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18940 Commits

Author SHA1 Message Date
Andrew Tridgell 3c3392aae5 Plane: improve error messages on failed parachute release 2015-10-27 16:06:34 +11:00
Andrew Tridgell 5d1d54a8cb Plane: added CHUTE_CHAN parameter for manual release 2015-10-27 16:06:34 +11:00
Andrew Tridgell d20b86b95e Plane: suppress the throttle in auto-throttle modes after parachute release 2015-10-27 16:06:34 +11:00
Andrew Tridgell 9affddcaa3 Plane: initial support for AP_Parachute library 2015-10-27 16:06:34 +11:00
Andrew Tridgell aee2543b75 AP_Parachute: fixed release bug 
if release() is called within 1 millisecond of update() the release
wouldn't happen
 2015-10-27 16:06:34 +11:00
Andrew Tridgell 0d9715cfe8 AP_Parachute: added a released() function 
used to help with throttle suppression in plane
 2015-10-27 16:06:34 +11:00
ggregory8 76871ef0cd Tracker: fix start lat, lon sanity check 2015-10-27 12:50:40 +09:00
Randy Mackay ca942f39dd AP_Motors_Heli: remove unused allow_arming check 2015-10-27 09:14:40 +09:00
Randy Mackay b49fda4a94 Copter: remove rotor spinning arming check from TradHeli 2015-10-27 09:14:39 +09:00
Andrew Tridgell 724f5511aa SITL: support multiple jsbsim aircraft types 
use -f jsbsim:ModelName
 2015-10-27 10:01:34 +11:00
Jonathan Challinger da3961e4a6 Copter: support MAV_CMD_DO_SEND_BANNER 2015-10-26 16:28:57 +09:00
Randy Mackay e9cec1203a GCS_MAVLink: version update after generate 2015-10-26 16:28:54 +09:00
Randy Mackay e51498aa45 GCS_MAVLink: generate after adding DO_SEND_BANNER 2015-10-26 16:28:52 +09:00
Jonathan Challinger 36bb5a25a2 GCS_MAVLink: add MAV_CMD_DO_SEND_BANNER 2015-10-26 16:28:49 +09:00
Randy Mackay 02c4fdf519 Copter: 3.3.1 release notes 2015-10-26 11:32:28 +09:00
squilter 9de2ec04f6 AC_PrecLand: update comments to reflect change from bf_angle to angle 2015-10-26 09:45:05 +09:00
squilter 9e7099f5ee AC_PrecLand: implement frame of reference 2015-10-26 09:45:03 +09:00
squilter e409bd0a58 AC_PrecLand: rename bf_angle to angle 2015-10-26 09:45:01 +09:00
Andrew Tridgell c228ea4371 AP_NavEKF2: prevent a valgrind error on startup 2015-10-26 11:34:32 +11:00
Jonathan Challinger c762865d66 AP_Mount: use configured function to determine if MNT_TYPE has been configured 2015-10-26 11:15:54 +11:00
Jonathan Challinger 5486be34b1 Copter: use configured function to determine if heli_servo_rsc has been configured 2015-10-26 11:15:54 +11:00
Jonathan Challinger f0f5239d8f AP_L1_Control: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Jonathan Challinger 28f55766fd Copter: use configured to check whether radio has been calibrated 2015-10-26 11:15:54 +11:00
Jonathan Challinger 21e7d46944 RC_Channel: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Jonathan Challinger 39246c13ad AP_Param: add set_default, configured 2015-10-26 11:15:54 +11:00
Paul Riseborough 87ea9acc7f AP_NavEKF2: Fix mavlink parameter label 2015-10-26 08:05:15 +11:00
Paul Riseborough 1cf626692c AP_NavEKF: Reduce impact of altimeter flow disturbance error on Copter alt hold 
This increase in assumed altimeter noise and reduction in accel noise has been flight tested by L.Hall with noticeable reduction in the immediate response to Baro errors during moving flight.
This increases the time constant of response to baro errors such that the pilot can more easily compensate.
 2015-10-26 08:05:15 +11:00
Paul Riseborough e692e30988 AP_NavEKF2: Reduce allowance for magnetometer timing errors 
The previous gain from rate to magnetometer error was excessive. The revised value is equivalent to a magnetic field length of 0.5 with a timing uncertainty of 0.01 sec
 2015-10-26 08:05:15 +11:00
Paul Riseborough 4c5ba60578 AP_NavEKF2: Remove dead code 2015-10-26 08:05:15 +11:00
Andrew Tridgell 142aa59bce AP_InertialSensor: fixed vibration logging after recent changes 2015-10-26 07:26:17 +11:00
Andrew Tridgell 3dd47adafe Plane: fixed a condition where takeoff switches to land 2015-10-24 15:15:59 +11:00
Andrew Tridgell 537f22cdd1 Plane: changed thresholds for LAND_APPROACH 
use 15% path progress when lined up, and 50% path progress if not
lined up
 2015-10-24 15:00:34 +11:00
Tom Pittenger f9fbb8a0f7 Plane: restrict land_approach stage change with tighter criteria 
- inhibit switching from FLIGHT_NORMAL to FLIGHT_LAND_APPROACH until we meet stricter criteria other than just that LAND is next waypoint
- requires: nav bearing error < 10deg && have traveled path forward 30% of path && are below top of approach in case we hit waypoint while still descending
- exceptions: traveled path forward > 80% which basically means we're getting close to the flare point and better get into approach mode ASAP
 2015-10-24 14:43:43 +11:00
Lucas De Marchi ddc3988b4a Travis: add minlure target 2015-10-24 14:28:31 +11:00
Lucas De Marchi 9eaf7c5660 AP_HAL: add format attribute to panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi 2322b8014d AP_HAL: use common macro for printf formatting 2015-10-24 14:26:36 +11:00
Lucas De Marchi dc95145de2 AP_Common: add attribute to sanitize prinf-like functions 
Make the compiler emit warnings if the variables don't match the
printf format string. To be added in functions with printf-like
arguments.
 2015-10-24 14:26:36 +11:00
Lucas De Marchi 3650eb468f AP_HAL_FLYMAPLE: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi e2d1fab863 AP_HAL_Empty: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi 6027a02fe9 AP_HAL_SITL: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi e9d92c446c AP_HAL_VRBRAIN: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi f791767fb2 AP_HAL_PX4: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi 4b54bcbfad AP_HAL_Linux: use variadic panic() 
While at it also add a prefix with the name of the driver.
 2015-10-24 14:26:36 +11:00
Lucas De Marchi 2af4244854 AP_HAL_Linux: Scheduler: implement variadic version of panic() 2015-10-24 14:26:36 +11:00
Lucas De Marchi ad61a93c14 AP_HAL: turn panic() into a variadic method 
Change the declaration on all HAL implementations so panic() in future
may implement a printf-like interface.
 2015-10-24 14:26:35 +11:00
Lucas De Marchi 0b4aa5ac85 AP_HAL: Scheduler: reorder includes 
Follow the following order for includes:

   - Corresponding header file (if exists)
   - System headers
   - Other ArduPilot library headers
   - "Local" headers (from the same library)
 2015-10-24 14:26:35 +11:00
Paul Riseborough 55ac8f0230 AP_NavEKF2: Update parameter values. 
Testing on different platforms has shown that the new EKF has smaller innovations enabling innovation consistency checks that reject GPS and baro errors to be tightened.
The position and velocity thresholds for plane have been left the same because planes are less sensitive to GPS glitches as they fly higher and with more separation to surrounding objects. They are also more prone to bad inertial data due to the installation practices.
The altitude noise has been increased on plane to allow for the larger baro disturbances that result from the higher speeds and lack of a proper static pressure source. The innovation consistency gate has been adjusted to provide the same baro error limit of ~20m before baro is rejected.
 2015-10-24 07:26:50 +11:00
Paul Riseborough 1e7ac873b9 AP_NavEKF2: Improve handling of GPS loss and recovery for planes 
Extended GPS loss can result in the earth field states becoming  rotated and making it difficult for the EKF to recover its heading when GPS is regained.
During prolonged GPS outages, the position covariance can become large enough to cause the reset function to continually activate. This is fixed by ensuring that position covariances are always reset when the position is reset.
The innovation variance was being used incorrectly instead of the state variance to trigger the glitch reset.
 2015-10-24 07:17:11 +11:00
Paul Riseborough cd5ec3a3e0 AP_NavEKF2: Reduce angle errors when flying without GPS 
Turn off aiding during >1g manoeuvres when not using GPS
Use larger velocity and position uncertainties when flying without GPS
 2015-10-23 19:04:30 +11:00
Paul Riseborough 1eaf318b9b AP_NavEKF2: Faster learning of gyro scale factors 2015-10-23 19:04:30 +11:00