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Author SHA1 Message Date
Lucas De Marchi
bf8d36fbe0 mk: add STDC format macros 2016-07-13 14:18:28 +10:00
Lucas De Marchi
ee62b61fc7 waf: use STDC format macros 2016-07-13 14:18:27 +10:00
Andrew Tridgell
f3f34be9c4 SITL: added comment on heli interlock 2016-07-12 20:50:22 +10:00
Randy Mackay
8681911a0b Copter: small fix to precision land descent rate 2016-07-12 18:40:25 +09:00
Jonathan Challinger
a4827aff53 Copter: slow down precision landing descent based on position error 2016-07-12 18:40:25 +09:00
Jonathan Challinger
e22220ab62 Copter: refactor landing to reduce duplication, use vertical vel ff 2016-07-12 18:40:25 +09:00
Jonathan Challinger
e311139a21 Copter: use terrain alt for precland if rangefinder is unavailable 2016-07-12 18:40:25 +09:00
Jonathan Challinger
0f4367744f Copter: update precland at 400hz, log at 25hz 2016-07-12 18:40:25 +09:00
Jonathan Challinger
630e5378da AC_PosControl: add get_horizontal_error 2016-07-12 18:40:25 +09:00
Jonathan Challinger
8fe0c1b05b AC_PrecLand: don't run if not enabled 2016-07-12 18:40:25 +09:00
Jonathan Challinger
e84d1581ab AC_PrecLand: use new irlock interface, refactor backend interface 2016-07-12 18:40:25 +09:00
Jonathan Challinger
6254608c45 AP_IRLock: refactor interface 2016-07-12 18:40:25 +09:00
Jonathan Challinger
d16e641709 PX4Firmware: include jshall's IRLock improvements 2016-07-12 18:40:25 +09:00
Andrew Tridgell
4f17093add SITL: give a bit more pitch on tail in XPlane heli 2016-07-12 19:08:50 +10:00
Andrew Tridgell
fdd20830d6 SITL: use flaps for collective on helis in X-Plane 10 
works for more helis
 2016-07-12 19:08:50 +10:00
Randy Mackay
6e224158f1 AP_GPS_MAV: use GPS_INPUT_IGNORE_FLAGS 2016-07-12 15:44:46 +09:00
Randy Mackay
e34aa0bc72 AP_GPS_MAV: minor formatting fixes 
No functional change
 2016-07-12 15:44:19 +09:00
Allan Matthew
1aaeceac2e Rover: support GPS_INPUT mavlink message 2016-07-12 15:35:23 +09:00
Allan Matthew
c479fcab39 Plane: support GPS_INPUT mavlink message 2016-07-12 15:35:09 +09:00
Allan Matthew
860773260f Copter: support GPS_INPUT mavlink message 2016-07-12 15:34:51 +09:00
Allan Matthew
4249f7dbe6 AP_GPS: Add GPS_MAV type and accept GPS_INPUT message 2016-07-12 15:34:27 +09:00
Randy Mackay
da71e7667f mavlink: submodule update to include GPS_INPUT 2016-07-12 15:11:24 +09:00
Tom Pittenger
84ce499a0d AP_Baro: remove zero-init in constructor 2016-07-11 22:11:34 -07:00
Tom Pittenger
1d81df8144 Revert "AP_Baro: coverity scan - variables not initialized in constructor" 
This reverts commit 8d2872d3ab.
 2016-07-11 22:02:41 -07:00
Tom Pittenger
7751bee3be Revert "Plane: coverity scan - variables not initialized in constructor" 
This reverts commit 9b807fa8a5.
 2016-07-11 22:02:30 -07:00
Tom Pittenger
9fb4a928e5 Revert "AP_Airspeed: coverity scan - variables not initialized in constructor" 
This reverts commit 93462d0fe3.
 2016-07-11 22:02:22 -07:00
Tom Pittenger
fc02908c0d Revert "GCS_MAVLink: coverity scan - variables not initialized in constructor" 
This reverts commit bd8debdf8b.
 2016-07-11 22:01:50 -07:00
Tom Pittenger
773372d2f3 Revert "AP_TECS: coverity scan - variables not initialized in constructor" 
This reverts commit 753c0d47f0.
 2016-07-11 22:01:26 -07:00
Tom Pittenger
c38c3ae7fe Revert "AP_TECS: coverity scan: init variable struct" 
This reverts commit 19713200e5.
 2016-07-11 22:01:02 -07:00
Tom Pittenger
be752164f4 Revert "AP_L1_Control: coverity scan - variables not initialized in constructor" 
This reverts commit d558f32142.
 2016-07-11 21:59:12 -07:00
Andrew Tridgell
871219d199 SITL: support helicopters with X-Plane 10 
we get collective from "throttle2" and get interlock from generator1 on/off
 2016-07-12 14:40:08 +10:00
Andrew Tridgell
e8976d3a89 Plane: check for optflow enable in more places 2016-07-12 09:05:52 +10:00
mirkix
d018a32545 Plane: Only init optflow when enabled by parameter 2016-07-12 09:00:46 +10:00
priseborough
8793c75da0 AP_NavEKF2: clean up mag field learned logic 2016-07-11 00:44:33 +10:00
priseborough
e6592186fc AP_NavEKF2: Tuning update 
Slow down magnetic field learning
 2016-07-10 08:21:18 +10:00
priseborough
10470b2dc1 AP_NavEKF2: fix bug in initialisation of declination co-variances 
Co-variances were being re-zeroed after being set. This meant that the initial declination learning was sensitive to measurement errors which could result in poor initial yaw accuracy.
 2016-07-10 08:21:18 +10:00
priseborough
6b04a81b8d AP_NavEKF2: Fix plane in-flight yaw reset bug 
Fixes bugs that prevented planes being able to reset yaw to GPS to recovery from takeoff with a bad magnetoemter.

1) If the velocity innovation check had not failed by the time the in-air transition occurred, then the yaw reset would not be performed
2) The velocity states were not being reset
3) The non fly-forward vehicle (copter) reset could occur first and effectively lock out the fly-forward vehicle (plane) yaw check.
 2016-07-10 08:21:18 +10:00
priseborough
51dbed2338 AP_NavEKF2: remember mag field states between flight on same power cycle 
Remember the mag bias and earth field states learned during flight when the vehicle  lands.
This improves performance for vehicles that do multiple flight on one power cycle
 2016-07-10 08:21:18 +10:00
priseborough
136df7cb5c AP_NavEKF2: reduce declination errors on start of 3-axis fusion 
Reset co-variances for NE field states.
 2016-07-10 08:21:18 +10:00
priseborough
744f19cd2d AP_NavEKF2: Improve scaling of output predictor I gain 
Provide consistent overshoot of 5% across a wider range of time constants and prevent selection of larger time constants causing 'ringing' in the position and velocity outputs.
 2016-07-09 15:57:36 +10:00
priseborough
a49c16d63c AP_NavEKF2: Update output filter tuning 
Updated tuning to take advantage of corrected time delta dtEkfAvg
 2016-07-09 15:57:36 +10:00
priseborough
55dee347e0 AP_NavEKF2: Fix bug in averaged filter delta time 
Average EKF time delta was not being updated.
 2016-07-09 15:57:36 +10:00
priseborough
cc7caa27bc DataFlash: Use a unique struct for EKF2 logging 2016-07-09 15:57:35 +10:00
priseborough
772c719df3 DataFlash: log tracking error for active instance of EKF2 2016-07-09 15:57:35 +10:00
priseborough
927186339c AP_NavEKF2: Improved output predictor tracking 
Implement a PI feedback controller for velocity and position state tracking
 2016-07-09 15:57:35 +10:00
priseborough
00b66ddc07 DataFlash: Log EKF2 output predictor tracking data 2016-07-09 15:57:35 +10:00
priseborough
253f744824 AP_NavEKF2: Collect output predictor tracking data 2016-07-09 15:57:35 +10:00
priseborough
14bb4f4574 AP_NavEKF2: Publish output observer tracking errors 2016-07-09 15:57:35 +10:00
priseborough
fa435d0323 AP_NavEKF2: Allow for faster accel bias change in-flight 
Fixes a problem observed in a flight log where rapid temperature change caused the accel bias to change faster than the EKF could keep up.
This allows the bias to be learned faster but with acceptable level of noise in the estimate
 2016-07-09 15:57:35 +10:00
priseborough
191c34612d AP_NavEKF2: Fix bug in use of corrected IMU data 
IMU data was being corrected before being used by the co-variance prediction, whereas the delta angles and velocities in the derivation were supposed to be uncorrected.
This patch creates separate variable for the corrected data
 2016-07-09 15:57:35 +10:00