priseborough
14b51f6d74
AP_NavEKF: Unconditionally fuse velocity in constant velocity mode
...
The zero velocity measurements in this mode are by definition always correct and should never be rejected
2015-01-22 14:40:48 +09:00
priseborough
6663d80176
AP_NavEKF: Simplify nested logic - functionally equivalent
...
Additional if else statement was unnecessary
2015-01-22 14:40:45 +09:00
priseborough
12c3368c4d
AP_NavEKF: Bypass GPS glitch logic when not aiding
...
When we are not using GPS measurements, we should not be allowing the GPS glitch logic to reset position states as this can interfere with operation of non GPS modes.
2015-01-22 14:40:43 +09:00
priseborough
5c8e71a8d1
AP_NavEKF: Don't reset the position measurement timeout if not aiding
...
When PV aiding is disabled, then the timeout time reference should not be reset becasue we want the position measurement timeout status to remain true the whole time the measurement is not being used.
2015-01-22 14:40:41 +09:00
priseborough
c505a458de
AP_NavEKF: Always declare a position measurement timeout if aiding not used
...
If position and velocity aiding is turned off, then the position measurement should always be reported as timed out.
2015-01-22 14:40:39 +09:00
priseborough
3b166372cc
AP_NavEKF: Always declare a velocity measurement timeout if velocity not used
...
If position and velocity aiding is turned off, then the velocity measurement should always be reported as timed out.
2015-01-22 14:40:36 +09:00
priseborough
95c3197170
AP_NavEKF: Ensure velocity will not be reset unless needed for aiding
2015-01-22 14:40:34 +09:00
priseborough
8aeec82846
AP_NavEKF: Continually turn off aiding whilst the vehicle is disarmed
...
This prevents the possibility of any logic errors turning aiding back on.
AP_NavEKF: Fix bug in logic
2015-01-22 14:40:31 +09:00
priseborough
81ee339e25
AP_NavEKF: Synchronise non-aiding mode state corrections
...
Synchronise with covariance prediction to improve numerical stability and accuracy of angle corrections. The 'noise' this produces in the position and velocity estimate is irrelevantbecause these are not used by the control loops during this mode of operation (they are nominally zero anyway).
2015-01-22 14:40:29 +09:00
priseborough
ae6b85e63d
AP_NavEKF: Explicitly set aiding to off when disarmed
...
This fixes a bug that could cause the AHRS to drift whilst the vehicle was disarmed depending sensor combinations at startup.
2015-01-22 14:40:27 +09:00
priseborough
fb1962b111
AP_NavEKF: Let reported position whilst disarmed show inertial errors
...
Showing the positon states (which are nominally zero) in addition to the last known offset can provide useful log information.
2015-01-22 14:40:25 +09:00
Randy Mackay
01c669ee15
RangeFinder: minor param description update
...
Also initialise primary instance to 0.
No functional change.
2015-01-22 14:40:16 +09:00
Randy Mackay
c24e997fb2
AC_Fence: use inertial nav's get_filter_status
2015-01-22 14:39:40 +09:00
Randy Mackay
f35efc56e0
InertialNav_EKF: get_filter_status replaces position_ok
2015-01-22 14:39:37 +09:00
Randy Mackay
5d80481723
InertialNav: get_filter_status replaces position_ok
...
altitude_ok also replaced.
2015-01-22 14:39:35 +09:00
Andrew Tridgell
61be4ce2d2
HAL_Linux: fixed #if for linux builds
2015-01-22 15:58:20 +11:00
Víctor Mayoral Vilches
2b74d018fe
HAL_Linux: Adjust set_system_clock
...
Do nothing for HAL_BOARD_SUBTYPE_NONE.
2015-01-22 15:43:16 +11:00
Víctor Mayoral Vilches
974f243c7e
HAL_Linux: Add set_system_clock
2015-01-22 15:43:16 +11:00
Jonathan Challinger
d679831c75
GCS_MAVLink: run generate.sh
2015-01-22 15:28:44 +11:00
Jonathan Challinger
0997ab23a4
GCS_MAVLink: merge upstream changes to common.xml
2015-01-22 15:19:47 +11:00
Grant Morphett
236efad159
AP_HAL_AVR: Increased number of AVR input channels from 8 to 11
2015-01-22 14:48:15 +11:00
mirkix
d11c5286c3
AP_HAL: HAL_COMPASS_AK8963 used but not defined anywhere
2015-01-22 14:35:51 +11:00
mirkix
9a65a8c8fb
AP_Compass: add AK8963 to auto-detect in test suite
2015-01-22 14:34:23 +11:00
mirkix
e9d4165a8d
AP_Compass: add AK8963 support to test suite
2015-01-22 14:34:17 +11:00
mirkix
7ceb93befa
AP_HAL: make the examples usable with Linux
2015-01-22 14:30:47 +11:00
Andrew Tridgell
5512a6f8a0
SITL: lower the default noise in SITL
...
the noise levels were well above realistic levels, especially for gyro
noise, and were causing EKF issues
2015-01-22 11:33:09 +11:00
Randy Mackay
842efe71be
DataFlash: move COMPASS2,3 formats to extra structures
2015-01-21 14:38:13 +09:00
Randy Mackay
e7471c5fe5
DataFlash: fix message id and CURR formatting
2015-01-21 14:38:03 +09:00
Randy Mackay
09e3dcd821
DataFlash: pass ahrs, batt, targets by reference
2015-01-21 14:38:01 +09:00
Randy Mackay
f23959b5fa
DataFlash: fix missing slash lost in merge
2015-01-21 14:37:59 +09:00
Robert Lefebvre
80929c389e
DataFlash: Handle multiple compass instances natively inside the Library.
2015-01-21 14:37:50 +09:00
Robert Lefebvre
5b70550b73
DataFlash: Fix potentially uninitialized variable compiler warning.
2015-01-21 14:37:27 +09:00
Robert Lefebvre
be803f4f39
DataFlash: Minor whitespace changes/cleanup. No effect.
2015-01-21 14:37:25 +09:00
Robert Lefebvre
2657610373
DataFlash: Add common-vehicle Mode logging method.
...
Conflicts:
libraries/DataFlash/DataFlash.h
2015-01-21 14:37:18 +09:00
Robert Lefebvre
12c3593bc3
DataFlash: Add common-vehicle Compass logging method.
2015-01-21 14:37:14 +09:00
Robert Lefebvre
2fdcd99db2
Arducopter: Move Attitude Message structure definition to the Base Structures section.
...
Conflicts:
libraries/DataFlash/DataFlash.h
2015-01-21 14:37:12 +09:00
Robert Lefebvre
d2adf2cdd7
DataFlash.h: Move format characters string to a more convenient location.
2015-01-21 14:37:10 +09:00
Robert Lefebvre
392e5257cc
DataFlash: Add voltage2 data to Current log, to be used by plane.
2015-01-21 14:37:07 +09:00
Robert Lefebvre
50b5376945
DataFlash: Add common-vehicle Current logging message.
2015-01-21 14:37:01 +09:00
Robert Lefebvre
db1a066f43
DataFlash: Add common-vehicle Attitude logging message.
2015-01-21 14:36:56 +09:00
Robert Lefebvre
743c5e4fde
AC_AttitudeControl: Remove un-needed #include
2015-01-21 14:36:54 +09:00
Andrew Tridgell
8b59c72eb9
AP_InertialSensor: cope with 2 IMUs in SITL
2015-01-20 19:47:45 +11:00
Andrew Tridgell
a37f3680e4
AP_Arming: support skip_gyro_cal
...
also break up arming INS reports, to be clearer for users
2015-01-20 19:47:15 +11:00
Andrew Tridgell
765d833efa
AP_Arming: check compass.use_for_yaw()
2015-01-20 11:33:39 +11:00
Andrew Tridgell
e8017a5079
AP_NavEKF: cope with the changed semantics of airspeed.use()
2015-01-20 11:28:14 +11:00
Andrew Tridgell
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
2015-01-20 11:27:58 +11:00
Andrew Tridgell
850b3b89ea
AP_Arming: added INS checks and airspeed checks
...
this also displays all failing arming checks, not just the first
one. That is more useful for the user
2015-01-20 11:27:13 +11:00
Andrew Tridgell
2235d18d67
AP_Airspeed: make it possible to tell if a airspeed sensor is unhealthy
...
we need use() to reflect if the user wants to use the sensor, so the
arming checks can tell if it is not working as expected
2015-01-20 11:26:20 +11:00
Andrew Tridgell
b3ce56d34d
AP_InertialSensor: fixed 2nd IMU in Replay
...
this makes for much more accurate replay runs
2015-01-20 09:20:47 +11:00
Andrew Tridgell
5d83124675
DataFlash: moved airspeed msg to DataFlash
...
so it can be used by Replay
2015-01-20 09:10:33 +11:00
