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7429 Commits

Author SHA1 Message Date
Paul Riseborough 9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell 6e52ef2a74 GCS_MAVLink: added send_local_position() 2015-04-05 09:16:41 -07:00
Andrew Tridgell baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough 7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell 389148ac54 AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C 2015-04-04 17:03:00 -07:00
Andrew Tridgell 55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell 5a755c0400 AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults 
this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to
override the default parameters for a build. This is useful to build a
firmware that has different default parameters
 2015-04-04 09:01:40 -07:00
Andrew Tridgell 82a51e8791 GCS_MAVLink: use AP_Param::set_param_by_name() 2015-04-04 09:01:40 -07:00
Andrew Tridgell 5ca38e3d75 AP_Param: added set_param_by_name() 
this simplifies the GCS_MAVLink code
 2015-04-04 09:01:39 -07:00
Andrew Tridgell c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough d44cf14178 AP_AHRS : Publish EKF learned compass offsets 2015-04-03 15:24:47 -07:00
Paul Riseborough 10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger 95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell 79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell 3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough 98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough 92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough 5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough 398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough 5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough 14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough 1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough 98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough 961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough 496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough 8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough 19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough 70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00
Paul Riseborough ed9c05cf2a AP_NavEKF: Remove logic used to delay fusion for load levelling 
Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.
 2015-04-03 15:15:07 -07:00
Paul Riseborough c0d23ffc30 AP_NavEKF: Filter accuracy and stability improvements 
Improvements in PX4 firmware have reduced the computational load  and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch:

1) Ensures that a covariance prediction is always performed prior to fusion of any observation
2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step
3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step
 2015-04-03 15:15:07 -07:00
Jonathan Challinger de1f7f5e63 AP_NavEKF: use published delta velocities and delta angles if available 2015-04-03 15:15:07 -07:00
priseborough 3421a320b5 AP_NavEKF: Compensate for ground effect when takeoff or landing expected 2015-04-03 15:15:07 -07:00
Jonathan Challinger 20d92f5f9d AP_NavEKF: floor GPS velocity noise at parameter value for conservatism 2015-04-03 15:15:07 -07:00
priseborough 9a797a5d49 AP_NavEKF: Use GPS reported speed accuracy if available 
UBlox receivers report an estimate of the speed accuracy that tests show correlates well to speed glitches. Using this to scale the GPS velocity observation noise will reduce the effect of bad GPS velocity data.
 2015-04-03 15:15:06 -07:00
Andrew Tridgell 45e016ea5b AP_InertialSensor: check for zero delta_velocity dt 2015-04-03 15:10:47 -07:00
Jonathan Challinger b306d7a356 AP_InertialSensor: accel cal sample for 400ms instead of 1s 2015-04-03 14:54:19 -07:00
Jonathan Challinger 1e1d8efa22 AP_InertialSensor: use expected update rate for accel cal sampling 2015-04-03 14:54:17 -07:00
Jonathan Challinger bd84328440 AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample 2015-04-03 14:54:15 -07:00
Jonathan Challinger b2b42e081a AP_InertialSensor: use delta_velocity/dt for calibration if available 2015-04-03 14:54:10 -07:00
Jonathan Challinger 423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
Andrew Tridgell 4147825b87 AP_InertialSensor: fixed gyro calibration bug 
we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
 2015-04-03 06:57:30 -07:00
Andrew Tridgell 728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00
Randy Mackay d738eda59d GCS_MAVLink: integrate Serial Manager instance 2015-04-01 14:59:23 -07:00
Randy Mackay 1ed7737669 Mount: integrate Serial Manager instance 2015-04-01 14:59:21 -07:00
Randy Mackay cbcd32d698 GPS: integrate Serial Manager instance 2015-04-01 14:59:20 -07:00
Randy Mackay c148330c2b FrSkyTelem: integrate Serial Manager instance 2015-04-01 14:59:18 -07:00
Randy Mackay aef16160dc SerialManager: consolidate MAVLink1 and 2 2015-04-01 14:59:17 -07:00
Randy Mackay ca92821445 Filter: LowPassFilter gets another div-by-zero check 2015-04-01 10:34:28 -07:00
Jonathan Challinger 57f8a4d29d Filter: add get_cutoff_frequency 2015-04-01 10:15:07 -07:00
Jonathan Challinger 1828515b3b AP_Motors: bug fix to _batt_voltage_filt 2015-04-01 10:15:06 -07:00
Jonathan Challinger 89cdd02f58 AP_Motors: remove duplicate get_throttle function 2015-04-01 10:15:05 -07:00
Jonathan Challinger 0e53c0a892 AP_Motors: make output_armed() and output_disarmed() pure virtual 2015-04-01 10:14:38 -07:00
Andrew Tridgell 5acc4c333b AP_Arming: accept accel/gyro if OK in last 10 seconds 
this should prevent short periods of movement from triggering arming
status change alarms
 2015-03-31 15:37:24 -07:00
Randy Mackay 3f3e622be5 AC_PID: fix example sketch 2015-03-30 16:07:56 -07:00
Andrew Tridgell 8ba043e593 AP_AHRS: fixed EKF startup bug 
This fixes the EKF for when GPS lock takes more than 10 seconds

fixes issue #2010
 2015-03-28 10:52:22 -07:00
Andrew Tridgell 3289d38339 AP_NavEKF: make the init functions return bool 
we need to know if it has initialised successfully
 2015-03-28 10:51:38 -07:00
Andrew Tridgell 7cd7ff89fd HAL_PX4: recover 12k of ram from USB buffers 
faster NuttX means we don't need such larger buffers
 2015-03-27 15:08:52 -07:00
Andrew Tridgell 10ec1b8290 DataFlash: example no longer builds with APM2 2015-03-26 06:32:00 -07:00
Andrew Tridgell 5cbfe4fd11 HAL_SITL: fixed copter interactive SITL 2015-03-25 12:27:27 -07:00
Andrew Tridgell 0c2232a4be HAL_SITL: don't sync clocks during system initialisation 2015-03-24 08:06:50 -07:00
Jonathan Challinger 127791127c AC_PosControl: fix double literals 2015-03-24 06:29:04 -07:00
Leonard Hall 09aa2f8114 AC_AttitudeControl: Fix function discription 2015-03-23 07:40:04 -07:00
Leonard Hall 6b104c0529 AC_AttitudeControl: No Overshoot limit for Stab 
This maybe done in a more obvious way using a switch rather than just
making the overshoot larger than 180 degrees.
 2015-03-23 07:40:02 -07:00
Andrew Tridgell 9748cb1e3e HAL_SITL: use a synthetic clock when possible 
this decouples wall clock time from simulation time if the FDM
supports it
 2015-03-22 18:57:30 -07:00
Randy Mackay 8a3a7bdcd1 Mount: add set_angle_target method 2015-03-21 21:52:22 +09:00
Randy Mackay f6021010c5 Mission: support do-mount-control 2015-03-21 21:52:19 +09:00
Randy Mackay 2189b16165 Mount_SToRM: remove message throttling 
recent versions of gimbal firmware can handle 50hz update rate
 2015-03-21 05:56:18 +09:00
Randy Mackay b3362d5829 Mount: calc_angle_to_location returns vehicle relative yaw 2015-03-21 05:56:16 +09:00
Randy Mackay d2739c5ce5 Mount_SToRM: slow updates to 10hz, reverse yaw, pitch 2015-03-20 20:46:45 +09:00
Randy Mackay c7dd6ae816 BattMon: SMBus becomes unhealthy after 5sec timeout 
Also remove unused internal variable
 2015-03-20 11:05:30 +09:00
Randy Mackay c44f304253 BattMon: analog monitor always healthy 2015-03-20 11:05:27 +09:00
Randy Mackay 98efcd5f03 AHRS: always use EKF for copter 2015-03-19 15:15:51 +09:00
Andrew Tridgell 5a4ed85588 AP_TECS: added TECS_LAND_PMAX 
this limits maximum pitch during the flare, which both reduces
integrator windup and prevents too high pitch which can cause a stall
 2015-03-19 14:46:41 +11:00
Randy Mackay 9aba885231 AC_Fence: fix prearm check 
before arming the EKF's pred_horiz_pos_abs flag should be used
 2015-03-18 21:25:47 +09:00
Andrew Tridgell ecd2a6f515 DataFlash: log temperature of IMUs 
this is the first step towards supporting temperature calibration of
IMUs
 2015-03-17 13:33:26 +11:00
Andrew Tridgell 23272e4013 AP_InertialSensor: added get_temperature() interface 
this will allow logging of individual temperature sensors
 2015-03-17 13:32:54 +11:00
Randy Mackay 7f25938834 AHRS: fix example sketch 2015-03-16 20:29:19 +09:00
Randy Mackay b01f9505b1 Mission: fix example sketch 
Also replace printf with print where possible
 2015-03-16 20:29:05 +09:00
Randy Mackay 385b3744ea MotorTri: check servo_out above min_throttle 2015-03-16 14:49:38 +09:00
Randy Mackay f9e29a7f77 MotorSingle: check servo_out above min_throttle 
We need to recalc radio_out or the motors could fall below min throttle
 2015-03-16 14:49:37 +09:00
Randy Mackay 8de5d16f96 MotorCoax: check servo_out above min_throttle 
We need to recalc radio_out or the motors could fall below min throttle
 2015-03-16 14:49:35 +09:00
Leonard Hall 9a3f48cc1f AC_PosControl: ensure throttle output above zero 2015-03-16 14:49:33 +09:00
Leonard Hall 31a55b2bd6 MotorsMatrix: fix div by zero by ensuring throttle is above min 2015-03-16 14:49:31 +09:00
Paul Riseborough 9c2f1ce869 AP_Mount: Fix bug in mavlink gimbal attitude control 2015-03-16 09:54:43 +11:00
ahcorde 103bb2a08d AP_InertialSensor: Fix orientation MPU6000 PXF 2015-03-16 09:50:51 +11:00
mirkix d4d42599b0 AP_HAL_Linux: Add RcInput and RcOutput with only one PRU when using a BBB. BBBMINI use the RC AIO PRU firmware already 2015-03-16 09:33:54 +11:00
mirkix a6b018eab9 AP_HAL_Linux: BBBMINI use kernel CS now 2015-03-16 09:15:06 +11:00
Jonathan Challinger dff899647f AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT 2015-03-16 09:14:03 +11:00
Jonathan Challinger f92c711d14 AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use 2015-03-16 09:14:03 +11:00
Andrew Tridgell 569626ac1a AP_TECS: fixed APM2 build 2015-03-16 08:40:18 +11:00
Andrew Tridgell cf2445dc97 AP_InertialSensor: prevent nested accelerometer calibration 2015-03-15 15:22:59 +11:00
Andrew Tridgell 8fc58d1cbe AP_Vehicle: expose LAND_FLARE_SEC in vehicle parameters for fixed wing 2015-03-15 13:52:34 +11:00
Andrew Tridgell 060f553097 AP_TECS: provide a much smoother transition before flare 
this moves the pitch constraint smoothly between unconstrained and
fully constrained over two time constants before the flare. This
greatly reduces the sudden pitch changes at flare
 2015-03-15 13:52:17 +11:00
Andrew Tridgell 9c0614c7bb AP_RangeFinder: default test to I2C Lidar 2015-03-15 13:50:59 +11:00
Andrew Tridgell c8b0970e61 AP_Compass: show compass count in example 2015-03-14 20:00:29 +11:00
Andrew Tridgell c565d3b805 AP_Airspeed: fixed example build 2015-03-14 20:00:15 +11:00
Andrew Tridgell f4455d063e AP_Compass: fixed example 2015-03-14 17:07:39 +11:00
Andrew Tridgell 585a105128 AP_AHRS: use compass->last_update_usec() 2015-03-14 12:31:50 +11:00
Andrew Tridgell de3f461a55 AP_NavEKF: use compass->last_update_usec() 2015-03-14 12:31:39 +11:00
Andrew Tridgell 1962706a33 AP_Compass: fixed last_update, using last_update_usec() 
this broke use of compass in the EKF
 2015-03-14 12:31:23 +11:00
Andrew Tridgell 86fc90f54c AP_Compass: removed spurious rotation in PX4 backend 
and cleanup rotation macros
 2015-03-14 08:52:37 +11:00
Andrew Tridgell d7bac39539 AP_Compass: removed two unused functions 2015-03-14 08:52:37 +11:00
Andrew Tridgell 73782c41a9 DataFlash: disable CLI on APM2 2015-03-13 22:52:55 +11:00
Andrew Tridgell 8a99cab535 AP_InertialSensor: load only HIL backend for hil_mode 2015-03-13 22:52:55 +11:00
Andrew Tridgell fec2025469 AP_Compass: added set_hil_mode() 2015-03-13 22:52:55 +11:00
Andrew Tridgell 2e9d2e6449 AP_Baro: load only HIL backend for hil_mode 2015-03-13 22:52:55 +11:00
Randy Mackay bb74b8dec8 AC_PosControl: fix twitch when entering RTL 
Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
 2015-03-13 20:47:19 +09:00
Andrew Tridgell 8f6982860f AP_Compass: fixed devid for 2nd compass 2015-03-13 20:46:32 +11:00
Andrew Tridgell 7b51c907f5 AP_Compass: zero some more variables in constructor and init 2015-03-13 19:22:11 +11:00
Andrew Tridgell 4bc92b6373 AP_Compass: removed _product_id var 2015-03-13 18:59:52 +11:00
Andrew Tridgell 3a1cbaeb25 AP_Mission: fix for new compass API 2015-03-13 18:46:18 +11:00
Andrew Tridgell b488d6de00 AP_AHRS: fix for new compass API 2015-03-13 18:46:17 +11:00
Andrew Tridgell 520c7c1306 AP_InertialSensor: always allow for AK8963 on MPU9250 2015-03-13 18:46:17 +11:00
Andrew Tridgell d040318014 AP_Baro: removed unused define 2015-03-13 18:46:17 +11:00
Vic 033bd243d6 SITL: Changes in compass for SITL 2015-03-13 18:46:16 +11:00
Andrew Tridgell 60b8736cf1 AP_InertialSensor: use right AK8963 compass defines 2015-03-13 18:46:15 +11:00
Andrew Tridgell b52918331a AP_HAL: make PXF use AK8963 compass by default 2015-03-13 18:46:15 +11:00
Andrew Tridgell d186b82edc AP_HAL: consolidate AK8963 defines 2015-03-13 18:46:15 +11:00
Andrew Tridgell 0efd3bacea AP_Compass: make new backend match old PX4 behaviour 
when a compass is internal only apply board orientation, not user
specified rotation
 2015-03-13 18:46:15 +11:00
Andrew Tridgell a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches 13f0aa5ecd AP_Compass: Separate common code into backend 
_copy_to_frontend function takes care of abstracting
this code from the driver. For now the function takes
care of the offset and rotation that is common.
 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches d3b76cd8d3 AP_Compass: split compass into frontend/backend 2015-03-13 18:46:15 +11:00
Randy Mackay 385558db4d OptFlow: fix example sketch 2015-03-13 16:41:01 +09:00
Randy Mackay 4772fd338c Mission: fix example sketch 2015-03-13 16:40:59 +09:00
Randy Mackay c88ff00f5f AC_WPNav: remove example sketch 
this only tested compiling anyway
 2015-03-13 16:40:57 +09:00
Randy Mackay ce2d0a14a6 AC_Sprayer: remove example sketch 
This only tested compiling anyway
 2015-03-13 16:40:54 +09:00
Randy Mackay 4754ecc9e2 AC_Fence: remove example sketch 
This only tested compiling anyway
 2015-03-13 16:40:52 +09:00
Randy Mackay 90702e2d79 AC_AttControl: remove example sketch 
This sketch only tested compiling anyway
 2015-03-13 16:40:50 +09:00
Randy Mackay 883e23b97d GPS_Glitch: remove class 
This logic is now within the EKF
 2015-03-13 16:40:48 +09:00
Randy Mackay 0344ec5d89 Arming: remove GPS glitch checks 2015-03-13 16:40:43 +09:00
Randy Mackay 0dc985a6ab Notify: remove GPS glitch notification 2015-03-13 16:40:41 +09:00
Randy Mackay 4461952534 InertialNav: remove GPS glitch protection and baro reference 2015-03-13 16:40:39 +09:00
Randy Mackay 9012c538fb InertialNav: remove example sketch 2015-03-13 16:40:35 +09:00
Randy Mackay a76d970cc6 InertialNav_EKF: remove fall back to complementary filter 2015-03-13 16:40:33 +09:00
Randy Mackay 7221070533 InertialNav: make parent virtual 2015-03-13 16:40:31 +09:00
Randy Mackay 4e7d92094c Baro: remove glitch detection 2015-03-13 16:40:29 +09:00
Randy Mackay c54b5b9af9 InertialNav: remove baro glitch protection 2015-03-13 16:40:25 +09:00
Randy Mackay 8e8487c699 Notify: remove baro_glitch reporting 2015-03-13 16:40:23 +09:00
Andrew Tridgell 1f70b34cbc AP_Baro: fixed baro startup on PXF cape 2015-03-13 13:48:41 +11:00
Andrew Tridgell 808c33d0a7 AP_InertialSensor: support both MPU9250 and MPU9255 
seems to be just different WHOAMI register
 2015-03-13 13:26:49 +11:00
Andrew Tridgell 8fee936ad7 HAL_SITL: fixed emulation of MTK1.6 GPS 2015-03-13 10:30:20 +11:00
Andrew Tridgell e0870d5038 AP_GPS: disable NMEA and SiRF on AVR 2560 
we are too low on flash space for plane on APM2 now
 2015-03-13 10:30:00 +11:00
Andrew Tridgell 5da80f44b1 AP_GPS: fixed MTK1.6 time handling 
my MTK1.6 does not use hectoseconds, it uses milliseconds
 2015-03-13 10:29:36 +11:00
Randy Mackay 230ca583d1 NavEKF: support sending EKF_STATUS_REPORT 2015-03-12 12:20:00 +09:00
Randy Mackay 5ee67e63ec GCS_MAVLink: add EKF_STATUS_REPORT to enum 2015-03-12 12:19:58 +09:00
Randy Mackay 3c555fc396 GCS_MAVLink: version number after adding EKF_STATUS_REPORT 2015-03-12 12:19:56 +09:00
Randy Mackay 5aef7e6d1a GCS_MAVLink: generate after adding EKF_STATUS_REPORT 2015-03-12 12:19:54 +09:00
Randy Mackay d464344c34 GCS_MAVLink: add EKF_STATUS_REPORT message to xml 2015-03-12 12:19:50 +09:00
Andrew Tridgell 07fd31c724 AP_InertialSensor: change copter filters to 20Hz 
with the backend filters disabled 20Hz is closer to the old default of
30Hz
 2015-03-12 13:11:17 +11:00
Andrew Tridgell e0a0c3afcf AP_Arming: default to arming required 2015-03-12 12:53:27 +11:00
Andrew Tridgell a1d43e39e0 AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz() 2015-03-12 12:50:31 +11:00
Andrew Tridgell 3d7d46b9b0 AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER 
this allows filtering to be set separately on accels and gyros where possible
 2015-03-12 12:50:31 +11:00
Andrew Tridgell f3314791f2 AP_InertialSensor: removed INS_CALSENSFRAME 
it is no longer needed as we have shifted the accel cal indexes
 2015-03-12 12:50:31 +11:00
Andrew Tridgell 4bc6c8e655 AP_InertialSensor: shift to new parameter indexes for accel calibration 
this allows for users to switch between development trees and previous
stable versions while retaining their accel calibration values.
 2015-03-12 12:50:30 +11:00
Andrew Tridgell 5d0eb49114 AP_InertialSensor: calculate queue depth based on requested sample rate 
this auto-scales the queue depth for plane, rover and copter
 2015-03-12 12:50:30 +11:00
Andrew Tridgell f3706d63c7 Filter: prevent copying the filter parms on apply 2015-03-12 12:50:30 +11:00
Andrew Tridgell ea49d1cd39 AP_InertialSensor: removed unused variable 2015-03-12 12:50:30 +11:00
Andrew Tridgell b36122dec0 Filter: removed stdio.h 
breaks AVR build
 2015-03-12 12:50:30 +11:00
Andrew Tridgell e6a4b9f68c AP_InertialSensor: check accel health during accel cal 2015-03-12 12:50:29 +11:00
Andrew Tridgell 875339f12a AP_InertialSensor: try to avoid a compiler fault in travis 2015-03-12 12:50:29 +11:00
Andrew Tridgell 031c81beee AP_AHRS: removed call to 1D accel cal 2015-03-12 12:50:29 +11:00
Andrew Tridgell 4deb136bb0 AP_Arming: require 3D accel cal always 2015-03-12 12:50:28 +11:00
Andrew Tridgell 786172aa4e AP_InertialSensor: removed 1D accel calibration 
it is finally time to move on from this. We want to push people
towards better calibration and removing the 1D accel cal is the first
step
 2015-03-12 12:50:28 +11:00
Andrew Tridgell a975520033 AP_InertialSensor: check range of accels in 3D calibration 
during 3D accel cal it is possible to get data which passes the sphere
fit but which has very poor coverage and does not provide sufficient
data for a good result. This checks that each axis covers a range of
at least 12 m/s/s in body frame
 2015-03-12 12:50:28 +11:00
Andrew Tridgell a8a8628515 AP_InertialSensor: added INS_CALSENSFRAME parameter 
this allows us to detect if accel calibration was done in sensor frame
or not. If it was done in sensor frame then the accel calibration is
independent of AHRS_ORIENTATION, which makes it easier to move a board
to a new airframe without having to recalibrate.
 2015-03-12 12:50:28 +11:00
Jonathan Challinger bc655ff0cc AP_InertialSensor_PX4: add optional debug 2015-03-12 12:50:28 +11:00
Jonathan Challinger 074ee49cd0 AP_InertialSensor_PX4: interleave accel and gyro samples by time 2015-03-12 12:50:28 +11:00
Jonathan Challinger addf80b669 AP_InertialSensor_PX4: explicitly configure sensors, publish deltas 2015-03-12 12:50:27 +11:00
Jonathan Challinger b5131b7b64 AP_InertialSensor: add coning.py example 2015-03-12 12:50:27 +11:00
Jonathan Challinger 2a547f329b AP_InertialSensor: allow backends to publish delta velocities and angles 2015-03-12 12:50:27 +11:00
Jonathan Challinger 155c173ed1 AP_InertialSensor: rename _rotate_and_offset to _publish 2015-03-12 12:50:27 +11:00
Jonathan Challinger 502446d821 AP_InertialSensor: use LowPassFilter2pVector3f 2015-03-12 12:50:27 +11:00
Jonathan Challinger 0133f0bb57 LowPassFilter2p: split into LowPassFilter2pfloat and LowPassFilter2pVector3f 2015-03-12 12:50:27 +11:00
ustas a2d5ac6805 AP_GPS: add includes for success build example sketch 
include AP_Scheduler.h for achieve build GPS_UBLOX_passthrough example
 2015-03-11 21:30:31 +09:00
mirkix 4f1dd85e47 AP_HAL: Add test sketch for RC input to RC output pass through 2015-03-11 21:14:15 +09:00
Randy Mackay 12724e9556 AC_PID: remove include of stdio.h 2015-03-11 20:40:05 +09:00
Randy Mackay cc0d5b9ced AC_PI_2D: replace set_filt_hz method with filt_hz 
Thanks to Jonathan Challinger for spotting this bug
 2015-03-11 17:28:36 +09:00
Randy Mackay c10b0b34ca AC_PID: replace set_filt_hz method with filt_hz 
Thanks to Jonathan Challinger for spotting this bug
Also add sanity check to filt_hz
 2015-03-11 17:28:20 +09:00
Jonathan Challinger 88ec13b10d AC_PosControl: fix build 2015-03-11 10:00:00 +09:00
Randy Mackay 50d2e98aa4 AC_AttControl: init throttle_hover in constructor 2015-03-10 22:10:36 +09:00
Randy Mackay 965db2c7f7 AC_PosControl: add comments and defines for jerk limits 2015-03-10 22:10:34 +09:00
Jonathan Challinger 4408c1b935 AC_PosControl: 2d jerk constraint in accel_to_lean_angles 2015-03-10 22:10:32 +09:00
Jonathan Challinger 9871b95586 AC_PosControl: fix dt sanity checking 2015-03-10 22:10:30 +09:00
Jonathan Challinger e7efe23fb5 GCS_MAVLink: reserve message IDs for future feature additions 2015-03-10 15:30:14 +09:00
Randy Mackay 5e26450a6f AP_Motors: make THR_LOW_COMP a variable instead of param 2015-03-10 12:20:27 +09:00
Leonard Hall 007c96a3d8 AP_Motors: Low throttle compensation setters 2015-03-10 12:20:21 +09:00
Leonard Hall 6275ee0289 AP_Motors: Check for battery voltage reading fail 2015-03-10 12:20:19 +09:00
Randy Mackay 5f26a36060 INS: protect against two calibrations running at the same time 2015-03-09 17:58:38 +11:00
Randy Mackay f9c6e35d19 INS: add calibrating method 2015-03-09 17:58:38 +11:00
Randy Mackay b0e7990c90 INS: set gyro_cal_ok only after completing calibration 2015-03-09 17:58:37 +11:00
Andrew Tridgell aec7907571 AP_InertialSensor: updated comment on accel check in gyro cal 2015-03-09 17:58:36 +11:00
Andrew Tridgell 494e909703 AP_InertialSensor: ensure accel cal completion messages get through 2015-03-09 07:36:50 +11:00