priseborough
f0ee11e951
AP_NavEKF : Fix bug in reset of position, height and velocity states
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If the inertial solution velocity or position needs to be reset to the GPS or baro, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS or baro measurement will be compared to an invalid previous state and will be rejected. This is particularly a problem if IMU saturation or timeout has occurred because the previous states could be out by a large amount
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s.
2014-10-01 12:55:28 +10:00
Randy Mackay
e7b4a02d26
GPS: fix SIRF set-binary message
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This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
2014-10-01 11:42:31 +09:00
Andrew Tridgell
f6cc8ce5bc
GCS_MAVLink: fixed log erase and log request end
2014-10-01 11:45:51 +10:00
Randy Mackay
2dbfc6158d
Rover: check target of set-mode request from GCS
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Issue discovered and fix contributed by Deadolous
2014-09-30 15:19:28 +10:00
Randy Mackay
6d3acba04c
Plane: check target of set-mode request from GCS
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Issue discovered and fix contributed by Deadolous
2014-09-30 15:19:25 +10:00
Randy Mackay
47c135c4e1
GCS_MAVLink: add comments around checking target
2014-09-30 15:18:35 +10:00
Randy Mackay
0322a876eb
GCS_MAVLink: check target before erasing log
2014-09-30 15:18:31 +10:00
Randy Mackay
77e89214eb
Copter: shift pos targets to current location before takeoff
2014-09-29 15:26:54 +09:00
Randy Mackay
dbe1c55666
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
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This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
2014-09-29 15:26:18 +09:00
Randy Mackay
41d7462eee
LogAnalyzer: add POSHOLD to TestPitchRollCoupling
2014-09-29 11:46:02 +09:00
Randy Mackay
0803d79701
INS: param descriptions for ACC2, GYR2
2014-09-27 21:05:33 +09:00
Randy Mackay
e14ae0c0b1
Compass: param descriptions for OFS2, MOT2
2014-09-27 17:59:26 +09:00
Jonathan Challinger
73e1719ee1
Copter: print frame type in log headers
2014-09-27 16:11:21 +09:00
Randy Mackay
8aa5c10d53
Copter: remove unused AIRFRAME definition
2014-09-27 15:15:13 +09:00
Randy Mackay
1a249a8129
Copter: check target of set-mode request from GCS
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Issue discovered and fix contributed by Deadolous
2014-09-27 12:22:12 +09:00
Randy Mackay
5ca3c4baf6
Mission: fix CHANGE_ALT to store climb rate in lat param
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The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
2014-09-26 23:23:04 +09:00
Randy Mackay
ef0e37b478
Copter: bugfix to condition-yaw for relative angles
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Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
2014-09-26 12:22:58 +09:00
Randy Mackay
45bc9fd10c
Copter: add AC3.2 default to LOG_BITMASK value
2014-09-25 15:32:21 +09:00
Randy Mackay
0d88b602ec
Copter: fix RSSI_RANGE param values
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The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
2014-09-25 15:32:20 +09:00
Craig Elder
ab46f2d2fe
Frame_params: 3DR_Iris+ reduced WP_NAV to 650
2014-09-24 13:43:52 -07:00
Jonathan Challinger
7c3e614c19
LogAnalyzer: Add IMU Mismatch check
2014-09-24 15:50:23 +09:00
Randy Mackay
ed566fa56c
Copter: update AC3.2-rc10 release notes
2014-09-24 14:30:10 +09:00
Andrew Tridgell
4b01cee330
Plane: send heartbeat to AFS when calibrating sensors
2014-09-24 12:02:39 +10:00
Andrew Tridgell
5eee51b5a4
APM_OBC: added heartbeat() method
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this is used for when the plane is calibrating sensors, to ensure
heartbeat is continued to the failsafe board
2014-09-24 12:02:38 +10:00
Andrew Tridgell
1fa03a49c9
Plane: disable the CLI if AFS failsafe enabled on APM2
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the flash space is a bit too low for both CLI and AFS
2014-09-24 12:02:38 +10:00
Randy Mackay
41c576044f
Copter: allow passthru for ch 9 ~ 14
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Based on work by Emile Castelnuovo
2014-09-23 22:55:19 +09:00
Randy Mackay
c2c5807ec7
Compass: always default devid to zero
2014-09-23 20:35:18 +09:00
Randy Mackay
d4cfb432ca
Copter: use disparity threshold define for pre-arm checks
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There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming). The definition in the
pre-arm checks was still using the old hardcoded value.
2014-09-23 19:33:04 +09:00
lthall
2b4f5fa79d
Copter: increase autotune limits
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Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
2014-09-22 21:33:35 +09:00
Randy Mackay
cf3b2be99c
AC_PosControl: 4hz filter on z-axis velocity error
2014-09-22 13:40:01 +09:00
Randy Mackay
665f353416
AC_PosControl: 2hz filter on accel error
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Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
2014-09-21 17:53:55 +09:00
Randy Mackay
cf35bd3f42
LowPassFilter: add div by zero check
2014-09-21 17:33:59 +09:00
Randy Mackay
e7753223ba
Copter: low battery msg to severity high
2014-09-21 17:33:19 +09:00
Randy Mackay
193bc5331a
Copter: cleanup enabling of cli and frsky telem for APM
2014-09-20 14:41:26 +09:00
Randy Mackay
d8d1b38a52
Copter: increase Alt Disparity check to 2m
2014-09-20 12:24:36 +09:00
Randy Mackay
9bbf40109e
Copter: add LOG_FROM_STARTUP definition
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Uncommenting this line in APM_Config.h will start logging as soon as the
board starts up instead of waiting for the vehicle to be armed
2014-09-20 12:23:47 +09:00
Jason Short
b2238b7c8a
Copter: auto esc calibration
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Throttle is raised to maximum and then lowered without any input from
pilot
2014-09-19 22:21:49 +09:00
Randy Mackay
58602bd1ae
Copter: move esc calibration to separate file
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Restructured into case statement
Replaced use of g.throttle_max with definition
Added more comments
Send message to ground station instead of printing on console (although
probably both are unlikely to be read)
2014-09-19 22:21:47 +09:00
Jason Short
b57539a9ad
AP_Motors: throttle_pass_through accepts pwm
2014-09-19 22:21:45 +09:00
Randy Mackay
1c11a91ec2
Copter: rename land_maybe_complete function
2014-09-19 16:43:17 +09:00
Randy Mackay
b9977a1115
Copter: add land_complete_maybe flag
2014-09-19 16:43:15 +09:00
Randy Mackay
6951a20fb0
Copter: soften loiter target when maybe landed
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Applies to auto's land, land, loiter, pos hold and rtl flight modes
2014-09-19 16:43:12 +09:00
Randy Mackay
765420ee04
AC_WPNav: add loiter_soften_for_landing method
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This resets the position target to the current location.
2014-09-19 16:43:10 +09:00
Randy Mackay
b552479e31
Copter: typo fix for baro vs inav alt disparity definition
2014-09-18 17:32:03 +09:00
Randy Mackay
18e3db0011
Copter: define limit for baro vs inav alt disparity
2014-09-18 17:24:40 +09:00
Andre Kjellstrup
b4c6d6395e
Copter: reset battery_fs after dis/rearming
2014-09-18 11:17:03 +09:00
Craig Elder
3f687733e6
Frame_params: added 3DR_AERO_M.param
2014-09-17 18:48:48 -07:00
Craig Elder
da66c7df36
Frame_params: 3DR_Aero_RTF.param Changed tuning
2014-09-17 18:46:52 -07:00
Randy Mackay
ad37fc0408
AC_WPNav: WP_SPEED_DN parameter range to 0~500
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Previous permissible descent speed of 10m/s was unnecessarily lenient.
Users can still bypass the suggested range through the MP's full
parameter list if they really want a very high descent speed.
2014-09-18 10:44:33 +09:00
Randy Mackay
6da1420541
HAL_VRBrain: implement force_safety_on
2014-09-18 09:58:48 +09:00