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2bee6f55f3
Commit Graph

12490 Commits

Author SHA1 Message Date
Randy Mackay
2bee6f55f3 AC_WPNav: remove ekf position reset handler 
This has been migrated to the position control library
 2016-12-01 12:53:38 +09:00
Randy Mackay
c01467c285 AC_PosControl: add ekf position reset handling 
Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
 2016-12-01 12:53:35 +09:00
Randy Mackay
17c06b40b8 AP_AHRS: add getLastPosDownReset accessor 2016-12-01 12:53:30 +09:00
Randy Mackay
327c2b8b9d AC_WPNav: remove unused _loiter_step member 2016-12-01 12:53:25 +09:00
priseborough
9bfbe4c80a AP_NavEKF2: Fix errors in position reset delta publishing 2016-12-01 12:53:22 +09:00
priseborough
52eac34d66 AP_NavEKF2: capture and publish vertical position reset deltas 
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
 2016-12-01 12:53:19 +09:00
priseborough
8a34df6528 AP_NavEKF2: Reduce unnecessary EKF core switching 
1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
 2016-12-01 12:53:16 +09:00
Alexey Bulatov
fc577120c1 AP_Compass: make LSM9DS1 compass primary for Navio2 2016-11-30 12:10:43 -08:00
Alexey Bulatov
67dd4d3efe AP_Compass: fix rotation for LSM9DS1 compass 
Move rotation to the right place. Otherwise live calibration and onboard
calibration show different results.
 2016-11-30 12:10:43 -08:00
Lucas De Marchi
bed521e2b5 AP_Compass: Calibrator: use inplace initializer on array 
(cherry picked from commit c6b0a71c47)
 2016-11-21 16:10:14 -02:00
Siddharth Bharat Purohit
73c83f630a AP_Compass: fix wrong memset in compass calibrator 
(cherry picked from commit b36ee10e7c)
 2016-11-21 16:10:14 -02:00
Siddharth Bharat Purohit
b71f766aff AP_AccelCal: fix bug preventing accel cal fit to run more than one iteration 
The check for fitness being smaller than the last value should use the
absolute value, to mean the fitness isn't changing since last iteration.
It's currently always quiting the function after the first iteration.

However for Gauss Newton we anyway want to run as many iterations as we
can, because there are ups and downs along the iteration so we might get
say best result where before and after iterations were bad. The lines
above takes care that sane and the best is selected.

(cherry picked from commit 451c2f146d)
 2016-11-21 16:10:14 -02:00
Michael Oborne
5f505a0f37 AP_GPS_SBF: fix accuracy reported by driver 2016-11-16 09:16:47 +09:00
Michael du Breuil
4d8053afc9 Compass: Rework compass calibrator 
Summary of significant changes:
  -Autsave doesn't depend on STREAM_EXTRA3
  -Don't risk only saving one compass on copter if CAL_ALWAYS_REBOOT is set
  -Only calibrate compasses that are both health and marked for use (there was a inconsistency in handling the mask)
  -Fix incorrect failure reporting on DO_ACCEPT_MAG_CAL with a mask of 0 if a channel was specifically not started
  -Fix not starting the buzzer if the delay is set to 0 seconds
  -Always send MAG_CAL_REPORT until its acknowledged
  -Correct the field in MAG_CAL_REPORT for autosave to indicate if the compass had actually been saved, rather then being scheduled to be saved
  -Remmove unused public interfaces
 2016-11-07 13:07:59 +09:00
Randy Mackay
67bbf486fc AP_GPS: fix MAV compile error 2016-11-07 12:39:08 +09:00
Randy Mackay
0c54025e82 AP_GPS: MAV driver uses existing baud rates 
GPS_INPUT messages can arrive through any mavlink serial port so we shouldn't be modifying any port's baud rates.
 2016-11-07 12:38:58 +09:00
Leonard Hall
f4605b863c AC_PosControl: set Alt_Hold filter for PID not just D 
We normally don't use the D term here so setting the filter for PID not
just D lets us smooth the throttle response.
 2016-11-07 12:37:49 +09:00
Shingo Matsuura
6abe6448d6 AP_RangeFinder: change enum name, add "state" word 2016-11-07 12:36:15 +09:00
Shingo Matsuura
98ba554fdc AP_RangeFinder: change comment about fall through LEDDARONE_MODBUS_INIT case 2016-11-07 12:36:12 +09:00
Shingo Matsuura
22a2067375 AP_RangeFinder: add comment about no break at LEDDARONE_MODBUS_INIT case 2016-11-07 12:36:09 +09:00
Shingo Matsuura
05723ee4f5 AP_RangeFinder: remove case indent 2016-11-07 12:36:05 +09:00
Shingo Matsuura
c348a6d0fe AP_RangeFinder: change magic numbers to define 2016-11-07 12:36:02 +09:00
Shingo Matsuura
5b5c482e55 AP_RangeFinder: remove break in LEDDARONE_MODOBUS_INIT case and and use () around (read_len == 0) for clarity 2016-11-07 12:35:59 +09:00
Shingo Matsuura
023c613196 AP_RangeFinder: modified regarding to advices from @magicrub - san. 2016-11-07 12:35:57 +09:00
Shingo Matsuura
47d8e96f06 AP_RangeFinder: fixed LeddarOne busy wait 2016-11-07 12:35:53 +09:00
Peter Barker
9dd4755084 AP_ADSB: do not transmit by default 
In various countries transmitting on the ADSB frequencies is a
federal offence.

Let's not have our users do that be default.
 2016-11-07 12:33:23 +09:00
Michael Oborne
5e63abf431 AP_GPS_SBF: change reported altitude from geoid to MSL 2016-11-07 12:33:14 +09:00
Andrew Tridgell
a494b2fd73 AP_RangeFinder: disabled LeddarOne driver 
this driver is broken and could cause a vehicle to crash. It does busy
waits on a UART from the main thread.

It will be re-enabled when fixed
 2016-10-31 11:58:47 +09:00
Francisco Ferreira
5a7f9a38fe DataFlash: fix RCIN and RCOU structure types 2016-10-26 10:10:19 +09:00
murata
762a66c9e5 AP_GPS_SBF: Adjust the initial value of HDOP 2016-10-26 09:54:59 +11:00
Peter Barker
2bd13af43d AP_Param: unhide groups when generating parameters in autotest 2016-10-26 09:53:14 +11:00
Peter Barker
dd7d41b1f3 SITL: unhide groups when generating parameters in autotest 2016-10-26 09:53:14 +11:00
Andrew Tridgell
d2287caf1c HAL_SITL: removed old servo slew rate code 2016-10-25 20:39:38 +11:00
Andrew Tridgell
5e03358b0b SITL: added servo filtering 
SIM_SERVO_SPEED is servo time constant in seconds
 2016-10-25 20:39:38 +11:00
Lucas De Marchi
539b727e5e AP_HAL_Linux: Remove misleading constant 
The constant passed to cflag is BOTHER, meaning the actual baud is set
in the other specific members.  Don't define B* constants as they are
misleading here and this is why it doesn't work with e.g.
cfset[io]speed()... that function expect a B* constant which in Linux
is not the speed, but an index to an array with speeds.
 2016-10-25 16:55:33 +11:00
Francisco Ferreira
3a89421c70 AP_BattMonitor: remove Bebop fixed capacity 
Bebop, Bebop2 and Disco all use this class but it was always setting the capacity to the Bebop one, overriding the parameter
 2016-10-24 09:24:11 -03:00
Martin Evans
0e19b8c9a0 AP_HAL_Linux: Set initial rotation on Dark to None 2016-10-24 10:00:24 -02:00
Martin Evans
6f6112d7c2 AP_HAL_Linux: Add setting for GPIO for Dark board 
Just like other RPI-based boards.
 2016-10-24 10:00:24 -02:00
Martin Evans
d2d3119b66 AP_HAL_Linux: PCA9685: Add quinary address 2016-10-24 10:00:06 -02:00
Martin Evans
37b85fd3cd AP_HAL: Add Dark Linux board 2016-10-24 09:59:02 -02:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Peter Barker
d188504b8b AC_Fence: remove unused variable _boundary_revalidate 2016-10-24 08:57:56 -02:00
Peter Barker
6e72c899d1 AP_GPS: AP_GPS_GSOF: remove unused variable 2016-10-24 08:57:56 -02:00
Peter Barker
216a6493c9 AP_Compass: AP_Compass_LSM9DS1: remove unused variable 2016-10-24 08:57:56 -02:00
Peter Barker
64154feaef DataFlash: remove unused semaphore variables 2016-10-24 08:57:56 -02:00
Peter Barker
c664eec93b AC_WPNav: remove unused variable _last_update 2016-10-24 08:57:56 -02:00
Peter Barker
6f200cdc3d SITL: SIM_Rover: remove unused variables 2016-10-24 08:57:55 -02:00
Peter Barker
e17a71c6cc AP_GPS: AP_GPS_NOVA: remove unused variables 2016-10-24 08:57:55 -02:00
Peter Barker
d3422d1653 SITL: SIM_Tracker: remove unused variable 2016-10-24 08:57:55 -02:00
Peter Barker
5dad8745d5 DataFlash: remove bogus function declaration 2016-10-24 08:57:55 -02:00