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5300 Commits

Author SHA1 Message Date
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