Andrew Tridgell
1c2a6deaaf
AP_Baro: added all_healthy() method
2015-01-09 11:51:51 +11:00
Andrew Tridgell
8359c082ca
AP_Baro: fixed baro on NavIO
...
don't use the 1kHz timer as it conflicts with other I2C devices
2015-01-09 11:51:51 +11:00
Andrew Tridgell
b85001bf4a
DataFlash: added logging of 2nd baro
2015-01-09 11:51:51 +11:00
Andrew Tridgell
b1342c2d39
GCS_MAVLink: send SCALED_PRESSURE2 if available
2015-01-09 11:50:57 +11:00
Andrew Tridgell
19c717df2e
AP_OpticalFlow: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
8aa1a89081
AP_Mission: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
cd7fbddcce
AP_InertialNav: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
197c09fcd8
AP_Baro: added num_instances() API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
d2c827aa4b
AP_AHRS: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
25f69f05eb
AC_WPNav: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
5ec8ce933e
AC_Sprayer: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
55ec316718
AC_Fence: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
5c4440a9ac
AC_AttitudeControl: updates for new AP_Baro API
2015-01-09 11:50:56 +11:00
Andrew Tridgell
bb6deb4817
GCS_MAVLink: re-generated headers
2015-01-09 11:50:55 +11:00
Andrew Tridgell
56f682f186
GCS_MAVLink: added SCALED_PRESSURE2 message
2015-01-09 11:50:55 +11:00
Andrew Tridgell
8a3d3bed72
SITL: changes for new AP_Baro API
2015-01-09 11:50:54 +11:00
Andrew Tridgell
f1891cea1f
AP_Baro: BMP085 driver done, but untested
2015-01-09 11:50:54 +11:00
Andrew Tridgell
5bb57a31f7
AP_Baro: split into frontend/backend
...
this allows for support of multiple sensors on a board
2015-01-09 11:50:54 +11:00
Andrew Tridgell
464714f1ab
HAL_PX4: fixed build warning
2015-01-09 11:37:46 +11:00
Andrew Tridgell
d34e5b3f42
AP_GPS: fixed PX4 GPS driver for new upstream format
2015-01-09 11:37:38 +11:00
Andrew Tridgell
ef5cdb0d6c
AP_NavEKF: use more array bounds checked variables
2015-01-09 11:05:07 +11:00
Andrew Tridgell
fefdc37a4d
AP_Math: fixed warnings on bounds checking in quaternion
2015-01-09 11:04:50 +11:00
priseborough
3d46680348
AP_NavEKF: Make NED origin independent of home position
...
This enables the filter to report the last known position after disarm.
The LLH location of the filters NED origin is published and should be logged every time the vehicle is armed to assist with post-flight trajectory reconstruction.
The LLH location of the filters NED origin can be set externally whilst the vehicle is disarmed.
2015-01-09 10:51:24 +11:00
priseborough
f0ea858e4c
AP_NavEKF: Make LLH output report last known position in const pos mode
2015-01-09 10:51:24 +11:00
priseborough
a0957a83f8
AP_NavEKF: Fix bug in reported position and velocity
...
The last known position was being output on the velocities when in constant position mode.
2015-01-09 10:51:24 +11:00
priseborough
7d1cd604a8
AP_NavEKF: Report last known position when GPS is lost
2015-01-09 10:51:24 +11:00
priseborough
1789dc08a3
AP_NavEKF: Correctly report position timeout when GPS is lost
2015-01-09 10:51:24 +11:00
Randy Mackay
3e583e3650
DataFlash: fix EKF4 logging
2015-01-09 10:51:24 +11:00
Randy Mackay
e6e6a781c1
AP_NavEKF: init filter status bits to zero
2015-01-09 10:51:23 +11:00
priseborough
ffd9f7a4ed
AP_NavEKF: Predict filter solution status
2015-01-09 10:51:23 +11:00
Randy Mackay
3896dadc77
DataFlash: EKF logs filter status as uint16
2015-01-09 10:51:23 +11:00
Randy Mackay
657afcfe7a
AP_NavEKF: add pred_horiz_pos flags to filter status
2015-01-09 10:51:23 +11:00
Randy Mackay
54cff29fc2
DataFlash: EKF logging uses nav_filter_status
2015-01-09 10:51:23 +11:00
Randy Mackay
f4d8bc586c
Nav_EKF: getFilterStatus returns nav_filter_status struct
2015-01-09 10:51:23 +11:00
Randy Mackay
8a914af4a8
AP_NavEKF: add nav_filter_status definition
2015-01-09 10:51:23 +11:00
priseborough
d57e0b6bde
AP_NavEKF: Remove compiler warning messages
2015-01-09 10:51:23 +11:00
priseborough
a4ba4d1000
AP_NavEKF: Fix bug in optical flow innovation variances
...
Also improves protection against badly conditioned variances
2015-01-09 10:51:23 +11:00
priseborough
8bc8d1444a
AP_NavEKF: Extend definition of GPS availability to include user inhibit
2015-01-09 10:51:22 +11:00
priseborough
d0d49065e7
AP_NavEKF: Prevent potential repeated use of optical flow data
2015-01-09 10:51:22 +11:00
priseborough
b0c703e4f7
AP_NavEKF: Fix bug in optical flow fusion control logic
2015-01-09 10:51:22 +11:00
priseborough
d656c94bbc
AP_NavEKF: Fix out of bounds index bug
2015-01-09 10:51:22 +11:00
priseborough
300ba65f64
AP_NavEKF: Remove duplicate flow measurement state correction
2015-01-09 10:51:22 +11:00
priseborough
92bb75a635
AP_NavEKF: Prevent load leveling from dropping flow measurements
2015-01-09 10:51:22 +11:00
priseborough
873860e810
DataFlash: Allow negative HAGL values in the EKF optical flow debug log
2015-01-09 10:51:22 +11:00
priseborough
2f5aa210ce
AP_NavEKF: Enable recovery from extended flow measurement rejection
2015-01-09 10:51:21 +11:00
priseborough
d470d55234
DataFlash: Update EKF optical flow debug logging
2015-01-09 10:51:21 +11:00
priseborough
9f4baaa865
AP_NavEKF: Update flow debug logging
2015-01-09 10:51:21 +11:00
priseborough
8d1dae3ac1
AP_NavEKF: Improve optical flow terrain height estimation
...
The two state auxiliary EKF has been replaced with a single state filter that only estimates terrain offset. The new filter fuses a optical flow line of sight rate scalar (length of the optical flow LOS rate vector) which provides a terrain offset estimate that is less affected by yaw errors.
Estimation of focal length scale factor error in flight wasn't accurate enough and will be replaced with a pre-flight intrinsic sensor calibration procedure as the scale factor error does not change over time provided the lens assembly is not adjusted.
AP_NavEKF: Remove unwanted printf
2015-01-09 10:51:21 +11:00
priseborough
d599fa588e
AP_NavEKF: Don't allow EKF to initialise without GPS lock if we are a plane
...
This is needed because planes arm automatically.
AP_NavEKF: Fix bug in GPS patch
2015-01-09 10:51:21 +11:00
Staroselskii Georgii
c16eb5d330
AP_Compass: fixed corrections for AK8963
2015-01-09 06:38:22 +11:00
