Randy Mackay
4ebde25a26
AP_Relay: add -1:Disabled to list of param values
2014-05-15 17:13:37 +09:00
Randy Mackay
5d20594fa4
AC_WPNav: bug fix for loiter and waypoint update rate
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Thanks to EmileC for spotting this
2014-05-12 20:13:46 +09:00
Andrew Tridgell
85ebe81ed3
AP_NavEKF: fixed logic for divergence test
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Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-05-11 18:00:38 +10:00
priseborough
40dc0e56fe
AP_NavEKF: Add protection for badly conditioned innovation variances
2014-05-11 18:00:38 +10:00
priseborough
925c5751bd
AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding
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This will enable in-flight magnetometer calibration to be inhibited unconditionally,
This is required for long balloon carriage flights where ground speed can be high
enough to put it into in-air state, but with very poor observability of magnetic field
states causing bad state estimates and heading offsets to develop over time.
The covariance matrix no longer has rows and columns artificially zeroed when in static
mode. Instead booleans indicating whether wind or magentic field state estimation is
active are used to:
a) Set the process noise on these states to zero to stop their variances from increasing
unchecked when not being updated, and
b) Turn off updates for these states when measurement fusion is being performed.
This reduces the likelihood of a badly conditioned covariance matrix forming
during static mode operation.
A filter divergence check has also been added that will declare the filter unhealthy if
position, velocity and magnetic field observations are all failing their innovation
consistency checks. This unhealthy status will persist for 10 seconds after the
condition clears.
AP_NavEKF: Remove unnecessary zeroing of wind covariances
2014-05-11 18:00:38 +10:00
priseborough
3026ccee13
AP_NavEKF: Use baro data during launch transients whilst in static mode
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Baro data can be used as it will still be valid during the launch and
is not a synthesised measurement.
2014-05-11 18:00:38 +10:00
Randy Mackay
05f5164dfa
Mission: rename AUTORESET to RESTART
2014-05-09 11:31:37 +09:00
Hug0
6b0d5f9770
AP_InertialNav: fix pos error degradation rate
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degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
2014-05-08 23:09:39 +09:00
Randy Mackay
badc127c34
AC_WPNav: fix example sketch
2014-05-08 16:25:13 +09:00
Randy Mackay
9b6a4e0fc7
AC_Sprayer: fix example sketch
2014-05-08 16:25:11 +09:00
lthall
9ab9eaec25
AC_WPNav: Loiter jerk default to 10m/s/s/s
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Pair programmed with Randy
2014-05-08 16:16:05 +09:00
Randy Mackay
1cb297580f
Copter: reduce Circle init twitch by using stopping point
2014-05-08 16:15:57 +09:00
Randy Mackay
091ff91a70
WPNav: add wp_and_spline_init to set speeds an init pos controller
2014-05-08 16:15:50 +09:00
Randy Mackay
c13db680b7
AC_PosControl: remove reset_I_xy
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lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
2014-05-08 16:15:48 +09:00
Randy Mackay
cd8b1f278c
AC_PosControl: remove unused _cos_yaw variable
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Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
2014-05-08 16:15:46 +09:00
Randy Mackay
48ec0caf75
AC_WPNav: run navigation at 10hz in SITL
2014-05-08 16:15:44 +09:00
Randy Mackay
0819e05896
AC_PosControl: lean_angles_to_accel added for smooth initialisation
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init_xy_controller also added to capture initialisation all in one place
2014-05-08 16:15:41 +09:00
lthall
b38c484874
AC_WPNav: add LOIT_JERK parameter
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Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero
Pair programmed with Randy
2014-05-08 16:15:38 +09:00
Randy Mackay
71fae1e6f2
AC_AttControl: lean_angle_max accessor fn const
2014-05-08 16:15:36 +09:00
Randy Mackay
fd9f8f571f
AC_WPNav: replace inav, ahrs pointers with references
2014-05-08 16:15:26 +09:00
lthall
21c93e48ab
AC_PosControl: include vel error when get_stopping_point_z
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Pair programmed with Randy
2014-05-08 16:15:24 +09:00
Randy Mackay
a1f1dd8059
AC_PosControl: add is_active_z method
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Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
2014-05-08 16:15:22 +09:00
Andrew Tridgell
74227cd7f0
AP_HAL: prevent some FastDelegate warnings
2014-05-08 11:11:03 +10:00
Andrew Tridgell
a295760e56
AP_Rally: fixed indentation
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previous indentation confused emacs24
2014-05-08 11:01:52 +10:00
Andrew Tridgell
4efcae46ab
SITL: cope with more rubbish startup values from JSBSim
2014-05-04 17:30:10 +10:00
Andrew Tridgell
320834a5e7
HAL_PX4: read from FRAM in 128 byte chunks (2nd try)
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this time without the amazingly silly bug
2014-05-02 22:12:45 +10:00
Andrew Tridgell
db6b96caa0
Revert "HAL_PX4: read from FRAM in 128 byte chunks"
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This reverts commit a92366c455
.
This commit may be associated with FRAM corruption on Pixhawk. Revert
until we understand why
2014-05-02 21:52:26 +10:00
Andrew Tridgell
a92366c455
HAL_PX4: read from FRAM in 128 byte chunks
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this fixes FRAM read on Roberts Pixhawk. We don't know why yet.
2014-05-02 12:24:54 +10:00
Randy Mackay
937e9ea687
AC_PosControl: add set_target_to_stopping_point_xy method
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Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
2014-04-30 21:46:20 +09:00
Randy Mackay
7dd366d84e
AC_WPNav: init_loiter sets speed, accel before calcing stopping distance
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The stopping distance depends upon the speed and acceleration so these
must be updated first
2014-04-30 21:46:18 +09:00
Randy Mackay
0103ae2eb0
AC_WPNav: add WPNAV_ACCEL_Z
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Allows configurable z-axis acceleration during missions
2014-04-30 21:46:12 +09:00
Randy Mackay
9f63de9b59
AC_PosControl: set_speed_z accepts positive descent speeds
2014-04-30 21:46:09 +09:00
Randy Mackay
510c9920a6
AC_WPNav: rename get_horizontal_velocity to get_speed_xy
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This new method name is consistent with the equivalent in the
AC_PosControl class
2014-04-30 21:46:06 +09:00
Andrew Tridgell
eb1fb63e57
APM_Control: added logging of parameter changes in AUTOTUNE
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this will make it easier to analyse logs
2014-04-30 22:22:13 +10:00
Andrew Tridgell
871d0c0e44
APM_Control: moved the log structure to ArduPlane core
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this allows it to work with old style .log files
2014-04-30 21:22:28 +10:00
Andrew Tridgell
4f250579db
DataFlash: added LOG_ATRP_MSG define
2014-04-30 21:22:28 +10:00
priseborough
114bd56e2a
AP_NavEKF: Fix display names in parameter list
2014-04-30 06:35:41 +10:00
Randy Mackay
5cc26569fc
AP_Motors: fix example sketch
2014-04-29 20:46:34 +09:00
priseborough
5fefce5899
AP_NavEKF: Synthetic sideslip fusion numerical error protections
2014-04-29 17:26:45 +10:00
Jonathan Challinger
0bb7b8e938
AP_GPS: Fix bug that causes permanent lag if we miss a message
2014-04-29 15:35:46 +10:00
Randy Mackay
2be99d7a92
TriCopter: output_test for individual motors
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Based on original work by Nils Hogberg
2014-04-29 11:41:16 +09:00
Randy Mackay
07766e55f9
SingleCopter: output_test for individual motors
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Based on original work by Nils Hogberg
2014-04-29 11:41:14 +09:00
Randy Mackay
3610cfe24c
TradHeli: output_test for individual motors
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Based on original work by Nils Hogberg
2014-04-29 11:41:13 +09:00
Randy Mackay
8f74f5b3b0
CoaxCopter: output_test for individual motors
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Based on original work by Nils Hogberg
2014-04-29 11:41:12 +09:00
Randy Mackay
d63d82ec17
MotorMatrix: output_test for individual motors
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Based on original work by Nils Hogberg
2014-04-29 11:41:10 +09:00
Vizual54
11d02ea5d2
AP_Motors: output_test for individual motors
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Modified and integrated by Randy Mackay
2014-04-29 11:36:58 +09:00
Randy Mackay
6517638670
GCS_MAVLink: generate after adding DO_MOTOR_TEST
2014-04-29 11:23:07 +09:00
Randy Mackay
28846c6c99
GCS_MAVLink: add DO_MOTOR_TEST message
2014-04-29 11:23:04 +09:00
Andrew Tridgell
818e500509
AP_Mission: improve the AP_Mission docs
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DisplayName isn't a description
2014-04-29 11:46:06 +10:00
Andrew Chapman
782fbe1ec5
AP_Mission: added reset() function
2014-04-29 11:46:06 +10:00