Jonathan Challinger
70845882a7
AP_Math: fix up rotation test suite
2014-10-20 06:24:27 +11:00
Jonathan Challinger
6076f3fa22
AP_NavEKF: Quaternion::to_euler now uses references instead of pointers
2014-10-20 06:24:25 +11:00
Jonathan Challinger
1f7e393e38
AP_Math: refactor quaternion library
2014-10-20 06:24:22 +11:00
Andrew Tridgell
ef0eca4835
AP_Airspeed: fixed airspeed in Replay
2014-10-19 19:42:15 +11:00
Andrew Tridgell
7db0244dac
AP_Compass: added some comments
2014-10-19 17:02:45 +11:00
Jonathan Challinger
9054dd3f9a
AP_Compass: use apply_correction_function to eliminate duplication
2014-10-19 17:02:45 +11:00
Randy Mackay
677f6cce7f
AP_Motors: reduce slow-start increment for fast CPUs
2014-10-18 20:54:08 +09:00
Randy Mackay
542ec29e49
Parachute: set servo or relay to off position on every update
...
This resolves the issue of the parachute servo's position not being
initialised to the off position due to an ordering problem of the
auxiliary servos being initialised after the parachute object.
2014-10-18 17:26:23 +09:00
Randy Mackay
eed6a1ce61
OptFlow: fix example sketch so it compiles
2014-10-16 13:52:07 +09:00
Randy Mackay
a476a914b0
OptFlow_PX4: check healthy before updating
2014-10-15 16:36:40 +09:00
Randy Mackay
f504ea7b30
OptFlow_ADNS3080: check healthy before updating
2014-10-15 16:36:38 +09:00
Randy Mackay
d238f48dda
OptFlowPX4: fix compile error for APM
2014-10-15 16:36:33 +09:00
Randy Mackay
a9cfbb71b8
OptFlowPX4: use ORB to pull data from sensor
...
This change is required because PX4Firmware has changed the method used
to pull data from the sensor.
2014-10-15 16:36:25 +09:00
Randy Mackay
ec4581b35a
OptFlow: add ground_distance_m
2014-10-15 16:35:48 +09:00
Randy Mackay
4b0548973a
OptFlow: add PX4Flow support
2014-10-15 16:35:33 +09:00
Randy Mackay
3c4be75487
OptFlow: reorganise ADNS3080 to simplified interface
2014-10-15 16:35:31 +09:00
Randy Mackay
b64f9ed964
OptFlow: rename and restructure OpticalFlow class
...
AP_OpticalFlow.h becomes simply a file that includes all other optical
flow header files.
OpticalFlow class simplified to only return surface quality, raw output
and velocity vector.
2014-10-15 16:35:29 +09:00
Andrew Tridgell
4ad643b233
AP_AHRS: use a common function for updating the CD values
...
this ensures the wrapping of yaw is consistent between the 3 use cases
2014-10-15 13:18:08 +11:00
Andrew Tridgell
eec5cd5add
AP_AHRS: restore DCM attitude before update()
...
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
2014-10-15 11:15:33 +11:00
Andrew Tridgell
63c06ea2af
AP_AHRS: fixed calls to DCM in parent class
...
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().
This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.
The fix is to call the specific class versions of use_compass() and
reset()
2014-10-15 10:12:50 +11:00
Andrew Tridgell
b437977547
AP_Compass: added set_offsets() interface
...
this will be used by Replay to prevent the need for saving parameters
2014-10-15 09:16:31 +11:00
Randy Mackay
6690aff305
AC_Motors: param description addition
2014-10-14 12:43:22 +09:00
Randy Mackay
d09faa0015
BattMon: minor param description additions
2014-10-14 12:42:57 +09:00
Randy Mackay
45e0e48e54
BattMon: minor param description update
2014-10-14 12:42:45 +09:00
Randy Mackay
3a81732721
Baro: minor param description updates
2014-10-14 12:42:27 +09:00
Randy Mackay
be1621877f
Mission: support GUIDED_ENABLE and GUIDED_LIMITS
...
This replaces the ardupilot only NAV_GUIDED command.
Also remove support for NAV_VELOCITY mission command which will be
replaced by SET_POSITION_TARGET non-mission command.
2014-10-13 21:40:23 +09:00
Andrew Tridgell
3c7cc5f40c
AP_RangeFinder: auto-update PX4 ll40ls max/min distance
...
this allows the range of the Lidar to be set by the user using
RNGFND_MAX_CM and RNGFND_MIN_CM
2014-10-13 19:07:38 +11:00
Jonathan Challinger
4a397a8d67
AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy
2014-10-10 21:17:12 +09:00
Randy Mackay
023b2c0d6b
AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled
2014-10-09 16:43:24 +09:00
Andrew Tridgell
7b02d326f6
AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled
...
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2014-10-09 18:30:20 +11:00
Andrew Tridgell
39fadad7d6
HAL_Linux: fixed build warnings
2014-10-09 16:49:23 +11:00
Andrew Tridgell
b3894e8b10
HAL_VRBRAIN: reduce the number of times we split up UART reads and writes
2014-10-09 12:29:25 +11:00
Andrew Tridgell
10b0ca7ea8
HAL_PX4: reduce the number of times we split up UART reads and writes
2014-10-09 12:29:25 +11:00
Andrew Tridgell
c834589daa
HAL_Linux: reduce the number of times we split up UART reads
2014-10-09 12:29:25 +11:00
Andrew Tridgell
076bb1294e
HAL_Linux: improved UDP packetisation and add flow control reporting
...
report we have flow control on UDP and TCP
2014-10-09 12:29:25 +11:00
Randy Mackay
834f2bea07
INS: add gyro_calibrated_ok_all method
...
This returns true if the gyros have been calibrated successfully
2014-10-09 10:00:07 +09:00
Andrew Tridgell
70ca87c4e6
AP_RangeFinder: handle all I2C rangefinder types on PX4 in PX4Firmware
2014-10-09 11:06:16 +11:00
Andrew Tridgell
cebfef3ead
HAL_Linux: don't accept less than 5 input channels
2014-10-09 09:19:35 +11:00
Andrew Tridgell
a3fee16604
HAL_Linux: added DSM/Spektrum RCInput support
...
this decodes DSM using the RCIN pulses from the PRU
2014-10-08 12:50:50 +11:00
Andrew Tridgell
3e3f87188b
HAL_Linux: enable DSM power pin
2014-10-08 12:50:50 +11:00
Andrew Tridgell
50e5ae6f7a
HAL_Linux: added low level DSM decoder
...
based on dsm.c from PX4 project
2014-10-08 12:50:50 +11:00
Andrew Tridgell
9b207d029d
HAL_Linux: change ring buffer to 300 entries
2014-10-07 14:57:34 +11:00
Andrew Tridgell
b1845ed00d
HAL_Linux: initial support for parallel SBUS and PPM-SUM decoding
2014-10-07 14:57:34 +11:00
Andrew Tridgell
42e9dc3c31
HAL_Linux: added SBUS decoder from PX4 project
...
thanks Lorenz!
2014-10-07 14:57:34 +11:00
Andrew Tridgell
809b6cc855
AP_AHRS: added get_yaw_rate_earth()
...
used to estimate course correction on takeoff
2014-10-07 07:17:46 +11:00
Craig Elder
be352e9471
AP_GPS: Removed CFG-DAT message from 3DR-Ublox-NEO7
...
CFG-DAT is generated by U-Center but no longer used by the receiver.
2014-10-06 11:21:42 -07:00
Andrew Tridgell
e0e534628b
HAL_Linux: support direct UDP output from UART drivers
...
this allows safe operation over WiFi links without MAVProxy
2014-10-06 15:13:03 +11:00
Randy Mackay
1754cacf3c
AC_PosControl: remove completed to-do comments
2014-10-04 23:49:24 +09:00
Randy Mackay
f65e81cb07
AC_AttControl: remove some old comments
2014-10-04 23:49:21 +09:00
Randy Mackay
793ed20534
CoaxCopter: set throttle upper and lower flags
2014-10-04 23:49:19 +09:00
Randy Mackay
57f6d0ff60
SingleCopter: set throttle upper and lower flags
2014-10-04 23:49:16 +09:00
Randy Mackay
85fb4b122a
MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag
...
Also trigger throttle_upper flag when throttle in reaches 1000
2014-10-04 23:49:14 +09:00
Randy Mackay
91e5201439
Tri: _min_throttle interpreted as 0~1000 range for throttle_lower flag
...
limit.throttle_lower flag becomes true when the throttle passed into the
motors lib (which is in the 0 ~ 1000 range) is below _min throttle.
This makes the interpretation of the THR_MIN parameter consistent
between the main code (which uses 0 ~ 1000 range) and the motors lib
(which previously used the RC3_MIN ~ RC3_MAX range).
The remaining problem however is that the output of the motors continues
to use THR_MIN as if it were a pwm. I don't believe this is a dangerous
problem however.
2014-10-04 23:49:11 +09:00
Craig Elder
7367ea04a7
AP_GPS: Adding support for the NEO7 GPS
2014-10-03 03:21:28 -07:00
priseborough
8aa267f75f
AP_NavEKF : Fix bug in reset of GPS glitch offset
...
The GPS glitch offset was being zeroed during position resets. This caused the filter to reject subsequent GPS measurements if the GPS error persisted long enough to invoke a timeout and a position reset.
2014-10-03 09:17:03 +10:00
Randy Mackay
b3bbec24e4
RangeFinder: TYPE param description to PX4-I2C
2014-10-02 20:24:14 +09:00
Randy Mackay
8ce4893180
RangeFinder: TYPE param description to PX4-MaxbotixI2C
...
This hopefully reduces confusion for PX4/Pixhawk users with MaxBotix I2C
sonar
2014-10-02 16:49:15 +09:00
Randy Mackay
85eee31510
AHRS: rename ekfNotStarted method to initialised
...
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
2014-10-02 14:40:54 +09:00
priseborough
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
2014-10-02 14:38:29 +09:00
Andrew Tridgell
60aa017e11
GCS_MAVLink: added handle_set_mode() function
2014-10-01 14:19:04 +10:00
Randy Mackay
7caa611eb1
Compass_HIL: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
86aac4f40c
Compass_HMC5843: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
900896977c
Compass_VRBrain: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
85e82a0399
Compass_PX4: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
023b6afe8b
Compass: add ORIENT2 and EXTERNAL2 params
2014-10-01 13:02:03 +10:00
Randy Mackay
16058cb730
Compass_VRBrain: primary compass based on use_for_yaw
2014-10-01 13:02:02 +10:00
Randy Mackay
01fa4ba619
Compass_PX4: primary compass based on use_for_yaw
2014-10-01 13:02:02 +10:00
Randy Mackay
798cc36e64
Compass: use_for_yaw for each compass
2014-10-01 13:02:02 +10:00
Randy Mackay
84d792216e
Compass: use_for_yaw to use primary compass health
...
This allows the internal compass to be used if the external compass
fails.
2014-10-01 13:02:02 +10:00
Andrew Tridgell
d6c56b8f7a
AP_NavEKF: make it clear that all sat counts are covered
2014-10-01 12:55:29 +10:00
Andrew Tridgell
a1f5be5b9e
AP_NavEKF: simplify variable handling in EKF
...
use named state variables instead of states[] array where possible.
2014-10-01 12:55:29 +10:00
priseborough
8223a0d193
AP_NavEKF : Explicitly initialise gpsNoiseScaler to default value
2014-10-01 12:55:29 +10:00
priseborough
b61a6c64d7
AP_NavEKF : Reduce weighting on GPS when not enough satellites
...
GPS measurement variance is doubled if only 5 satellites, and quadrupled if 4 or less.
The GPS glitch rejection thresholds remain the same
This will reduce the impact of GPS glitches on attitude.
2014-10-01 12:55:29 +10:00
priseborough
7370e07c8d
AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS
2014-10-01 12:55:29 +10:00
priseborough
f99f5759f5
AP_NavEKF : Fix bug in GPS innovation variance growth calculation
...
The uncertainty in acceleration is currently only scaled using horizontal accelerations, however during vertical plane aerobatics and high g pullups, misalignment in angles can cause significant horizontal acceleration error.
The scaling now uses the 3D acceleration vector length to better work during vertical plane high g maneouvres.
This error was found during flight testing with 8g pullups
2014-10-01 12:55:29 +10:00
priseborough
f0ee11e951
AP_NavEKF : Fix bug in reset of position, height and velocity states
...
If the inertial solution velocity or position needs to be reset to the GPS or baro, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS or baro measurement will be compared to an invalid previous state and will be rejected. This is particularly a problem if IMU saturation or timeout has occurred because the previous states could be out by a large amount
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s.
2014-10-01 12:55:28 +10:00
Randy Mackay
e7b4a02d26
GPS: fix SIRF set-binary message
...
This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
2014-10-01 11:42:31 +09:00
Andrew Tridgell
f6cc8ce5bc
GCS_MAVLink: fixed log erase and log request end
2014-10-01 11:45:51 +10:00
Randy Mackay
47c135c4e1
GCS_MAVLink: add comments around checking target
2014-09-30 15:18:35 +10:00
Randy Mackay
0322a876eb
GCS_MAVLink: check target before erasing log
2014-09-30 15:18:31 +10:00
Randy Mackay
dbe1c55666
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
...
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
2014-09-29 15:26:18 +09:00
Randy Mackay
0803d79701
INS: param descriptions for ACC2, GYR2
2014-09-27 21:05:33 +09:00
Randy Mackay
e14ae0c0b1
Compass: param descriptions for OFS2, MOT2
2014-09-27 17:59:26 +09:00
Randy Mackay
5ca3c4baf6
Mission: fix CHANGE_ALT to store climb rate in lat param
...
The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
2014-09-26 23:23:04 +09:00
Andrew Tridgell
5eee51b5a4
APM_OBC: added heartbeat() method
...
this is used for when the plane is calibrating sensors, to ensure
heartbeat is continued to the failsafe board
2014-09-24 12:02:38 +10:00
Randy Mackay
c2c5807ec7
Compass: always default devid to zero
2014-09-23 20:35:18 +09:00
Randy Mackay
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416
AC_PosControl: 2hz filter on accel error
...
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
2014-09-21 17:53:55 +09:00
Randy Mackay
cf35bd3f42
LowPassFilter: add div by zero check
2014-09-21 17:33:59 +09:00
Jason Short
b57539a9ad
AP_Motors: throttle_pass_through accepts pwm
2014-09-19 22:21:45 +09:00
Randy Mackay
765420ee04
AC_WPNav: add loiter_soften_for_landing method
...
This resets the position target to the current location.
2014-09-19 16:43:10 +09:00
Randy Mackay
ad37fc0408
AC_WPNav: WP_SPEED_DN parameter range to 0~500
...
Previous permissible descent speed of 10m/s was unnecessarily lenient.
Users can still bypass the suggested range through the MP's full
parameter list if they really want a very high descent speed.
2014-09-18 10:44:33 +09:00
Randy Mackay
6da1420541
HAL_VRBrain: implement force_safety_on
2014-09-18 09:58:48 +09:00
Randy Mackay
ffcd259b4e
HAL_PX4: implement force_safety_on
2014-09-18 09:58:46 +09:00
Randy Mackay
033b14db16
AP_HAL: add force_safety_on method
2014-09-18 09:58:44 +09:00
Randy Mackay
1ce8e453c2
Mission: add support for DO_GRIPPER
2014-09-17 21:14:17 +09:00
Randy Mackay
1de89804e5
GCS_MAVLink: version update after adding DO_GRIPPER
2014-09-17 21:14:14 +09:00
Randy Mackay
064e214992
GCS_MAVLink: generate after adding DO_GRIPPER
2014-09-17 21:14:12 +09:00
Randy Mackay
b3bce13bdf
GCS_MAVLink: add MAV_CMD_DO_GRIPPER
2014-09-17 21:14:09 +09:00
Randy Mackay
cffc904671
GCS_MAVLink: version update after generate
2014-09-17 21:14:06 +09:00
