Paul Riseborough
a232606fc9
AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins
...
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:
1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
2015-05-08 16:47:31 +09:00
Paul Riseborough
08382373f1
AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading
...
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
2015-05-08 16:47:29 +09:00
Randy Mackay
3781f133d7
AC_AttControlHeli: remove unused definitions
2015-05-08 14:50:38 +09:00
Randy Mackay
bef5633ed5
AC_AttControlHeli: use params from parent class
2015-05-08 14:50:36 +09:00
Randy Mackay
7951346d72
AC_AttControl: bf_feedfoward_save made more concise
2015-05-08 14:29:49 +09:00
Randy Mackay
3d9a6a69e2
MotorsHeli: COLYAW to float
2015-05-08 14:14:36 +09:00
Randy Mackay
edfa206bb8
Motors_Heli: nest heli params
2015-05-08 14:14:35 +09:00
Randy Mackay
68b05a4ca2
AP_Motors: is_throttle_mix_min returns bol
2015-05-08 14:14:32 +09:00
Leonard Hall
cf45a1cf3a
AC_AttitudeControl: add get accel and save ff
2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582
AC_AttitudeControl: Enable FF by default
2015-05-08 14:14:21 +09:00
Leonard Hall
0f894ac1a8
AP_Motors: Rename and move Throttle Mix / Comp
2015-05-08 14:14:17 +09:00
Jonathan Challinger
142e018a18
AP_NavEKF: fix bug causing takeoff to fail
2015-05-08 09:15:45 +09:00
Randy Mackay
fa4ba456b4
GPS: fix example sketches
2015-05-07 14:01:14 +09:00
Andrew Tridgell
afc9812d0b
AP_InertialSensor: update VibTest after moving messages info DataFlash
2015-05-07 13:25:37 +10:00
Andrew Tridgell
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
2015-05-07 12:08:30 +10:00
Andrew Tridgell
21d805422d
DataFlash: added defines for raw accel and gyro logging
2015-05-07 12:08:04 +10:00
Andrew Tridgell
f5140e25b0
AP_InertialSensor: updated VibTest for latest PX4 interfaces
2015-05-07 10:51:52 +10:00
Andrew Tridgell
cbdc9f0706
SITL: fixed autotest SITL
2015-05-06 10:09:43 +10:00
Andrew Tridgell
2369e06815
AP_HAL: fixed SITL build on windows
2015-05-06 09:07:03 +10:00
Andrew Tridgell
b09fcfc20e
HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS
...
such as my ubuntu 14.04 laptop :-)
2015-05-05 21:42:46 +10:00
Andrew Tridgell
6a8da06d19
HAL_SITL: hook in CRRCSim backend
2015-05-05 21:42:46 +10:00
Andrew Tridgell
93d5101bf9
SITL: added CRRCSim simulation connection
2015-05-05 21:42:45 +10:00
Andrew Tridgell
4c11002976
AP_HAL: added HAL_OS_SOCKETS define
...
used for systems with BSD sockets
2015-05-05 21:34:19 +10:00
Andrew Tridgell
08b9ed3342
AP_HAL: added socket handling class
2015-05-05 21:34:19 +10:00
Randy Mackay
9dede2f0ec
Math: remove duplicate HALF_SQRT_2 definition
2015-05-05 14:23:14 +09:00
Randy Mackay
151707cb0a
Filter: replace 2*M_PI_F with M_2PI_F
2015-05-05 14:22:52 +09:00
Peter Barker
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
2015-05-05 15:02:35 +10:00
Andrew Tridgell
77a2b4acf6
AP_Math: removed fast_atan
2015-05-05 13:57:22 +10:00
Andrew Tridgell
872583f441
AC_AttitudeControl: removed fast_atan
2015-05-05 13:57:16 +10:00
Andrew Tridgell
8ba5272b0e
AP_Scheduler: fixed PSTR() usage
2015-05-05 13:54:27 +10:00
Andrew Tridgell
88fb7ddff8
AP_Param: fixed PSTR() usage
2015-05-05 13:54:15 +10:00
Andrew Tridgell
089e63f987
AP_InertialSensor: fixed PSTR handling
...
must use PSTR on code compiled for AVR
2015-05-05 13:54:00 +10:00
Andrew Tridgell
31693e332e
AP_InertialSensor: use non-PSTR printf
...
this is not built on AVR
2015-05-05 13:48:34 +10:00
Andrew Tridgell
730644eaeb
AP_Mount: use M_PI_F instead of (float)M_PI
2015-05-05 13:44:25 +10:00
Andrew Tridgell
84ac721340
AC_AttitudeControl: use M_PI_F instead of (float)M_PI
2015-05-05 13:44:19 +10:00
Andrew Tridgell
f9114f849b
Filter: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
bcc6c7d380
AP_Param: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
a140a5e77f
AP_NavEKF: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
7c9e3d4b58
AP_Mount: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
0b897e04bb
AP_Math: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
015fce5183
AP_Compass: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
d2167633f0
AP_Camera: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
48fb7f8159
AP_BARO: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
4d4a607b80
AP_AHRS: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
c08b62f9e4
AC_WPNAV: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
33555b7f12
AC_PID: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Andrew Tridgell
aa1bfb1ca7
AC_Fence: revert AP_Math class change
2015-05-05 13:27:04 +10:00
Andrew Tridgell
326b0b33ea
AC_AttitudeControl: revert AP_Math class change
2015-05-05 13:27:04 +10:00
Andrew Tridgell
936fbbb362
AP_Math: removed AP_Math class
2015-05-05 13:27:03 +10:00
Tom Pittenger
7fd285f483
AC_WPNav: Compiler warnings: nuke fast_atan2()
...
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM
ccd578664f (commitcomment-11025083)
2015-05-05 13:27:03 +10:00
Tom Pittenger
4ec2fb3a9c
AP_Math: Compiler warnings: nuke fast_atan2()
...
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM
ccd578664f (commitcomment-11025083)
2015-05-05 13:27:02 +10:00
Tom Pittenger
1b84bbc3e7
AC_WPNav: Compiler warnings: add in the appropriate whitrespace
2015-05-05 13:27:02 +10:00
Tom Pittenger
0e076d6dc8
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:02 +10:00
Tom Pittenger
6acd92be1e
AP_RangeFinder: compiler warnings: compare signed to unsigned
2015-05-05 13:27:02 +10:00
Tom Pittenger
9e98c68099
AP_InertialSensor: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:01 +10:00
Tom Pittenger
d823541eb1
AP_Scheduler: compile warnings: format not a string literal, argument types not checked
...
PSTR() goofs things up when using hal.console->printf_P()
2015-05-05 13:27:01 +10:00
Tom Pittenger
bfd1b2b11a
AP_Param: compile warnings: format not a string literal, argument types not checked
2015-05-05 13:27:01 +10:00
Tom Pittenger
b9771ca37c
AP_Param: compile warnings: float to double. print statements require doubles
2015-05-05 13:27:00 +10:00
Tom Pittenger
330e4126bb
Ap_Math: compile warnings: float to double. use atan2f instead of atan2
2015-05-05 13:27:00 +10:00
Tom Pittenger
440438fdda
AP_Param: compiler warnings: apply is_zero(float) or is_equal(float)
...
due to an include cross-dependency between ap_param and ap_math, I punted and reimplemented is_equal() for this one function in the header
2015-05-05 13:26:58 +10:00
Tom Pittenger
820f0bf02a
AP_Math: compiler warnings: float to double promotion
...
cast as float because we're in magical template land where T minus T means promote to double
2015-05-05 13:26:58 +10:00
Tom Pittenger
1c3ad00aa7
AP_Math: compiler warnings: use double for the constant so the template can handle it
2015-05-05 13:26:57 +10:00
Tom Pittenger
6e6f481ecb
AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:56 +10:00
Tom Pittenger
98c5137107
AP_HAL_PX4: compiler warnings: float to doubles
2015-05-05 13:26:56 +10:00
Tom Pittenger
54f4d4b07c
AP_PID: compiler warnings: reordered constructor
2015-05-05 13:26:56 +10:00
Tom Pittenger
0b29848277
AP_Baro: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:56 +10:00
Tom Pittenger
d275e6711d
AP_HAL_VRBRAIN: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:55 +10:00
Tom Pittenger
20f47417d5
AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
2015-05-05 13:26:55 +10:00
Tom Pittenger
94ffc9b942
AC_Fence: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:55 +10:00
Tom Pittenger
1bca81eaed
AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
2015-05-05 13:26:55 +10:00
Tom Pittenger
6d1b517aae
Filter: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:55 +10:00
Tom Pittenger
913d00f525
AP_WPNav: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:54 +10:00
Tom Pittenger
98ca790cb9
AP_DataFlash: compiler warnings: float to double
2015-05-05 13:26:54 +10:00
Tom Pittenger
4ac1f8a2fa
AP_Mount: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:54 +10:00
Tom Pittenger
9b53961a7d
AP_NavEKF: compiler warnings: float to double
2015-05-05 13:26:52 +10:00
Tom Pittenger
3276eec30e
AP_NavEKF: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:52 +10:00
Tom Pittenger
35f7a466e5
AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:52 +10:00
Tom Pittenger
a5d2f3a82f
AP_Math: compiler warnings: float to double
2015-05-05 13:26:52 +10:00
Tom Pittenger
d09ef4783d
AP_Compass: compiler warnings: reorder constructors
2015-05-05 13:26:52 +10:00
Tom Pittenger
ad11a57f57
AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
820199635b
AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
01180d52c4
AP_PID: compiler warnings: apply is_zero(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
ac4e7b2b03
AP_Math: compiler warnings: apply is_equal(float)
2015-05-05 13:26:51 +10:00
Tom Pittenger
c93c773de2
AP_Math: change is_equal and is_zero to static class for better visability
2015-05-05 13:26:50 +10:00
Tom Pittenger
3cb2221315
AP_IntertialSensor: double to float warning
2015-05-05 13:26:50 +10:00
Tom Pittenger
bdda11b327
AP_Math: compiler warning: is_zero special case for vector3.h in a template
2015-05-05 13:26:50 +10:00
Andrew Tridgell
878eb88c3a
AP_GPS: avoid expanding the ublox buffer on APM2
2015-05-05 13:25:34 +10:00
Micheal Knight
ee85d37ee2
AP_GPS: added logging of RXM_RAW messages for UBlox
...
this will allow for post-flight RTK processing of DF logs
2015-05-05 13:25:34 +10:00
Andrew Tridgell
f8e09da50e
DataFlash: added GRAW raw GPS message
...
for saving RXM_RAW for post flight RTK
2015-05-05 13:25:34 +10:00
Andrew Tridgell
42c6801d61
SITL: reformat SITL code with astyle
2015-05-05 11:49:54 +10:00
Andrew Tridgell
c81ad1d622
HAL_SITL: reformat HAL_SITL with astyle
2015-05-05 10:59:07 +10:00
Lucas De Marchi
d640bc8345
AP_HAL_Linux: use kernel's limit of msgs per I2C transaction
...
Instead of hardcoding 8 as the limit for I2C msgs, use whatever the
kernel exported to us. In upstream this is 42 so it means we can group
together 21 addr/data pair instead of only 8.
2015-05-05 09:56:44 +10:00
Andrew Tridgell
d8791134f9
HAL_SITL: need to use fabs() for double checking
2015-05-05 09:45:59 +10:00
Andrew Tridgell
b9abf30785
HAL_SITL: removed unused cygwin code
2015-05-05 09:45:58 +10:00
Andrew Tridgell
5158f91263
HAL_SITL: converted command line code to getopt_cpp
2015-05-05 09:45:58 +10:00
Andrew Tridgell
a58a663085
SITL: fixed build on APM2
2015-05-05 09:45:58 +10:00
Andrew Tridgell
35d22b9d57
AP_HAL: added getopt_cpp class
...
a simple port of getopt_long to C++
2015-05-05 09:45:58 +10:00
Andrew Tridgell
438f954379
DataFlash: fixed some build warnings
2015-05-05 09:45:58 +10:00
Andrew Tridgell
d8ca0658d7
AP_Mount: fixed some build warnings
2015-05-05 09:45:58 +10:00
