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9247 Commits

Author SHA1 Message Date
Paul Riseborough
60c2e81d19 AP_NavEKF2: Apply optimisations to declination fusion covariance update 
These are the same type of optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:41 +11:00
Paul Riseborough
0054291cf4 AP_NavEKF2: Apply optimisations to side-slip fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough
5e4bc4e954 AP_NavEKF2: Apply optimisations to airspeed fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough
a29147d6d2 AP_NavEKF2: Apply optimisations to optical flow covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough
b5e43288d4 AP_NavEKF2: Down to 12 from 14 usec for perf test[8] 2015-10-20 15:21:40 +11:00
Paul Riseborough
0f530bb5a0 AP_NavEKF2: Correct comments 2015-10-20 15:21:40 +11:00
Andrew Tridgell
d1dfd5fd01 AP_NavEKF2: use common header for optimisation level and irq disable 2015-10-20 15:21:40 +11:00
Andrew Tridgell
a017ae7e00 AP_NavEKF2: down to 218us for test[9] 2015-10-20 15:21:40 +11:00
Andrew Tridgell
fc23be8025 AP_NavEKF2: enable fine grained perf tuning for mag fusion 2015-10-20 15:21:40 +11:00
Andrew Tridgell
b6c1352e4c AP_NavEKF2: added 10 test perf counters 
used for fine grained performance tuning
 2015-10-20 15:21:40 +11:00
Paul Riseborough
824436dfb6 AP_NavEKF2: Explicitly define constants as floats 2015-10-20 15:21:40 +11:00
Paul Riseborough
2fbd050418 AP_NavEKF2: Use blended accelerometer data 
If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
 2015-10-20 15:21:40 +11:00
Paul Riseborough
240ea92947 AP_NavEKF: Re-center gyro bias limits on arming 
Allows the gyro bias to vary by up to +-10 deg/second before and after arming.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
8515dda727 AP_NavEKF: Fix bug in vertical position derivative calculation 2015-10-20 15:21:39 +11:00
Paul Riseborough
2b13020c19 AP_NavEKF2: Fix bug in vertical position derivative calculation 2015-10-20 15:21:39 +11:00
Paul Riseborough
f6ad79688e AP_NavEKF2: Update start sequence console messages 2015-10-20 15:21:39 +11:00
Paul Riseborough
6b3e114cd6 AP_NavEKF: Enable EKF1 to be disabled to reduce frame over-runs 2015-10-20 15:21:39 +11:00
Paul Riseborough
1a1236f764 AP_NavEKF2: Update magnetometer fusion documentation 2015-10-20 15:21:39 +11:00
Paul Riseborough
8526a8ba7e AP_NavEKF2: Level processor loading between frames 
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
225b81baf4 AP_NavEKF2: Prevent users breaking filter by setting excessive time delays 
If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
a1d6c7ae1e AP_NavEKF2: Improve timing accuracy 
This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
 2015-10-20 15:21:39 +11:00
Paul Riseborough
e0ed2dab63 AP_NavEKF2: Adjust IMU FIFO buffer for different IMU data rates 
The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
 2015-10-20 15:21:39 +11:00
Paul Riseborough
baa8692960 AP_NavEKF2: Allow use of magnetometer learning during optical flow nav 
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
 2015-10-20 15:21:38 +11:00
Paul Riseborough
1b8a93ef0c AP_NavEKF2: Update function header comments 2015-10-20 15:21:38 +11:00
Paul Riseborough
6899767d28 AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference 2015-10-20 15:21:38 +11:00
Paul Riseborough
0722ebe8a0 AP_AHRS: Add EKF variance checks 2015-10-20 15:21:38 +11:00
Paul Riseborough
242b9641c8 AP_NavEKF2: Fix in-air logic bug 2015-10-20 15:21:38 +11:00
Paul Riseborough
e7de2d3ea3 AP_NavEKF: Update magnetic field learning options 
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
 2015-10-20 15:21:38 +11:00
Paul Riseborough
495809f211 AP_NavEKF2: Allow magnetic field learning to be faster 2015-10-20 15:21:38 +11:00
Paul Riseborough
84a02efd52 AP_NavEKF2: Improve efficiency of Z magnetometer fusion 2015-10-20 15:21:37 +11:00
Paul Riseborough
35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough
4e928bf294 AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements 2015-10-20 15:21:37 +11:00
Paul Riseborough
71c399674a AP_NavEKF2: Delay use of magnetic field states until off-ground 
Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
99c2dc41e0 AP_NavEKF2: Miscellaneous tuning changes 2015-10-20 15:21:37 +11:00
Paul Riseborough
2d44441d6b DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
ae830b44c4 AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
840f307d58 AP_NavEKF: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
1323db10e8 DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
e8037f94ad AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review
 2015-10-20 15:21:37 +11:00
Paul Riseborough
47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
f63c32531c AP_InertialNav: Address peer review comments 
The decision to set the origin to zero has been moved out of the AHRS library and into the inertial nav library as this is consumer specific.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
58d57994f4 AP_AHRS: Rectify coding errors found during peer review 
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
 2015-10-20 15:21:36 +11:00
Paul Riseborough
27393855f1 AP_NavEKF2: Change assumed gyro calibration accuracy 
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough
0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic 
Ensure takeoff detect status goes to false when on ground
 2015-10-20 15:21:36 +11:00
Paul Riseborough
d3a6690e4f AP_NavEKF2: Fix bugs preventing use of optical flow navigation 2015-10-20 15:21:36 +11:00
Paul Riseborough
24c0309e85 AP_InertialNav: Enable flight using EKF2 
All EKF functions are accessed via the AHRS library enabling AHRS_EKF_TYPE to determine which EKF is being used by the control loops
 2015-10-20 15:21:36 +11:00
Paul Riseborough
e65ae51564 AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS 
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
f062ed4180 AP_InertialNav: Add output method for rate of change of vertical position 2015-10-20 15:21:36 +11:00
Paul Riseborough
dab658f6ed AP_NavEKF: Add methods to output and calculate vertical position derivative 2015-10-20 15:21:36 +11:00
Paul Riseborough
9e3d9d15fc DataFlash: Log vertical position derivative output 2015-10-20 15:21:35 +11:00
Paul Riseborough
52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Andrew Tridgell
f5b5a3b0f8 AP_NavEKF: added EKF_DISABLE_INTERRUPTS 
this helps with performance tuning
 2015-10-20 14:37:41 +11:00
Andrew Tridgell
10fddf4c7e AP_NavEKF: enable optimisation level 3 for the EKF 2015-10-20 14:36:56 +11:00
Andrew Tridgell
c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Andrew Tridgell
2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay
756d564b7c Mission: sanity check command altitudes 2015-10-19 16:15:08 +09:00
Randy Mackay
acd8252e4b Common: add location alt max definition 2015-10-19 16:15:05 +09:00
Randy Mackay
b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
Randy Mackay
09aef3a3b8 AP_Arming: remove ahrs check from ins 2015-10-16 13:50:58 +09:00
Randy Mackay
53b39b201b AP_Arming: make ins check virtual 2015-10-16 13:50:57 +09:00
Randy Mackay
304a23923a AP_Arming: add Bitmask parameter description 
Also moved ARMING_CHECK to standard category
 2015-10-16 13:50:56 +09:00
Randy Mackay
0cc4b6977e AP_Arming: add compass consistency check 
Also moved the offsets and mag field limits into definitions at top of
.cpp file
 2015-10-16 13:50:55 +09:00
Randy Mackay
342651cc9b AP_Arming: add board voltage checks 2015-10-16 13:50:54 +09:00
Randy Mackay
f5f31e4b31 AP_Arming: move ahrs health check after Accel/Gyro checks 
If the AHRS is unhealthy because of accel or gyro problems we want those underlying problem reported first
 2015-10-16 13:50:53 +09:00
Randy Mackay
0a21fe65e9 AP_Arming: do not report prearm_failure_reason when ahrs unhealthy 
The EKF's prearm failiure message is more related to the position estimate rather than the ahrs's health
 2015-10-16 13:50:52 +09:00
Randy Mackay
78c6287f95 AP_Arming: check health of all barometers 2015-10-16 13:50:50 +09:00
Randy Mackay
c716bfce88 AP_Arming: remove most exclamation marks 2015-10-16 13:50:49 +09:00
Randy Mackay
6b91beb3ff AP_Arming: formatting changes 2015-10-16 13:50:48 +09:00
Andrew Tridgell
6f36267a66 AP_NavEKF: fixed EKF error message during 10 second warmup 2015-10-16 14:58:46 +11:00
José Roberto de Souza
9889f826b3 AP_HAL_Linux: RCInput_UDP: Fix compiling warning 
This warning happens because of the difference of datatypes between
32 and 64 bits processors.

%% libraries/AP_HAL_Linux/RCInput_UDP.o
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp: In member function 'virtual void Linux::LinuxRCInput_UDP::_timer_tick()':
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp:42:72: warning: format '%llu' expects argument of type 'long long unsigned int', but argument 3 has type 'uint64_t {aka long unsigned int}' [-Wformat=]
             hal.console->printf("no rc cmds received for %llu\n", delay);
 2015-10-16 10:28:07 +11:00
José Roberto de Souza
e6f0ba6c8b AP_HAL_Linux: Compile RCInput_UDP in all Linux boards 
This RCInput is generic enough to be used on every Linux board.
 2015-10-16 10:28:06 +11:00
teddytrowbridge
a4690a7b0a SITL_State: fixed _set_param_default 
Fixed _set_param_default() so that it finds the parameter using it's
NAME rather than the entire NAME=VALUE string
 2015-10-16 10:20:31 +11:00
José Roberto de Souza
30610fb17d AP_InertialSensor: Remove misspelled and unused method 2015-10-16 10:16:24 +11:00
José Roberto de Souza
3888579c07 AP_Compass: HMC5843: Use the correctly spelled method 2015-10-16 10:16:24 +11:00
José Roberto de Souza
daa32725ac AP_InertialSensor: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
José Roberto de Souza
c53e9d1ff0 AP_Baro: Fix typo 2015-10-16 10:05:03 +11:00
José Roberto de Souza
9a98eb35fc AP_Baro: Add MS5637 over I2C to init() 2015-10-16 10:05:03 +11:00
José Roberto de Souza
6215a3d224 AP_HAL: Add MS5637 over I2C to the supported barometers list 2015-10-16 10:05:03 +11:00
José Roberto de Souza
c373ce34d1 AP_Baro: MS56XX: Some minor fixes 2015-10-16 10:05:03 +11:00
José Roberto de Souza
d9931b5f34 AP_Baro: Add support to MS5637 
As AVR2560 is not supported anymore and do integer operations is
usually faster than float-point the _calculate() implementation was
done using only integer operations and as more close to what
datasheet says.
 2015-10-16 10:05:03 +11:00
Randy Mackay
6bdeae97b6 Compass: update param descriptions 
offset parameter units are milligauss
User settable parameters should have a User category defined.  Those that should never be set by a user should not have this.
 2015-10-15 20:52:38 +09:00
Randy Mackay
131536a3a7 Compass: resolve compiler warning 2015-10-15 20:33:25 +09:00
Randy Mackay
35769035d4 AP_NavEKF2: resolve compiler warning related to init order 2015-10-15 20:03:05 +09:00
Gustavo Jose de Sousa
0caaef7394 AP_Compass: mention mag field unit in existing documentation 
We are now always using milligauss for mag field unit, so let's update
documentation accordingly.
 2015-10-15 19:56:15 +09:00
Gustavo Jose de Sousa
9927cf066f AP_Compass: remove use of milligauss_ratio 
Now, we have all current compasses publishing their values already in
milligauss, so there's no need for that variable anymore.
 2015-10-15 19:56:14 +09:00
Gustavo Jose de Sousa
b603641d7c AP_Compass: AK8963: fix where to apply sensitivity adjustments 
The function rotate_field() can change the values axes and the function
correct_field() applies offsets (which are already in milligauss). Thus any
sensitivity adjustment must be done for two reasons:

    (1) The offsets must be applied to the values already in milligauss;
    (2) The factory sensitivity adjustment values are per axis, if any rotation
        that switches axes is applied, that'll mess with the adjustment.

Experiments showed that before this patch the length of the mag field reported
quite different from the expected. After this patch, the same experiments
showed reasonable values.
 2015-10-15 19:56:13 +09:00
Gustavo Jose de Sousa
6198e81bb3 AP_Compass: AK8963: scale mag field internally 
This is part of the transition to make all mag field values be used in
milligauss.
 2015-10-15 19:56:12 +09:00
Gustavo Jose de Sousa
256c9c06c9 AP_Compass: HMC5843: scale mag field internally 
This is part of the transition to make all mag field values be used in
milligauss. Additionally the value of _gain_multiple is adapted to the new way
we're using it and corrected accordingly to the datasheets.
 2015-10-15 19:56:11 +09:00
Gustavo Jose de Sousa
814442563e AP_Compass: HMC5843: fix _calibrate() 
The use of _gain_multiple is not necessary because the values of
expected_{x,yz} and _mag_{x,y,z} are both in sensor raw unit (i.e., lsbs).

That wasn't fixed before in order not to make APM users to recalibrate their
compasses.
 2015-10-15 19:56:10 +09:00
Gustavo Jose de Sousa
88a1a928e9 AP_Compass: remove get_{field,offsets}_milligauss() functions 
Those functions are not being used anymore.
 2015-10-15 19:56:09 +09:00
Gustavo Jose de Sousa
f0dee75ab3 GCS_MAVLink: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:08 +09:00
Gustavo Jose de Sousa
363f9cf82a DataFlash: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:07 +09:00
Gustavo Jose de Sousa
afccf615d5 AP_NavEKF: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:03 +09:00
Gustavo Jose de Sousa
99a55f9379 AP_Compass: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:02 +09:00
Gustavo Jose de Sousa
9a2808a593 AP_Arming: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:01 +09:00
Gustavo Jose de Sousa
84f811fe76 AP_AHRS: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:00 +09:00
Gustavo Jose de Sousa
4375606eeb AP_Compass: make get_field() and get_offsets() return milligauss 
This is part of a transition to make AP_Compass always use a single unit for
magnetic field values, namely milligauss.
 2015-10-15 19:55:59 +09:00
Paul Riseborough
0c61e09b70 AP_NavEKF2: Critical big fix - states not initialised 
The failure to initialise the magnetometer bias states to zero can result in a large jump in yaw gyro bias and heading when a heading reset is performed.
 2015-10-15 09:52:55 +11:00
Paul Riseborough
e3013b493b AP_NavEKF2: Critical bug fix - perf counter not initialised 2015-10-15 09:48:13 +11:00