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7542 Commits

Author SHA1 Message Date
Tom Pittenger
f4bfc12316 AP_ADC: fix compile warnings re float constants 2015-04-24 12:24:49 +09:00
Tom Pittenger
7132b39dcf AP_AutoTune: fix compile warnings re float constants 2015-04-24 12:24:19 +09:00
Tom Pittenger
2f9e0c1938 APM_PI: fix compile warnings re float constants 2015-04-24 12:24:02 +09:00
Tom Pittenger
b9865c5f3e AC_Circle: fix compile warnings re float constants 2015-04-24 12:23:38 +09:00
Tom Pittenger
4b97cc1957 AC_PID: fix compile warnings re float constants 2015-04-24 12:22:43 +09:00
Randy Mackay
b05bdd657d AP_NavEKF: getHeightControlLimit modifies height on success 2015-04-24 10:58:05 +09:00
Randy Mackay
ba94a993f5 AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success 2015-04-24 10:58:00 +09:00
Paul Riseborough
51624149e1 AP_InertialNav: Add function to return EKF height control limit 2015-04-24 10:57:58 +09:00
Paul Riseborough
cf04600710 AP_NavEKF: Add public function to limit height control during OF nav 2015-04-24 10:57:56 +09:00
Paul Riseborough
68b225de4d AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height 2015-04-24 10:57:54 +09:00
Paul Riseborough
c2e6fdb56c AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate 
This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
 2015-04-24 10:57:51 +09:00
Paul Riseborough
fd7fdc1ad9 AP_NavEKF: Remove unnecessary state resets on arm and disarm 
Resetting states unnecessarily creates transients due to presence of bias errors
 2015-04-24 10:57:49 +09:00
Paul Riseborough
3e67080002 AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias 2015-04-24 10:57:47 +09:00
Paul Riseborough
e48171ab11 AP_NavEKF: Improve takeoff with optical flow and range data loss 
Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
 2015-04-24 10:57:45 +09:00
Paul Riseborough
3e061b174e AP_NavEKF: Report unhealthy for all filter faults 2015-04-24 10:57:43 +09:00
Paul Riseborough
6c4c54c2ba AP_NavEKF: Use default on ground range parameter from range finder object 2015-04-24 10:57:41 +09:00
Jonathan Challinger
10476333d8 AP_NavEKF: don't run when previously disarmed and time has slipped 2015-04-24 10:57:39 +09:00
Jonathan Challinger
085faaac6a AP_NavEKF: fix delay detection so that filter properly resets after a delay 2015-04-24 10:57:36 +09:00
Randy Mackay
a01fb64f12 RangeFinder: fix example sketch 2015-04-24 10:57:25 +09:00
Randy Mackay
715da653c3 RangeFinder_Analog: set status 2015-04-24 10:57:23 +09:00
Randy Mackay
fadfa70e99 RangeFinder_MaxSonar: set status 2015-04-24 10:57:21 +09:00
Randy Mackay
e212ebb0d0 RangeFinder_PulsedLight: set status 2015-04-24 10:57:19 +09:00
Randy Mackay
aa04bef5af RangeFinder_PX4: set status and consume out of range samples 2015-04-24 10:57:16 +09:00
Randy Mackay
71de0ab815 RangeFinder_PX4_PWM: set status and consume out of range samples 2015-04-24 10:57:12 +09:00
Randy Mackay
7663b8eade RangeFinder: replace healthy with status and no_data methods 2015-04-24 10:57:10 +09:00
Randy Mackay
8ed6207ca8 RangeFinder: add pre-arm checks 2015-04-24 10:57:05 +09:00
Randy Mackay
f1cbd1f03b RangeFinder: add ground clearance parameter 2015-04-24 10:57:03 +09:00
Paul Riseborough
1c8e3f9444 AP_NavEKF: Allow EKF to pull data from range finder object 2015-04-24 10:57:01 +09:00
Paul Riseborough
7f1749dc1c AP_AHRS: Allow EKF to pull data from range finder object 2015-04-24 10:56:58 +09:00
Andrew Tridgell
f21aa17980 AP_GPS: fixed sending of GPS_RAW_INT with multiple links 
thanks to ziltoid2 for this fix! See PR #2132
 2015-04-24 08:21:00 +10:00
Niels Joubert
2a5b25ddbf GCS_MAVLink: Re-enable GPS Injection Packets 2015-04-24 08:01:32 +10:00
Niels Joubert
a5beef00d1 GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS 
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.

THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.

NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
 2015-04-24 08:01:32 +10:00
Fergus Noble
0480867de2 SITL: Update SBP simulation functions for pseudo-absolute mode 2015-04-24 08:01:32 +10:00
Paul Riseborough
405862bd8f AP_AHRS: Reduce time delay for EKF initialisation 2015-04-23 20:35:52 +09:00
Paul Riseborough
4a5bf0a266 AP_NavEKF: Reduce EKF start time 
Makes EKF start conditional on DCM solution tilt error
 2015-04-23 20:35:48 +09:00
Paul Riseborough
5184bca87f AP_AHRS: Prevent DCM reporting good tilt error when inverted 2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a AP_AHRS: Reduce time constant on filtering of DCM error reporting 
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
 2015-04-23 20:35:35 +09:00
Randy Mackay
7e43eaafab GPS: TYPE param description to PX4-UAVCAN 2015-04-23 20:17:26 +09:00
Randy Mackay
6e30093924 AP_AHRS: correct sanity checks on update_trig 2015-04-23 09:45:43 +09:00
Jonathan Challinger
6a6ccb4f32 AP_AHRS: add sanity checks 2015-04-22 21:50:51 +09:00
Randy Mackay
c6f71ea2e0 AHRS: make get_error_rp and get_error_yaw const 2015-04-21 22:42:17 +09:00
Randy Mackay
18a73d8630 Camera: use camera feedback flag 2015-04-21 22:22:57 +09:00
Randy Mackay
26383183d2 GCS_MAVLink: version update after generate 2015-04-21 22:22:54 +09:00
Randy Mackay
48c6803717 GCS_MAVLink: generate after fixing camera feedback flags 2015-04-21 22:22:52 +09:00
Randy Mackay
8e2616ddcf GCS_MAVLink: prefix camera feedback flags 2015-04-21 22:22:49 +09:00
Dario Lindo Andres
a21d328b93 GCS_Mavlink: Update ardupilotmega.xml 
Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.
 2015-04-21 22:22:47 +09:00
Randy Mackay
8ced9cc904 Gimbal: only include for high performance CPUs 2015-04-21 21:47:18 +09:00
Randy Mackay
93ba2d2d32 Mount_MAVLink: uses vehicle's sysid 2015-04-21 21:47:17 +09:00
Randy Mackay
e726a05f3b Gimbal: fix to parameter init order 
resolves a compiler warning
 2015-04-21 21:47:16 +09:00
Randy Mackay
e9b2153672 Gimbal: formatting fixes 
Also isCopterFlipped returns bool instead of uint8_t
No functional change
 2015-04-21 21:47:15 +09:00
Randy Mackay
db6bb295c7 Mount: add gimbal parameter descriptions 2015-04-21 21:47:14 +09:00
Randy Mackay
924a3b2c67 GCS_MAVLink: version update after generate 2015-04-21 21:47:13 +09:00
Randy Mackay
9f10c43708 GCS_MAVLink: generate after GIMBAL/GOPRO msgs added 2015-04-21 21:47:12 +09:00
Angus Peart
86b81120fd GCS_MAVLink: update gopro message definitions 2015-04-21 21:45:53 +09:00
Jonathan Challinger
231f776dd7 AP_Gimbal: change isCopterFlipped() 2015-04-21 21:45:52 +09:00
Arthur Benemann
e59c6ddbae AP_SmallEKF: increase start-up time of the SmallEKF 2015-04-21 21:45:51 +09:00
Arthur Benemann
21b909f670 AP_Gimbal: report gimbal angles using a 312 rotation vector 2015-04-21 21:45:50 +09:00
Arthur Benemann
2850c7ab4a AP_Gimbal: nest AP_Gimbal files into AP_Mount library 2015-04-21 21:45:49 +09:00
Arthur Benemann
608017ba4a AP_Gimbal: optimize function calls using const refrences 2015-04-21 21:45:48 +09:00
Arthur Benemann
03c0e17a4d AP_Gimbal: fix typo 2015-04-21 21:45:47 +09:00
Arthur Benemann
03974c93bb AP_Gimbal: use new quaternion math to handle gimbal lock issue 2015-04-21 21:45:46 +09:00
Arthur Benemann
255c5b3025 AP_Mount: report MAVLink gimbal angle to the GCS 2015-04-21 21:45:45 +09:00
Arthur Benemann
b3c35aee4e AP_Gimbal: fix problem with rotation math on control loop 2015-04-21 21:45:44 +09:00
Arthur Benemann
4bdf909bbf AP_Mount: Create new copter parameters to hold gimbal settings 2015-04-21 21:45:43 +09:00
Arthur Benemann
cf2377d113 AP_Gimbal: Move gimbal parameters to a structure 2015-04-21 21:45:42 +09:00
Arthur Benemann
9b94f26583 AP_Gimbal: Relax minimal angle constrains on the gimbal 2015-04-21 21:45:41 +09:00
Arthur Benemann
a05fe7e117 AP_Gimbal: Re-implement the target low-pass filter 2015-04-21 21:45:40 +09:00
Arthur Benemann
b3dd8891c8 AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class 2015-04-21 21:45:38 +09:00
Arthur Benemann
ee8c92c850 AP_Gimbal: clean-up for AP_Mount merge 2015-04-21 21:45:37 +09:00
Arthur Benemann
4ad3e786a5 AP_NavEKF: fix initialization of the SmallEKF 
The constructor 'states' variable was not being called. To make sure other variables where also zeroed now
 2015-04-21 21:45:36 +09:00
Arthur Benemann
0189f80462 AP_Gimbal: update getGimbalRateDemVecTilt to use quaternions 2015-04-21 21:45:35 +09:00
Arthur Benemann
4bdae02cfd AP_Gimbal: disable gimbal motors if copter is fliped 2015-04-21 21:45:34 +09:00
Arthur Benemann
ebaf1e28b1 AP_Gimbal: smooth the RC input with a low pass filter 2015-04-21 21:45:33 +09:00
Arthur Benemann
534790634b AP_Gimbal: add a radio failsafe state to the gimbal 2015-04-21 21:45:32 +09:00
Arthur Benemann
1da4be3a87 AP_Gimbal: initial implementation of the rate controlled gimbal library 2015-04-21 21:45:30 +09:00
Arthur Benemann
1d9beed42f AP_SmallEKF: add function to report if the EKF is stable 2015-04-21 21:45:29 +09:00
Arthur Benemann
7b28bf7d44 AP_NavEKF: Remove small EKF dependency on navigation EKF 2015-04-21 21:45:28 +09:00
Arthur Benemann
558a69bdca Mount_MAVLink: remove code now in AP_Gimbal 2015-04-21 21:44:56 +09:00
Jonathan Challinger
2053d5e42e GCS_MAVlink: add GIMBAL_ and GOPRO_ messages 2015-04-21 21:40:05 +09:00
Randy Mackay
87e6452ee9 Mission: bug fix when jump target is zero 
This would result in copter flying to a waypoint high above home
 2015-04-21 20:42:49 +09:00
Andrew Tridgell
a0969905ce AP_AHRS: make get_error_rp() and get_error_yaw() const 
this makes them usable by multiple consumers, and allows use by EKF
 2015-04-21 21:42:17 +10:00
Andrew Tridgell
2dfe3cb844 DataFlash: added a perf counter for microSD overruns 
this allows us to tell if a microSD can handle a high logging rate
 2015-04-21 20:45:30 +10:00
Andy Piper
b0937154f5 DataFlash: log compass health 
This patch simply logs the health of each compass for easy diagnosis.
 2015-04-21 13:18:24 +09:00
Andrew Tridgell
c153d31dd2 DataFlash: speed up DataFlash in Replay 2015-04-21 10:14:41 +10:00
Andrew Tridgell
dcb25632fb AP_Compass: removed old setHIL compass offset 2015-04-21 08:30:05 +10:00
Andrew Tridgell
a4bad1c703 HAL_SITL: use SIM_MAG_OFS in SITL compass 2015-04-21 08:29:51 +10:00
Andrew Tridgell
1ce9cb693a SITL: added SIM_MAG_OFS for setting compass offsets in SITL 2015-04-21 08:29:27 +10:00
Andrew Tridgell
179e47c618 HAL_Linux: prevent time from going backwards in Replay 2015-04-20 15:12:51 +10:00
Andrew Tridgell
d7000c4105 AP_Compass: fixed compass timestamps in Replay 2015-04-20 15:12:51 +10:00
Randy Mackay
337a94e52e Camera: remove empty configure_msg method 2015-04-20 13:50:15 +09:00
Randy Mackay
d456b97fd2 Camera: control_cmd triggers pic 2015-04-20 13:50:12 +09:00
Jaime Machuca
38491c4ff7 Camera: fix mission cmds sending msgs to components 
mission commands were triggering the sending of
mavlink mission items when they should have been sending
command long messages
 2015-04-20 13:50:10 +09:00
Randy Mackay
4eb3263653 Camera: mission cmds send do-digicam msgs to components 
This allows digicam-control and digicam-configure mission
command to trigger sending the equivalent mavlink messages
to components
 2015-04-20 13:50:08 +09:00
Randy Mackay
8dcd555037 Camera: trigger_pic sends do-digicam-control to components 
This (optionally) allows pictures triggered from ch7/ch8
switch to send a mavlink do-digicam-control message to
components
 2015-04-20 13:50:06 +09:00
Randy Mackay
1f705eb6a3 GCS_MAVLink: add send_to_components method 2015-04-20 13:50:04 +09:00
Randy Mackay
888c2289ce Mission: support do-digicam-control parameters 2015-04-20 13:50:01 +09:00
Peter Barker
c95348c1d9 SITL: Avoid run-time FPEs due to bad gyro settings if SIM_DRIFT_TIME is set to 0 
_gyro_drift essentially suffers a divide-by-zero if SIM_DRIFT_TIME is 0.  The gyro initialisation routines in AP_InertialSensor do not return once the generated NaN propogates back to them.
 2015-04-19 07:24:45 +10:00
Jonathan Challinger
12957867fd AC_PosControl: fix thr twitch when changing modes 2015-04-18 12:38:44 +09:00
Randy Mackay
44d2ae06fb Mount: unix style line endings 2015-04-17 22:59:34 +09:00
Randy Mackay
06ea18f97e Filter: fix LPF example sketch 2015-04-17 22:54:06 +09:00