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9575 Commits

Author SHA1 Message Date
Peter Barker 1b13315092 AP_Baro: notify GCS of calibration 2015-11-09 09:23:20 +11:00
Peter Barker 5f9b1c5f4e AP_Param: provide facility to notify GCS of param set 2015-11-09 09:23:20 +11:00
Peter Barker 046b008889 AP_Param: send saved param values to all GCS 2015-11-09 09:23:20 +11:00
Peter Barker 368363531f GCS_MAVLink: provide facilities to send param values to all GCS 2015-11-09 09:23:20 +11:00
Tom Pittenger 73c5234633 AP_Terrain: cache status 
instead of computing the terrain status on-demand, assign it in update() and cache the result. Then external tasks that check the status won't be doing terrain intensive calculations in their thread. All the calculations needed for the status were being performed in update already so this is an optimization.
 2015-11-09 08:36:41 +11:00
Paul Riseborough f08a4af751 AP_NavEKF2: Remove redundant if statement 
Thank you to OXINARF for picking up this one
 2015-11-08 17:06:57 +11:00
Paul Riseborough 0f8cfa02ab AP_NavEKF: Remove redundant if statement 
Thank you to OXINARF for picking up this one
 2015-11-08 17:06:57 +11:00
Paul Riseborough 2243f95074 AP_NavEKF: Enable clean entry into GPS aiding whilst in-flight 
Ensures that the latest GPS data is used to reset the states.
Separates the logic used to set the origin from the logic used to determine when to reset states and commence GPS aiding
 2015-11-08 17:06:49 +11:00
Paul Riseborough 9efc2152fc AP_NavEKF2: Fix comment 2015-11-08 16:26:04 +11:00
Paul Riseborough a8983d075f AP_NavEKF2: Enable clean entry into GPS aiding in-flight 
The setting of the EKF origin and the entry into GPS aiding mode have been separated to make the logic clear.
The order of operations has been changed to ensure that when a reset to GPS is performed, a valid GPS measurement is available in the buffer
Declaration of GPS availability is not made unless the GPS data has been entered into the buffer
 2015-11-08 16:26:04 +11:00
Paul Riseborough f99dbc70f9 AP_NavEKF2: Don't return ready to use GPS true if user has inhibited GPS 2015-11-08 16:26:04 +11:00
Paul Riseborough d6f7156f4e AP_NavEKF2: Fix timing offset in position reset calculation 
the correction for GPS latency now uses the correct time for that observation
 2015-11-08 16:26:04 +11:00
Paul Riseborough 803817821d AP_AHRS: Support changes to EKF2 interfaces that specify the instance 
An instance of -1 is specified which causes data for the primary instance to be returned.
 2015-11-08 15:37:28 +11:00
Paul Riseborough 138315af21 DataFlash: Add logging for second NKF instance 2015-11-08 15:37:28 +11:00
Paul Riseborough 0b64ad0123 AP_NavEKF2: Enable EKF instance to be specified when requesting public data 
Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
 2015-11-08 15:37:28 +11:00
Paul Riseborough dfdacf2ddc GCS_MAVLink: Accommodate change to EKF2 interface 
Return euler angles for primary instance
 2015-11-08 15:37:28 +11:00
Paul Riseborough 5b1d6f2aa2 DataFlash: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough 243888e923 GCS_MAVLink: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough 6c2dc3ccf8 AP_NavEKF2: Publish the number of instances 2015-11-08 15:37:27 +11:00
Paul Riseborough 46e4c45537 DataFlash: Only log EKF messages when enabled 2015-11-08 15:37:27 +11:00
Paul Riseborough 624f169b9b AP_NavEKF: Publish enabled status 2015-11-08 15:37:27 +11:00
Paul Riseborough 65e4a4ab94 AP_NavEKF2: Use correct casting of integers when printing 
Changes in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough 987d261109 DataFlash: Update logging of EKF2 primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough 2dcaeb0304 AP_NavEKF2: Update publishing of primary core index 
Changes made in response to review comments
 2015-11-08 15:37:27 +11:00
Paul Riseborough 1858da8307 AP_NavEKF2: Better switching in response to faults 
Make selection sticky
If fault detected or unhealthy, then switch to healthy core with lowest fault score.
If no healthy core found, do not switch.
 2015-11-08 15:37:27 +11:00
Paul Riseborough 5f6d1d8d25 AP_NavEKF2: Add fault score calculation 2015-11-08 15:37:27 +11:00
Paul Riseborough 4884b2d38a DataFlash: Log the primary EKF2 index 2015-11-08 15:37:27 +11:00
Paul Riseborough b24507d33c AP_NavEKF2: Publish the primary EKF index 2015-11-08 15:37:27 +11:00
Paul Riseborough 04165a60a7 AP_NavEKF2: Reduce false positive on EKF health check 
Apply filtering to baro innovation check and and don't apply innovation checks once aiding has commenced because GPS and baro disturbances on the ground and during launch could generate a false positive
 2015-11-08 15:37:27 +11:00
Paul Riseborough 49f9ea317c AP_NavEKF: Update console message and param descriptions for multiple EKF's 2015-11-08 15:37:26 +11:00
Paul Riseborough 2340e18fdc AP_NavEKF2: Offset the fusion time horizon between multiple instances 
Prevents frame over-runs due to simultaneous fusion of measurements on each instance.
The offset is only applied if less than 5msec available between frames
 2015-11-08 15:37:26 +11:00
Paul Riseborough 3eeff8dbc6 AP_NavEKF2: Remove unused code 
This method of correcting for the fusion time horizon delay was too computationally expensive for our application and did not smooth fusion noise.
 2015-11-08 15:37:26 +11:00
Paul Riseborough d48454ee2d AP_NavEKF2: Use nominated IMU unless unavailable 
We now run a separate instance of the EKF for each IMU, so input data fusion of IMU's is no longer required.
 2015-11-08 15:37:26 +11:00
Siddharth Bharat Purohit 392fce76b2 AP_NavEKF: define getGpsGlitchStatus function 2015-11-08 12:55:58 +09:00
Andrew Tridgell 2ffabe9e05 AP_BoardConfig: fixed PX4v1 build 2015-11-06 17:10:08 +11:00
Andrew Tridgell d52279af27 AP_NavEKF2: don't try to allocate last bytes of memory to EKF2 2015-11-06 10:42:58 +11:00
Andrew Tridgell ee78e2d618 AP_NavEKF2: set primary to first healthy core 2015-11-06 10:42:58 +11:00
Andrew Tridgell 2ab2afc86a AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs 
no voting between multiple IMUs yet
 2015-11-06 10:42:58 +11:00
Andrew Tridgell 56909ce973 AP_NavEKF: split EKF1 into frontend and backend 
this allows the primary EKF to be allocated dynamically, allowing for
experiments with EKF2 with multi-IMU support
 2015-11-06 10:42:57 +11:00
Andrew Tridgell c334bd0ddf AP_BoardConfig: added BRD_CAN_ENABLE option 
this allows uavcan to be enabled/disabled at boot. When it is disabled
we save about 25k of memory, allowing for more options for things like
multiple EKF
 2015-11-06 10:23:37 +11:00
Lucas De Marchi e9c6702269 AP_HAL_VRBRAIN: fix typo using comma operator 
We want to return mallinfo().fordblks, not the struct using the comma
operator with a non-existing fordblks variable.
 2015-11-05 15:48:32 -02:00
Lucas De Marchi 0d95a9c41d AP_OpticalFlow: reduce lock region 
Release the lock as soon as we can.
 2015-11-05 16:12:03 +09:00
Lucas De Marchi 70edf31ca6 AP_OpticalFlow: make error path common 2015-11-05 16:12:00 +09:00
Lucas De Marchi 7b726d824d AP_OpticalFlow: remove num_errors increment due to busy bus 
num_errors should be used to detect bad bus transfers, not if we
actually read something. Since we are using i2c_sem->take_nonblocking()
failing here is more likely if the bus is shared.
 2015-11-05 16:11:58 +09:00
Lucas De Marchi 41ddb67712 AP_OpticalFlow: pack struct passed to I2C layer 
We pass "sizeof(i2c_integral_frame)" to hal.i2c->readRegisters(). Since
we have a padding in i2c_integral_frame we actually read 3 bytes more
than we should. Add PACKED to the struct so this is fixed.

i2c_frame doesn't have a padding (or hole) so there isn't this problem,
but since it's also used to calculate the frame size, use PACKED there
too.
 2015-11-05 16:11:56 +09:00
Andrew Tridgell 49799257ea GCS_MAVLink: handle available memory of over 64k in mavlink 2015-11-05 16:09:00 +11:00
Andrew Tridgell 883ac59e4a HAL_Linux: always report 256k of available memory 2015-11-05 16:09:00 +11:00
Andrew Tridgell 567ea0e420 HAL_VRBRAIN: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell 81e34006a5 HAL_SITL: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00
Andrew Tridgell ac1c0bba15 HAL_PX4: make available_memory() uint32_t 2015-11-05 16:09:00 +11:00