priseborough
440d361aff
AP_NavEKF2: Limit range of delta times
2017-12-12 11:39:38 +11:00
Andrew Tridgell
6b30c9213a
AP_NavEKF3: delay startup until IMU buffer is filled
...
this prevents a vulnerability where the initial IMU data is processed
26 times (where 26 is the IMU buffer length)
2017-12-12 11:39:38 +11:00
Andrew Tridgell
1f9a3dd1bd
AP_AHRS: improved init attitdue in DCM
...
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
2017-12-12 11:39:38 +11:00
Andrew Tridgell
97729a12f0
AP_NavEKF2: don't run IMU updates until buffer fills
...
this prevents us using bad initial data multiple times. It fixes a bug
where the IMU may pause during EK2 initialisation
2017-12-12 11:39:38 +11:00
Andrew Tridgell
39c206ca03
AP_InertialSensor: limit delta-time from INS
...
limit delta-time to 2x average time
DEBUG CODE - DO NOT MERGE
2017-12-12 11:39:38 +11:00
Andrew Tridgell
a0af4af5b5
AP_InertialSensor: debugging code for EK2 bug
2017-12-12 11:39:38 +11:00
Randy Mackay
19af2f7d1d
Tools: add decibel as valid param Unit
2017-12-12 07:59:41 +09:00
Randy Mackay
38145f9541
AP_InertialSensor: fix param docs for notch and log settings
2017-12-12 07:59:41 +09:00
Andrew Tridgell
20d44136b0
autotest: fixed handling of core files
2017-12-12 08:45:56 +11:00
Randy Mackay
cabced82f1
AR_AttitudeControl: fix parameter descriptions
2017-12-11 17:01:18 +09:00
Randy Mackay
c17549c7ff
AP_Arming: integrate pre arm check if regular and skid steering configured
2017-12-11 11:56:12 +09:00
Randy Mackay
ebe3ec88a7
AP_MotorsUGV: pre arm check if regular and skid steering configured
2017-12-11 11:56:12 +09:00
Michael Oborne
78f732c380
AR_AttitudeControl: fix parameter docs
2017-12-11 08:35:33 +09:00
Peter Barker
75e8424e3f
Tools: autotest: add a test for driving a simple RTL mission
...
In particular, we weren't setting NAV_CONTROLLER_OUTPUT.wp_dist
correctly before a recent commit from Randy
2017-12-09 22:34:07 +11:00
Peter Barker
5d33cf08e1
Copter: eliminate calc_home_distance_and_bearing
...
Calling update_simple_mode_bearing calls get-heading
rather than the other way around
This will have the advantage of not calculating home bearing
when we stop calling update_simple_mode_bearing unnecesarily
2017-12-09 16:26:09 +09:00
Randy Mackay
744f4baf22
AR_AttitudeControl: add parameter description increment
2017-12-09 16:23:25 +09:00
Randy Mackay
f00f4ce79b
AR_AttitudeControl: fix get_desired_speed timeout
2017-12-09 16:23:22 +09:00
Randy Mackay
5d7e3d31c9
Rover: PM log message more consistent with Plane
2017-12-09 16:23:16 +09:00
Randy Mackay
4958298a75
Rover: fix auto mode distance_to_destination
2017-12-09 12:52:35 +09:00
Randy Mackay
9b81c133f6
AP_HAL_PX4: fix compiler warning in UARTDriver
2017-12-09 12:18:49 +09:00
Randy Mackay
de196f818d
Rover: log STER dataflash message regardless of mode
...
It is useful to at least have the pilot's steering in request even in manual modes
2017-12-09 12:18:49 +09:00
Randy Mackay
5f62cde550
Rover: remove throttle from NTUN logging
...
Throttle is more extensively logged in the THR message
2017-12-09 12:18:49 +09:00
Randy Mackay
9710b16cac
Rover: THR dataflash logging replaces CTUN
2017-12-09 12:18:49 +09:00
Randy Mackay
efae648461
Rover: STR dataflash logging gets turn rate
...
also get turn rate and lat accel from attitude controller
2017-12-09 12:18:49 +09:00
Randy Mackay
8e80490098
Rover: reporting gets lat accel from attitude control
2017-12-09 12:18:49 +09:00
Randy Mackay
b778546eda
Rover: rename mode lateral acceleration and make private
2017-12-09 12:18:49 +09:00
Randy Mackay
36c5f057ae
AR_AttitudeControl: add get_desired_turn_rate lat_accel and speed
...
for reporting use only
2017-12-09 12:18:49 +09:00
Randy Mackay
df81f666df
Rover: fix LOG_BITMASK parameter description
2017-12-09 12:18:49 +09:00
Andrew Tridgell
30944f60e6
AP_SBusOut: fixed param doc name
2017-12-09 08:31:24 +11:00
Andrew Tridgell
051f30990c
SRV_channel: fixed doc names of VOLZ and SBUS
...
thanks to Mark for noticing
2017-12-09 08:08:00 +11:00
Peter Barker
c4734484e7
AC_Avoid: take an AP_AHRS in place of an AP_AHRS_NavEKF
2017-12-08 11:27:37 +09:00
Peter Barker
8a4ab685c7
AP_AHRS: implement get_hgt_ctrl_limit on base class
...
If no limits are required false can be returned, so an trivial
implementation is possible
2017-12-08 11:27:37 +09:00
Peter Barker
89e12163cd
AP_AHRS: correct comment
2017-12-08 11:27:37 +09:00
Peter Barker
c3eff57f60
AP_InertialNav: remove unused get_hgt_ctrl_limit
2017-12-08 11:27:37 +09:00
Peter Barker
a1c982be4a
AC_Avoid: work in metres to avoid extra work
2017-12-08 11:27:37 +09:00
Peter Barker
0fe45ef6b6
AC_Avoid: eliminate get_position and get_alt_above_home
2017-12-08 11:27:37 +09:00
Peter Barker
54010451bf
AC_Avoid: check result of AHRS calls
...
Work in metres to avoid computation
2017-12-08 11:27:37 +09:00
khancyr
b44ba29a05
AC_Avoidance: replace AP_InertialNav by AHRS
2017-12-08 11:27:37 +09:00
Randy Mackay
34c2fba9a7
Rover: boats stay active at destination in guided, rtl, smartrtl
2017-12-08 08:48:05 +09:00
Randy Mackay
8eb991b610
Rover: boats say active at destination in auto
...
previously the user would use the LOITER_UNLIMITED or LOITER_TIME mission commands to specify that the vehicle should remain active at the destination. This was cumbersome and not the best way to specify this behaviour because these two commands are valid for regular rovers that should not try to remain active at the destination.
2017-12-08 08:48:05 +09:00
Randy Mackay
aa38239629
Rover: add FRAME_CLASS to differentiate boats from rovers
2017-12-08 08:48:05 +09:00
Andrew Tridgell
4289190654
HAL_PX4: added LIS3MDL on FMUv4
2017-12-08 09:49:25 +11:00
Mark Whitehorn
b0e2f06a7a
AP_Compass: add LIS3MDL probe for Pixracer
2017-12-08 09:49:25 +11:00
Tom Pittenger
512b327cd4
Plane: failsafe events to use enums instead of magical numbers : Non-functional change
2017-12-07 00:19:32 -08:00
Peter Barker
103e2cc711
Copter: calculate wp bearing and distance on demand
...
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation
Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
2017-12-07 07:43:08 +09:00
Peter Barker
4ae2be55aa
Copter: fix up autotune namespacing
...
This moves static variables into the autotune flightmode object.
It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
2017-12-07 07:35:37 +09:00
Randy Mackay
57067fb8bc
Rover: add WP_SPEED and RTL_SPEED
...
This separates the default/maximum speed used in Auto, Guided, RTL and SmartRTL from the CRUISE_SPEED which is used as the base for the speed-to-throttle controller (along with CRUISE_THROTTLE)
2017-12-07 07:29:10 +09:00
Randy Mackay
22ef276484
Rover: add const to mode::speed_error
2017-12-07 07:29:10 +09:00
Randy Mackay
8f08f5189a
Rover: constify some temporary variables
2017-12-07 07:29:10 +09:00
Peter Barker
7b637334f4
Copter: eliminate mode_has_manual_throttle
2017-12-06 10:09:58 +09:00
