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11,113 Commits 71 Branches 509 Tags 763 MiB
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11113 Commits

Author SHA1 Message Date
Randy Mackay 429e8d5e50 Copter: integrate AttControl feel param 2014-03-04 22:23:49 +09:00
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 a9db399f60 Copter: integrate AttControl input shaping 2014-03-04 21:52:20 +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 e3952112ad Plane: raise default LIM_PITCH_MAX to 20 degrees 
15 is often not enough to climb
 2014-03-03 15:49:04 +11:00
Andrew Tridgell 989b26899f Rover: enable EKF detailed logging 2014-03-03 09:03:48 +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
Andrew Tridgell 8d99de5eb5 autotest: use xterm by default and only use make clean if needed 2014-03-03 07:06:45 +11:00
Andrew Tridgell e784c81f3e Plane: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:52 +11:00
Andrew Tridgell 86fa82f767 Copter: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:47 +11:00
Andrew Tridgell 8740ccfc61 Rover: only send GPS2_RAW when we have a 2nd GPS 2014-03-03 07:05:42 +11:00
Mike McCauley 3a714d5c45 autotest: sim_arduplane.sh works with a range of terminal types 2014-03-03 06:37:20 +11:00
Mike McCauley 7eb7f8b3ab Tools/AntennaTracker: remove redundant comment 2014-03-03 06:36:46 +11:00
Mike McCauley 0885d55905 Tools/AntennaTracker: completed intial tracker code 
Now works with 2 servo alt-azimuth mounted antenna tracking mount. Tested
on Flymaple, with Eagle Tree antenna tracker.
 2014-03-03 06:36:37 +11:00
Mike McCauley 8251cf32fb Tools/AntennaTracker: removed duplicate update_tracker from task list 2014-03-03 06:34:50 +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 f2c79ad639 Replay: fixed -g option 2014-03-02 08:09:13 +11:00
Andrew Tridgell ecdcf70ef5 Replay: added accel and gyro mask options 2014-03-02 08:00:51 +11:00
Andrew Tridgell 3218ac8e7a Replay: added parameter handling 
use parameters from log, and allow override
 2014-03-01 15:15:46 +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
Andrew Tridgell 6b9e1edf38 Plane: disable GPS2 in HIL 2014-02-27 08:16:28 +11:00
Andrew Tridgell 3de574e5dc Copter: disable GPS2 in HIL 2014-02-27 08:16:20 +11:00
Andrew Tridgell 87ea98fe2c Rover: disable GPS2 in HIL 2014-02-27 08:16:11 +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