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Author SHA1 Message Date
Andrew Tridgell
eaf746b7fd Replay: fixed velocity vector 2014-04-02 19:08:45 +11:00
Craig Elder
3a92d75936 Ublox: Enable 1Hz Lock LED by default 2014-04-01 20:57:18 -07:00
Andrew Tridgell
7bf12cfd8a Copter: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
337ca31b79 Rover: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
88693796ef Plane: update for GPS.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
ec04eba61c Replay: handle multiple GPS sensors 2014-04-02 07:55:28 +11:00
Andrew Tridgell
067bbf5b5c DataFlash: hdop is unsigned 2014-04-02 07:55:28 +11:00
Andrew Tridgell
e40a048009 AP_GPS: handle multiple GPS in GPS setHIL() 2014-04-02 07:55:28 +11:00
Andrew Tridgell
79f5618f6f AP_GPS: zero state structure on driver release 
this ensures no values are left from the previous driver
 2014-04-02 07:55:28 +11:00
Randy Mackay
2ddc414f4d InertialNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:53 +09:00
Randy Mackay
90e205c905 AC_PosControl: replace safe_sqrt with pythagorous2 2014-04-01 20:43:51 +09:00
Randy Mackay
15da01cf3a AC_WPNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:45 +09:00
Andrew Tridgell
b8e4e35a0d AP_Airspeed: use pythagorous3() 2014-04-01 22:15:12 +11:00
Andrew Tridgell
a7f213a5c5 AP_NavEKF: use pythagorous2() 2014-04-01 22:13:03 +11:00
Andrew Tridgell
9ab1a79b5a AP_Airspeed: changed sqrt() to sqrtf() 2014-04-01 22:09:21 +11:00
priseborough
4f2a390dfa Replay : Incorporate EKF4 flash logging updates 2014-04-01 21:27:09 +11:00
priseborough
09c5ba1aed Dataflash : Improved logging of EKF sensor health checks 
This changes the definition sof the messages in the EKF4 message to make it more useful
The values shown now relate directly to how much margin there is before a measurement
is rejected, enabling better tuning of error trap parameters
 2014-04-01 21:27:07 +11:00
priseborough
04036d7777 AP_NavEKF : Updated GPS glitch protection logic 
This adds new functionality to the detection and compensation of GPS
glitches:

1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
 2014-04-01 21:22:14 +11:00
Andrew Tridgell
7e2ef0cfc0 AP_GPS: fixed GPS for Replay 2014-04-01 17:25:15 +11:00
Andrew Tridgell
9278685cdf AP_Math: fixed location build on SITL 2014-04-01 14:20:10 +11:00
Andrew Tridgell
b8f9b5ad91 Rover: added GPS parameters 2014-04-01 06:38:26 +11:00
Andrew Tridgell
852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
d395f50521 AntennaTracker: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
77e2f48581 AP_GPS: fixed notify updates for new API 2014-04-01 06:38:25 +11:00
Andrew Tridgell
9781175bf5 AP_GPS: fixed handling of driver destruction 
this allows for more complex destructors, and ensures we don't have
multiple backends allocated at once per instance
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
7ceba8dce4 AP_GPS: prevent double allocation of GPS drivers 2014-04-01 06:38:25 +11:00
Andrew Tridgell
8779ffe088 AP_GPS: flush pending config strings when uBlox starts 2014-04-01 06:38:25 +11:00
Andrew Tridgell
0191355488 AP_GPS: fixed init strings to all be in progmem 
and sent async ...
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
bc0c9ad6d5 AP_InertialNav: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell
35c111a63a AP_AHRS: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell
7b2d56a8cb AC_Fence: disable example build 
fails to build with compiler error
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
3b8c6e629d AC_AttitudeControl: updated example for new GPS API 2014-04-01 06:38:25 +11:00
Andrew Tridgell
c2486d8d6e AP_GPS: updated examples for new API 
removed old per-driver examples, and updates AUTO example
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
60ad429d13 Replay: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
c51212da53 AntennaTracker: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
bc1ebcadf5 VARTest: converted to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
640b64f5e4 Copter: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
f4079f57b2 Rover: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
e19341ca32 Plane: convert to new GPS driver API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
d04d33a02d AP_InertialNav: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
5a2e84e792 AP_NavEKF: changes for new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
b7a2db716b AP_Arming: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
eb67948171 AP_Mount: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
31d3b6555f DataFlash: convert to new GPS API 2014-04-01 06:38:23 +11:00
Andrew Tridgell
368daf89f1 AP_GPS: new GPS API 
This is a complete rewrite of the GPS driver structure, with a static
main driver and separate backend drivers. This will allow proper
support for multiple GPSes, and will allow parameters to be set on the
GPS object
 2014-04-01 06:38:23 +11:00
Andrew Tridgell
198388b5e0 Copter: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Andrew Tridgell
747948692a Rover: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Andrew Tridgell
958e17f4ff Plane: use AP_GPS_Auto for 2nd GPS 2014-04-01 06:38:23 +11:00
Andrew Tridgell
2dd92832dc AP_GPS: support multiple AP_GPS_Auto drivers 
move all static variables into a dynamically allocated structure in
the AUTO driver which gets freed when we have found a GPS type
 2014-04-01 06:38:23 +11:00