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19399 Commits

Author SHA1 Message Date
Paul Riseborough ff2782b790 AP_NavEKF2: Parameter changes to reduce noise on gyro bias estimates 2015-11-18 20:17:03 +09:00
Paul Riseborough 2193103586 AP_NavEKF: Reduce time to switch after an IMU fault 
This revised threshold value is still double the maximum that has been observed in flight logs so far with healthy sensors
The previous value was too slow to switch for sudden IMU gyro faults
We can afford an ocasional false trigger becasue the front end will only select another instance if it is healthy and has lower errors
 2015-11-18 20:17:00 +09:00
Paul Riseborough 20798316e1 AP_NavEKF2: fix bug in performance timer 2015-11-18 20:16:58 +09:00
Randy Mackay b2b8dcb8ff Copter: guided calls velocity controller at 400hz 
velocity controller internally updates xy-axis at 50hz, z-axis at 400hz
 2015-11-18 13:31:22 +09:00
Randy Mackay c9340dbeb6 AC_PosControl: run velocity controller z-axis at 400hz 2015-11-18 13:31:21 +09:00
Randy Mackay dbc8ce1d69 AC_PosControl: default z-axis controller to 400hz 
No functional change as vehicle code always sets it explicitely
 2015-11-18 13:31:20 +09:00
Randy Mackay 323a527734 AC_PosControl: velocity controller uses feed-forward althold 2015-11-18 13:31:19 +09:00
Randy Mackay 4b41710261 AC_AttControl: minor comment fix 2015-11-18 13:31:18 +09:00
Caio Marcelo de Oliveira Filho a348424551 AP_HAL: remove unused function 
This was used by APM1/2 that were removed.
 2015-11-18 11:50:56 +09:00
Andrew Tridgell 5561efde2b AP_NavEKF: we can assume get_sample_rate() returns a non-zero number 
this fixes a build error with the previous patch
 2015-11-18 11:48:50 +11:00
Paul Riseborough e32e6cfa67 AP_NavEKF: Protect against bad delta time from the INS library 
Prevent arithmetic divide by zero exceptions and handle invalid delta time in a consistent way by setting invalid times to the average.
 2015-11-18 11:43:40 +11:00
Paul Riseborough 2fb5a4489b AP_NavEKF2: Prevent airspeed faults from causing excessive loss of accuracy 2015-11-18 11:39:54 +11:00
Paul Riseborough fc6978e4d9 AP_NavEKF2: Fix error in parameter documentations 2015-11-18 11:39:54 +11:00
Paul Riseborough f9cadaf15c AP_NavEKF2: Increase resolution of innovation consistency gate parameters 
Also adds protection against setting the gate to a number that would casue numerical errors.
 2015-11-18 11:39:53 +11:00
Andrew Tridgell 08ef00b431 AP_NavEKF2: fixed build with IMU_BUFFER_LENGTH change 2015-11-18 11:33:51 +11:00
Paul Riseborough af3507ef3c AP_NavEKF2: Stop bad INS velocity spoiling height reset 
We should reset the velocity as well as the height if a reasonable reset value is available.
 2015-11-18 11:18:50 +11:00
Paul Riseborough 97799ef0b3 AP_NavEKF2: Ensure that GPS origin is set before using data for height 2015-11-18 11:18:50 +11:00
Paul Riseborough b8427e5d95 AP_NavEKF2: Only allow rangefinder height option during optical flow nav 2015-11-18 11:18:50 +11:00
Paul Riseborough c9eea98142 AP_NavEKF2: Improve terrain height estimation 
The ad-hoc scaling of error growth has been replaced with a consistent method that uses the main nav filters published vertical velocity uncertainty and the terrain gradient assumption.
 2015-11-18 11:18:46 +11:00
Paul Riseborough d820a538d5 AP_NavEKF2: Make magnetometer data available status global 
This assists with debugging and makes it consistent with other measurements that are buffered
 2015-11-18 11:18:46 +11:00
Paul Riseborough 04228e0b3b AP_NavEKF2: Rework selection of height measurements for fusion 
GPS height has been added as a measurement option along with range finder and baro
Selection of the height measurement source has been moved into a separate function
Each height source is assigned its own measurement noise
If GPS or baro alt is not able to be used, it reverts to baro
When baro is not being used, an offset is continually calculated which enables a switch to baro without a height step.
 2015-11-18 11:18:42 +11:00
Paul Riseborough 80bc64ee7a AP_NavEKF2: Update parameter documentation with GPS height source option 2015-11-18 11:18:18 +11:00
Paul Riseborough 4c72a14e22 AP_NavEKF2: Add function to LPF and spike filter baro data 2015-11-18 11:18:17 +11:00
Paul Riseborough 34311bedfa AP_NavEKF2: Add data buffers for range finder data 2015-11-18 11:18:17 +11:00
Andrew Tridgell 104a0fcc6a PX4Firmware: submodule update 2015-11-18 10:34:13 +11:00
Andrew Tridgell 99da195e37 AP_NavEKF2: make IMU buffer length depend on main loop rate 
this fixes a problem with Replay and baro data
 2015-11-18 10:20:39 +11:00
Randy Mackay 1b29a1af46 Copter: consolidate setting of using-iterlock state 2015-11-17 09:02:31 +09:00
Andrew Tridgell 4192c3d0ad autotest: calibrate 2nd accel in SITL for rover 2015-11-17 08:56:48 +11:00
Andrew Tridgell f36b2e415a AP_InertialSensor: fixed flymaple build 2015-11-17 08:52:49 +11:00
Andrew Tridgell 32ed0d58f3 AP_InertialSensor: fixed filter setup on 2nd accel/gyro 2015-11-16 17:57:36 +11:00
Andrew Tridgell 0c92331762 Copter: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Andrew Tridgell 9108179322 Plane: fixed build for SITL changes 2015-11-16 17:57:36 +11:00
Andrew Tridgell e1cb9beeef SITL: expose update rate to HAL_SITL 
and fixed dataflash reference loop
 2015-11-16 17:57:36 +11:00
Andrew Tridgell 95ca0b39a8 HAL_SITL: moved virtual INS sensor to AP_InertialSensor_SITL 2015-11-16 17:57:35 +11:00
Andrew Tridgell 4a768d47f3 AP_InertialSensor: created a SITL specific backend 2015-11-16 17:57:35 +11:00
Andrew Tridgell 2675edcb96 HAL_SITL: removed unused variables 2015-11-16 17:57:35 +11:00
Andrew Tridgell ccd915eb67 AP_InertialSensor: moved raw gyro and accel logging to common code 
this brings raw logging to non-PX4 ports
 2015-11-16 17:57:35 +11:00
Andrew Tridgell 75ea8f3dc0 AP_InertialSensor: removed "have sample" logic from drivers 
the frontend has all the information it needs, so we can simplify the
drivers some more
 2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends 
use common code for filtering and update, allowing each sensor driver
to be simpler and more consistent
 2015-11-16 17:57:35 +11:00
Randy Mackay 36c0beb918 GPS_UBlox: reorder init to resolve compiler warning 
Also removed duplicate init of noReceivedHdop
 2015-11-16 15:09:17 +09:00
Jonathan Challinger 5086168b03 Copter: add RTL_SPEED parameter 2015-11-16 10:20:32 +09:00
Paul Riseborough 9b82b2200c AP_NavEKF2: Fix plane in-flight yaw reset 
The copter method was being used for plane and the plane method was not being run due to the change in flight status not being detected.
The plane reset method did not trigger if the EKF had already dragged the velocity states along with the GPS or could align to an incorrect heading.
The method has been reworked so that it resets to the GPS course, but only if there are inconsistent angles and large innovations.
To stop a failed magnetometer causing a loss of yaw reference later in flight, if all available sensors have been tried in flight and timed out, then no further magnetoemter data will be used
 2015-11-16 09:05:42 +11:00
Paul Riseborough e8706db382 AP_NavEKF2: Update IMU tuning parameter limits 2015-11-16 09:05:42 +11:00
Paul Riseborough 0562529729 AP_NavEKF2: Tuning changes to make attitude less sensitive to GPS and compass errors 2015-11-16 09:05:42 +11:00
Andrew Tridgell 3549c717db Filter: removed reference to old 'Desktop' build 2015-11-16 08:06:05 +11:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Andrew Tridgell 1ffe899a18 PID: fixed example build 2015-11-16 08:04:44 +11:00
Andrew Tridgell 9ea99cba29 HAL_Linux: fixed example build 2015-11-16 08:04:35 +11:00
Andrew Tridgell c81d4fa07b AP_Declination: fixed example build 2015-11-16 07:59:18 +11:00
Andrew Tridgell a9372ad5d7 Filter: fixed example builds 2015-11-16 07:58:55 +11:00