riseborough
fec4fd463c AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler 2014-02-15 05:48:19 +11:00
Paul Riseborough
619fffec3e AP_NavEKF: added static mode for pre-arm and bench testing 2014-02-15 05:48:18 +11:00
Paul Riseborough
ab08a5c7d6 AP_AHRS : altered NavEKF set home to reset position instead of reset filter 2014-02-15 05:48:18 +11:00
Paul Riseborough
d0831c708d AP_NavEKF : Added position and height reset public method 2014-02-15 05:48:18 +11:00
Andrew Tridgell
1b1f9e41ab AP_NavEKF: improved playback initialisation 2014-02-15 05:48:18 +11:00
Andrew Tridgell
d9ef45234b AP_NavEKF: useful plotting function 2014-02-15 05:48:18 +11:00
Andrew Tridgell
0816642436 AP_NavEKF: handle intertial nav 2014-02-15 05:48:18 +11:00
Andrew Tridgell
77c6e3206a AP_NavEKF: some debug code 2014-02-15 05:48:18 +11:00
Andrew Tridgell
2cd781997f AP_Baro: changed HIL driver to use floats and better handle starup 2014-02-15 05:48:18 +11:00
Andrew Tridgell
c995f994c5 AP_InertialNav: make some functions protected 2014-02-15 05:48:18 +11:00
Andrew Tridgell
c33da7b3a2 AP_NavEKF: fixed log playback for copter 2014-02-15 05:48:18 +11:00
Andrew Tridgell
78ff078988 HAL_Linux: fixed stopped clock delay 2014-02-15 05:48:18 +11:00
Andrew Tridgell
9b53db66cb AP_NavEKF: tweak parameters based on randys copter log 2014-02-15 05:48:18 +11:00
Andrew Tridgell
9e3bf685c2 SITL: use sinf() and cosf() 
for some strange reason the double precision functions can crash
 2014-02-15 05:48:17 +11:00
Andrew Tridgell
bb0eed5c14 SITL: prevent initialisation error 2014-02-15 05:48:17 +11:00
Andrew Tridgell
574946f0aa AP_AHRS: start EKF 5 seconds after getting GPS lock 2014-02-15 05:48:17 +11:00
Andrew Tridgell
df271fbd59 AP_AHRS: fill in _dcm_matrix whenever EKF started 
this ensures get_dcm_matrix() always returns valid data
 2014-02-15 05:48:17 +11:00
Andrew Tridgell
4c42f53636 AP_NavEKF: use INS delta_time 2014-02-15 05:48:17 +11:00
Andrew Tridgell
5193ce90dc AP_NavEKF: copter specific dtIMUAvg 2014-02-15 05:48:17 +11:00
Andrew Tridgell
ada7d4fb98 AP_AHRS: use the right DCM matrix when EKF not enabled 2014-02-15 05:48:17 +11:00
Andrew Tridgell
a74fcc5a93 AP_AHRS: added set_ekf_use() 2014-02-15 05:48:17 +11:00
Andrew Tridgell
38ac8d404a SITL: fixed PX4 build 2014-02-15 05:48:17 +11:00
Andrew Tridgell
fba0891617 SITL: fixed SIM df altitude 2014-02-15 05:48:17 +11:00
Paul Riseborough
8b1d056e07 AP_NavEKF: updated timeout for GPS retry and reduced onGround gyro bias noise multiplier 2014-02-15 05:48:16 +11:00
Paul Riseborough
7e026d41df AP_NavEKF: explicitly zeroed covariance matrix priro to setting initial values 2014-02-15 05:48:16 +11:00
Paul Riseborough
6e6e3d923e AP_NavEKF: improved covariance matrix numerical stability protection 2014-02-15 05:48:16 +11:00
Andrew Tridgell
45177df354 DataFlash: moved EKF logging to common code 2014-02-15 05:48:16 +11:00
Andrew Tridgell
9aea781248 GCS_MAVLink: moved send_ahrs2 to common code 2014-02-15 05:48:16 +11:00
Andrew Tridgell
66dbaa6657 AP_NavEKF: make health() API const 2014-02-15 05:48:16 +11:00
Andrew Tridgell
47f541e143 AP_InertialNav: implement InertialNav in terms of AHRS when available 2014-02-15 05:48:16 +11:00
Andrew Tridgell
5d43a1d704 AP_AHRS: added inertial nav interfaces to AHRS 2014-02-15 05:48:16 +11:00
Andrew Tridgell
658110dd8c AP_InertialNav: added AP_InertialNav_NavEKF wrapper class 2014-02-15 05:48:15 +11:00
Andrew Tridgell
99097d80a1 AP_InertialNav: use AHRS home location 2014-02-15 05:48:15 +11:00
Andrew Tridgell
c493d980d8 AP_NavEKF: fixed check for airspeed sensor available 2014-02-15 05:48:15 +11:00
Andrew Tridgell
2dbfed19b8 AP_NavEKF: fixed airspeed estimate check 2014-02-15 05:48:15 +11:00
Paul Riseborough
e69eea3086 AP_NavEKF: Bug fix in covariance error correction 2014-02-15 05:48:15 +11:00
Paul Riseborough
43dc9bc055 AP_NavEKF: Added improved covariance matrix error fix 2014-02-15 05:48:15 +11:00
Paul Riseborough
4a56ea84b5 AP_NavEKF: Removed accel bias states 2014-02-15 05:48:15 +11:00
Andrew Tridgell
093481786e AP_NavEKF: added SIM state to playback tool 2014-02-15 05:48:15 +11:00
Andrew Tridgell
fcd9041e62 SITL: added dataflash logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell
d0a25b53f2 DataFlash: added logging of AHRS2 2014-02-15 05:48:09 +11:00
Andrew Tridgell
5578552574 AP_NavEKF: fixed example for new API 2014-02-15 05:29:48 +11:00
Andrew Tridgell
2acf1e7ce5 AP_NavEKF: allow filter to run as single or double precision 
useful for checking if there are numerical precision issues
 2014-02-15 05:29:48 +11:00
Paul Riseborough
efd444b02e AP_NavEKF: covariance protection (not enabled) and tuning changes for stability 2014-02-15 05:29:48 +11:00
Paul Riseborough
be9f276f45 AP_NavEKF: fixed compass offset sign error 2014-02-15 05:29:48 +11:00