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4955 Commits

Author SHA1 Message Date
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
Paul Riseborough 7a82746fcc AP_NavEKF : fixed bug in pos and vel reset when in static mode 2014-02-16 22:35:19 +11:00
Paul Riseborough 275ef86f86 AP_NavEKF : Position and Velocity reset bugfix 2014-02-16 21:05:37 +11:00
Paul Riseborough b22dc706b2 AP_NavEKF : staticMode bugfix and robustness improvements 2014-02-16 21:04:55 +11:00
Paul Riseborough 2926602718 AP_NavEKF : Cleaned up InitialiseFilterDynamic 2014-02-16 21:04:51 +11:00
Paul Riseborough 404fbafe26 AP_NavEKF : Changed timout behaviour to only reset PosVel states 2014-02-16 21:04:46 +11:00
Andrew Tridgell 856dfd0ee6 AC_AttitudeControl: fixed example build 2014-02-16 18:43:15 +11:00
Andrew Tridgell ee37bc3d27 AP_AHRS: ensure we have HAL_CPU_CLASS available 2014-02-16 17:57:09 +11:00
Randy Mackay 6af705d455 AC_Circle: bug fix for pos target when radius is zero 2014-02-16 13:46:38 +11:00
Randy Mackay 9130c88f15 AC_PosControl: throttle rate to simple P controller 2014-02-16 13:35:44 +11:00
Randy Mackay a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +11:00
Randy Mackay 34b62fc078 AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX 2014-02-16 13:35:26 +11:00
lthall b8d9bdb794 AC_AttControl: accel limit for roll, pitch yaw rates 2014-02-16 13:35:23 +11:00
Andrew Tridgell 189d635493 AP_Compass: constrain compass offsets to +/- 2000 
this is prompted by a user log showing NaN compass offsets, resulting
in a crash. The patch ensures we never end up with NaN offsets, and
also constrains the offsets to a reasonable limit
 2014-02-16 13:33:41 +11:00
Andrew Tridgell 6618bdae67 DataFlash: periodically use lseek to avoid NuttX seek bug 2014-02-16 13:21:35 +11:00
Andrew Tridgell 9bb8f73d56 Compass: split compass learning out to its own C++ file 2014-02-16 13:21:06 +11:00