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6839 Commits

Author SHA1 Message Date
Jonathan Challinger
6eab698e85 AC_WPNav: remove various timing hacks 2014-12-31 14:03:20 +09:00
Jonathan Challinger
557d339cf1 AC_PosControl: remove various unnecessary timing hacks 2014-12-31 14:03:18 +09:00
Jonathan Challinger
5438d38df5 AC_WPNav: provide reset_I to init_xy_controller 2014-12-31 14:03:16 +09:00
Jonathan Challinger
d6e455417f AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller 2014-12-31 14:03:13 +09:00
priseborough
b016bae445 AP_NavEKF: Clean up reset of constant velocity mode 
Move velocity store out of optical flow to velocity and position fusion control as it is a velocity fusion function.
Always clear the previous mode status
 2014-12-31 13:16:16 +09:00
priseborough
3d207c316a AP_NavEKF: Change names for position and velocity hold modes 
Name change done to avoid confusion with flight modes. modes are now referred to as constant position and constant velocity mode.
 2014-12-31 13:16:15 +09:00
priseborough
b650ee51a9 AP_NavEKF: Consolidate arming checks 2014-12-31 13:16:15 +09:00
priseborough
48cae0df15 AP_NavEKF: Fall back to attitude and hgt estimation for copter if GPS lost 2014-12-31 13:16:14 +09:00
priseborough
b21f9daa90 AP_NavEKF: Update solution status reporting 
This patch makes the reporting of an absolute position solution less abbiguaous and ensures that relative position is always true if absolute position is true
 2014-12-31 13:16:13 +09:00
priseborough
b99b3c7b9d DataFlash: Don't log EKF optical flow data if not required 2014-12-31 13:16:09 +09:00
priseborough
b6d300db19 AP_NavEKF: clean up determination of GPS availability 2014-12-31 13:14:22 +09:00
priseborough
40b02fc19a AP_NavEKF: Ensure filter doesn't try to use GPS after initialisation 2014-12-31 13:14:20 +09:00
priseborough
bab1a69f1c AP_NavEKF: make position and velocity resets consistent with GPS usage 2014-12-31 13:14:18 +09:00
priseborough
0dc2356175 AP_NavEKF: Ensure initialisation methods read required sensor data 2014-12-31 13:14:16 +09:00
priseborough
5d1de79f08 AP_NavEKF: Modify initial values to make startup behaviour more consistent 2014-12-31 13:14:14 +09:00
priseborough
a63af34d8f AP_NavEKF: Allow 10 seconds for the filter to settle after initialisation 
Filter is declared unhealthy and will not arm for first 10 seconds after initialisation
 2014-12-31 13:14:12 +09:00
priseborough
0a5de21dc7 AP_NavEKF: Fix bug in reporting of solution status 
Because synthetic  position measurements at 0,0 are fused during position hold mode, a position timeout cannot be used as the only means of detecting position solution status.
 2014-12-31 13:14:09 +09:00
priseborough
92c3026072 AP_NavEKF: Link process noise to arm status, not pos hold mode 2014-12-31 13:14:07 +09:00
priseborough
a535b73a6d AP_NavEKF: Initialise timeout status to true 
This status will be cleared when data arrives and is fused successfully
 2014-12-31 13:14:04 +09:00
priseborough
363c1e393d AP_NavEKF: Latch use of position hold mode for duration of flight 
Required to prevent acquisition of GPS mid flight causing unwanted change in position and velocity
A distinction has been mad between the arm and disarm transition and the decision to use position hold mode (formerly static mode)
 2014-12-31 13:14:02 +09:00
priseborough
a0a6c0362f AP_NavEKF: Relax timeout check applied to optical flow data 
200 msec was too short and could lead to false positives. 5000 msec is the largest time we can go free inertial.
 2014-12-31 13:14:00 +09:00
priseborough
5bd4ee9715 AP_NavEKF: Use compensation for baro delay in position hold mode 2014-12-31 13:13:58 +09:00
priseborough
4dc1ee2d66 AP_NavEKF: Rename static mode to avoid confusion with other non-GPS modes 
This renames static mode as posHoldMode to make it clearer what this and the other non-GPS modes do
 2014-12-31 13:13:54 +09:00
priseborough
b160f4c03b AP_NavEKF: Compensate optical flow fusion for GPS glitch recovery offset 2014-12-31 13:13:52 +09:00
priseborough
e4c969084d AP_NavEKF: Improve behaviour recovering from a GPS timeout 
When regaining GPS after a timeout, an offset is applied when fusing  GPS velocity so that GPS velocity and position data as fused by the EKF is kinematically consistent.
This velocity offset is also accounted for when fusing air data so that wind estimates are not corrupted when the GPS position offset is being pulle back to zero.
The intended behaviour is that the EKF position will be pulled back to the GPS position at a rate of 5m/s for planes and 1 m/s for copters. This avoids large deviations in trajectory when GPS is regained.
 2014-12-31 13:13:50 +09:00
priseborough
6eb533121c AP_NavEKF: Add static mode to solution status message 2014-12-31 13:13:48 +09:00
priseborough
5c3a56a087 AP_NavEKF: Fix error in comments 2014-12-31 13:13:46 +09:00
priseborough
3891dada78 AP_NavEKF: remove unnecessary function 2014-12-31 13:13:44 +09:00
priseborough
a16253796f AP_NavEKF: Fix bug preventing the non-GPS mode being selected externally 
When on the ground it is likely the flow sensor will be returning  data that does not meet the minimum quality requirements selected.
The previous check was for the presence of valid data. This has been loosened to look for the presence of data.
When the vehicle becomes airborne, the quality of flow data normally improves as the image comes into focus.
 2014-12-31 13:13:42 +09:00
priseborough
a42100e4c5 AP_NavEKF: Improved handling of no GPS 
This patch enables indoor operation of the EKF by putting it into static mode if optical flow operation is not enabled and no GPS is available
 2014-12-31 13:13:40 +09:00
priseborough
73a06cd0c1 AP_NavEKF: Fix bug causing magnetic field state learning to be forgotten 2014-12-31 13:13:37 +09:00
priseborough
bf89c56e54 AP_NavEKF: Fix comments error in description of flow sensor sign conventions 2014-12-31 13:13:35 +09:00
priseborough
685fa383e4 DataFlash: Log EKF solution status message 
This message is a bitmasked integer that will be used by control software to determine what data is available from the EKF and decide what control modes are available.
Duplicate static mode message removed. Static mode is now contained in the bitmasked solution status message
 2014-12-31 13:13:33 +09:00
priseborough
4eb19c2324 AP_NavEKF: Rationalise health status reporting 
1) Un-used public methods to report height and position drifting have been removed
2) A time-out has been added to the airspeed innovation consistency check so that if we are relying on airspeed to constrain velocity drift, a filter divergence or other fault that causes the airspeed to be continually rejected will trigger a change in health status.
3) A timeout of velocity, position or height measurements does not cause a filter fault to be reported. Timeouts can be due to sensor errors and do not necessarily indicate that the filter has failed.
4) Time-outs of various measurements are used to present a consolidated bitmask which inidicates which parts of the solution can be used, eg attitude, height, velocity, relative position, absolute position, etc.
 2014-12-31 13:13:31 +09:00
priseborough
78b30e4ce5 AP_NavEKF: Increase rate at which GPS glitch offsets are reduced for planes 2014-12-31 13:13:29 +09:00
Andrew Tridgell
e0943851d6 DataFlash: log gyro and accel error counts 2014-12-30 12:16:02 +11:00
Andrew Tridgell
b9adc6e466 AP_InertialSensor: prefer sensors that have zero error counts 
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
 2014-12-29 21:19:35 +11:00
Randy Mackay
4a1ba9b186 AC_WPNav: minor const fix 2014-12-27 13:19:32 +09:00
Randy Mackay
c7192c5eef Notify: remove Led class 
This class didn't add any functionality beyond what the NotifyDevice class
already provided so in keeping with our desire to keep things simple we
can remove this class
 2014-12-26 13:06:41 +09:00
Randy Mackay
352b52d73f Notify: remove reliance on Led class 2014-12-26 13:06:24 +09:00
Randy Mackay
d67b4a8d49 Notify: add pre_arm_gps_check flag 
RGB LED will remain flashing blue when vehicle is disarmed and this
check has failed (i.e. false).
 2014-12-26 12:32:34 +09:00
Andrew Tridgell
c93ae67541 DataFlash: don't try and open logfile on failure more than once 
this prevents a corrupted microSD card from causing a continuous
attempt to open a log file while in flight, which can cause large
scheduler delays

Pair-Programmed-With: Grant Morphett <grant@gmorph.com>
 2014-12-21 14:50:42 +11:00
Andrew Tridgell
abd1ece6e3 DataFlash: don't write out parameters if log open fails 2014-12-21 14:50:42 +11:00
priseborough
f2c506339a AP_NavEKF: Reduce time required to recover from GPS timeouts 
The time required for GPS to be lost or rejected before vehicles with airspeed sensors either reset to GPS or invoke the zero side-slip assumption to constrain drift has been reduced from 15 to 10 seconds
A duplicate zeroing of the GPS position offset has been removed
If the vehicle is a non hovering vehicle (eg a plane) then the speed at which the GPS offset is pulled back to zero after a reset is increased from 1 to 3  m/s

This also improves recovery from bad inertial data for planes
 2014-12-18 21:50:40 +11:00
priseborough
f73816dbb5 AP_NavEKF: Improve robustness to long periods without GPS 2014-12-18 21:07:45 +11:00
Randy Mackay
a44b4b5e87 Mission: allow 15 do-jump commands on Pixhawk 2014-12-18 17:02:48 +09:00
priseborough
3afde0061f AP_NavEKF: Use named states for velocity reset 
Readibility improvement
 2014-12-18 17:29:50 +11:00
priseborough
f6ce25df2a AP_NavEKF: Do not reset vertical velocity state from GPS 
Doing this can cause large height and height rate errors if large GPS velocity errors cause the GPS tn be rejected for long enough to cause a timeout and reset of states.
 2014-12-18 17:29:47 +11:00
Andrew Tridgell
597273cfff AP_TECS: remove lag from height demand in landing 
this predicts ahead the height demand for landing, where we have a
continuous demanded descent. This removes the effect of the lag
introduced by the height demand filters
 2014-12-18 09:58:12 +11:00
Andrew Tridgell
b5a5b71512 GCS_MAVLink: reverse sense of check_and_forward() 
also increase number of routes on larger systems and improved route
learning logic
 2014-12-17 10:32:28 +11:00
Andrew Tridgell
a967a682a4 GCS_MAVLink: added routing test sketch 2014-12-17 10:32:28 +11:00
Andrew Tridgell
7f817502c4 GCS_MAVLINK: implement new routing rules 
see description in coments
 2014-12-17 10:32:28 +11:00
Andrew Tridgell
70f5ec60e8 AP_TECS: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Andrew Tridgell
8c1cab84c7 AP_SpdHgtControl: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Randy Mackay
21beb26484 Notify: minor event reordering 
No functional change
 2014-12-15 14:10:26 +09:00
Randy Mackay
e68a69e139 ToneAlarm_PX4: remove user_mode_init flag 
Replaced by an initialised check in the main ArduCopter flight code
 2014-12-15 14:10:21 +09:00
Randy Mackay
1c8ab375e2 Notify: rename failsafe_action event 2014-12-15 14:10:15 +09:00
Randy Mackay
972c8e47d2 Notify: rename notify_types to notify_flags_type 2014-12-15 14:10:10 +09:00
Randy Mackay
bfc86ac7c0 ToneAlarm_PX4: add comments 2014-12-15 14:10:06 +09:00
Randy Mackay
c75ab8f3e5 Notify: add comments re events 2014-12-15 14:09:15 +09:00
Jonathan Challinger
3dfcdde6be AP_Notify: Rework ToneAlarm_PX4 to play tones from local array 2014-12-15 14:09:04 +09:00
priseborough
e2d47f836e AP_TECS: Fix bug causing plane to fly high on landing approach 
The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This caused the plane to lag behind height changes if the D gain was non-zero, which caused it to fly high during landing approach.
 2014-12-14 09:43:46 +11:00
Randy Mackay
b54b7b7448 GCS_MAVLink: fix compiler error 2014-12-11 16:26:26 +09:00
Randy Mackay
e581e81da5 AP_NavEKF: reorder declation to fix compiler warning 
No functional change
 2014-12-11 15:37:56 +09:00
Randy Mackay
ddda0d52ce Baro: reorder declaration to fix compiler warning 
No functional change
 2014-12-11 13:06:24 +09:00
Andrew Tridgell
ade7f9e1a9 GCS_MAVLink: fixed forwarding of non-targetted messages 2014-12-11 12:32:50 +09:00
Andrew Tridgell
fcf17829cc GCS_MAVLink: fixed addition to routing table 2014-12-11 12:32:48 +09:00
Andrew Tridgell
079158d4b8 GCS_MAVLink: strip out the old GCS_Class class 
this is not longer needed as we don't support multiple protocol
classes
 2014-12-11 12:32:45 +09:00
Andrew Tridgell
f198cdcf20 GCS_MAVLink: added support for a MAVLink snoop function 
this can be used to watch messages for different targets
 2014-12-11 12:32:32 +09:00
Andrew Tridgell
34be7f808e GCS_MAVLink: only try to fwd packets to active channels 2014-12-11 12:32:30 +09:00
Andrew Tridgell
411766f45a AP_Mount: removed use of mavlink_check_target() 2014-12-11 12:32:27 +09:00
Andrew Tridgell
4a9331c505 AP_Camera: removed use of mavlink_check_target() 2014-12-11 12:32:24 +09:00
Andrew Tridgell
f1edd1bafb GCS_MAVLink: removed use of mavlink_check_target() 
not needed now we do routing properly, as messages will only be
processed if they are for us
 2014-12-11 12:31:06 +09:00
Andrew Tridgell
aa88ba4158 GCS_MAVLink: only call message handler for our own messages 2014-12-11 12:30:59 +09:00
Andrew Tridgell
11f88f0f5d GCS_MAVLink: added routing object to GCS_MAVLink 2014-12-11 12:30:55 +09:00
Andrew Tridgell
b91529622b GCS_MAVLink: initial implementation of MAVLink routing object 
will be used to auto-route packets over all available links
 2014-12-11 12:30:50 +09:00
Andrew Tridgell
76c710f596 GCS_MAVLink: removed obsolete headers 2014-12-11 12:30:46 +09:00
Andrew Tridgell
3354cb37d0 AP_GPS: fixed vertical velocity in Replay 
fixed NavEKF use of velocity velocity
 2014-12-09 18:57:17 +11:00
Andrew Tridgell
4a91546ced HAL_PX4: FRAM does not support fsync 
the fsync just wastes time reopening /fs/mtd
 2014-12-09 14:35:36 +11:00
Randy Mackay
da247bacf8 GCS_MAVLink: add OPTICAL_FLOW to ap_message enum 2014-12-08 14:58:30 +09:00
Randy Mackay
3c23f00e81 OptFlow: remove ADNS3080 image grabber example 2014-12-08 14:58:24 +09:00
Andrew Tridgell
193bda068c HAL_Linux: run IO processes when we do a stop_clock() 
this has the effect of allowing logging to progress in Replay where we
are running at much more than realtime speeds
 2014-12-08 11:24:39 +11:00
Andrew Tridgell
cb9c518ab8 Revert "AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'" 
This reverts commit 13df6fb1c9.

This patch was a result of an incorrect merge of the optflow branch
into master. It reintroduced the bug fixed by this commit:

  AP_NavEKF : Fix bug in reset of GPS glitch offset
  8aa267f75f
 2014-12-08 07:53:47 +11:00
Andrew Tridgell
22a7b69260 AP_OpticalFlow: don't build optical flow example 
broken by library changes
 2014-12-06 22:05:42 +11:00
Andrew Tridgell
ed510d4f87 AP_OpticalFlow: run PX4 flow sensor at 10Hz 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:51 +11:00
priseborough
a2bd3b4a42 AP_NavEKF: Add public method returning height above ground level 2014-12-06 18:16:51 +11:00
priseborough
d701cfcb75 AP_NavEKF: Output terrain relative PosD when relying on Optical Flow 2014-12-06 18:16:51 +11:00
priseborough
0156d846f1 AP_NavEKF: Increase height at which nav gain reduction starts 
Compensates for optical flow induced noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
a905432ffe AP_NavEKF: reduce height at which nav gain reduction starts 2014-12-06 18:16:51 +11:00
priseborough
5785272933 AP_NavEKF: Improve robustness to corrupted flow sensor data 2014-12-06 18:16:51 +11:00
priseborough
b1d44d4dde AP_NavEKF: Add protection for negative height above ground 2014-12-06 18:16:50 +11:00
priseborough
e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough
11fb51ceba AC_WPNav: Add nav velocity gain scaler to interfaces 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough
5b8265ad6f AP_AHRS: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough
d994da0886 AP_NavEKF: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough
5fa0c59310 AC_WPNav: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
priseborough
83775554ea AP_AHRS: Publish EKF ground speed limit 2014-12-06 18:16:50 +11:00
priseborough
bc2255d6b1 AP_NavEKF: Improve comments in setInhibitGPS public method 2014-12-06 18:16:50 +11:00
priseborough
416eaf4633 AP_NavEKF: Apply single definition of using optical flow 2014-12-06 18:16:50 +11:00
priseborough
b56b68ce10 AP_NavEKF: Add public method reporting horizontal speed limit 
This is required if using optical flow, as depending on height, the speed must be limited to prevent the sensor saturating
 2014-12-06 18:16:50 +11:00
priseborough
c8fb376cc4 AP_NavEKF: Fix bug in bias rate of change limiting 
This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent
 2014-12-06 18:16:50 +11:00
priseborough
599e53f3f2 AP_NavEKF: Prevent flow scale factor updating on ground 2014-12-06 18:16:49 +11:00
priseborough
083e22966c AP_NavEKF: Add public method to report available output data 2014-12-06 18:16:49 +11:00
priseborough
5532750a99 AP_AHRS: Add public method to inhibit GPS useage when using EKF 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough
e53d28854e AP_NavEKF: Add public method to inhibit GPS use and clean-up GPS use logic 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough
8fb1d9cf8d AP_NavEKF: Fix bug preventing opt flow scale factor estimation 
Also removes un-used variable declarations
 2014-12-06 18:16:49 +11:00
priseborough
a78920761c AP_NavEKF: Update comments in flow data interface 2014-12-06 18:16:49 +11:00
priseborough
063fb41748 AP_OpticalFlow: Add separate scale factors for X and Y axis. 
The resolution is also increased to take advantage of the planned introduction of automated calibration methods
 2014-12-06 18:16:49 +11:00
priseborough
52c7e56a4a AP_NavEKF: Add parameter for max valid optical flow rate magnitude 2014-12-06 18:16:49 +11:00
priseborough
6f8971d80a AP_NavEKF: Speed up flow sensor gyro bias correction 2014-12-06 18:16:49 +11:00
priseborough
d7ad45ebda AP_NavEKF: Don't fuse flow measurements if too big 2014-12-06 18:16:49 +11:00
priseborough
2dff76394d AC_PosControl: Add spike and noise filter to demanded angles 
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.

Signed-off-by: priseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:49 +11:00
priseborough
84944fdd4e AP_NAvEKF: Revert back to 10Hz fusion 2014-12-06 18:16:49 +11:00
priseborough
f4f0dfc45c AP_OpticalFlow: efficiency improvements to data processing 2014-12-06 18:16:49 +11:00
priseborough
1f78a73cdb AP_NavEKF: Make flow measurement delay vehicle specific 
This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.
 2014-12-06 18:16:49 +11:00
priseborough
5f941655a8 AP_NavEKF: changes to support to 20Hz flow fusion rate 2014-12-06 18:16:48 +11:00
priseborough
0bf991eef9 AP_NavEKF: Fix bug in optical flow fusion smoothing 2014-12-06 18:16:48 +11:00
priseborough
7d27a22f77 DataFlash : Fix EKF optical flow logging bug 2014-12-06 18:16:48 +11:00
priseborough
7ec8dfebcf AP_OpticalFlow : Remove gyro scale factor user adjustable parameter 
No longer required because bug in flow sensor has been fixed.
 2014-12-06 18:16:48 +11:00
priseborough
2baa1e56ed Dataflash : Fix bug in EKF opt flow logging 2014-12-06 18:16:48 +11:00
priseborough
df59f3311a AP_OpticalFlow : Add gyro scale factor correction parameter 2014-12-06 18:16:48 +11:00
priseborough
eec49ce1dd AP_OpticalFlow : Add parameter for flow rate scale factor correction 2014-12-06 18:16:48 +11:00
priseborough
839b814d12 AP_NavEKF : Inhibit flow and range fusion in static mode 2014-12-06 18:16:47 +11:00
priseborough
9b9934ac06 AP_NavEKF : fix velocity timeout bug during optical flow operation 2014-12-06 18:16:47 +11:00
priseborough
cc8e6dbfad DataFlash : Add EKF additional fault and timeout logging 2014-12-06 18:16:47 +11:00
priseborough
517026980b AP_NavEKF : Add fault and timeout logging 2014-12-06 18:16:47 +11:00
priseborough
f640ec30ff AP_NavEKF : Reset held velocity on arming 
This held velocity is used to constrain the drift in the optical flow solution before the vehicle is high enough for the optical flow sensor to work.
 2014-12-06 18:16:47 +11:00
priseborough
4616721b0d DataFlash : Update EKF debug logging 2014-12-06 18:16:47 +11:00
priseborough
06c19a3a4d AP_NavEKF : Update optical flow debug logging 2014-12-06 18:16:47 +11:00
priseborough
1791dec622 AP_NavEKF : Fix velocity hold mode 2014-12-06 18:16:47 +11:00
priseborough
84421e0a35 AP_NavEKF : Adjust initial flow scale factor and limits 2014-12-06 18:16:47 +11:00
priseborough
573633daf7 AP_NavEKF : Fix incorrect use of flow sensor time-stamp 
flow sensor time stamp is now issued by the flow sensor and is on a different time-base
 2014-12-06 18:16:47 +11:00
priseborough
92e9336fe1 AP_OpticalFlow : prevent divide by zero 2014-12-06 18:16:47 +11:00
priseborough
9ea97c1a38 AP_NavEKF : Modify optical flow data interface 
Sign conventions have changed
 2014-12-06 18:16:46 +11:00
priseborough
8faeb190de AP_NavEKF : Rework logic to cope with bad flow data 2014-12-06 18:16:46 +11:00
priseborough
44e1695d5a AP_AHRS : Enable EKF start without GPS 2014-12-06 18:16:46 +11:00
priseborough
41f0231cfb AP_NavEKF : improve logic dealing with lack of flow or range data 2014-12-06 18:16:46 +11:00
priseborough
9ba46ad795 AP_NavEKF : Improve handling of flow sensor failure 2014-12-06 18:16:46 +11:00
priseborough
2ee1c549be AP_NavEKF : improve criteria used to inhibit scale factor estimation 2014-12-06 18:16:46 +11:00
priseborough
e09ff84218 AP_NavEKF : Don't estimate focal length scale factor without reliable velocity 2014-12-06 18:16:46 +11:00
priseborough
4c92a5f23f AP_NavEKF : Use GPS velocity if PX4Flow sensor fails 2014-12-06 18:16:46 +11:00
priseborough
283811edcb AP_NavEKF : stop velocity change when flow measurements drop out 2014-12-06 18:16:46 +11:00
priseborough
9132fcfe43 AP_NavEKF : Change mag fusion to use corrected compass values 
This enables compass units to be switched in-flight
 2014-12-06 18:16:46 +11:00
priseborough
c3be486c29 AP_NavEKF : Enable inhibiting of GPS measurements 2014-12-06 18:16:45 +11:00
priseborough
79698f7742 AP_NavEKF : improvements to range finder fusion 2014-12-06 18:16:45 +11:00
priseborough
1222559da0 AP_NavEKF : Fix bug affecting sonar fusion 2014-12-06 18:16:45 +11:00
priseborough
117bd2a998 AP_NavEKF : Add time based noise to terrain offset state 2014-12-06 18:16:45 +11:00
priseborough
b1d3d5d9a3 AP_NavEKF : Don't update focal length scale factor at low speeds 2014-12-06 18:16:45 +11:00
priseborough
8dd1081f54 AP_NavEKF : Add range measurement to EKF debug message 2014-12-06 18:16:45 +11:00
priseborough
f358d5e20f DataFlash : Add range measurement to EKF debug message 2014-12-06 18:16:45 +11:00
priseborough
744c72d40b AP_NavEKF : Updates to range finder fusion 2014-12-06 18:16:45 +11:00
priseborough
a07e402ebf DataFlash : Update names in EKF optical flow logging 2014-12-06 18:16:45 +11:00
priseborough
a20729f60f AP_NavEKF : Update names in optical flow debug logging 2014-12-06 18:16:45 +11:00
priseborough
235b3bebda AP_NavEKF : Add range finder health and enable range finder fusion 
The 2-state auxiliary filter is also renamed.
 2014-12-06 18:16:45 +11:00
priseborough
a4984a1e76 AP_AHRS : Add range finder health status to EKF optical flow data 2014-12-06 18:16:44 +11:00
priseborough
988de2a898 AP_NavEKF : Add smoothing to optical flow fusion 2014-12-06 18:16:44 +11:00
priseborough
70c779dbc2 AP_NavEKF : Optical flow numerical optimisations 2014-12-06 18:16:44 +11:00
priseborough
2a1420171a AP_NavEKF : reduce minimum accepted flow quality 2014-12-06 18:16:44 +11:00
priseborough
3fbedc9f98 AP_NAvEKF : update comments 2014-12-06 18:16:44 +11:00
priseborough
81b09c9361 AP_NavEKF : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough
12b012a00e AP_AHRS : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough
cd418c946c AP_NavEKF : preliminary implementation for optical flow and range finder fusion 
Range finder measurements are not input to EKF at this time, however the method for fusing them is
implemented.
 2014-12-06 18:16:44 +11:00
priseborough
bc74abcd00 DataFlash : EKF optical flow fusion support preliminary changes 2014-12-06 18:16:44 +11:00
priseborough
7b76fc29fb AP_AHRS : EKF optical flow fusion support preliminary changes 2014-12-06 18:16:44 +11:00
priseborough
13df6fb1c9 AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' 
This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.

Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and the various calls to the hal.scheduler->millis() object have been consolidated.

Unused variables have been removed
 2014-12-06 18:16:43 +11:00
priseborough
dcb252cc05 AP_NavEKF : Fix bug in reset of position and velocity states 
If the inertial solution velocity or position needs to be reset to the GPS, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS measurement will be compared to an invalid previous state and will be rejected.
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
 2014-12-06 18:16:43 +11:00
priseborough
cb4d5986e0 AP_OpticalFlow : Update PX4Flow interface 
Interface now uses the integral of flow and body rates
 2014-12-06 18:16:43 +11:00
priseborough
0d774d301d AP_OpticalFlow : Remove support for ADNS3080 sensor 
It is not compatible with the new interface and data fusion requirements
 2014-12-06 18:16:43 +11:00
Randy Mackay
4452aa8448 AP_AHRS_DCM: compile error fix for low speed CPUs 
Also correct initialisatoin order to remove compiler warning
 2014-12-05 19:43:05 +09:00
Jonathan Challinger
bfe71fea82 AC_PosControl: Use blended accelerometer measurement in altitude control 2014-12-05 19:40:10 +09:00
Jonathan Challinger
9261dfdefb AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions 2014-12-05 19:40:08 +09:00
Jonathan Challinger
4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
Jonathan Challinger
033ee3c900 AP_AHRS: Add get_accel_ef_blended function 2014-12-05 19:40:04 +09:00
Jonathan Challinger
7692761f34 AP_NavEKF: Added getAccelNED function 2014-12-05 19:40:01 +09:00
priseborough
874d0780aa AP_NavEKF: Reduce vulnerability to ground fixed magnetic interference 
Re-initialisation of the magnetic field states and yaw angle is now only performed a maximum of two times after start-up.

Once when coming out of static modefor the first time (first arm event)
Again (for copter only) when the altitude gain above the arming altitude exceeds 1.5m

this prevents magnetic interference present at arming (eg arming on a metal roof)from corrupting the magnetic field states enough to cause bad heading errors and toilet bowling on copter
 2014-12-05 14:33:04 +11:00
Andrew Tridgell
ede920f293 AP_Mission: ensure location options are zero at start of mavlink conversion 2014-12-03 18:29:43 +11:00
Andrew Tridgell
f98e283091 GCS_MAVLink: re-generate with updated upstream mavlink 2014-12-03 10:08:36 +11:00
Andrew Tridgell
940966f3e3 DataFlash: fixed example sketch build 2014-12-03 08:39:36 +11:00
Andrew Tridgell
86bf02d64c RC_Channel: update example sketch to copy input to output 2014-12-02 16:27:33 +11:00
Andrew Tridgell
5aabfd4dc4 AP_HAL: added RCInput example sketch 2014-12-02 15:49:50 +11:00
Andrew Tridgell
8e36c1cd60 AP_HAL: fixed RCOutput example 2014-12-02 15:03:59 +11:00
Andrew Tridgell
4ec6a74829 AP_HAL: addex UART_test example sketch 2014-12-02 13:14:03 +11:00
Andrew Tridgell
9e0a7e6631 AP_HAL: fixed printf example build 2014-12-02 13:14:03 +11:00
Andrew Tridgell
c5e4e8f035 SITL: fixed SITL for example sketches 
cope with no SITL object
 2014-12-02 13:14:03 +11:00
Randy Mackay
9e731550fd AHRS: default EKF on for copter 2014-12-01 17:29:39 +09:00
priseborough
053c5054f3 AP_TECS: Change default landing damp gain to 0.5 2014-11-29 20:03:49 +11:00
priseborough
0912f05e7c AP_TECS: Add parameter to adjust height rate gain during flare 2014-11-29 20:03:41 +11:00
priseborough
11aefa6858 AP_TECS: Fix bug in parameter label 2014-11-29 20:03:37 +11:00
priseborough
bd97f15d06 AP_TECS: make flare height demand consistent with height rate demand 2014-11-29 20:03:34 +11:00
Holger Steinhaus
ebed80cd2a AP_GPS: work-around for invalid time reported by PX4 GPS 2014-11-28 13:30:21 +01:00
Holger Steinhaus
df7c4baed9 AP_GPS: check lock type before accepting position and speed information 2014-11-28 13:26:51 +01:00
Andrew Tridgell
38c1b622f3 AP_AHRS: fixed example build on APM2 2014-11-28 17:59:18 +11:00
Andrew Tridgell
48abfcede7 AP_Scheduler: added example sketch 2014-11-28 12:59:47 +11:00
Andrew Tridgell
89cdae62b4 AP_AHRS: fixed example build 2014-11-28 10:40:52 +11:00
Andrew Tridgell
e45522f51d AP_Baro: fixed example build 2014-11-28 10:40:43 +11:00
Andrew Tridgell
a686494127 AP_Compass: fixed example build 2014-11-28 10:40:34 +11:00
Andrew Tridgell
908ad46e8e AP_GPS: fixed example build 2014-11-28 10:40:26 +11:00
Andrew Tridgell
7bb56e50aa AP_InertialSensor: fixed example build 2014-11-28 10:40:19 +11:00
Andrew Tridgell
0811f9c175 AP_Notify: fixed example build 2014-11-27 17:27:56 +11:00
John Williams
d0e467aea0 AP_HAL_Linux: Bypass manual CS assertion for SPI_CS_KERNEL mode 
Missed from initial patch series

Signed-off-by: John Williams <john@whelanwilliams.net>
 2014-11-27 15:57:12 +11:00
Andrew Tridgell
eb22815668 AP_TECS: fixed range values 2014-11-26 19:02:51 +11:00
Staroselskii Georgii
d40011acf3 AP_Notify: added abstract Led and RGBLed classes 2014-11-26 11:16:27 +11:00
Mikhail Avkhimenia
955753f3f0 HAL_Linux: Optimize bandwidth for RCOutput_Navio 
40% less bytes in I2C transactions for PCA9685.
 2014-11-26 11:14:44 +11:00
Mikhail Avkhimenia
50459bdca0 HAL_Linux: Enable external clk for RCOutput_Navio 
That should fix PWM value drifts.
 2014-11-26 11:14:44 +11:00
Andrew Tridgell
d0087c91e9 DataFlash: prevent build errors on non-PX4 targets 2014-11-26 11:14:44 +11:00
Andrew Tridgell
1d0122e6c2 DataFlash: log each ESC separately 
this saves log space for ESCs that are not initialised (eg. only 3rd
ESC on fixed wing) and is a bit easier to deal with as a user
 2014-11-26 11:14:44 +11:00
Holger Steinhaus
294d944cbd DataFlash: added logging of ESC feedback (currently only available with UAVCAN ESCs) 2014-11-26 11:14:44 +11:00
Andrew Tridgell
4132b53541 HAL_PX4: publish actuator values for UAVCAN ESCs 
this publishes scaled actuator values so that the uavcan module can
drive ESCs
 2014-11-26 11:14:44 +11:00
Andrew Tridgell
e89d380b73 AP_HAL: added set_esc_scaling() RCOutput function 
this will be used to scale outputs for uavcan ESCs based on throttle
range
 2014-11-26 11:14:44 +11:00
Andrew Tridgell
22cb1c8525 HAL_Linux: tidy up SPI debugging a bit 2014-11-26 10:16:39 +11:00
John Williams
0fe3959d7e AP_HAL_Linux: Add support for in-kernel SPI CS handling 
Add support for /dev/spidev<bus>.<cs> in-kernel SPI CS handling, and convert
existing SPI devices over.

 * Add a new member _subdev to the LinuxSPIDeviceDriver class, and initialiser
   in LinuxSPIDevice constructor.  Use subdev 0 for GPIO-managed CS
 * Extend the _cs_pin to signed 16 bits and define SPI_CS_KERNEL (-1) for
   kernel-managed CS
 * Move to per-device file descriptors (required for in-kernel CS)
 * Extend spidev filenames to include bus and subdevice numbers, possibly
   longer than 1 digit each
 * Allow support for platforms enumerating /dev/spidevNNN from non-zero bases
 * Convert existing users over to the new API

Signed-off-by: John Williams <john@whelanwilliams.net>
 2014-11-26 09:55:09 +11:00
Andrew Tridgell
38c5f25c70 AP_Math: fixed example build 2014-11-25 13:22:17 +11:00
Michael Day
b3e693daa4 AP_Mission: Support MAV_CMD_DO_FENCE_ENABLE as a mission item. 2014-11-25 13:02:47 +11:00
Michael Day
b36c1b2c3d AP_Mission: support for MAV_CMD_CONTINUE_AND_CHANGE_ALT 2014-11-25 10:43:15 +11:00
Michael Day
dca99a9643 GCS_MAVLink: code generation from XML for MAV_CMD_CONTINUE_AND_CHANGE_ALT. 2014-11-25 10:43:15 +11:00
Andrew Tridgell
d5ced15acf GCS_MAVLink: include units in CONTINUE_AND_CHANGE_ALT 2014-11-25 10:43:14 +11:00
Michael Day
958d8ffacc GCS_Mavlink: New message def: MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT 2014-11-25 08:49:13 +11:00
Kirill A. Kornilov
33e4f44434 RC_Channel: added set_radio_trimmed() 
take into account trim value in set_radio()
 2014-11-25 08:19:27 +11:00
Andrew Tridgell
8d54368650 AP_Math: fixed build warning 2014-11-25 08:17:15 +11:00
Andrew Tridgell
09547c40cb DataFlash: added staticmode to EKF4 message 
useful when diagnosing logs
 2014-11-22 18:27:51 +11:00
Andrew Tridgell
46f601d703 AP_NavEKF: added getStaticMode() function 2014-11-22 18:27:51 +11:00
Andrew Tridgell
8acfbb2ee0 AP_NavEKF: add another health check in the EKF 
if SV, SP and SH are all off then the most likely cause is divergence
of the EKF. This was done based on a flight log with bad gyro cal
 2014-11-22 18:27:51 +11:00
Andrew Tridgell
f84f432ecf AP_InertialSensor: allow gyro calibration to take up to 30 seconds 
this gives time for the user time to get their battery hatches on and
hold the model steady. 5 seconds was just far too short
 2014-11-22 18:27:51 +11:00
Randy Mackay
20f3f19285 Compass: add new rotation to ORIENT param description 2014-11-22 14:13:25 +09:00
Randy Mackay
503d14428d AP_Math: add new rotation to example rotation sketch 2014-11-22 14:10:00 +09:00
Randy Mackay
3d2c9910b3 AP_Math: add yaw 293, pitch 68, roll 180 rotation 2014-11-22 14:09:16 +09:00
priseborough
d57c99f1cc DataFlash: Fix bug in logging of EKF IMU1 Z accel bias 2014-11-18 13:39:42 +11:00
Andrew Tridgell
78db698108 AP_Mount: allow a MOUNT_CONTROL message to reset RC targetting 
fixes issue #1617
 2014-11-18 13:35:11 +11:00
Randy Mackay
73f3b50e2f RC_Channel: make get_control_mid const 2014-11-17 18:16:12 -08:00
Jonathan Challinger
9375fc8947 RC_Channel: add get_control_mid function 2014-11-17 18:16:09 -08:00
Jonathan Challinger
4d7988b302 RC_Channel: replace long with int32_t 2014-11-17 18:16:08 -08:00
Andrew Tridgell
14467b75a1 AP_Mount: use norm_input_dz() 
this makes rc targeting much easier without drift
 2014-11-18 12:44:29 +11:00
Andrew Tridgell
6b0c15b70f RC_Channel: added norm_input_dz() 
normalised input, taking into account dead zone
 2014-11-18 12:44:05 +11:00
Andrew Tridgell
ad0e6dccbb GCS_MAVLink: re-generate headers 2014-11-18 11:20:44 +11:00
Andrew Tridgell
de294277e9 GCS_MAVLink: cope with new mavlink repo change in mavlink_system_t 2014-11-18 11:20:28 +11:00
Andrew Tridgell
abba6395ad AP_TECS: fixed spelling error 2014-11-18 11:12:57 +11:00
Randy Mackay
8ef2948f27 GCS_MAVLink: generate update to version 2014-11-17 15:59:36 -08:00
Randy Mackay
e46be909a4 GCS_MAVLink: generate after mount_status msg change 2014-11-17 15:59:33 -08:00
Arthur Benemann
9b5684d007 GCS_MAVLink: add MOUNT_STATUS to message enum 2014-11-17 15:59:28 -08:00
Arthur Benemann
f7f9bedc38 AP_Mount: update the status_msg() method to match the new definition 2014-11-17 15:59:23 -08:00
Arthur Benemann
c5b4121fc7 GCS_MAVLink: MOUNT_STATUS to always be reporting the angle of the gimbal 
This is useful for GCS trying to plot the camera footprint.
 2014-11-17 15:59:21 -08:00
Jonathan Challinger
055d3bee1f GCS_MAVLink: run generate.sh 2014-11-17 14:38:53 -08:00
Jonathan Challinger
a4f994e8f0 GCS_MAVLink: update MAV_FRAME enum 2014-11-17 14:38:51 -08:00
Jonathan Challinger
2cc65dffe0 AC_WPNav: add set_spline_dest_and_vel function 2014-11-17 14:38:46 -08:00
Andrew Tridgell
809ff15b43 AP_GPS: make NMEA driver a bit easier to read 
thanks to crashpilot100
 2014-11-16 14:12:14 +11:00
Andrew Tridgell
b81b9e1bb8 AP_GPS: prevent bad NMEA strings from causing overruns in parser 
fixes issue #961

thanks to crashpilot100 for spotting this!
 2014-11-16 14:08:20 +11:00
Andrew Tridgell
7497b4dfb1 HAL_Linux: fixed Replay with new AP_InertialSensor library 2014-11-16 12:30:50 +11:00
Andrew Tridgell
7c288e020b AP_InertialSensor: fixed detection of dead IMU 
if a PX4 sensor does not give new data we need to avoid calling
_rotate_and_offset_*() to avoid marking it as healthy. Otherwise if
the MPU6k dies we won't switch to the LSM303D automatically
 2014-11-16 12:30:33 +11:00
Andrew Tridgell
22237f2530 HAL_SITL: fixed handling of SIM_FLOAT_EXCEPT in main thread 2014-11-16 11:05:55 +11:00
Randy Mackay
d9d238cc3c Relay: param descr match labels for Pixhawk 
Renamed Pixhawk FMU AUX1 to Pixhawk AUXOUT1 to match labels on case to
make it easier for users to know what value to choose
 2014-11-15 12:49:02 -08:00
Randy Mackay
0d3e1131a7 Relay: Pixhawk AUXOUT2 enabled by default 2014-11-15 12:45:12 -08:00
bugobliterator
9d39c0407e HAL_Linux: added ToneAlarmDriver.h 2014-11-15 21:25:55 +11:00
bugobliterator
485abbac3a AP_Notify: cleanup use of bool from toneAlarm_init() 2014-11-15 16:59:28 +11:00
bugobliterator
329c1f5190 HAL_Linux:create ToneAlarmDriver as a separate class 
ToneAlarm is now declared as a separate class instance of which is added as a private member of LinuxUtil
Some minor fixes in this patch include changing return type of tonealarm_init() to bool and use dprintf
 2014-11-15 16:59:06 +11:00
bugobliterator
ad460659ad AP_HAL: make toneAlarm_init() return bool 2014-11-15 16:59:06 +11:00
bugobliterator
f058131140 HAL_Linux Scheduler: reduce the delay inside tonealarm thread 
Since the tonealarm is now passthrough the delay inside the thread needs to be reduced for precise tune generation
 2014-11-15 16:59:06 +11:00
bugobliterator
3b94cb3072 HAL_Linux: make tonealarm generation a passthrough operation 
get rid of all delays and while loops(that may turn into infinite loop)
 2014-11-15 16:59:06 +11:00
bugobliterator
e254b406d0 HAL_Linux: make rtttl tune and tune repeat flag list static members 
instead of initialising them inside constructor
 2014-11-15 16:59:06 +11:00
Andrew Tridgell
c8c822422a HAL_Linux: give error msg on failure to start toneAlarm 2014-11-15 16:58:58 +11:00
Andrew Tridgell
7718be81cb AP_Notify: give error msgs on failure to start 2014-11-15 16:58:40 +11:00
Andrew Tridgell
682cf02770 GCS_MAVLink: regenerate after merge 2014-11-14 15:25:06 +11:00
Andrew Tridgell
0dba1b370a GCS_MAVLINK: merge with upstream XML 2014-11-14 15:24:34 +11:00
Andrew Tridgell
d3b087d2c1 AP_GPS: fixed build on non-PX4 platforms 2014-11-14 14:48:42 +11:00
Andrew Tridgell
e69582aa1c AP_GPS: added PX4EXPERIMENTAL to GPS type drop down 2014-11-14 14:39:46 +11:00
Holger Steinhaus
abad58874c AP_GPS: enable GNSS modules handled by PX4 firmware via GPS_TYPE 
GNSS modules handled by PX4 drivers are not auto-detectable, some are not even
connected to a UART port. The activation is therefore controlled by GPS_TYPE
only. Baud rate and port settings (if applicable) have to be handled by the PX4
firmware.
 2014-11-14 14:36:10 +11:00
Holger Steinhaus
442aafbd1e AP_GPS: add proxy driver for GNSS modules handled by PX4 firmware 2014-11-14 14:36:10 +11:00
John Williams
57d2fc1dd5 HAL_Linux: RCInput support for Zynq 2014-11-14 14:10:35 +11:00
Jason Short
7ee5b58535 AP_Mount: Axis mask speedup 
Using a simple bit mask to avoid calculating an unneeded ATAN2() for AVR users.
 2014-11-14 13:51:16 +11:00
Matthias Badaire
1d3a49e466 AP_HAL_PX4 : make UARTDriver capable to be called from different threads. 
The modification allows the read and write functions to be called by any thread but the calling thread must be the last one that called the begin() function.
 2014-11-14 13:51:16 +11:00
Andrew Tridgell
154bf51279 HAL_PX4: minor tidy up of if statement 2014-11-14 13:51:16 +11:00
Holger Steinhaus
9e9c62d245 HAL_PX4: work-around for periodic enable_ch() calls 2014-11-14 13:51:16 +11:00
Holger Steinhaus
e5549c90a1 HAL_PX4: do not overwrite disabled channels with zeros 
Fixes #1321
 2014-11-14 13:51:16 +11:00
Randy Mackay
d34ea4c124 AC_PosControl: fix to default force_descend param 2014-11-13 18:40:45 -08:00
Jonathan Challinger
e81c1dd5a1 AC_PosControl: add force_descend option to set_alt_target_from_climb_rate 2014-11-13 18:40:38 -08:00
Andrew Tridgell
2270a904ce RC_Channel: make flaperson range from -4500 to 4500 2014-11-14 11:23:52 +11:00
Jonathan Challinger
cc955b738b AP_NavEKF: Clean up flight detector logic 2014-11-14 10:34:49 +11:00
priseborough
5359da9c68 AP_NavEKF : Improved Magnetometer Error Handling 
(Plane Only) If the yaw and GPS heading disagree by more than 45 degrees on takeoff, then the magnetometer is declared as failed. The heading is then reset based on the difference between GPS ground track and stgate velocity vector.
Magnetometer fusion uses corrected data and bias states are initialised to zero. This allows the compass to be switched in flight.
For persistent compass errors that trigger a timeout, the compass is not permanently failed, however for non-forward fly vehicles the compass weighting is reduced.
 2014-11-14 10:34:48 +11:00
Staroselskii Georgii
a55db1c25d AP_HAL_Linux: fixed LinuxGPIO_RPI::read() 2014-11-14 10:28:34 +11:00
Mikhail Avkhimenia
49d3035ee5 HAL_Linux: fix types, remove printfs in GPIO_RPI 2014-11-14 10:28:34 +11:00
Mikhail Avkhimenia
6f993fe64a HAL_Linux: add prototype RCInput code for Navio 2014-11-14 10:28:34 +11:00
Staroselskii Georgii
ef420a2544 AP_HAL_Linux: changed SPI mode for MPU9250 2014-11-14 10:28:34 +11:00
Staroselskii Georgii
bf860ee41f AP_HAL_Linux: Ublox SPI stub 2014-11-14 10:28:34 +11:00
Víctor Mayoral Vilches
ce4c4c43dc AP_HAL_Linux: Scheduler reboot fix 
exit from the autpilot when reboot is commanded.
The software assumes that the code is being
launched in an infinite loop thereby an exit
will make it reboot.
 2014-11-14 10:27:19 +11:00
John Williams
ae87399919 HAL_Linux: Basic Zynq Linux platform support 
Preliminary support for Zynq/Linux on the 'ZyboPilot' HW platform.

see https://github.com/trjw/ZyboPilot-bsp for the PetaLinux / Vivado project
files.

At this stage CPPM/Pulse in and PWM out work, and in CLI mode the passthru
test works correctly.

The platform has passed minimal smoke testing in HIL mode.

ZYNQ IS NOT FLIGHT TESTED YET!  FLY THIS PLATFORM AT YOUR OWN RISK!

Signed-off-by: John Williams <john@whelanwilliams.net>
 2014-11-14 10:21:04 +11:00
Andrew Tridgell
adcf994356 AP_HAL: added Zynq platform type 2014-11-14 10:21:04 +11:00
Staroselskii Georgii
7f00dd413f AP_Compass: fixed HMC5883's initialisation code 2014-11-14 10:21:04 +11:00
Andrew Tridgell
3b6c732b3b APM_Control: changed default I gain for roll/pitch controllers to non-zero 
too many people are still not tuning. At least this will give them a
chance to get their aircraft back in a cross-wind
 2014-11-13 22:13:25 +11:00
Andrew Tridgell
258542b939 AP_Airspeed: added ARSPD_SKIP_CAL parameter 
allows airspeed calibration to be skipped for easier startup
 2014-11-13 21:12:37 +11:00
Andrew Tridgell
9c631944f7 AP_Airspeed: expose raw pressure for logging 2014-11-13 17:49:04 +11:00
Andrew Tridgell
f04f8e226d SITL: abort on floating point error 
this creates a core file
 2014-11-13 17:27:20 +11:00
Andrew Tridgell
1fc8116069 AP_L1_Control: update NAV_L1_PERIOD docs 2014-11-13 14:26:42 +11:00
Andrew Tridgell
1552278fa3 AP_TECS: use aparm.stall_prevention 2014-11-13 14:05:33 +11:00
Andrew Tridgell
04b63a61bf AP_Vehicle: added stall_prevention variable 2014-11-13 14:05:22 +11:00
Andrew Tridgell
3667900e84 AP_SpdHgtControl: added load_factor in update_pitch_throttle() 2014-11-12 13:36:02 +11:00
Andrew Tridgell
bf591b0008 AP_TECS: take load factor into account in min airspeed 
this will push up minimum airspeed when turning
 2014-11-12 13:36:02 +11:00
Andrew Tridgell
d404cc6542 AP_Baro: add set_external_temperature() 
this allows the use of an external temperature sensor for calibration
purposes, such as the sensor built in to the digital airspeed sensor.

The main affect this has is on the EAS2TAS calculation

The get_calibration_temperature() is used to choose either an external
temperature or an internal one. If an internal one is used then it is
clamped at no higher than 25 degrees C, to prevent hot electronics
on startup affecting altitude scaling and EAS2TAS
 2014-11-12 13:36:01 +11:00
Andrew Tridgell
8b794602d1 AP_Baro: make get_temperature() a const function 2014-11-12 13:36:01 +11:00
Andrew Tridgell
986b7bf894 AP_InertialSensor: fixed frequency to 16 bit in LDM303D and L3GD20 drivers 2014-11-11 17:06:22 +11:00
Andrew Tridgell
c750cbebfb GCS_MAVLink: prevent asan errors in send_text_all 2014-11-11 15:16:26 +11:00
Andrew Tridgell
a566ebe4ec HAL_SITL: prevent array overruns in RCInput/RCOutput 2014-11-11 15:16:26 +11:00
Randy Mackay
67690553c5 BaroGlitch: add reset method 2014-11-09 13:34:15 -08:00
Andrew Tridgell
2eeec3fabe AP_RangeFinder: fixed oversized parameter RNGFND2_SETTLE_MS 2014-11-10 08:09:41 +11:00
Andrew Tridgell
ec17c5806e AP_Param: check parameter tables for bad suffix lengths 2014-11-10 08:09:08 +11:00
Andrew Tridgell
00526359b0 HAL_Linux: use dprintf() instead of sprintf and write 2014-11-10 06:51:53 +11:00
Andrew Tridgell
bec1c05773 AP_Notify: fixed bitfields 2014-11-10 06:33:54 +11:00
bugobliterator
e48fcf2df7 AP_Notify:change tonealarm-type bitmask to bool type, 
change parameter data type from const uint8_t to uint8_t,
initialise tonealarm error flag to value -1 at tonealarm class initiallisation

This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.
 2014-11-10 06:27:49 +11:00
bugobliterator
9f5f5871f2 AP_Notify:Fix the typo, usage of toshibaled.init() instead of toshibaled.update() 
This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.
 2014-11-10 06:27:48 +11:00
bugobliterator
af203760bd HAL_Linux: change the return type of AP_HAL::Util::tonealarm_init() to signed int8_t. 
This is a part of a set of fixes for the bugs and typos tridge discovered and shared inside earlier commits for setting up tonealarm.
 2014-11-10 06:27:48 +11:00
bugobliterator
fa6e83318d AP_HAL: Add virtual toneAlarm member functions to be declared under Linux_HAL 2014-11-10 06:27:48 +11:00
bugobliterator
298b27444a HAL_Linux: Add ToneAlarm Driver to Linux_HAL 
ToneAlarm is setup for Beaglebone Black using pwm, toneAlarm thread runs on second last priority.
 2014-11-10 06:27:48 +11:00
bugobliterator
5d6af51517 AP_Notify:Add ToneAlarm Support for HAL_Linux Boards 2014-11-10 06:27:48 +11:00
Jonathan Challinger
2d288d46a4 AP_HAL_AVR_SITL: fill in ublox accuracy metrics with reasonable values 2014-11-08 19:07:50 +11:00
Randy Mackay
31087e4f20 Compass: shorten EXTERNAL2/3 to EXTERN2/3 
Bug discovered by Michael Day
 2014-11-08 10:21:22 +09:00
Robert Lefebvre
a2958e2ffd AP_MotorsSingle: Fix parameter comments. 2014-11-08 10:18:03 +09:00
Randy Mackay
98f5a93e10 AC_AttControl: remove unused logging structure 2014-11-08 10:17:32 +09:00
Andrew Tridgell
02581f4c05 HAL_Linux: re-fix dirty mask bug in Storage 
when conversion to a single parent class was done it re-introduced a
bug that was fixed a while ago

See commit d238ff7c5d
 2014-11-08 11:55:55 +11:00
Andrew Tridgell
330dab2fe3 HAL_Linux: fixed some warnings 2014-11-08 11:49:09 +11:00
bugobliterator
4908e335d2 HAL_Linux: Add Storage.cpp containing common storage class member definitions 2014-11-08 11:36:12 +11:00
bugobliterator
dd6d520385 HAL_Linux:Create subclass to handle FRAM Storage under main Storage Class 2014-11-08 11:36:09 +11:00
Victor Mayoral Vilches
46c8714996 AP_GPS: make the examples compile in Linux 2014-11-08 11:25:35 +11:00
Andrew Tridgell
14a6878bcd HAL_Linux: fixed termios settings on BBB initial boot 
this should fix the problem of losing the GPS in flight
 2014-11-07 22:15:28 +11:00
Andrew Tridgell
e22c8b27a9 HAL_PX4: if there are no enabled channels don't send to PX4IO 
this makes it possible to disable PWM output to IO to test override
 2014-11-07 10:39:07 +11:00
Andrew Tridgell
16fd113020 RC_Channel: added channel_function() 
this is used in the plane mixing code
 2014-11-07 10:39:07 +11:00
Clay McClure
71586d40e3 AC_WPNav: minor fix to comments 2014-11-06 11:53:56 +09:00
squilter
cab2010a8f AP_Arming: remove abbreviations from GCS messages 2014-11-06 11:13:26 +09:00
Jonathan Challinger
6c4d4713aa AP_NavEKF: Add parameter that specifies EKF-to-DCM/INAV fallback strictness 2014-11-06 10:03:52 +11:00
Jonathan Challinger
2293070a5b AP_GPS: Add uBlox accuracy metrics interface and logging 2014-11-06 07:38:41 +11:00
Jonathan Challinger
9be7039be1 DataFlash: add UBX3 message for accuracy logging 2014-11-06 07:38:41 +11:00
Jonathan Challinger
d03ed7a2c3 AP_Mount: Added lead filter 2014-11-06 07:35:32 +11:00
Andrew Tridgell
7e3b8a30f5 HAL_PX4: use px4io generated values for servo output readback 
this makes it easier to observe the behaviour of IO failsafe
 2014-11-05 21:54:53 +11:00
Andrew Tridgell
2b48434e60 AP_TECS: fixed throttle demand on underspeed 
thanks to Philipp Oettershagen for finding this bug!
 2014-11-05 07:55:18 +11:00
priseborough
d6508acfa5 AP_TECS : Prevent throttle undershoot after climb 
If the plane was unable to achieve the climb and got significantly below the internal TECS demanded climb profile, the the PD term would be a large value at the top of climb, and would take some time to reduce due to the rate limiter. This meant that the integrator state could be pushed to a very low value and effectively cause the throttle to sit on the lower limit for longer than desired after levelling out.
 2014-11-05 07:49:03 +11:00
Andrew Tridgell
3518cf5480 AP_InertialSensor: fixed default MPU9250 orientation for NavIO 2014-11-04 16:18:35 +11:00
Jonathan Challinger
369839c7ca AC_WPNav: Use target yaw instead of current yaw for close waypoints 2014-10-31 15:23:52 +09:00
Randy Mackay
1e4ec5f6a2 Camera: add f to float constants 2014-10-31 14:46:51 +09:00
Randy Mackay
ad7a9bf81b Camera: initialise image_index 2014-10-31 14:46:49 +09:00
Arthur Benemann
7bb4a39608 Camera: record number of pictures taken since boot 
The field is useful for detecting in a GCS if a mavlink_msg_camera_feedback message was dropped.
 2014-10-31 14:46:45 +09:00
Arthur Benemann
b48edf479b GCS_MAVLink: add CAMERA_FEEDBACK to enum 2014-10-31 14:46:40 +09:00
Arthur Benemann
2e4812afb5 Camera: Added feedback message support 
Now the autopilot can publish the state of the camera via the mavlink_msg_camera_feedback message.
 2014-10-31 14:46:38 +09:00
Jonathan Challinger
84da5d2d98 DataFlash: use new interface functions for EKF IMU weighting and accel biases 2014-10-30 18:17:38 +11:00
Jonathan Challinger
967986d5c6 AP_NavEKF: Split getAccelBias into getAccelZBias and getIMU1Weighting 2014-10-30 18:17:38 +11:00
Jonathan Challinger
ac2e5f644c DataFlash: fix bug in ekf gyro bias logging 2014-10-30 18:17:37 +11:00
Jonathan Challinger
bb6d8fd44a AP_NavEKF: Set prevDelAng after using it 2014-10-30 18:17:37 +11:00
priseborough
aca78d321f DataFlash : Remove unused numerical divergence metric 2014-10-30 18:17:37 +11:00
Jonathan Challinger
0727ac5c79 AP_NavEKF: clean up unused variable lastDivergeTime_ms 2014-10-30 18:17:37 +11:00
priseborough
5e51c09978 AP_NavEKF : Remove ineffective numerical divergence checks 2014-10-30 18:17:37 +11:00
priseborough
638d63aa90 DataFlash : Change to more descriptive EKF logging names 2014-10-30 18:17:37 +11:00
priseborough
6f759fdb8e AP_AHRS : Tidy up logic used to enable synthetic sideslip fusion 2014-10-30 18:17:36 +11:00
Andrew Tridgell
8506e8b5fb HAL_Linux: fixed linux build 2014-10-30 17:47:18 +11:00