ardupilot

mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00

Author	SHA1	Message	Date
bugobliterator	34ba77e048	HAL_Linux: Correct faulty RCOutput driver solve compiler not looking ahead of RCOutput class for read and write methods	2014-07-14 09:10:23 +10:00
bugobliterator	26cd4ad237	HAL_Linux: Correct indentation	2014-07-14 09:10:23 +10:00
Siddharth Bharat Purohit	69a4b7d632	HAL_Linux: Correct Indentation issue	2014-07-14 09:10:23 +10:00
Siddharth Bharat Purohit	731d80e6c5	HAL_Linux: Add Steps to Manually test pwm channels	2014-07-14 09:10:13 +10:00
Siddharth Bharat Purohit	b53b3f415a	HAL_Linux: Create Readme.md adding details on manually testing pru pwm	2014-07-14 09:10:03 +10:00
bugobliterator	a7de5e3d0f	HAL_Linux: Add initial RCOutput driver The functions in RCOutput.cpp are defined to access PWM over PRU sysfs device from userspace using open, read, write and close methods.	2014-07-14 09:09:53 +10:00
Víctor Mayoral Vilches	3354fa9fc8	AP_HAL_Linux: Add support for SPIDevice_MS5611	2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches	1c07985518	AP_InertialSensor_MPU9150: Comment the suspend_timer_procs It causes the driver to hang. This matter should be inspected.	2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches	d65aefbef5	AP_InertialSensor_MPU6000: Fix the test code so that compiles.	2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches	9797867067	AP_Baro_MS5611: Fix the test code so that compiles. Add HAL_BOARD_LINUX and HAL_BOARD_ERLE compatibility.	2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches	9f5b4ffca4	AP_HAL_Linux_Class: Correct deadlock, and infinite loop in setup() (credit to Mitch Miers <mmiers@mmiers.com>): setup() is attempting to initialize the hardware, and while doing so is attempting to output some text via the console (and maybe mavlink data). The problem is, the output isn't going to complete once a write buffer is full, because LinuxUARTDriver::_timer_tick() doesn't perform work until _initialized is true. So, what happens is, setup() (and subroutines) call LinuxUARTDriver::_write(uint8_t c), which loops waiting for buffer space to become available (once the write buffer is full). The buffer never gets space, because the UART thread is waiting for initialization to complete before it will write out data and drain the buffer, but that doesn't happen until setup() returns (see AP_HAL_Linux_main.h). Refer to https://groups.google.com/forum/#!topic/beaglepilot/dQlxse11JNI	2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches	fac3d1c271	AP_InertialSensor_MPU9250: SPI userspace sensor driver. InvenSense MPU9250 sensor driver and test code (available under libraries/examples/).	2014-07-14 09:02:47 +10:00
Víctor Mayoral Vilches	27ebf790e2	AP_HAL_Linux: Add support for SPIDevice_MPU9250 The Invensense MPU9250 SPI device is connected to SPI1, thereby SPIDriver class should return the corresponding device.	2014-07-14 09:02:46 +10:00
Víctor Mayoral Vilches	5493be1b0d	AP_HAL: Add SPIDevice_MPU9250 as a device.	2014-07-14 09:02:46 +10:00
Víctor Mayoral Vilches	815c2df2d0	AP_HAL_Linux: SPIDriver, add MPU6000 support	2014-07-14 08:52:51 +10:00
Víctor Mayoral Vilches	4d79887cc5	L3G4200D: fix in the test example provided. The test coded had a call to "wait_for_sample" that expected one argument and 0 where provided.	2014-07-14 08:52:51 +10:00
Andrew Tridgell	74ee70d463	HAL_Linux: updates for ERLE board type	2014-07-14 08:52:27 +10:00
Andrew Tridgell	ab7e96b9de	AP_InertialSensor: updates for ERLE board type	2014-07-14 08:51:44 +10:00
Victor Mayoral Vilches	44320708a7	AP_InertialSensor_MPU9150: I2C userspace driver sensor added. The MPU9150 is a 9 axis sensor that includes 3 accelerometers, 3 gyroscopes and 3 magnetometers. All accessible through I2C. The AP_InertialSensor_MPU9150 class allows APM to use this sensor.	2014-07-14 08:16:29 +10:00
Victor Mayoral Vilches	1445781104	AP_Common: added fire cape product ID	2014-07-14 08:16:29 +10:00
Randy Mackay	7e04b5d1f1	INS: calibrated method checks all accelerometers	2014-07-13 22:05:21 +09:00
Jonathan Challinger	762bb3e6e8	AC_AttitudeControl: Limit _pos_target.z to below alt_max before computing error	2014-07-13 21:14:34 +09:00
Andrew Tridgell	28fedba4d8	AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF this allows us to return a constant vector for the corrected gyro estimate. Based on discussions with Jon Challinger	2014-07-13 21:56:39 +10:00
Jonathan Challinger	966d66ef40	AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro	2014-07-13 21:34:44 +10:00
Jonathan Challinger	61987f6655	AP_AHRS: Fixed DCM get_gyro function Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.	2014-07-13 21:19:29 +10:00
Jonathan Challinger	5f66027ba3	AC_AttitudeControl: Fixup some minor mistakes in AC_PosControl	2014-07-13 17:17:31 +09:00
Robert Lefebvre	92bdf24dba	AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later.	2014-07-13 17:11:22 +09:00
Robert Lefebvre	a7f6a91827	AC_AttitudeControl_Heli: Remove ToDo. Rate controllers should always run even if throttle is zero.	2014-07-13 17:11:20 +09:00
Randy Mackay	f630f9abc3	GPS: exclude SIRF and NMEA on APM copter build This only works for the centralised builder, the modified Arduino IDE will still include the NMEA and SIRF drivers meaning it will require approximately 4k additional flash which may push us over the limit on the APM2. Users will instead need to exclude other features to get below the APM1/2 flash limit.	2014-07-13 15:41:11 +09:00
Andrew Tridgell	ddb030088d	GCS_Mavlink: moved some more mavlink functions to GCS_Common.cpp	2014-07-13 15:37:49 +10:00
Randy Mackay	971411e0db	AC_AttControl: fixed typo in parameter description	2014-07-13 10:31:11 +09:00
Randy Mackay	5f623ac859	AC_AttControl: re-enable rate feedforward by default Roll and Pitch rate controllers became sluggish without feed-forward enabled.	2014-07-11 15:31:00 +09:00
Randy Mackay	bbf4805b0e	Compass: update pixhawk expected device ids	2014-07-11 11:10:18 +09:00
Craig Elder	c9f3adcb5c	Compass: Updated COMPASS_PRIMARY parameter description	2014-07-10 15:32:06 -07:00
Craig Elder	0ecd12b1c6	AP_Compass: Corrected typo in parameter description Corrected typo in parameter description	2014-07-10 14:19:19 -07:00
Randy Mackay	fa2f5d9c68	Arming: accept non-const compass in constructor The compass.configured() method checks the eeprom and cannot be const meaning the Arming object requires a non-const reference to the compass. Removed check for null compass because the compass object is always created although this could lead to unnecessary pre-arn check failures even though compass-use is set to false.	2014-07-10 22:50:52 +09:00
Randy Mackay	4995b9ada8	Compass: default device id to zero	2014-07-10 20:25:36 +09:00
Randy Mackay	16d4af8346	Compass: sanity check instance in set_and_save_offsets	2014-07-10 20:25:32 +09:00
Randy Mackay	76369d153f	Arming: use compass.configured method This checks that when compass offset learning is off, that the offsets are non-zero and that the detected device id matches the device id stored to eeprom when the offsets were last saved.	2014-07-10 20:25:30 +09:00
Randy Mackay	cf7e1a6339	Compass: example sketch update for set_and_save_offsets	2014-07-10 20:25:13 +09:00
Randy Mackay	a778522cef	Compass: add learn_offsets_enabled accessor method	2014-07-10 20:25:11 +09:00
Randy Mackay	108c878b04	Compass: set_offsets modified to also save offsets	2014-07-10 20:25:08 +09:00
Randy Mackay	124bd4b489	Compass: save_offsets accepts compass instance	2014-07-10 20:25:05 +09:00
Randy Mackay	2c1fa5f1e8	GCS_MAVLink: generate after adding deprecated note to SET_MAG_OFFSETS	2014-07-10 20:25:02 +09:00
Randy Mackay	798c749833	GCS_MAVLink: add deprecated note to SET_MAG_OFFSETS	2014-07-10 20:25:00 +09:00
Randy Mackay	05225636da	GCS_MAVLink: generate after adding second mag to PREFLIGHT_SET_SENSOR_OFFSETS	2014-07-10 20:24:58 +09:00
Randy Mackay	bf6fd6f984	GCS_MAVLink: add second mag to PREFLIGHT_SET_SENSOR_OFFSETS Updates the comments for parameter 1 only, this does not affect the message format.	2014-07-10 20:24:55 +09:00
Randy Mackay	070f1c1bbb	Compass: add dev_id for VRBrain	2014-07-10 20:24:49 +09:00
Randy Mackay	f42c9579d7	Compass: add dev_id for PX4 dev_id is retrieved from PX4Firmware via ioctl call	2014-07-10 20:24:46 +09:00
Randy Mackay	b7f33d81ad	Compass: add DEV_ID param and configured method These allow checking the offsets were created with the current compass device.	2014-07-10 20:24:44 +09:00
svefro	be9bfc5530	Mount: set_mode method made public	2014-07-10 13:03:43 +09:00
Andrew Tridgell	d325f630e5	VibTest: added sample timing to console output	2014-07-09 12:12:23 +10:00
Andrew Tridgell	8af876fe8a	AC_AttitudeControl: fixed build includes are case sensitive on the build server	2014-07-09 10:19:17 +10:00
Andrew Tridgell	863e7a5f93	VibTest: fixed array bounds error	2014-07-09 08:11:52 +10:00
Andrew Tridgell	2c8240dbb4	VibTest: fixed gyro timestamps in logs it was using the accel timestamps	2014-07-09 08:10:09 +10:00
Robert Lefebvre	789b1018fc	AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors.	2014-07-08 20:18:39 +09:00
Robert Lefebvre	fd542e99d8	AP_MotorsHeli: Create Delta Phase Angle variable and method to set. Will be used by CCComp code.	2014-07-08 20:18:34 +09:00
Robert Lefebvre	0680b88abd	AP_MotorsHeli: Add main loop rate time variable and method. Change RSC increment calc to account for loop rate time.	2014-07-08 20:18:20 +09:00
Robert Lefebvre	26be7aed97	AC_AttControl_Heli: Add LPF filter to Rate Feedforward terms	2014-07-08 20:18:13 +09:00
Robert Lefebvre	fa9d625e39	AC_HELI_PID: Add feedforward accessor functions.	2014-07-08 20:18:05 +09:00
Robert Lefebvre	979abb9fbd	TradHeli: Cause DDVP Tail Motor to stop immediately when Ch8 is 0.	2014-07-08 20:18:02 +09:00
Andrew Tridgell	b2bc098aee	HAL_PX4: avoid some float conversion warnings	2014-07-08 20:27:19 +10:00
Andrew Tridgell	e137bf26ef	HAL_Empty: avoid some float conversion warnings	2014-07-08 20:27:13 +10:00
Andrew Tridgell	59de5a8465	AP_GPS: avoid some float conversion warnings	2014-07-08 20:27:03 +10:00
Andrew Tridgell	74c3b404ee	AP_Baro: avoid some float conversion warnings	2014-07-08 20:26:54 +10:00
Andrew Tridgell	6b87c9fdf7	AP_Airspeed: avoid some float conversion warnings	2014-07-08 20:26:44 +10:00
Andrew Tridgell	f28946defb	AP_ADC_AnalogSource: avoid some float conversion warnings	2014-07-08 20:26:37 +10:00
Andrew Tridgell	198ada2b42	APM_Control: avoid some float conversion warnings	2014-07-08 20:26:20 +10:00
Andrew Tridgell	baa0217bec	AP_RangeFinder: trigger a new reading automatically this fixes Maxbotix I2C	2014-07-08 16:28:18 +10:00
Andrew Tridgell	f6d9bc5d7e	AP_RangeFinder: fixed detection of multiple types Pair-Programmed-With: Allyson Kreft	2014-07-08 15:08:18 +10:00
Andrew Tridgell	7ceb14bec0	HAL_Empty: make I2C ops fail	2014-07-08 15:08:18 +10:00
Andrew Tridgell	9386295428	AP_RangeFinder: added SONAR2_TYPE parameter thanks to Allyson for noticing	2014-07-08 15:08:18 +10:00
Andrew Tridgell	05d4f5fb5a	AP_RangeFinder: convert PX4 driver to new API	2014-07-08 15:08:18 +10:00
Andrew Tridgell	4cba48ade2	AP_RangeFinder: removed old style analog drivers replaced by generic analog driver	2014-07-08 15:07:51 +10:00
Andrew Tridgell	ed346fd639	AP_RangeFinder: convert MaxbotixI2C driver to new API	2014-07-08 15:07:51 +10:00
Andrew Tridgell	0063d83dbc	AP_RangeFinder: convert the PulsedLight driver to new API not tested yet	2014-07-08 15:07:50 +10:00
Andrew Tridgell	22b9059647	AP_RangeFinder: have two instances on all platforms rover needs two sonars for obstacle avoidance	2014-07-08 15:07:50 +10:00
Andrew Tridgell	e69a473315	SITL: update simulated sonar support	2014-07-08 15:07:50 +10:00
Andrew Tridgell	6f33ca4988	AP_RangeFinder: added SONAR_RMETRIC option this allows correct support for non-ratiometric rangefinders such as the SF/02	2014-07-08 15:07:50 +10:00
Andrew Tridgell	92b76b4be4	AP_RangeFinder: converted analog rangefinder backend to new API this gets analog rangefinders of all types working	2014-07-08 15:07:50 +10:00
Andrew Tridgell	cb037f3416	AP_RangeFinder: new rangefinder API ready for its first backend the backends are setup to have just the minimum functionality needed for a rangefinder, with all of the higher level logic in the frontend. This should make writing a new backend easier	2014-07-08 15:07:50 +10:00
Andrew Tridgell	429431157b	AP_RangeFinder: disable old rangefinder drivers these will be re-enabled when they are converted to the new class API	2014-07-08 15:07:50 +10:00
akdslr	d759a9dd9b	AP_RangeFinder: Seperated the Backend driver functionality into a separate class	2014-07-08 15:07:49 +10:00
akdslr	3f17969b19	AP_RangeFinder: Changes from the May 4th plane test flight	2014-07-08 15:07:49 +10:00
akdslr	2e586ccfb2	AP_RangeFinder_PulsedLightLRF: Updated the value to write to the register to trigger a measurement	2014-07-08 15:07:49 +10:00
akdslr	5f4168d5f8	AP_RangeFinder_PX4_test: Added an example sketch for the PX4 range finder	2014-07-08 15:07:49 +10:00
akdslr	18c06277f8	AP_RangeFinder: Added a new PX4 range finder and modified the RangeFinder parent class to support having multiple devices simultaneously	2014-07-08 15:07:49 +10:00
akdslr	a2df275bd9	AP_RangeFinder_PulsedLightLRF: Updated the register definitions for the new hardware	2014-07-08 15:07:49 +10:00
Andrew Tridgell	e118984c26	AP_Baro: save some flash and memory on APM2 we don't need the I2C MS5611 driver	2014-07-08 14:21:42 +10:00
Andrew Tridgell	d50d5b8f24	VibTest: fixed sample count output on console	2014-07-08 10:59:30 +10:00
Andrew Tridgell	03770c4d34	VibTest: added gyro data and support 3 sensors will be used for vibration testing on FMUv3	2014-07-08 10:07:58 +10:00
Randy Mackay	2b64c511ed	AC_WPNav: update yaw only when track is at least 2m	2014-07-06 17:02:12 +09:00
Randy Mackay	c9661cfb09	AC_WPNav: integrate set_desired_velocity_xy function name change	2014-07-06 17:01:10 +09:00
Randy Mackay	82ed70b25e	AC_PosControl: add xyz velocity controller Velocity controller interpretsthe velocity requests as desired velocities (i.e. feed forward). These are then used to update the target position and also added to the target velocity. Also renamed the set_desired_velocity() function to set_desired_velocity_xy() to make clear only lat and lon axis are updated.	2014-07-06 17:01:02 +09:00
Randy Mackay	fe8a5be802	AP_Mission: support MAV_CMD_NAV_VELOCITY msg	2014-07-06 17:01:00 +09:00
Randy Mackay	34b91496f9	GCS_MAVLink: generate after adding CMD_NAV_VELOCITY	2014-07-06 17:00:57 +09:00
Randy Mackay	35167c262e	GCS_Mavlink: add MAV_CMD_NAV_VELOCITY This is an earth frame velocity request message	2014-07-06 17:00:55 +09:00
Randy Mackay	9103899048	GCS_Common: minor typo in comments	2014-07-06 17:00:52 +09:00
Randy Mackay	f4c9d58051	AP_Mission: add support for MAV_CMD_NAV_GUIDED	2014-07-06 17:00:26 +09:00
Randy Mackay	be003c1906	GCS_MAVLink: generate after adding CMD_NAV_GUIDED	2014-07-06 17:00:24 +09:00
Randy Mackay	05c63592ce	GCS_MAVLink: add CMD_NAV_GUIDED to ardupilotmega.xml	2014-07-06 17:00:21 +09:00
Andrew Tridgell	c138244155	AP_Compass: support 3 mags on PX4	2014-07-04 12:07:47 +10:00
Emile Castelnuovo	b420a5c6db	AP_HAL_VRBRAIN: removed empty lines	2014-07-03 11:09:20 +10:00
Niels Joubert	fabd7601f0	GPS: Fix dataflash logging bug in SBP driver	2014-07-03 09:57:10 +10:00
Niels Joubert	b57d1f5245	GPS: Include 75-class CPUs in RTK support since they will have 64 bit floating point values.	2014-07-03 09:57:07 +10:00
Andrew Tridgell	849c4905fb	HAL_PX4: print overtime message on stuck task this should make it easier to narrow down stuck task bugs	2014-07-03 09:11:24 +10:00
Andrew Tridgell	67f5ba0b94	AP_Scheduler: added current_task static will be used to debug stuck tasks on PX4	2014-07-03 09:09:11 +10:00
Emile Castelnuovo	bdd9fe77c7	VRBRAIN: change default pin for analog input.	2014-07-01 12:23:25 +02:00
LukeMike	f70da39206	VRBRAIN: changed the management of the pwm output	2014-07-01 12:21:36 +02:00
LukeMike	fa4fffc878	VRBRAIN: deleted unnecessary customizations	2014-07-01 12:21:35 +02:00
Emile Castelnuovo	b2680984a5	AP_HAL_VRRBAIN: added comment	2014-07-01 12:21:34 +02:00
Andrew Tridgell	bed5db35c7	GCS_MAVLink: fixed missing header	2014-07-01 14:57:41 +10:00
Andrew Tridgell	4c22aa20ad	GCS_MAVLink: regenerate headers	2014-07-01 14:26:44 +10:00
Andrew Chapman	7cdd5a700b	CameraFeedback: alt rel/msl, renamed CAMERA_EVENT - include both “alt_msl” and “alt_rel” - rename CAMERA_EVENT to CAMERA_STATUS - clarify comments regarding message origin and order - change pitch/roll/yaw to be camera rather than vehicle, earth frame	2014-07-01 14:25:55 +10:00
Andrew Tridgell	544d872d65	GCS_MAVLink: fixed a shadowed variable	2014-07-01 09:18:20 +10:00
Andrew Tridgell	773bc7bcbe	GCS_MAVLink: added missing RTK headers	2014-06-30 20:06:34 +10:00
Andrew Tridgell	f9d87bcc88	AP_GPS: fixed build errors and warnings in SBP driver shadowed variables and implied casts in structures	2014-06-30 11:15:51 +10:00
Andrew Tridgell	bcb3d1af14	GCS_MAVLink: fixed flymaple build has dual GPS but no RTK support	2014-06-30 10:51:19 +10:00
Andrew Tridgell	fc11deb547	GCS_MAVLink: regenerate headers	2014-06-30 10:31:11 +10:00
Niels Joubert	fa78634959	AP_GPS: GPS calculates MAVLink messages for GPS and GPS_RTK	2014-06-30 10:30:16 +10:00
Niels Joubert	baf0697f48	GCS_MAVLink: Add support for GPS_RTK messages	2014-06-30 10:30:16 +10:00
Niels Joubert	ad5311c089	MAVLink: New message definitions for GPS_RTK	2014-06-30 10:29:57 +10:00
Niels Joubert	2b1169b0ab	AP_GPS: SwiftNav RTK Driver and GPS AutoSwitch param	2014-06-30 10:29:56 +10:00
Niels Joubert	fee79c5bac	SITL: Piksi Heartbeat Message support, Integer-RTK baseline simulation	2014-06-30 10:29:56 +10:00
Niels Joubert	a251d0010a	AP_NOTIFY: RTK GPS visual notification through faster blink	2014-06-30 10:29:56 +10:00
Niels Joubert	398f32d538	AP_Math: Comments on WGS coordinate conversions	2014-06-30 10:29:56 +10:00
Andrew Tridgell	1ed716976c	GCS_MAVLink: regenerate mavlink headers	2014-06-30 08:25:16 +10:00
Andrew Chapman	c6a76e8d97	CameraFeedback: added CAMERA_FEEDBACK_FLAGS for open/closed loop This is so a GCS can tell if a certain picture was definitely captured (e.g. with a CCB or machine vision cam) or only requested in the blink (e.g. uni-directional CHDK)	2014-06-30 08:24:38 +10:00
Andrew Tridgell	fd87f28a07	DataFlash: save some flash space on APM2 don't include log message headers that are not used on APM2	2014-06-30 07:58:42 +10:00
Andrew Tridgell	e6d8e329d5	DataFlash: allow logging of 3 accels/gyros	2014-06-30 07:58:30 +10:00
Andrew Tridgell	ca12592448	AP_InertialSensor: allow for 3 accels and 3 gyros on Pixhawk this supports FMUv3	2014-06-30 07:58:27 +10:00
Andrew Tridgell	ece01da10e	AP_InertialSensor: fixed _dump_registers() for MPU6000 need to take the semaphore to prevent bus errors	2014-06-29 12:11:21 +10:00
lthall	4072fcd99e	Inav: use horizontal body frame for accel corrections	2014-06-21 14:58:59 +09:00
Emile Castelnuovo	8f3a4bc88b	VRBRAIN: correction to AP_Compass_VRBRAIN.cpp	2014-06-19 11:27:45 +02:00
Emile Castelnuovo	946a461873	VRBRAIN: added VRBRAIN to #if	2014-06-19 11:27:44 +02:00
LukeMike	8f552d5758	VRBRAIN: Changed the management of VirtualRobotix's boards.	2014-06-19 11:27:38 +02:00
Michael Oborne	30a3927ea8	AP_Mount: fix where status_msg() is sent send to the channel where the trigger msg was sent from	2014-06-18 12:03:18 +10:00
svefro	b473f8fd4d	AP_RCMapper: Added warning to RCMAP_THROTTLE Warning user that changing RCMAP_Throttle could be dangerous	2014-06-17 21:04:19 +10:00
Randy Mackay	9b81e46e61	AP_Common: add example sketch	2014-06-17 20:53:53 +10:00
Randy Mackay	2f7dee3ba5	AP_Mission: squeeze loiter turns radius into high byte of p1	2014-06-17 20:53:50 +10:00
Randy Mackay	b79f729540	AP_Common: add LOWBYTE, HIGHBYTE macros	2014-06-17 20:53:47 +10:00
Randy Mackay	fa16e0967f	AP_Common: remove unused location mask definitions	2014-06-17 20:53:45 +10:00
Andrew Tridgell	e2fe3d2de7	GCS_MAVLink: re-generate headers	2014-06-17 20:21:54 +10:00
Andrew Tridgell	0db226daf5	GCS_MAVLink: merge in upstream changes	2014-06-17 20:19:35 +10:00
Andrew Chapman	87fcfbf9dd	GCS_MAVLink: re-generate MAVLink headers	2014-06-17 20:16:39 +10:00
Andrew Chapman	048767e389	GCS_MAVLink: camera feedback mavlink messages CAMERA_EVENT and CAMERA_FEEDBACK messages, and a couple of enums they use (CAMERA_EVENT_TYPES and CAMERA_FEEDBACK_FLAGS) Adjusted some types and added more explicit descriptions of units as suggested on the call last week. I will add camera parameter list/get/set functionality as suggested using the existing parameter mechanism and component IDs rather than the new CAMERA_INFO messages I had proposed.	2014-06-17 20:15:20 +10:00
Randy Mackay	11e08e1492	DataFlash: common Log_Write_Camera pair programmed with Craig Elder	2014-06-17 14:11:36 +10:00
Randy Mackay	0c9a496262	AC_AttControlHeli: add ATC_RATE_FF_ENAB parameter Because this class inherits from AC_AttitudeControl library this new parameter must be added here as well	2014-06-10 21:25:33 +09:00
Randy Mackay	46f25c52a4	AC_AttControl: allow enabling/disabling feedforward and accel limiting	2014-06-10 20:03:02 +09:00
Randy Mackay	a2f54fdf2c	AC_WPNav: smooth waypoint by freezing feed-forward and allowing overshoot First part of this fix is freezing the position controller's xy-axis feed foward as we transition to the new segment. Second part is work-around for straight line segments in that we allow the target point to actually overshoot the end of the segment by up to 2m if the segment is a "fast waypoint". Ideally we would instead notice the waypoint has been completed and take any left over time or distance and move our target along the track towards the next waypoint but that would require a much larger change to allow the wpnav lib to hold the next two waypoints.	2014-06-10 20:03:01 +09:00
Randy Mackay	ce85d1f6b2	AC_WPNav: use curr pos target as spline origin We only use the current target position as origin if the waypoint controller is active (i..e has been used in the past 1 second). This is consistent with how we initialise straight line waypoints	2014-06-10 20:02:59 +09:00
Randy Mackay	130eb07d48	AC_AttControl: angle_ef_roll_pitch_rate_ef_yaw supports zero yaw accel	2014-06-10 20:02:58 +09:00
Randy Mackay	02b4b21f67	AC_AttControl: disable feed forward by default Can be re-enabled by setting ATC_RATE_FF_ENAB parameter to 1	2014-06-10 20:02:55 +09:00
Randy Mackay	b57c0dabf6	AC_AttControl: check accel_rp_max instead of rate_bff_ff_enabled We use the accel_rp_max, accel_y_max to check whether to apply accel limiting or not. This is related to separate from the body-frame-feed-forward.	2014-06-10 20:02:54 +09:00
Randy Mackay	2bb30b3ef9	AC_AttControl: add set_yaw_target_to_current_heading method	2014-06-10 20:02:49 +09:00
Randy Mackay	d9c966c927	AC_AttControl: RATE_FF_ENAB param to disable rate feed forward	2014-06-10 20:02:48 +09:00
Randy Mackay	4d4c7a2118	AC_AttControl: move freeze_ff to flags structure	2014-06-10 20:02:46 +09:00
Randy Mackay	a662f87ffb	AC_AttControl: remove resolved To-Do This To-Do is resolved by heli flight modes calling the relax_bf_rate_controller method	2014-06-10 20:02:45 +09:00
Randy Mackay	7f734f38d6	AC_AttControl: add earth frame angle constraints This should help recovery time if pilot switches out of ACRO (into Stabilize, AltHold, etc) while inverted	2014-06-10 20:02:43 +09:00
Randy Mackay	698cf934b8	AC_AttControl: formatting fixes	2014-06-10 20:02:42 +09:00
lthall	2bb63857fa	AC_AttControl: clean up stabilize	2014-06-10 20:02:40 +09:00
lthall	c24d293e1b	AC_AttControl: zero _accel_xyz_max stops feed forward Also added place holder for turning off feed forward.	2014-06-10 20:02:39 +09:00
lthall	8bbce7e658	AC_PosControl: freeze feed forward for alt control in Auto	2014-06-10 20:02:36 +09:00
lthall	922026c15c	AC_AttControl: rate compensation for yaw	2014-06-10 20:02:34 +09:00
lthall	0d87298221	AC_PosControl: freeze feed forward and vector fixes	2014-06-10 20:02:33 +09:00
Randy Mackay	5209598459	AC_AttControl: rename init_targets to relax_bf_rate_controller	2014-06-10 20:02:27 +09:00
lthall	1bdde31f6b	Copter: Fix zero throttle flip issue Stabilize The problem is that the init_targets is intended to ensure the controller doesn't build up the I term when the throttle is low. Because it is poorly named (or used) it have been written to do something else. Here I change it to do what the code is trying to use it to do.	2014-06-10 20:02:01 +09:00
Randy Mackay	915dad2da4	AC_Circle: use fast_atan2 to calc bearing from center This does not save much time because it's only called at initialisation	2014-06-06 18:51:09 +09:00
Randy Mackay	f23e94707c	AC_WPNav: use fast_atan2 for bearing calcs	2014-06-06 18:51:08 +09:00
David Dewey	17374ff5e8	AP_Math: fast_atan2 This is 126us per call vs 199us on the AVR. it is accurate to about 0.28 degrees Committed by rmackay9 but contribution is from David Dewey	2014-06-06 18:50:41 +09:00
Ju1ien	28ce66f314	INav: clear historic z-axis position estimate when set_altitude called	2014-06-06 18:42:42 +09:00
Randy Mackay	efd6d6dc70	AC_WPNav: spline div by zero fix Also add check for straight line navigation to ensure speed is not reduced below zero when it hits the leash limit Also minor formatting changes	2014-06-05 22:23:38 +09:00
lthall	0912bec8f5	Spline div zero and leash limit fix	2014-06-05 22:23:35 +09:00
Andrew Tridgell	f0df912a11	AP_Mission: added support for MAV_CMD_DO_INVERTED_FLIGHT	2014-06-05 15:44:18 +10:00
Andrew Tridgell	ef4a79cc9a	GCS_MAVLink: rebuild MAVLink headers	2014-06-05 15:44:03 +10:00
Andrew Tridgell	67937b5b79	GCS_MAVLink: added MAV_CMD_DO_INVERTED_FLIGHT used to invert from a mission	2014-06-05 15:43:46 +10:00
Andrew Tridgell	5a1aa8dfe7	AP_L1_Control: implement turn_distance() with turn angle uses a linear approximation for now.	2014-06-05 09:34:23 +10:00
Andrew Tridgell	7a6186f7e6	AP_Navigation: added a turn_distance() method with turn_angle	2014-06-05 09:33:42 +10:00
Andrew Tridgell	49f93b91b2	APM_OBC: fixed formatting to match APM coding standard	2014-06-02 10:47:02 +10:00
Andrew Tridgell	e9e1799700	AP_Compass: fixed VRBrain build	2014-06-02 10:42:37 +10:00
Andrew Tridgell	d554616e86	AP_EPM: fix for HAL_GPIO_*	2014-06-02 10:42:36 +10:00
Andrew Tridgell	3705c90b8e	AP_Baro: fix for HAL_GPIO_*	2014-06-02 10:42:36 +10:00
Andrew Tridgell	d70bee9249	AP_AHRS: fix for HAL_GPIO_*	2014-06-02 10:42:36 +10:00
Andrew Tridgell	0d83d4f4f5	APM_OBC: fix for HAL_GPIO_*	2014-06-02 10:42:36 +10:00
Andrew Tridgell	1e2214f8d1	DataFlash: fix for HAL_GPIO_*	2014-06-02 10:42:36 +10:00
Andrew Tridgell	732cd0e130	AP_Relay: fix for HAL_GPIO_*	2014-06-02 10:42:36 +10:00
Andrew Tridgell	50c08ced4c	AP_Notify: fixes for HAL_GPIO_*	2014-06-02 10:42:35 +10:00
Andrew Tridgell	4c43cd9775	AP_InertialSensor: fixes for HAL_GPIO_*	2014-06-02 10:42:35 +10:00
Andrew Tridgell	805d79debe	HAL_FLYMAPLE: fix for HAL_GPIO_*	2014-06-02 10:42:35 +10:00
Andrew Tridgell	3015356671	HAL_AVR: fixes for HAL_GPIO_ define change	2014-06-02 10:42:35 +10:00
Andrew Tridgell	18a64d17d3	AP_HAL: added HAL_ prefix to GPIO_ defines this fixes a bug caused by GPIO_INPUT and GPIO_OUTPUT already being defined in NuttX, which caused pinMode() not to setup pins for output when requested	2014-06-02 09:24:52 +10:00
Andrew Tridgell	fa4eb5475a	HAL_PX4: implement analog input stop pins this allows multiple sonars to cooperate without interference	2014-06-02 08:35:41 +10:00
Randy Mackay	2b0f142a17	AC_PosControl: fix typo in D-filter definition	2014-05-29 17:50:48 +09:00
Randy Mackay	7e3213edbf	AC_AttControl: increase default accel max	2014-05-29 17:40:26 +09:00
Randy Mackay	29ca7a10df	AC_PosControl: set alt hold accel control D term filter	2014-05-29 17:40:23 +09:00
Randy Mackay	0969e464fb	AC_AttControl: set roll, pitch, yaw rate control D term filters	2014-05-29 17:40:17 +09:00
Randy Mackay	faf3415e5e	AC_PID: example sketch prints individual P, I and D values	2014-05-29 17:39:19 +09:00
Robert Lefebvre	b35ec4339e	AC_PID: Add method to set the D-term Filter Rate from main code.	2014-05-29 17:39:10 +09:00
Robert Lefebvre	f1c3f2a3d1	AC_PID: Remove get_leaky_i function which is now found in AC_HELI_PID.	2014-05-29 17:39:08 +09:00
Robert Lefebvre	7c9249de93	AC_AttitudeControl_Heli: Change to use AC_HELI_PID class instead of AC_PID. Remove FF parameters from class.	2014-05-29 17:39:06 +09:00
Robert Lefebvre	6333b4bba6	AC_PID: update example sketch to test AC_HELI_PID	2014-05-29 17:39:01 +09:00
Robert Lefebvre	ef7dc815cd	AC_PID: Change Private members to Protected so that AC_HELI_PID can access them.	2014-05-29 17:38:59 +09:00
Robert Lefebvre	94e9bed9cf	AC_PID: Add new AC_HELI_PID as a child of AC_PID	2014-05-29 17:38:57 +09:00
Andrew Tridgell	0b6407256c	GCS_MAVLink: moved 3 more send_*() functions to GCS_Common.cpp	2014-05-28 09:35:30 +10:00
Andrew Tridgell	37c50d9587	HAL_PX4: fixed use of FMU servo pins as digital inputs these pins can be PWM output or digital input or digital output	2014-05-25 22:03:44 +10:00
Andrew Tridgell	2d9e9d9bc3	AP_Compass: added COMPASS_PRIMARY parameter this allows selection of which compass is the primary. Useful if the first compass starts giving spurious data (as happened in our plane)	2014-05-25 22:03:44 +10:00
priseborough	edc79ca2a4	AP_NavEKF: Increase divergence test margin based on analysis of more user flight logs Analysis of copter logs has shown cases with a healthy EKF where spikes in EKF4.DS of up to 25% of the threshold have occurred. A value of closer to 10% for normal operation is preferred.	2014-05-24 22:20:24 +10:00
Andrew Tridgell	aba11a0634	AP_L1_Control: wrap the target_bearing	2014-05-23 07:30:58 +10:00
Randy Mackay	cde7d31dad	AC_WPNav: fix divide by zero when origin and dest are same location	2014-05-22 21:18:24 +09:00
Andrew Tridgell	63da53c842	GCS_MAVLink: moved main update() routine into GCS_Common.cpp this fixes a common timeout error with loading large missions, and means less per-vehicle code	2014-05-21 12:45:25 +10:00
Andrew Tridgell	42c1501563	AP_Common: moved map_baudrate() into AP_Common this version supports a much wider range of baudrates	2014-05-21 12:45:25 +10:00
Andrew Tridgell	7d712f90bf	APM_OBC: adjusted docs for FS_HB_PIN thanks to Warren for the question	2014-05-21 12:45:25 +10:00
Randy Mackay	69ad632e2a	GPS: correct NAVFILTER parameter description These corrected values match the GPS_Engine_Setting enum in GPS.h Thanks to Adolfo R for noticing the issue and providing the fix	2014-05-20 22:08:40 +09:00
Andrew Tridgell	a7d6a26bec	HAL_PX4: fixed auto-flow control the 6 bytes written to break the radio out of bootloader broke auto flowcontrol detection	2014-05-19 22:02:39 +10:00
Randy Mackay	597d5227f5	AC_WPNav: rename set_loiter_target to init_loiter_target	2014-05-19 12:27:25 +09:00
Randy Mackay	e7b3c00767	AC_WPNav: set_loiter_target uses set_xy_target Loiter is only a horizontal position controller so it should not set the z-axis position. Moved pos_control.set_speed and accel functions so order matches init_loiter_targets function order	2014-05-19 12:27:20 +09:00
Ju1ien	aed5787c1b	AC_WPNav: bug fix for loiter init in Hybrid AC_PosControl::init_xy_controller() has been added to PosControl and is called by init_loiter_target. Hybrid is currently using set_loiter_target function to init the loiter controller. So we have to call init_xy_controller() by set_loiter_target function. What happens otherwise? In AC_PosControl::update_xy_controller, we update "now" with now = hal.scheduler->millis(); and, as _last_update_xy_ms has not been updated previously by init_xy_controller(), we just call init_xy_controller(). So, _dt_xy will be negative and used anyways in all the functions and PID called by update_xy_controller. That will avoid at least _accel_target.x/y to be set to 0 but I'm not sure for the high values, probably an I_term that is not reset and reached very high value. Or maybe a cast error somewhere... no clue at all	2014-05-19 12:27:16 +09:00
priseborough	5fe0d2c1b2	AP_NavEKF: Add protection for accel bias estimation errors Don't do bias estimation if tilted by more than 60 degrees to prevent scale factor errors affecting result unnecessarily. Prevent Kalman gain from having the wrong sign due to numerical errors associated with small process noise values. Allow smaller Z accel bias process noise values to be set	2014-05-18 08:09:00 +10:00
priseborough	3222e8f7cb	AP_NavEKF: Default parameter adjustments Bring Plane glitch protection thresholds into alignment with copter and rover Slight increase in accelerometer bias process noise to prevent bias estimate divergence into limits (Rover and Plane only as Copter does not seem respond as well to this change) effective increase in threshold on divergence test to allow increased margin for bad GPS velocities	2014-05-18 08:08:49 +10:00
Andrew Tridgell	65fd25fb5a	AP_InertialSensor: fixed example build	2014-05-18 08:08:19 +10:00
Andrew Tridgell	b99ae63cbb	HAL_Linux: more generic fix for scheduler issues in example sketches this ensures drivers can run	2014-05-16 22:40:38 +10:00
Andrew Tridgell	30f5e2c37f	AP_GPS: work around scheduling issue in example code	2014-05-16 22:35:32 +10:00
priseborough	e40e50e2e1	AP_NavEKF: Prevent start-up transients re-tripping divergence test	2014-05-16 22:05:22 +10:00
Andrew Tridgell	73976e2ca4	AP_GPS: fixed example build	2014-05-16 22:05:04 +10:00
Andrew Tridgell	8533aecf18	AP_InertialSensor: fixed example build	2014-05-16 21:24:25 +10:00
priseborough	a19015ed61	AP_NavEKF: Scale divergence check with covariance This provides consistent behaviour for a range of gyro bias process noise settings and automatically adjusts sensitivity as filter learns bias	2014-05-16 21:24:25 +10:00
priseborough	0337d44b2e	AP_NavEKF: Fix bug causing immediate clearing of diverged status on reset	2014-05-16 21:24:04 +10:00
priseborough	d150904dc6	AP_NavEKF: Increase gyro bias process noise This is required to stop the bias estimate from becoming too static towards the end of longer flights.	2014-05-16 21:24:04 +10:00
Andrew Tridgell	49e7ee9ba7	GCS_MAVLink: added setup_uart() method this provides a common way of dealing with UART setup for a GCS instance. It includes code to cope with SiK radios stuck in bootloader mode.	2014-05-16 11:44:33 +10:00
Andrew Tridgell	b3c1e515dc	AP_AHRS: when no accel info available in buffer use current value this prevents an initialisation error, and is reasonable in flight too Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-05-15 22:19:54 +10:00
Andrew Tridgell	315290029a	AP_AHRS: fixed check of accel sensor health we need to check health of each accelerometer separately	2014-05-15 22:18:56 +10:00
Andrew Tridgell	5edf4ba596	AP_NavEKF: fixed up handling of bitfields in faultStatus Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-05-15 21:42:39 +10:00
Andrew Tridgell	79edc4b467	GCS_MAVLink: re-generate with addition of MAV_SYS_STATUS_AHRS	2014-05-15 21:14:21 +10:00
Andrew Tridgell	ccebeba5a5	GCS_MAVLink: added MAV_SYS_STATUS_AHRS will be used to indicate AHRS health	2014-05-15 21:14:21 +10:00
priseborough	f01cc78d37	DataFlash: Add EKF fault status logging	2014-05-15 21:14:21 +10:00
priseborough	ce8e1daa16	AP_NavEKF: Improved divergence detection and reset Divergence is now detected by looking for very large changes in the gyro bias. This will cause the filter to be reset and declared unhealthy for 10 seconds. Don't reset filterDiverged status immediately during reset Set filterDiverged true if covariance blows up Add fault status reporting	2014-05-15 21:14:21 +10:00
Andrew Tridgell	5d2d6e0063	GCS_MAVLink: regenerated MAVLink headers	2014-05-15 21:14:21 +10:00
Andrew Tridgell	983ac9cbf4	GCS_MAVLink: merge in latest upstream XML changes	2014-05-15 21:14:21 +10:00
Andrew Tridgell	1a05c27bbb	AP_AHRS: added healthy() function this will be used to report when the AHRS subsystem becomes unhealthy	2014-05-15 21:14:21 +10:00
Andrew Tridgell	086142580a	AP_InertialSensor: added VibTest sketch logs all accel data at high rate to SD card	2014-05-15 21:14:21 +10:00
Jonathan Challinger	e883b889b6	SITL: Add compassmot interference	2014-05-15 21:14:20 +10:00
Randy Mackay	4ebde25a26	AP_Relay: add -1:Disabled to list of param values	2014-05-15 17:13:37 +09:00
Randy Mackay	5d20594fa4	AC_WPNav: bug fix for loiter and waypoint update rate Thanks to EmileC for spotting this	2014-05-12 20:13:46 +09:00
Andrew Tridgell	85ebe81ed3	AP_NavEKF: fixed logic for divergence test Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-05-11 18:00:38 +10:00
priseborough	40dc0e56fe	AP_NavEKF: Add protection for badly conditioned innovation variances	2014-05-11 18:00:38 +10:00
priseborough	925c5751bd	AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding This will enable in-flight magnetometer calibration to be inhibited unconditionally, This is required for long balloon carriage flights where ground speed can be high enough to put it into in-air state, but with very poor observability of magnetic field states causing bad state estimates and heading offsets to develop over time. The covariance matrix no longer has rows and columns artificially zeroed when in static mode. Instead booleans indicating whether wind or magentic field state estimation is active are used to: a) Set the process noise on these states to zero to stop their variances from increasing unchecked when not being updated, and b) Turn off updates for these states when measurement fusion is being performed. This reduces the likelihood of a badly conditioned covariance matrix forming during static mode operation. A filter divergence check has also been added that will declare the filter unhealthy if position, velocity and magnetic field observations are all failing their innovation consistency checks. This unhealthy status will persist for 10 seconds after the condition clears. AP_NavEKF: Remove unnecessary zeroing of wind covariances	2014-05-11 18:00:38 +10:00
priseborough	3026ccee13	AP_NavEKF: Use baro data during launch transients whilst in static mode Baro data can be used as it will still be valid during the launch and is not a synthesised measurement.	2014-05-11 18:00:38 +10:00
Randy Mackay	05f5164dfa	Mission: rename AUTORESET to RESTART	2014-05-09 11:31:37 +09:00
Hug0	6b0d5f9770	AP_InertialNav: fix pos error degradation rate degrate position_error to 10% over 2 seconds (assumes 5hz update rate) must be *0.7943 instead of 0.7934	2014-05-08 23:09:39 +09:00
Randy Mackay	badc127c34	AC_WPNav: fix example sketch	2014-05-08 16:25:13 +09:00
Randy Mackay	9b6a4e0fc7	AC_Sprayer: fix example sketch	2014-05-08 16:25:11 +09:00
lthall	9ab9eaec25	AC_WPNav: Loiter jerk default to 10m/s/s/s Pair programmed with Randy	2014-05-08 16:16:05 +09:00
Randy Mackay	1cb297580f	Copter: reduce Circle init twitch by using stopping point	2014-05-08 16:15:57 +09:00
Randy Mackay	091ff91a70	WPNav: add wp_and_spline_init to set speeds an init pos controller	2014-05-08 16:15:50 +09:00
Randy Mackay	c13db680b7	AC_PosControl: remove reset_I_xy lean_angles_to_accel is now used to load the position rate I terms based on vehicle's initial roll and pitch angle	2014-05-08 16:15:48 +09:00
Randy Mackay	cd8b1f278c	AC_PosControl: remove unused _cos_yaw variable Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of RAM Also made get_speed_up, get_speed_down, lean_angles_to_accel functions const	2014-05-08 16:15:46 +09:00
Randy Mackay	48ec0caf75	AC_WPNav: run navigation at 10hz in SITL	2014-05-08 16:15:44 +09:00
Randy Mackay	0819e05896	AC_PosControl: lean_angles_to_accel added for smooth initialisation init_xy_controller also added to capture initialisation all in one place	2014-05-08 16:15:41 +09:00
lthall	b38c484874	AC_WPNav: add LOIT_JERK parameter Limit accel output from loiter controller. Call new pos_control.init_xy_controller when loiter starts Remove sudden stop when pilot requested acceleration is zero Pair programmed with Randy	2014-05-08 16:15:38 +09:00
Randy Mackay	71fae1e6f2	AC_AttControl: lean_angle_max accessor fn const	2014-05-08 16:15:36 +09:00
Randy Mackay	fd9f8f571f	AC_WPNav: replace inav, ahrs pointers with references	2014-05-08 16:15:26 +09:00
lthall	21c93e48ab	AC_PosControl: include vel error when get_stopping_point_z Pair programmed with Randy	2014-05-08 16:15:24 +09:00
Randy Mackay	a1f1dd8059	AC_PosControl: add is_active_z method Consolidated z-axis timeout checks to save 4bytes of RAM Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent	2014-05-08 16:15:22 +09:00
Andrew Tridgell	74227cd7f0	AP_HAL: prevent some FastDelegate warnings	2014-05-08 11:11:03 +10:00
Andrew Tridgell	a295760e56	AP_Rally: fixed indentation previous indentation confused emacs24	2014-05-08 11:01:52 +10:00
Andrew Tridgell	4efcae46ab	SITL: cope with more rubbish startup values from JSBSim	2014-05-04 17:30:10 +10:00
Andrew Tridgell	320834a5e7	HAL_PX4: read from FRAM in 128 byte chunks (2nd try) this time without the amazingly silly bug	2014-05-02 22:12:45 +10:00
Andrew Tridgell	db6b96caa0	Revert "HAL_PX4: read from FRAM in 128 byte chunks" This reverts commit `a92366c455`. This commit may be associated with FRAM corruption on Pixhawk. Revert until we understand why	2014-05-02 21:52:26 +10:00
Andrew Tridgell	a92366c455	HAL_PX4: read from FRAM in 128 byte chunks this fixes FRAM read on Roberts Pixhawk. We don't know why yet.	2014-05-02 12:24:54 +10:00
Randy Mackay	937e9ea687	AC_PosControl: add set_target_to_stopping_point_xy method Fixed bug in get_stopping_point_xy in which it would update Z-axis target if vehicle was moving less than 10cm/s horizontally	2014-04-30 21:46:20 +09:00
Randy Mackay	7dd366d84e	AC_WPNav: init_loiter sets speed, accel before calcing stopping distance The stopping distance depends upon the speed and acceleration so these must be updated first	2014-04-30 21:46:18 +09:00
Randy Mackay	0103ae2eb0	AC_WPNav: add WPNAV_ACCEL_Z Allows configurable z-axis acceleration during missions	2014-04-30 21:46:12 +09:00
Randy Mackay	9f63de9b59	AC_PosControl: set_speed_z accepts positive descent speeds	2014-04-30 21:46:09 +09:00
Randy Mackay	510c9920a6	AC_WPNav: rename get_horizontal_velocity to get_speed_xy This new method name is consistent with the equivalent in the AC_PosControl class	2014-04-30 21:46:06 +09:00
Andrew Tridgell	eb1fb63e57	APM_Control: added logging of parameter changes in AUTOTUNE this will make it easier to analyse logs	2014-04-30 22:22:13 +10:00
Andrew Tridgell	871d0c0e44	APM_Control: moved the log structure to ArduPlane core this allows it to work with old style .log files	2014-04-30 21:22:28 +10:00
Andrew Tridgell	4f250579db	DataFlash: added LOG_ATRP_MSG define	2014-04-30 21:22:28 +10:00
priseborough	114bd56e2a	AP_NavEKF: Fix display names in parameter list	2014-04-30 06:35:41 +10:00
Randy Mackay	5cc26569fc	AP_Motors: fix example sketch	2014-04-29 20:46:34 +09:00
priseborough	5fefce5899	AP_NavEKF: Synthetic sideslip fusion numerical error protections	2014-04-29 17:26:45 +10:00
Jonathan Challinger	0bb7b8e938	AP_GPS: Fix bug that causes permanent lag if we miss a message	2014-04-29 15:35:46 +10:00
Randy Mackay	2be99d7a92	TriCopter: output_test for individual motors Based on original work by Nils Hogberg	2014-04-29 11:41:16 +09:00
Randy Mackay	07766e55f9	SingleCopter: output_test for individual motors Based on original work by Nils Hogberg	2014-04-29 11:41:14 +09:00
Randy Mackay	3610cfe24c	TradHeli: output_test for individual motors Based on original work by Nils Hogberg	2014-04-29 11:41:13 +09:00
Randy Mackay	8f74f5b3b0	CoaxCopter: output_test for individual motors Based on original work by Nils Hogberg	2014-04-29 11:41:12 +09:00
Randy Mackay	d63d82ec17	MotorMatrix: output_test for individual motors Based on original work by Nils Hogberg	2014-04-29 11:41:10 +09:00
Vizual54	11d02ea5d2	AP_Motors: output_test for individual motors Modified and integrated by Randy Mackay	2014-04-29 11:36:58 +09:00
Randy Mackay	6517638670	GCS_MAVLink: generate after adding DO_MOTOR_TEST	2014-04-29 11:23:07 +09:00
Randy Mackay	28846c6c99	GCS_MAVLink: add DO_MOTOR_TEST message	2014-04-29 11:23:04 +09:00
Andrew Tridgell	818e500509	AP_Mission: improve the AP_Mission docs DisplayName isn't a description	2014-04-29 11:46:06 +10:00
Andrew Chapman	782fbe1ec5	AP_Mission: added reset() function	2014-04-29 11:46:06 +10:00
Andrew Chapman	a80e72ff82	AP_Mission: added MIS_AUTORESTART parameter - added MIS_AUTORESTART parameter, defaults to 0 - added start_or_resume() function to either start or resume a mission based on that parameter value	2014-04-29 11:46:06 +10:00
Andrew Tridgell	cf9b67d8fc	GCS_MAVLink: prevent uninitialised bytes being written to a serial port	2014-04-27 15:34:30 +10:00
Randy Mackay	e855cfec02	AC_Fence: add 10sec manual recovery This resolves issue #461 by giving the pilot a minimum of 10 seconds to attempt to manually recover before the autopilot will attempt to retake control to bring the copter home or land.	2014-04-27 11:11:07 +09:00
Randy Mackay	db51d37071	AC_WPNav: add clear_pilot_desired_acceleration This allows quickly clearing out the pilot desired acceleration for loiter contoller.	2014-04-25 14:45:14 +09:00
Randy Mackay	06bef6e3b8	Parachute: clear release time when enabled This resolves an issue in which the parachute could be suddenly released when the user enabled the parachute. The sequence that could have caused this bad behaviour were (1) the parachute is triggered (2) the user disables the parachute in the 0.5sec between the trigger and the actual release, (3) the user re-enables the parachute and the old release time from (1) is used.	2014-04-24 19:22:11 +09:00
Randy Mackay	ad99918fee	AC_WPNav: recalc leash lengths if set_horizontal_velocity is called Resolves bug in which do-set-speed allowed reducing the speed during the mission but not increasing it. Slow down distance is also recalculated. Unnecessary call to calc_wp_leash_length removed from set_spline_origin_and_destination.	2014-04-24 13:16:08 +09:00
Randy Mackay	46fba47c8e	AC_WPNav: slow target point's speed near destination	2014-04-24 13:16:00 +09:00
priseborough	ecc8e45eda	AP_NavEKF: Fix bug in position reset logic	2014-04-23 18:16:02 +10:00
Andrew Tridgell	b0fd94f18e	AP_GPS: initialise a variable in uBlox driver	2014-04-23 18:15:53 +10:00
Randy Mackay	7c02a02bd8	AC_WPNav: reset_I flag moved to position controller	2014-04-23 15:00:14 +09:00
Randy Mackay	098f8169b0	AC_PosControl: add keep_xy_I_terms method Stops horizontal PID's I terms from being reset when the controller is next updated	2014-04-23 15:00:12 +09:00
Randy Mackay	4d5b73b968	AC_WPNav: add reset_I to set_loiter_target	2014-04-23 15:00:07 +09:00
Ju1ien	6c71569775	AC_PosControl: update_xy_controller allows not resetting I term	2014-04-23 14:59:49 +09:00
Ju1ien	5d0476e522	AC_WPNav: add reset_I to init_loiter_target	2014-04-23 14:59:47 +09:00
Randy Mackay	09a35cf90f	AC_PosControl: bugfix for freezing I-term build-up	2014-04-23 11:33:53 +09:00
Randy Mackay	559a258ede	AC_WPNav: bug fix to limit target point from moving beyond leash Also pull Z-axis acceleration from position controller instead of using #define	2014-04-22 23:05:11 +09:00
Randy Mackay	9c6995d8bb	AC_PosControl: add get_accel_z method	2014-04-22 23:05:08 +09:00
Randy Mackay	e565ee6d33	AC_PosControl: stop I term build-up when motors at max	2014-04-22 23:05:06 +09:00
Andrew Tridgell	e10542dcae	AP_Mission: added get_current_nav_index() function this will return 0 when there is no current command, which is what is expected in MAVLink when there is no mission (it prevents the text to speech announcing "65 thousand 6 hundred and thirty five", which is quite annoying!)	2014-04-22 11:40:18 +10:00
Michael Day	96173bfb8a	AP_Rally: Added one getter method and made a utility method public.	2014-04-22 11:40:18 +10:00
Randy Mackay	0e065e4894	AP_InertialNav: get_velocity_xy const	2014-04-21 21:59:38 +09:00
Randy Mackay	6f6c9e2585	AC_PosControl: bug fix to vertical speed limit Vehicle was not reaching target climb or descent rate because of incorrectly defaulted acceleration	2014-04-21 21:36:02 +09:00
Andrew Tridgell	25667a11a0	AP_NavEKF: use AHRS vehicle class for sideslip calculation Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-21 18:13:12 +10:00
Andrew Tridgell	5acd17b843	AP_NavEKF: cleanup some build warnings Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-21 18:13:12 +10:00
Andrew Tridgell	c8c6e05a4a	AP_AHRS: added vehicle class to AHRS used by EKF to control use of get_fly_forward()	2014-04-21 18:13:12 +10:00
priseborough	bd28cdbdcf	AP_NavEKF: Improved magnetometer consistency checks A magnetometer axis that fails the innovation consistency check will cause all axes not to be used. If this condition continues for 10 seconds, a magnetometer timeout condition will be declared. When the timeout has occurred, if it is not a fly forward vehicle, then individual channels will be used again, but with a reduced weighting.	2014-04-21 16:31:31 +10:00
Randy Mackay	648787a6c8	AC_WPNav: rename some definitions	2014-04-21 15:06:29 +09:00
Randy Mackay	2167dd7d3e	AC_WPNav: update target speed immediately	2014-04-21 14:51:26 +09:00
Andrew Tridgell	05bffb5915	HAL_SITL: enable use of SIM_FLOAT_EXCEPT parameter	2014-04-21 15:37:08 +10:00
Andrew Tridgell	e0db7b117f	SITL: added SIM_FLOAT_EXCEPT parameter this enables checking for floating point exceptions	2014-04-21 15:37:08 +10:00
Andrew Tridgell	610a930612	AP_NavEKF: catch covarience errors and reset filter this catches covariance values beyond a reasonable limit and resets the filter is they happen	2014-04-21 15:37:08 +10:00
Andrew Tridgell	7e5a491f14	AP_Math: prevent a floating point exception	2014-04-21 15:37:08 +10:00
Andrew Tridgell	4d24a86088	AP_AHRS: prevent a infinity value	2014-04-21 15:37:07 +10:00
Randy Mackay	d382fa51ee	AC_WPNav: run loiter and wp nav at 50hz on Pixhawk	2014-04-21 13:32:02 +09:00
Randy Mackay	72d2712c4e	AC_WPNav: integrate update_xy_controller name change	2014-04-21 13:31:58 +09:00
Randy Mackay	966340a02a	Circle: integrate update_xy_controller name change	2014-04-21 13:31:57 +09:00
Randy Mackay	7e376bc517	PosControl: update_pos_controller renamed to update_xy_controller	2014-04-21 13:31:55 +09:00
Andrew Tridgell	4756dbee84	AP_NavEKF: fixed millisecond subtraction for rollover Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-21 13:16:20 +10:00
Andrew Tridgell	be9d0c1c4d	APM_OBC: setup termination values in PX4IO this sets up the PX4IO board with failsafe values in case the FMU is not running	2014-04-21 11:52:53 +10:00
Andrew Tridgell	0d4985079e	RC_Channel: added support for LimitValue settings this allows you to set a channel failsafe or radio_out to a limit value	2014-04-21 11:52:41 +10:00
Andrew Tridgell	7f4178d967	RC_Channel: added setup_failsafe_trim_all() function sets all channels to output trim values on FMU failure	2014-04-21 08:37:24 +10:00
Andrew Tridgell	5cd145a307	AP_HAL: added set_failsafe_pwm() API this allows the PWM values for FMU firmware failure to be setup	2014-04-21 08:36:52 +10:00
Andrew Tridgell	7f9a9107c7	APM_Control: logging_started needs to be static prevents writing log headers twice	2014-04-21 07:13:06 +10:00
Andrew Tridgell	68f1ae3036	AP_NavEKF: fixed some matlab ! -> ~ typos Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-20 21:44:37 +10:00
Andrew Tridgell	5a7afbf2cd	AP_GPS: prevent writing GPS log headings multiple times	2014-04-20 21:44:14 +10:00
Randy Mackay	e3ffd5c0dd	Common: remove RallyLocation defintion	2014-04-19 15:00:28 +09:00
Randy Mackay	7011ab40c2	Rally: define RALLY_WP_SIZE and RallyLocation	2014-04-19 15:00:25 +09:00
Michael Day	a2aab2ab5e	AP_Rally: Minor fixes to AP_Rally after initial testing - If a Rally point is being used, always respect the altitude set by the user (don't take the max of that and the home point altitude). - No need for constructor to pass in size of RallyLocation struct	2014-04-19 09:16:02 +10:00
Andrew Chapman	5825bac410	AP_Rally library	2014-04-19 09:15:59 +10:00
Randy Mackay	5322093475	Mission: fix example sketch after GPS lib changes	2014-04-17 16:41:38 +09:00
Andrew Tridgell	b4c5f31b17	APM_Control: reduce the number of parameter saves in autotune don't save a parameter unless it has changed by 0.1%	2014-04-17 17:20:40 +10:00
Paul Riseborough	ccc7d36493	APM_Control: Modify D and I gain scaling	2014-04-17 17:11:48 +10:00
Randy Mackay	94d38ee294	AC_Circle: add get_closest_point_on_circle init_start_angle method added to use current heading or position to decide on initial start angle	2014-04-16 16:28:04 +09:00
Kevin Hester	c2184cb8e4	PID: fixup line endings	2014-04-15 15:57:56 +09:00
Kevin Hester	72e97cbf5c	AP_Param: fixup line endings	2014-04-15 15:57:47 +09:00
Kevin Hester	a7820e6c71	OptFlow: fixup line endings	2014-04-15 15:57:33 +09:00
Kevin Hester	fce1277b0e	Notify: fixup line endings	2014-04-15 15:57:11 +09:00
Kevin Hester	b7bed437c2	Compass: fixup line endings	2014-04-15 15:56:57 +09:00
Kevin Hester	80cb13e222	BattMon: fixup line endings	2014-04-15 15:56:43 +09:00
Kevin Hester	d09e871319	AP_Airspeed: fixup line endings	2014-04-15 15:56:26 +09:00
Kevin Hester	c34c4d79f6	AP_ADC: fixup line endings	2014-04-15 15:56:13 +09:00
Kevin Hester	b7410494e3	AC_PID: fixup line endings	2014-04-15 15:55:59 +09:00
L. Preston Sego III	3ecdc4b741	Copter: Add support for V-Tail Quads	2014-04-14 14:54:02 +09:00
Randy Mackay	02775e8dc5	AC_PosControl: get_accel_target returns const ref	2014-04-14 11:34:14 +09:00
Randy Mackay	60f522a094	AC_WPNav: set_wp_destination to use current target Previously we used the projected stopping point if the vehicle had not reached the destination but this could lead to large jumps in target position	2014-04-13 22:42:50 +09:00
Andrew Tridgell	ae7293ef68	APM_Control: added support for AUTOTUNE_LEVEL 10 levels of tune, for what type of tune the user wants	2014-04-13 22:11:57 +10:00
Andrew Tridgell	86f167fc7f	AP_Vehicle: added autotune_level to fixed wing parms	2014-04-13 22:11:28 +10:00
Andrew Tridgell	b7350118a6	AP_AHRS: enable EKF wind estimate with no airspeed sensor EKF can now estimate with IMU and GPS only Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-13 19:42:49 +10:00
Andrew Tridgell	4abc2999a6	AP_NavEKF: start with a wind estimate of 3m/s, when no direct measurement this will cope better with users with low roll/pitch gains, to ensure they get enough control on takeoff Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-13 19:42:23 +10:00
priseborough	d745dc2b6f	AP_NavEKF : Increased position gate default to reduce impact of accel errors Flight testing with windup turns has shown that the position gate threshold can be tripped with good GPS data causing position jerks. This increases the initial GPS glitch rejection threshold to effectively 5m when using the default POSNE_NOISE value of 0.5m.	2014-04-13 19:37:22 +10:00
priseborough	188bea6bab	AP_NavEKF : Enable calc of wind velocity when not using airspeed sensing This patch also cleans up the logic associated with use of the synthetic sideslip measurement so that it can never be used for a non fly-forward vehicle type This patch adds functionality that initialises the wind-speed vector to the reciprocal of the ground speed vector, and scaled to 6 m/s. On average this gives a better initial wind velocity estimate on launch by assuming: a) launch will be into wind b) wind speed is equal to global average It also helps prevent a headwind causing initial underestimation of airspeed causing high autopilot gains and limit cycles on climb-out, until first turn when the EKF is able to estimate the wind.	2014-04-13 19:37:19 +10:00
Andrew Tridgell	df192a9efd	AP_AutoTune: lower min tau to 0.2	2014-04-13 19:25:54 +10:00
Andrew Tridgell	3343af602e	APM_Control: fixed saving of new rate gains	2014-04-13 15:35:52 +10:00
Andrew Tridgell	b9a8ef3b51	APM_Control: fixed a bug in autotune servo saturation check its in degrees not centi-degrees	2014-04-13 15:28:36 +10:00
Andrew Tridgell	64170d0f04	APM_Control: added dataflash logging to autotune	2014-04-12 18:21:50 +10:00
Andrew Tridgell	7f5eeabadc	DataFlash: reserve a range of msg types for autotuning logs	2014-04-12 18:21:31 +10:00
Andrew Tridgell	50fc75917e	APM_Control: first version of APM_Control autotuning this adds autotune to the roll/pitch controllers using a very simple mechanism. The plan is that this provides a framework which Paul and Jon will build upon.	2014-04-12 14:11:33 +10:00
Andrew Tridgell	3b8839d2f7	AP_GPS: fixed num_sensors on APM2	2014-04-11 21:32:55 +10:00
Andrew Tridgell	7404fc9d40	SITL: added SIM_BARO_DISABLE parameter useful for testing baro failure	2014-04-11 16:47:40 +10:00
Andrew Tridgell	ad18019fb1	APM_OBC: added pressure altitude termination	2014-04-11 16:47:40 +10:00
Andrew Tridgell	41dd280739	AP_Baro: expose get_altitude_difference() this is useful for pressure altitude calculations	2014-04-11 16:34:02 +10:00
Andrew Tridgell	8b9b4026f0	SITL: support -P option this allows changing a parameter on initial startup	2014-04-11 12:28:32 +10:00
Michael Day	312a2fc8dc	AP_TECS: Parameter TECS_LAND_SPDWGT allows custom landing speed weight.	2014-04-10 15:42:49 +10:00
Andrew Tridgell	95304e27c9	DataFlash: added separate logging of each GPS	2014-04-10 10:29:30 +10:00
Andrew Tridgell	a821b0e198	AP_GPS: fixed a build warning Debug() should not be exposed in public headers	2014-04-10 10:28:55 +10:00
Andrew Tridgell	27a3b5fb36	AP_AHRS: fixed wind reporting with EKF and no airspeed sensor the EKF does not estimate wind without an airspeed sensor	2014-04-10 06:49:23 +10:00
Randy Mackay	b78e59ea30	AP_Motors: add stability patch test to example sketch	2014-04-09 21:21:29 +09:00
Andrew Tridgell	a15e4633b7	SITL: prevent wind effects at negative altitudes this prevents crashes on takeoff with barometer noise	2014-04-09 15:28:14 +10:00
Andrew Tridgell	1ca6583df8	AP_BoardConfig: restore /dev/vroutput change from Emile my mistake, sorry Emile!	2014-04-08 21:05:41 +10:00
Emile Castelnuovo	79996986ad	VRBRAIN: corrected ADC pins for volt and current sensing.	2014-04-08 16:19:20 +10:00
Emile Castelnuovo	7fe4847b6c	VRBRAIN: Added NuttX driver vroutput for PWM out Modified script rc.APM to launch modules vrinput and vroutput Modified startup scripts to run APM without SD	2014-04-08 16:19:20 +10:00
Emile Castelnuovo	d1e4fbf267	AP_EPM: added #defines for VRBRAIN board	2014-04-08 16:19:20 +10:00
Emile Castelnuovo	e8b9e9d53c	AP_Airspeed: added #defines for VRBRAIN board	2014-04-08 16:19:20 +10:00
Emile Castelnuovo	69d2633465	AP_Relay: added #defines for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	25f1c5774f	AP_NavEKF: added #defines for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	39d9e93904	AP_BoardConfig: added #defines for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	1d27e0d127	AP_BattMonitor: added #defines for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	ab9a320187	DataFlash: added #ifdefs for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	06744ea7d2	AP_InertialSensor: new files and definitions for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	4ad83f3c8a	AP_Notify: new files and definitions for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	1bc199c5bd	AP_Compass: new files and definition for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	7b5c002d2f	AP_Common: new board ID for VRBRAIN	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	f4784fe6a1	AP_Baro: new files for VRBRAIN board	2014-04-08 16:19:19 +10:00
Emile Castelnuovo	201332caef	AP_HAL: New VRBRAIN board definition and libraries	2014-04-08 16:19:19 +10:00
priseborough	db043744a4	AP_NavEKF : Reduce Z accel bias process noise to provide a more stable estimate	2014-04-07 21:08:25 +10:00
priseborough	1f8b5a6d23	AP_NavEKF : Tighten GPS velocity glitch gate default setting for plane	2014-04-07 21:08:15 +10:00
priseborough	0c2489b07b	AP_NavEKF : Fix bug in logging of airspeed innovation consistency ratio	2014-04-07 21:01:00 +10:00
priseborough	95c83255d7	AP_NavEKF : adjust default values for accelerometer process noise Slows down estimate and allows for smaller values to be set	2014-04-07 21:00:43 +10:00
Jonathan Challinger	9959a44453	AP_Motors: properly constrain thr_adj_max	2014-04-07 14:14:32 +09:00
Randy Mackay	3600bed47a	Parachute: relay parameter description update	2014-04-07 13:37:14 +09:00
Randy Mackay	879d447404	Parachute: alt_min units to meters	2014-04-07 13:37:11 +09:00
Randy Mackay	50df95316a	Parachute: initialise released variable	2014-04-07 13:37:09 +09:00
Randy Mackay	5876a2fe47	AC_AttControl: increase default rp accel to 900deg/s/s	2014-04-07 13:37:08 +09:00
Randy Mackay	95579229ed	Parachute: add 0.5sec delay before parachute is released This allows a short warning to the user through the new parachute_release tone	2014-04-07 13:37:05 +09:00
Randy Mackay	103772abe2	Parachute: add AP_Notify.h to example sketch	2014-04-07 13:37:04 +09:00
Randy Mackay	a639df0256	Parachute: set AP_Notify parachute_release flag	2014-04-07 13:37:02 +09:00
Randy Mackay	e3e7fc284d	Notify: add parachute release tune for Pixhawk	2014-04-07 13:37:01 +09:00
Randy Mackay	699b84e8ca	Parachute: minor comment changes	2014-04-07 13:36:58 +09:00
Randy Mackay	d8f9a1c6c6	Mission: add support for MAV_CMD_DO_PARACHUTE	2014-04-07 13:36:55 +09:00
Randy Mackay	a682f652d0	GCS_MAVLink: generate after MAV_CMD_DO_PARACHUTE added	2014-04-07 13:36:53 +09:00
Randy Mackay	cec7574465	GCS_MAVLink: add MAV_CMD_DO_PARACHUTE	2014-04-07 13:36:52 +09:00
Randy Mackay	b478c3a321	AC_AttControl: return angle_ef_targets as const ref	2014-04-07 13:36:49 +09:00
Randy Mackay	d4cb51d8f7	AP_Parachute: add example sketch Only tests that the lib compiles	2014-04-07 13:36:37 +09:00
Randy Mackay	8600b9d4f1	RC_Channel: add parachute_release to function enum	2014-04-07 13:36:33 +09:00
Randy Mackay	9d807802cc	Parachute: initial draft library	2014-04-07 13:36:25 +09:00
Andrew Tridgell	efdb678e00	AP_Motors: fixed example build	2014-04-07 11:55:56 +10:00
Andrew Tridgell	f4cbec0ce1	APM_OBC: removed unused example code	2014-04-07 11:55:46 +10:00
Andrew Tridgell	cc212be41e	AP_Mission: added get_next_ground_course_cd() API this gives the ground course of the next navigation leg, which can be used to calculate the amount of steering required	2014-04-07 09:29:54 +10:00
Andrew Tridgell	e566802bf3	AP_Math: fixed example build	2014-04-07 07:37:34 +10:00
Andrew Tridgell	6f55dc1686	APM_OBC: update for AP_Mission and AP_GPS changes	2014-04-07 07:28:21 +10:00
Andrew Tridgell	43ebd86bb1	AP_GPS: disable SBP driver on APM2 the driver uses double precision floating point, which can't work on 8bit AVR with gcc	2014-04-05 21:47:46 +11:00
Andrew Tridgell	5a585b90e8	AP_GPS: fixed some warnings in SBP driver	2014-04-05 14:18:01 +11:00
Niels Joubert	33576dfdd9	AP_GPS: Swift Binary Protocol SINGLE-POINT-POSITIONING Driver This is the SBP driver for Piksi, Lodestar and other forthcoming Swift Navigation GPSes. This driver currently implements three things: - Implements a lightweight SBP protocol detection system - Implements Piksi as a single-point-positioning GPS (same as ublox/others) - Implements hardware logging of GPS health and baseline messages Forthcoming iin future updates: - Need to implement the RTK functionality	2014-04-05 13:42:23 +11:00
Niels Joubert	e32b73f075	AP_HAL_AVR_SITL: Adding Swift Binary Protocol stand-alone simulator	2014-04-05 13:42:23 +11:00
Niels Joubert	00064ac883	SITL: Adding GPS types for Swift Binary Protocol	2014-04-05 13:42:23 +11:00
Niels Joubert	879eb5936b	AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices	2014-04-05 13:42:23 +11:00
Niels Joubert	161b5f99b3	SITL: Adding Swift Binary Protocol GPS type	2014-04-05 13:42:23 +11:00
Niels Joubert	552f33b39e	AP_GPS: Support fix types of DGPS and RTK	2014-04-05 13:42:23 +11:00
Niels Joubert	64d4a1236f	AP_Notify: Support all GPS status flags, with status >= GPS_OK_FIX_3D notified as having a lock	2014-04-05 13:42:23 +11:00
Andrew Tridgell	67ed5b73ef	AP_GPS: added lock_port() interface used by SERIAL_CONTROL message	2014-04-05 07:34:33 +11:00
Andrew Tridgell	b8675b9abc	GCS_MAVLink: implement SERIAL_CONTROL MAVLink message	2014-04-05 07:34:33 +11:00
Andrew Tridgell	493c5dd63f	GCS_MAVLink: rebuild MAVLink headers	2014-04-04 21:57:22 +11:00
Andrew Tridgell	14b3696959	GCS_MAVLink: added SERIAL_CONTROL message definition will be used for on-board radio and GPS firmware update and control over USB	2014-04-04 21:57:22 +11:00
Andrew Tridgell	07d621c4be	AP_NavEKF: used state structure in more places makes the code a bit easier to read Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2014-04-04 21:30:16 +11:00
priseborough	aa5335b16e	AP_NavEKF : Improved GPS position glitch handling When using GPS after previously rejecting it, the GPS position will always be offset if outside the specified glitch radius. This was the original intent of the design and makes handling of glitches smoother. It has been tested on replay using glitchy flight data	2014-04-04 21:01:22 +11:00
priseborough	b1786cf1e5	AP_NavEKF : Do not reset on GPS velocity timeout if good position data	2014-04-04 21:01:20 +11:00
priseborough	d25883f712	AP_NavEKF : Limit rate of Z accel bias adaptation Aliasing can causes the bias estimate to fluctuate very rapidly as it tries to keep up, which degrades the benefit of switching between accelerometers to avoid aliasing. This patch give a much more stable bias estimate during aliasing, and allows the bias to adapt at a maximum rate of 1.0 m/s2 in 50 seconds	2014-04-04 21:01:18 +11:00
priseborough	36b3cbc365	AP_NavEKF : Relax aliasing check limits This reduces the chance of noisy data inhibiting GPS glitch protection	2014-04-04 21:01:15 +11:00
priseborough	0ae736c3a0	AP_NavEKF : clean up convoluted logic used in sensor health checks This doesn't change the behavior, but does make the code easier to understand	2014-04-04 21:01:13 +11:00
Andrew Tridgell	013aaf4d3e	GCS_MAVLink: moved comms functions to not be inline saves a bit of flash space	2014-04-04 13:19:15 +11:00
Andrew Tridgell	d9d038345a	AP_GPS: save 800 bytes of code space on APM2 we can assume a single GPS	2014-04-04 10:08:28 +11:00
Andrew Tridgell	9f857529ca	AP_GPS: auto-switch primary GPS based on status and number of satellites	2014-04-04 08:32:34 +11:00
Andrew Tridgell	11f196318e	RC_Channel: added static functions to simplify operations on all channels this avoids vehicle code having to loop over all channels for common operations	2014-04-03 12:18:56 +11:00
Andrew Tridgell	21c205a57e	AP_GPS: cope with different MON-HW message size in u-Blox Neo7	2014-04-03 10:55:05 +11:00
Andrew Tridgell	cd3038fabd	AP_NavEKF: fixed return of offset in getVariances()	2014-04-03 07:49:06 +11:00
Andrew Tridgell	dcb42af3e9	AP_BattMonitor: fixed example build	2014-04-03 07:49:06 +11:00
Craig Elder	3a92d75936	Ublox: Enable 1Hz Lock LED by default	2014-04-01 20:57:18 -07:00
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	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	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	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	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
Andrew Tridgell	3c4389180e	AP_GPS: removed GPS_406 driver this driver was untested and badly structured. If we want to support the 406 we can revive it and do it properly	2014-04-01 06:38:23 +11:00
Jonathan Challinger	f0fc0397d3	Notify: add arming failure tone	2014-03-31 20:34:27 +09:00
Randy Mackay	7bb981f2df	AP_Notify: correct dos formatting	2014-03-31 20:34:24 +09:00
Andrew Tridgell	31082f4ce2	AP_Mission: fixed a bug re-entering AUTO this fixes a bug found by Marco where we would continue in CRUISE mode with no waypoint if we re-entered AUTO after a mission reset	2014-03-31 06:18:07 +11:00
Randy Mackay	93f8d53d1b	Mission: make get_prev_nav_cmd_index const	2014-03-30 23:09:54 +09:00
Randy Mackay	b15d4379d8	AC_WPNav: use atan2f, make methods const	2014-03-30 23:09:51 +09:00
Randy Mackay	3ad635feeb	AC_AttControl: 45deg/sec yaw rate for Auto, RTL	2014-03-30 15:44:14 +09:00
Randy Mackay	d27ca53a9d	AC_WPNav: spline sets origin vel to zero when no prev segment Issue caught by Michael Oborne	2014-03-30 15:19:18 +09:00
Randy Mackay	7dfde39e19	AC_WPNav: advance_spline to use dt	2014-03-30 15:02:07 +09:00
Randy Mackay	c0458b786a	AC_WPNav: check acceleration is non zero	2014-03-30 11:52:44 +09:00
Randy Mackay	f0f3688172	AC_WPNav: rounder corners for short spline segments	2014-03-30 11:52:41 +09:00
priseborough	9c5f564dc5	AP_NavEKF : Fixes bug in initial earth magnetic field states The calculation for these states was not being bias corrected	2014-03-30 07:43:52 +11:00
Randy Mackay	7bff8e9312	AC_AttControl: constrain earth frame yaw angle error This temporarily resolves the wobble we see in Auto when the target heading is suddenly changed leading to a large yaw angle error	2014-03-29 20:42:21 +09:00
Randy Mackay	197683d539	WPNav: clean up spline comments	2014-03-29 17:57:47 +09:00
priseborough	e1819bb53a	AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane	2014-03-29 14:06:43 +11:00
Randy Mackay	ac339a0289	Mission: add decoding of NAV_SPLINE command	2014-03-28 09:23:30 +09:00
Randy Mackay	e7be622eef	GCS_MAVLink: generate after adding NAV_SPLINE cmd	2014-03-28 09:23:28 +09:00
Randy Mackay	519d5fc444	GCS_MAVLink: add MAV_CMD_NAV_SPLINE_WAYPOINT cmd This is the same as a NAV_WAYPOINT except that the vehicle flies a spline curved path to the destination	2014-03-28 09:23:23 +09:00
Randy Mackay	24eb195aa3	WPNav: add yaw control for straight line wp nav	2014-03-28 09:23:13 +09:00
Randy Mackay	b42b12f7be	AC_WPNav: add get_spline_yaw	2014-03-28 09:23:07 +09:00
Randy Mackay	f2d9ad41aa	Mission: minor comment update	2014-03-28 09:22:56 +09:00
Randy Mackay	e5e71ce371	WPNav: add spline support	2014-03-28 09:22:53 +09:00
Michael Day	e1d193f539	GCS_MAVLink: Generated code from message additions for autofence.	2014-03-27 09:26:20 +11:00
Michael Day	c5ebd120f1	GCS_MAVLink: XML for MAV_CMD_DO_FENCE_ENABLE and MAV_SYS_STATUS_GEOFENCE	2014-03-27 09:26:20 +11:00
priseborough	55c60b8f07	AP_NavEKF : Reduce Magnetometer innovation consistency check threshold	2014-03-26 21:29:47 +11:00
priseborough	45b1a2fa46	AP_NavEKF : Reduce GPS position innovation consistency fail threshold This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres This will provide copters with more protection for close in loiter situations	2014-03-26 21:29:45 +11:00
Andrew Tridgell	8c0c9c317e	RC_Channel: prevent a numerical exception with bad mount parameters	2014-03-26 17:38:27 +11:00
Andrew Tridgell	bafc664750	AP_NavEKF: use APM_BUILD_TYPE() macro	2014-03-26 12:42:11 +11:00
Andrew Tridgell	fbec098e2f	AP_Vehicle: added APM_BUILD_TYPE() macro this makes checking build type less fragile	2014-03-26 12:41:53 +11:00
Andrew Tridgell	e3792f9b26	AP_NavEKF: added a mechanism for per-vehicle-type defaults in EKF	2014-03-26 12:30:17 +11:00
Andrew Tridgell	6b2f0b9553	AP_Vehicle: added defines for main vehicle types	2014-03-26 12:15:45 +11:00
Andrew Tridgell	6bf2b5033e	DataFlash: support logging up to 14 RC input channels	2014-03-25 16:39:19 +11:00
Andrew Tridgell	6039eab442	RC_Channel: support up to 12 aux channels on PX4 this allows RC13 and RC14 to work correctly as aux outputs on Pixhawk	2014-03-25 15:42:48 +11:00
Andrew Tridgell	64772cede8	GCS_MAVLink: rebuild MAVLink headers	2014-03-25 14:47:43 +11:00
Andrew Tridgell	d24547b390	GCS_MAVLink: merge latest msgs from upstream	2014-03-25 14:47:05 +11:00
Andrew Tridgell	6eee2421cc	AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels() the valid_channels() method was inconsistently implemented between boards, and served two quite different purposes. It is clearer as two functions	2014-03-25 14:39:41 +11:00
Andrew Tridgell	27dbf608c8	DataFlash: fixed a build warning	2014-03-25 13:31:21 +11:00
Andrew Tridgell	2a9a89e020	HAL_PX4: fixes for merged upstream PX4Firmware	2014-03-25 10:30:00 +11:00
priseborough	17cdac7bc8	AP_NavEKF : Clean up angle and mag field initialisation This path reduces duplicated code, eliminates unused variables and causes the earth magnetic field states to be reset when exiting static mode which will occur every time copter is armed. This enables copters to be powered on and initialised inside vehicles or houses, without bad earth field values affecting flight.	2014-03-24 19:54:48 +11:00
Andrew Tridgell	f05b90bfd2	GCS_MAVLink: fixed some compiler warnings	2014-03-24 12:52:39 +11:00
Andrew Tridgell	0af35bd636	AP_Mission: fixed some compiler warnings	2014-03-24 12:52:27 +11:00
Andrew Tridgell	2763393908	AP_InertialSensor: fixed some compiler warnings	2014-03-24 12:52:16 +11:00
Andrew Tridgell	c6f3e0a81c	AP_GPS: fixed example builds	2014-03-24 12:20:34 +11:00
Andrew Tridgell	271ba3a6bc	AP_InertialNav: fixed example build	2014-03-24 12:03:47 +11:00
Andrew Tridgell	1b1a92251f	DataFlash: allow drivers to setup their own logging formats this allows drivers to ask the dataflash driver to add new log formats	2014-03-24 12:03:31 +11:00
Andrew Tridgell	5630bb1ef6	AP_GPS: added detailed hardware status logging for uBlox this gives us noise, jamming and RF information from the uBlox protocol. This will hopefully allow a more detailed investigation of antenna choices and RF interference	2014-03-24 12:02:37 +11:00
Andrew Tridgell	7ff293ca38	AP_GPS: added DataFlash to GPS init to allow for detailed logging this will allow GPS drivers to log much more detailed device specific information	2014-03-24 12:01:13 +11:00
Andrew Tridgell	485ae596fc	AP_Compass: fixed last_update for secondary compass with primary failed this ensures EKF and DCM will use a secondary compass if the primary fails	2014-03-23 22:05:17 +11:00
Matthew Lloyd	60a4f74de6	AP_Compass: avoid division by zero if we haven't received any mag reports Otherwise, get_field() will return NaNs after once every few calls to read() during compassmot on PX4 platforms, which causes compassmot to fail. This is a quick hack around the deeper issue, which could be something like the PX4 mag driver experiencing starvation and skipping mag reports, buffer overrun or something else that causes mag reports to be dropped. Or perhaps we should never expect in the first place that we will always receive at least one mag report between calls to read().	2014-03-23 21:22:32 +11:00
priseborough	7ae86b3979	AP_NavEKF : Track baro height observations pre-arm This prevents copter from failing the pre-arm height discrepancy test	2014-03-23 18:25:50 +11:00
priseborough	7780d55788	AP_NavEKF : Prevent large magnetic field adaptations early in flight	2014-03-22 19:55:26 +11:00
Randy Mackay	3efad982c0	GCS_Mavlink: return MISSION_INVALID when conversion fails Requested by MichaelO to allow better error message to be displayed to user when the mission upload from the GCS to vehicle fails	2014-03-22 11:29:36 +09:00
Paul Riseborough	f7007569d1	AP_NavEKF : Fix bug that limits copter sensor delay compensation to 125 msec	2014-03-21 21:52:20 +11:00
Paul Riseborough	b2c0979947	AP_NavEKF : Fixes bug that causes accel bias to diverge in static mode, preventing copter arming	2014-03-21 21:49:50 +11:00
Andrew Tridgell	a55c4e2296	AP_TECS: set target airspeed, not min/max airspeed, on landing this seems to prevent ballooning of the altitude when we are in the landing approach, and gives a much smoother landing	2014-03-20 17:34:39 +11:00
Andrew Tridgell	98530928b5	AP_TECS: make target landing speed a float some users may want more precise control	2014-03-20 17:34:36 +11:00
Andrew Tridgell	b1ad2be897	AP_SpdHgtControl: added get_target_airspeed() interface	2014-03-20 17:34:29 +11:00
Michael Day	bd7e1b82e1	AP_TECS: Auto landing now takes throttle_nudge into account.	2014-03-20 17:34:26 +11:00
Michael Day	861690dea2	AP_TECS: New params LAND_ARSPD and LAND_THR auto-slowing landings. Also controlling pitch by ignoring height error during landing. This serves to keep the nose up.	2014-03-20 17:34:23 +11:00
Andrew Tridgell	3bdc22d672	AP_Mission: make p1 16 bit this gives us a 16 bit value for extra data on a location, allowing for an accurate angle in centi-degrees. Also add validation of the size of the union arms in Content	2014-03-20 16:57:09 +11:00
Andrew Tridgell	959cafef8d	AP_Common: make alt in Location 24 bit this allows for up to 83km mission altitudes, while allowing for 1 more byte in the command structure, making p1 16 bits	2014-03-20 16:57:09 +11:00
Andrew Tridgell	d508c7f37f	GCS_MAVLink: re-generate MAVLink headers	2014-03-20 10:21:28 +11:00
Andrew Tridgell	106fda773f	GCS_MAVLink: merge XML from upstream	2014-03-20 10:20:00 +11:00
Andrew Tridgell	8af9573806	GCS_MAVLink: allow logging of RADIO_STATUS, very useful for link analysis	2014-03-20 09:56:37 +11:00
Michael Day	68dbfd6315	DataFlash: Add Log_Write_Radio to store RSSI and noise on board.	2014-03-20 09:56:37 +11:00
Andrew Tridgell	8202cf437b	AP_Relay: fixed Pixhawk relay pin numbers thanks to Craig for spotting this!	2014-03-20 09:40:08 +11:00
Paul Riseborough	8a2d16d13d	AP_NavEKF : modifed Zaccel bias noise parameter to prevent unstable bias estimate	2014-03-20 08:50:00 +11:00
Randy Mackay	c520cb789c	Mission: cmd field types to match mavlink commands Split Set-Servo and Repeat-Servo command structures Split Set-Relay and Repeat-Relay command structures	2014-03-19 12:14:22 +09:00
Andrew Tridgell	0832aba6bc	GCS_MAVLINK: moved deferred message handling into common code	2014-03-19 12:14:15 +09:00
Andrew Tridgell	8d89a64312	GCS_MAVLink: moved handling of MISSION_ITEM into common code	2014-03-19 12:14:09 +09:00
Andrew Tridgell	ba8c4b86a0	AP_InertialNav: fixed example build	2014-03-19 12:14:08 +09:00
Andrew Tridgell	d36989f6a1	AP_HAL: fixed example build	2014-03-19 12:14:06 +09:00
Andrew Tridgell	d3d71d597c	AP_Baro: fixed example build	2014-03-19 12:14:05 +09:00
Andrew Tridgell	dbd8f4b735	AP_Airspeed: fixed example build	2014-03-19 12:14:03 +09:00
Andrew Tridgell	afab8a9c5b	AP_AHRS: fixed example build	2014-03-19 12:14:02 +09:00
Andrew Tridgell	04587efb2d	AC_WPNav: fixed example build	2014-03-19 12:14:00 +09:00
Andrew Tridgell	1e9dcba3da	AC_Sprayer: fixed example build	2014-03-19 12:13:59 +09:00
Andrew Tridgell	4507c0fc4c	AC_Fence: fixed example build	2014-03-19 12:13:57 +09:00
Andrew Tridgell	73ae38eaf0	AC_AttitudeControl: fixed example build	2014-03-19 12:13:56 +09:00
Andrew Tridgell	23e296dd00	GCS_Console: fixed example build	2014-03-19 12:13:55 +09:00
Andrew Tridgell	5f85792224	DataFlash: fixed example build	2014-03-19 12:13:53 +09:00
Andrew Tridgell	2a199c4f03	AP_Notify: fixed example build	2014-03-19 12:13:51 +09:00
Andrew Tridgell	6eece3a278	AP_Mount: fixed example build	2014-03-19 12:13:50 +09:00
Andrew Tridgell	acd54d0826	AP_Math: fixed example build	2014-03-19 12:13:48 +09:00
Andrew Tridgell	731f980327	AP_InertialSensor: fixed example build	2014-03-19 12:13:47 +09:00
Andrew Tridgell	965f6bd3bd	GCS_MAVLink: make DataFlash a pointer handle sketches where DataFlash is not available	2014-03-19 12:13:37 +09:00
Andrew Tridgell	b85c5123b2	GCS_MAVLink: added save parameter to handle_request_data_stream() this allows copter to not save stream rate changes	2014-03-19 12:13:35 +09:00
Andrew Tridgell	79bb14b8c1	GCS_MAVLink: moved RADIO_STATUS handling into common code	2014-03-19 12:13:34 +09:00
Andrew Tridgell	144217ac74	GCS_MAVLink: moved parameter and stream handling into common code this keeps it in common between vehicles, and saves stack space	2014-03-19 12:13:32 +09:00
Andrew Tridgell	06c578eb34	GCS_MAVLink: re-generate MAVLink headers	2014-03-19 12:13:31 +09:00
Andrew Tridgell	0b811ba6a9	GCS_MAVLink: added have_flow_control() method can be used to change speed of handling some protocol methods, as we know communication will be reliable	2014-03-19 12:13:25 +09:00
Randy Mackay	c462adf2ee	GCS_MAVLink: added five handle_mission methods The five methods moved from the vehicle specific code are handle_mission_request_list, set_current, count, clear_all and write_partial_list	2014-03-19 12:13:19 +09:00
Randy Mackay	3938fb7255	GCS_MAVLink: loiter direction removed This is now handled in Mission library	2014-03-19 12:13:18 +09:00
Randy Mackay	37cff752c8	Mission: handle Loiter direction loiter-unlimited, loiter-turns and loiter-time cms specify the turn direction in Param3. This is stored in the location's loiter_ccw flag. Previously supported only in Plane, moving here allows us to share more code with Plane, Copter, Rover.	2014-03-19 12:13:16 +09:00
Andrew Tridgell	add2416dbe	GCS_MAVLink: added handle_mission_request() common function this handles requests for mission items, using stack saving Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2014-03-19 12:13:10 +09:00
Andrew Tridgell	ce29bbe394	GCS_MAVLink: save some memory in log download use an existing buffer instead of using the mavlink _send() function. This saves some stack space in log download Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2014-03-19 12:13:09 +09:00
Randy Mackay	c75560218d	Mission: command specific structures	2014-03-19 12:12:51 +09:00
Randy Mackay	865a4de33d	Common: use PACKED instead of pragma pack for Location	2014-03-19 12:12:49 +09:00
Randy Mackay	869f325c66	DataFlash: Log_Write_MavCmd replaces Log_Write_Cmd	2014-03-19 12:12:43 +09:00
Andrew Tridgell	3a6698f54b	AP_Mission: fixed typo	2014-03-19 12:12:42 +09:00
Andrew Tridgell	3538621c48	AP_Mission: doc updates	2014-03-19 12:12:40 +09:00
Randy Mackay	48329c1bba	Mission: bug fix for loading consecutive do-cmds The verify step was not being run for the 2nd consecutive do-command in a mission list	2014-03-19 12:12:37 +09:00
Randy Mackay	ece02b0c9a	Mission: get_prev_nav_cmd returns int16	2014-03-19 12:12:34 +09:00
Randy Mackay	266a1ce9af	Mission: bug fix set_current_cmd If mission had completed desired command index was ignored	2014-03-19 12:12:27 +09:00
Andrew Tridgell	107cc2c126	AP_Mission: added truncate() function Used when loading a mission while flying Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2014-03-19 12:12:21 +09:00
Andrew Tridgell	acdaf561c8	AP_Mission: fixed typo	2014-03-19 12:12:15 +09:00
Randy Mackay	ebf72f5beb	Dataflash: example sketch includes AP_Mission.h	2014-03-19 12:12:10 +09:00
Randy Mackay	150faafaf4	Dataflash: add Log_Write_Cmd method	2014-03-19 12:12:07 +09:00
Randy Mackay	8e117d29eb	Mission: test exceeding command storage size	2014-03-19 12:11:55 +09:00
Randy Mackay	9e07070d86	Mission: pass eeprom start into constructor This allows different storage locations for ArduCopter, Plane and Rover	2014-03-19 12:11:53 +09:00
Randy Mackay	7663c5898e	AP_HAL_Boards: board specific storage size definition	2014-03-19 12:11:52 +09:00
Randy Mackay	ddc4cd4f18	Mission: add init and check_eeprom_version methods	2014-03-19 12:11:46 +09:00
Randy Mackay	4c0a31a9dc	Mission: init home to zero before writing to eeprom	2014-03-19 12:11:37 +09:00
Randy Mackay	df339c05fc	Mission: num_commands returns uint16	2014-03-19 12:11:25 +09:00
Randy Mackay	af186fba05	AP_Common: pack Location structure This resolves issues storing and retrieving Location to eeprom as part of AP_Mission	2014-03-19 12:11:13 +09:00
Randy Mackay	e60865b715	Mission: example sketch test for set_current_cmd	2014-03-19 12:11:12 +09:00
Randy Mackay	512b378c4a	Mission: allow set_current_cmd when mission is not running Can now be run when mission is complete or stopped. When mission is resumed it will begin at the set command. This command can be either a nav or do command	2014-03-19 12:11:10 +09:00
Andrew Tridgell	eaf34bba9a	AP_Mission: fixed reset using set mission item to 0 this causes a mission reset	2014-03-19 12:11:07 +09:00
Randy Mackay	8dd301b0c2	Mission: set_current_cmd to use uint16	2014-03-19 12:11:06 +09:00
Randy Mackay	a6e422333e	Mission: remove alt_in_cm from mavlink to cmd conversion	2014-03-19 12:11:01 +09:00
Randy Mackay	efd4058e8b	AHRS: interate move of p1 from Location to mission cmd	2014-03-19 12:10:51 +09:00
Randy Mackay	5dd86bd7d7	Mission: update example sketch for p1's move to cmd structure	2014-03-19 12:10:49 +09:00
Randy Mackay	87126c9b71	Common: remove id and p1 from Location structure id and p1 are now part of AP_Mission's Mission_Command structure	2014-03-19 12:10:46 +09:00
Randy Mackay	0dc3c9ab42	Mission: add p1 to command structure mavlink_to_mission_cmd method extended to support plane including adding parameter to allow the alt to be expressed in cm or meters	2014-03-19 12:10:45 +09:00
Randy Mackay	4c0ae63169	Mission: example sketch test replace_cmd method	2014-03-19 12:10:42 +09:00
Randy Mackay	61cc5e6b72	Mission: add replace_cmd method	2014-03-19 12:10:40 +09:00
Randy Mackay	ef21e32fbc	Mission: example sketch tests set current command	2014-03-19 12:10:37 +09:00
Randy Mackay	3cbbd4ebb9	Mission: add set current command method	2014-03-19 12:10:36 +09:00
Randy Mackay	c7ffd2db90	Mission: reduce unnecessary search for do-commands do_cmd_all_done flag is set after all do-commands are complete	2014-03-19 12:10:33 +09:00
Randy Mackay	0c92d60406	Mission: command index increase to int16 Once more eeprom space is allocated this will allow more than 255 commands	2014-03-19 12:10:31 +09:00
Randy Mackay	85b979ede9	Mission: support do-jump num_times is -1 do-jump loops forever when num times is set to -1	2014-03-19 12:10:29 +09:00
Randy Mackay	c6c43847b6	Mission: example sketch tests set home command	2014-03-19 12:10:27 +09:00
Randy Mackay	9ef27955b5	Common: add location options masks	2014-03-19 12:10:20 +09:00
Randy Mackay	cc8554fa2b	Mission: fix example sketch	2014-03-19 12:10:18 +09:00
Randy Mackay	f4d8ccc128	Mission: add mavlink to cmd conversion methods	2014-03-19 12:10:17 +09:00
Randy Mackay	87c7d19f83	AP_Mission: special handling for cmd	2014-03-19 12:10:14 +09:00
Randy Mackay	e8db57ced3	AP_Mission: replace block read/write for eeprom Also reserve command #0 for home position	2014-03-19 12:10:00 +09:00
Randy Mackay	fd009d0704	AP_Mission: tests added to example sketch	2014-03-19 12:09:59 +09:00
Randy Mackay	84b3497a82	AP_Mission: fixes to protect against endless loops	2014-03-19 12:09:57 +09:00
Randy Mackay	6086bc14be	AP_Mission: mostly working draft	2014-03-19 12:09:56 +09:00
Randy Mackay	4285eba297	AP_Mission: initial draft library	2014-03-19 12:09:54 +09:00
Randy Mackay	dd45647626	AC_PosControl: update some comments re leash lengths	2014-03-17 10:13:02 +09:00
Holger Steinhaus	345115fddd	AC_PosControl: fixed leash length calc for descent speed	2014-03-17 10:12:47 +09:00
Andrew Tridgell	6b5d27efbb	AP_GPS: fixed example builds with change to init()	2014-03-16 06:44:50 +11:00
Andrew Tridgell	68462025ba	RC_Channel: constrain norm_input() to -1 to 1 if RC is not properly calibrated we could get a value beyond 1, which could cause some flight modes to exceed the roll/pitch limits of the aircraft	2014-03-15 20:43:13 +11:00
Andrew Tridgell	9cf1fd46c8	AP_GPS: removed nav_setting default not needed, and apparently caused issue with xcode 5.1	2014-03-14 07:49:56 +11:00
Paul Riseborough	dacba5d911	AP_NavEKF : Update default tuning parameters (for plane use)	2014-03-14 06:07:58 +11:00
Paul Riseborough	d0828d9c15	AP_NavEKF : Prevent bad user parameter causing incorrect GPS fusion	2014-03-14 06:07:58 +11:00
Paul Riseborough	a24bfc1b8a	AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed	2014-03-14 06:07:57 +11:00
Paul Riseborough	35811758d7	AP_NavEKF : Update comments and remove un-used function declarations	2014-03-14 06:07:57 +11:00
Andrew Tridgell	db48ed9218	AP_Compass: fixed showing of is_external for 2nd compass	2014-03-13 16:26:43 +11:00
Andrew Tridgell	beb6123576	GCS_MAVLink: send a "zero logs" message when no logs available	2014-03-11 17:12:22 +11:00
Andrew Tridgell	ecdd74d580	DataFlash: return number of logs as zero correctly when we have no file based logs, report no logs :)	2014-03-11 17:11:58 +11:00
Andrew Tridgell	d9e8c34a89	GCS_MAVLink: allow for proxying of larger MAVLink messages on PX4 this makes it possible to deal with large MAVLink messages	2014-03-11 13:48:25 +11:00
Paul Riseborough	784034170d	AP_NavEKF : increased useage of helper functions	2014-03-10 21:54:03 +11:00
Paul Riseborough	7b3130cfcc	AP_NaVEKF : Enable operation without airspeed and compass	2014-03-10 21:53:09 +11:00
Paul Riseborough	3a5acb9cea	AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment	2014-03-10 14:07:34 +11:00
Paul Riseborough	b47a11edf6	AP_NavEKF : improved static and on-ground mode selection logic	2014-03-10 04:39:59 +11:00
Paul Riseborough	15a44571c2	AP_NavEKF : enable operation without a compass for planes	2014-03-09 20:01:45 +11:00
Paul Riseborough	2019708056	AP_NavEKF : Make all compass use autodetect	2014-03-09 19:59:19 +11:00
Paul Riseborough	e485b246e7	AP_NavEKF : update comments	2014-03-09 19:59:18 +11:00
Paul Riseborough	c8bd415b00	AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer	2014-03-09 19:59:17 +11:00
Paul Riseborough	52fabc822f	AP_NavEKF : Add low speed magnetometer calibration option	2014-03-09 19:59:16 +11:00
Paul Riseborough	88b0364fcd	AP_TECS : Add protection for airspeed runaway due to pitch errors	2014-03-09 19:59:16 +11:00
priseborough	6ace31b6c1	AP_NavEKF : Fix bug that leaves height unconstrained in static mode	2014-03-09 19:27:21 +11:00
Mike McCauley	c90d3ff59e	Flymaple: RCOUtput disable_ch() now supports disabling outputs	2014-03-08 21:55:57 +11:00
Andrew Tridgell	794cc33e6a	GPS: added set_secondary() function for preventing notify updates for 2nd GPS	2014-03-08 21:47:49 +11:00
Paul Riseborough	94ff7522fc	AP_NavEKF : Fix bug in initial East mag field state variance	2014-03-08 07:44:34 +11:00
Andrew Tridgell	63234d4c22	AP_Baro: fixed linux build of BMP085 driver	2014-03-07 09:33:43 +11:00
Randy Mackay	4cfe50b70c	Notify: brighter RGB LED when on battery power	2014-03-05 21:38:29 +09:00
Randy Mackay	1c457d8448	Mount: add get_mode and set_mode_to_default methods	2014-03-05 16:01:11 +09:00
Andrew Tridgell	dd502e98b4	RC_Channel: added support for separate wheel steering channels on planes	2014-03-05 12:57:50 +11:00
Andrew Tridgell	a788405c8b	RC_Channel: added percent_input() function useful for plane flaps	2014-03-05 09:17:50 +11:00
Randy Mackay	25ee5d5dc8	AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth pair-programmed with lthall	2014-03-04 22:23:14 +09:00
lthall	15f88c2a2b	AC_AttControl: Stabilize input shaping	2014-03-04 21:52:18 +09:00
Andrew Tridgell	5f85e7af6a	HAL_PX4: switch to new serial port for 2nd GPS	2014-03-04 20:34:44 +11:00
Andrew Tridgell	af2f72acb0	HAL_SITL: honor SIM_GPS2_ENABLE option	2014-03-03 07:07:29 +11:00
Andrew Tridgell	7a52938f68	SITL: added SIM_GPS2_ENABLE option	2014-03-03 07:07:09 +11:00
Mike McCauley	be34e0358a	RC_Channel: Removed duplicate defines from RC_Channel.h	2014-03-03 06:34:34 +11:00
Andrew Tridgell	449d09051e	AP_NavEKF: cope with compass going offline while in flight	2014-03-02 14:32:10 +11:00
Andrew Tridgell	77f91e6250	AP_NavEKF: don't assume the number of gyros == number of accels	2014-03-02 13:53:19 +11:00
Paul Riseborough	ebb3cc3348	AP_NavEKF : Use average of dual IMU gyro data when available	2014-03-02 13:28:44 +11:00
Paul Riseborough	a39d00fc13	AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated	2014-03-02 13:27:22 +11:00
Paul Riseborough	573b3210dd	AP_NavEKF : Add div0 protection to the IMU1_weighting calc	2014-03-02 08:10:06 +11:00
Paul Riseborough	bd152d332c	AP_NavEKF : Add accel aliasing protection	2014-03-02 08:10:04 +11:00
Andrew Tridgell	853271dd37	Replay: moved replay tool into Tools/Replay	2014-03-01 14:30:55 +11:00
Andrew Tridgell	295cd9adba	AP_NavEKF: give a sensible error for no such file on replay	2014-03-01 14:24:51 +11:00
Paul Riseborough	854f013146	AP_NavEKF : Fixes zero compass offsets on initialisation	2014-02-28 19:43:12 +11:00
Andrew Tridgell	cc4c443b32	SITL: simulate dual accel/gyro	2014-02-28 17:30:38 +11:00
Jonathan Challinger	e81d2e9584	AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash	2014-02-28 17:25:54 +11:00
Andrew Tridgell	736201689b	AP_NavEKF: only use the active accel from DCM if fly_forward is set	2014-02-27 17:40:13 +11:00
Andrew Tridgell	aaaae9a222	AP_AHRS: added get_fly_forward() method will be used to detect a copter	2014-02-27 17:39:49 +11:00
Paul Riseborough	62eff63267	AP_NavEKF : Increase the tuning range for magnetometer measurement noise	2014-02-27 17:20:38 +11:00
Andrew Tridgell	9a5ecc9541	AP_AHRS: use primary accel for accel_ef Logs from Randy show that the copter INav code can't handle the accelerometer sensor changing.	2014-02-27 16:28:37 +11:00
Andrew Tridgell	2c85a7ba56	AP_InertialSensor: expose get_primary_accel() for use in AHRS	2014-02-27 16:27:46 +11:00
Andrew Tridgell	cf148fa76c	AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk	2014-02-27 12:46:27 +11:00
Andrew Tridgell	a9e683dada	AP_NavEKF: use the accelerometer chosen by DCM for each step	2014-02-27 09:41:48 +11:00
Andrew Tridgell	b53496d470	AP_AHRS: choose the best accelerometer at each drift correction step this greatly reduces the impact of aliasing on accelerometers by choosing the accelerometer that produces the smallest error term in DCM. The difference can be quite dramatic on the Pixhawk.	2014-02-27 09:41:28 +11:00
Andrew Tridgell	0b45d2bc06	AP_AHRS: removed the AHRS_GPS_DELAY parameter the best value has turned out to be 1, and tweaking it has not turned out to be useful, so this simplifies the code in preparation for adding the anti-aliasing handling with multiple accelerometers	2014-02-27 08:57:44 +11:00
Paul Riseborough	78a1cac560	AP_NavEKF : Improved heading and magnetic field state initialisation	2014-02-27 08:12:10 +11:00
Paul Riseborough	d83b382e59	AP_NavEKF : Fix variance constraint bug Constraining variances to a minimum value of 1e-9 was causing problems with gyro bias and angular accuracy in noisy GPS environments. Because the constraint is applied after every covariance prediction and correction, a lower value of 0 is more appropriate.	2014-02-27 08:12:03 +11:00
Andrew Tridgell	8b59e564ba	AP_NavEKF: improved replay timing	2014-02-27 08:11:04 +11:00
Andrew Tridgell	840f1b9a1e	AP_InertialSensor: make HIL timing more accurate needed for 400Hz replay	2014-02-27 08:10:42 +11:00
Andrew Tridgell	66f238c0da	AP_NavEKF: support 400Hz replay from 50Hz logs	2014-02-26 19:34:01 +11:00
Andrew Tridgell	3fa2207a2d	AP_HAL: allow for microsecond resolution in scheduler->stop_clock() this makes 400Hz in the replay code possible	2014-02-26 19:33:39 +11:00
Andrew Tridgell	6fc5c12f1d	AP_AHRS: remove unused variable	2014-02-26 10:28:12 +11:00
Andrew Tridgell	866e32f059	AP_Motors: removed unused variable	2014-02-26 09:40:39 +11:00
Andrew Tridgell	e410733682	DataFlash: added GPS2 logging	2014-02-26 09:19:00 +11:00
Andrew Tridgell	0115b9fa07	HAL_SITL: support a 2nd GPS	2014-02-26 08:19:47 +11:00
Andrew Tridgell	836f473db2	HAL_FLYMAPLE: no uartE	2014-02-26 08:19:20 +11:00
Andrew Tridgell	58d5454d65	HAL_Empty: no uartE	2014-02-26 08:19:18 +11:00
Andrew Tridgell	6c74ca58c3	HAL_AVR: no uartE	2014-02-26 08:19:15 +11:00
Andrew Tridgell	4cb61f1f08	AP_HAL: support uartE	2014-02-26 08:18:20 +11:00
Andrew Tridgell	bf2dd141e9	HAL_PX4: support uartE for 2nd GPS	2014-02-26 08:18:11 +11:00
Andrew Tridgell	63874dfffd	AP_NavEKF: set fix type in GPS replay	2014-02-25 21:10:49 +11:00
Andrew Tridgell	d7b2a09919	AP_GPS: added fix type to setHIL	2014-02-25 21:10:30 +11:00
Andrew Tridgell	09cce5d24e	AP_NavEKF: fixed replay with current copter logs	2014-02-25 20:56:53 +11:00
Jonathan Challinger	f321a5f241	AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.	2014-02-25 18:49:16 +11:00
Paul Riseborough	72a91ccbca	AP_NavEKF : Prevents aliasing triggering innovation consistency check failures	2014-02-25 15:55:44 +11:00
Andrew Tridgell	7a6f671659	AP_GPS: added have_vertical_velocity() function for use by EKF	2014-02-24 18:24:10 +11:00
Andrew Tridgell	a273951f70	HAL_Linux: added missing Util.cpp	2014-02-24 11:59:24 +11:00
Paul Riseborough	5db9a87d31	AP_NavEKF : fixed bug in velocity rate of change filter This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small	2014-02-23 19:50:37 +11:00
Paul Riseborough	01c84c3f47	AP_NavEKF : fixed bug in height limit range	2014-02-23 19:50:36 +11:00
Paul Riseborough	36d619ec3a	AP_NavEKF : Changed default IMU bias process noise to use smallest value	2014-02-23 19:50:36 +11:00
Paul Riseborough	89e0b48320	AP_NavEKF : Bug fix for height drift due to timer wrap-around	2014-02-23 19:50:35 +11:00
Paul Riseborough	939a32a7bb	AP_NavEKF : Improved stability of Z accel bias	2014-02-23 19:50:34 +11:00
Paul Riseborough	9f3c19c03a	AP_AHRS : change initialisation requirements for EKF and use dynamic method	2014-02-23 19:50:34 +11:00
Andrew Tridgell	6732d6c79b	AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL	2014-02-23 19:10:07 +11:00
Andrew Tridgell	5d7346b5c2	HAL_SITL: fixed build with new HIL INS API	2014-02-23 19:09:41 +11:00
Andrew Tridgell	ffbd655ba0	AP_NavEKF: support dual sensors in log replay, and fix flight altitude	2014-02-23 08:17:55 +11:00
Andrew Tridgell	707cc2b532	AP_NavEKF: allow log filename to be specified in replay	2014-02-23 08:17:01 +11:00
Andrew Tridgell	0e18079c47	AP_InertialSensor: allow HIL sensors to support multiple instances this allows log replay to test both sets of sensors on a Pixhawk log	2014-02-23 08:16:33 +11:00
Andrew Tridgell	735c6449a1	AP_HAL: added support for commandline arguments useful for log replay, specifying log file	2014-02-23 08:15:39 +11:00
Andrew Tridgell	4e56196655	AP_NavEKF: allow states to be accessed using names as well as a Vector22	2014-02-21 20:24:47 +11:00
Andrew Tridgell	009913ec60	AP_Math: make is_nan const for quaternion and add .zero() for vector2	2014-02-21 20:24:47 +11:00
Randy Mackay	33fe778cdd	InertialSensor_PX4: resolve compiler warning	2014-02-21 13:53:34 +09:00
Randy Mackay	98bdbb7fed	AC_WPNav: set loiter accel to 1/2 of speed Bug fix from Leonard. Also fixed some formatting.	2014-02-20 21:37:45 +09:00
Andrew Tridgell	f222f2ef1e	DataFlash: fixed logging on PX4v1 large writes break IO, a NuttX bug	2014-02-20 06:55:35 +11:00
Andrew Tridgell	20b0444c15	AP_NavEKF: remove sleep on init of EKF this prevents HIL from locking up, and also prevents a possible 1s delay in flight on EKF init	2014-02-19 22:04:12 +11:00
Andrew Tridgell	b434c11215	AP_AHRS: removed empty file	2014-02-19 22:00:25 +11:00
Randy Mackay	aa5ea23245	GCS_MAVLink: regenerate for COMPASSMOT_STATUS msg	2014-02-19 16:04:08 +11:00
Randy Mackay	a7c25ec649	GCS_MALink: improved generate.sh failure msg	2014-02-19 16:04:05 +11:00
Andrew Tridgell	50cbc661ef	GCS_MAVLink: added new COMPASSMOT_STATUS message	2014-02-19 16:03:57 +11:00
Andrew Tridgell	c9d0c1face	AP_NavEKF: use ahrs->get_armed() for static mode demanded	2014-02-19 10:52:57 +11:00
Andrew Tridgell	3b1f9a4bbf	AP_AHRS: added get_armed() and set_armed() calls will be used by NavEKF to determine static mode	2014-02-19 10:52:24 +11:00
Andrew Tridgell	fe0cb23733	AP_InertialSensor: fixed HIL for 400Hz INS	2014-02-19 10:29:00 +11:00
Andrew Tridgell	536160a3fb	AP_NavEKF: use AHRS get_correct_centrifugal()	2014-02-19 10:28:45 +11:00
Andrew Tridgell	fad0b2b233	AP_AHRS: added get_correct_centrifugal() used by NavEKF to force static mode	2014-02-19 10:28:14 +11:00
Andrew Tridgell	599c3a8abf	AP_Math: added more operators to VectorN	2014-02-19 10:14:58 +11:00
Andrew Tridgell	869e41fd03	AP_NavEKF: fixed detection of airspeed sensor the get_airspeed() AHRS call can change as the user enables/disables the airspeed sensor, plus it only gets enabled after the NavEKF constructor runs.	2014-02-19 09:22:45 +11:00
Paul Riseborough	1ade39977a	AP_NavEKF : covariance prediction cleanup	2014-02-19 09:22:45 +11:00
Paul Riseborough	8daca145d0	AP_NavEKF : useAirspeed set automatically	2014-02-19 09:22:45 +11:00
Paul Riseborough	6fbada26d3	AP_NavEKF : Improvements to staticMode robustness	2014-02-19 09:22:45 +11:00
Mike McCauley	bd768a0c0c	AP_HAL_FLYMAPLE RCOutput.cpp: enable_ch no longer resets servo FLYMAPLERCOutput::enable_ch incorrectly reset the servo to 0, which caused servo twitching once per second when RC_Channel_aux::enable_aux_servos enabled each channel.	2014-02-18 09:25:08 +11:00
Andrew Tridgell	ad4db4de6c	AP_Airspeed: added setHIL() method useful for log playback	2014-02-18 09:25:08 +11:00
Andrew Tridgell	e11ada7bf0	RC_Channel: fixed comment on enable_aux_servos() thanks to Mike McCauley for spotting	2014-02-18 09:25:07 +11:00
Andrew Tridgell	b2bd81f262	AP_Baro: added alternative setHIL interface uses pressure and temperature for better log replay	2014-02-18 09:25:07 +11:00
Andrew Tridgell	5bf170c440	AP_NavEKF: fixed log replay code also added BARO and ARSP messages	2014-02-18 09:25:07 +11:00
jschall	024855014f	AC_PosControl: update _pos_error if it is being limited This fixes a bug that causes 10hz throttle noise.	2014-02-17 22:33:06 +09:00
Andrew Tridgell	9cf70fe3f7	AP_HAL: another broken example build this one an internal compiler error	2014-02-17 12:42:13 +11:00
Mike McCauley	4f9f87a8c6	AP_HAL_FLYMAPLE: Add notes to FlymaplePortingNotes.txt re GPS selection.	2014-02-17 05:56:37 +11:00
Mike McCauley	54a0b04c12	AP_HAL_FLYMAPLE: RCInput detects stale input readings better. Update test code.	2014-02-17 05:56:37 +11:00
Mike McCauley	f1533aa350	AP_HAL_FLYAPLE: update documentation in FlymaplePortingNotes.txt	2014-02-17 05:56:37 +11:00
Mike McCauley	81791bdc43	AP_HAL_FLYMAPLE: Added documentation about alternative orientations to FlymaplePortingNotes.txt	2014-02-17 05:56:37 +11:00
Mike McCauley	95bea052d2	AP_HAL_FLYMAPLE: update documentation in FlymaplePortingNotes.txt	2014-02-17 05:56:37 +11:00
Mike McCauley	2c94a40310	AP_InertialSensor: AP_InertialSensor_Flymaple Remove unnecessary comment	2014-02-17 05:56:37 +11:00
Mike McCauley	dd6abb49a9	AP_InertialSensor: AP_InertialSensor_Flymaple::healthy() was required after all.	2014-02-17 05:56:37 +11:00
Mike McCauley	0a43cf8c5c	AP_InertialSensor: AP_InertialSensor_Flymaple removed redundant definition of healthy().	2014-02-17 05:56:37 +11:00
Mike McCauley	f7279aa13f	AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health and get_accel_health.	2014-02-17 05:56:37 +11:00
Mike McCauley	4dc33c8de8	AP_HAL_FLYMAPLE: updated FlymaplePortingNotes.txt	2014-02-17 05:56:37 +11:00
Randy Mackay	d277b6cabd	AC_AttControl: fix @Units parameter descriptions	2014-02-16 22:36:59 +09:00

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6170 Commits