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Author SHA1 Message Date
Leonard Hall
0544cf1d82 AC_AttControl: add step input for autotune 2017-06-22 15:18:04 +09:00
Randy Mackay
51c20637e5 Copter: fix compile error when logging disabled 
Also slightly re-order placement of functions
 2017-06-22 15:18:04 +09:00
Leonard Hall
7eab1239c7 Copter: attitude logging at 400hz 2017-06-22 15:18:04 +09:00
Michael du Breuil
249849dfa4 AP_GPS: Add an enum for _auto_config 2017-06-21 11:44:45 +01:00
Michael du Breuil
5f8633e322 AP_GPS: Allow backends to report their lag confidences 2017-06-21 11:44:45 +01:00
priseborough
7659e9c31f AP_NavEKF3: Improve checking of time delay validity when setting buffers 
This change means that provided the GPS_DELAY_MS parameters are set for each GPS receiver attached, the EKF will not have to wait for the configuration of each receiver to be determined before it can start.
This significantly reduces start-up times when the delay parameters are set.
 2017-06-21 11:44:45 +01:00
priseborough
7d63286088 AP_NavEKF3: update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
priseborough
fa5534502a AP_AHRS: Update to match AP_GPS interface change 2017-06-21 11:44:45 +01:00
priseborough
5dcfc94371 AP_GPS: Add validity boolean to GPS lag reporting 2017-06-21 11:44:45 +01:00
priseborough
bd0229b7bc AP_GPS: Fix bug in calculation of blended GPS delay 2017-06-21 11:44:45 +01:00
Randy Mackay
58dd0592ad Tools: eLAB VEK default param update 
We should always require arming, thanks @khancyr for noticing this!
 2017-06-21 18:20:59 +09:00
Francisco Ferreira
da5060964b AP_Math: uniformize template type parameter keyword 
Use typename everywhere instead of class
 2017-06-21 18:19:31 +09:00
Francisco Ferreira
1ffe12008c AP_Math: adapt test for new norm method API 2017-06-21 18:19:31 +09:00
Francisco Ferreira
7b98f41947 AP_Math: correct norm to need two arguments 
Correctly use sqrtf instead of the double version
Stop casting to float since sq already returns one
 2017-06-21 18:19:31 +09:00
Andrew Tridgell
f3d995a716 AP_Compass: improved robustness of BMM150 detection code 
cope with bus errors on startup
 2017-06-21 16:25:37 +10:00
Andrew Tridgell
68460144df AP_Compass: added retries on init in BMM150 2017-06-21 16:25:37 +10:00
Andrew Tridgell
9b093c4a33 AP_Compass: fixed a numerical issue in BMM150 driver 
we were getting the following:

  ret=-32768 z=5 rhall=6267 z1=23743 z2=712 z3=-1035 z4=0 xyz1=6264 dividend=163840 dividend2=-1073577207 divisor=5253

the signed/unsigned casts for rhall and xyz1 did not produce the
desired result
 2017-06-21 16:25:37 +10:00
Andrew Tridgell
0623db98d6 AP_Compass: cope with bus errors in BMM150 
if we have bus errors the BMM150 can get confused, giving rubbish
output. This uses the checked register code to reset, and a full soft
reset after 250ms of no samples.
 2017-06-21 16:25:37 +10:00
Andrew Tridgell
fa3d40af8a AP_Compass: fixed shift typo 
this doesn't affect LE MCUs like STM32
 2017-06-21 16:25:37 +10:00
Randy Mackay
f8ee82e708 Tools: remove old 3DR standard param files 2017-06-21 15:16:49 +09:00
Randy Mackay
0037ec086a Tools: rename param files for eLAB 2017-06-21 15:08:38 +09:00
Randy Mackay
3159361970 Tools: add param file for eLAB VEK AI rover 2017-06-21 15:08:38 +09:00
Andrew Tridgell
b8f628da83 HAL_PX4: fixed bug in last_sent 
thanks to Francisco
 2017-06-21 11:40:12 +10:00
Andrew Tridgell
2e24c35906 Rover: setup default esc scaling 
for rovers without a k_throttle channel we need a default ESC scaling
value
 2017-06-21 10:30:39 +09:00
Andrew Tridgell
d060fd2826 Rover: replace get_output_norm*100 for throttle with get_output_scaled 
No functional change
 2017-06-21 10:30:39 +09:00
Andrew Tridgell
79f7cc5779 Rover: implement new style skid steering 
use throttleLeft and throttleRight servo functions. This gives much
greater flexibility and control over motor trims and limits
 2017-06-21 10:30:39 +09:00
Andrew Tridgell
17893958bf HAL_PX4: cope with brushed motors in read_last_sent() 
we need the value before scaling is applied, so slew rates can work
 2017-06-21 10:55:24 +10:00
Michael du Breuil
a42c09d27a Tracker: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Michael du Breuil
57c9afb77e Rover: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Michael du Breuil
f0cb234228 Copter: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Michael du Breuil
df15a82f88 Sub: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Michael du Breuil
8691eae679 Plane: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Andrew Tridgell
bc8c13d053 SRV_Channel: cope with large time jumps in slew rate limiter 2017-06-20 20:53:44 +09:00
Randy Mackay
74f5ddb823 SITL: add copter-beacon parameter file 
This allows easier testing of the Beacon code in SITL
 2017-06-20 20:42:36 +09:00
Randy Mackay
a303c40f1f AP_Beacon: initialise counter in get_next_boundary_point 
This is not a bug but at least one compiler has complained about this
 2017-06-20 16:34:41 +09:00
Pierre Kancir
8a85b8be4c APMRover2: correct usage of set_output_pwm 2017-06-20 15:58:33 +09:00
Jacob Walser
b752594fe5 param_metadata: Markdown parameter formatter 2017-06-20 14:53:17 +10:00
priseborough
06d40a7901 AP_NavEKF3: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough
ce8e935896 AP_NavEKF2: Fix terrain estimator innovation consistency check 2017-06-20 02:08:56 +01:00
priseborough
284fc0f3c5 AP_NavEKF3: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
priseborough
b7e6e6f95f AP_NavEKF2: Fix bug in flow fusion for terrain estimation 
Also remove unused class variables
 2017-06-20 02:08:56 +01:00
Michael du Breuil
0b26908359 Landing: Disarm on land for deepstall 2017-06-19 17:02:23 -07:00
Andrew Tridgell
a1508b58c1 AP_NavEKF3: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
Andrew Tridgell
cbffc29f0b AP_NavEKF2: use AHRS likely flying state 
this sets inFlight when AHRS has indicated flying for 5s
 2017-06-20 09:44:44 +10:00
Andrew Tridgell
0b40e853c9 Plane: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Andrew Tridgell
9d7ed495da Copter: call set_likely_flying() 2017-06-20 09:44:44 +10:00
Andrew Tridgell
770f697cfc AP_AHRS: added set/get for flying state 
this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
 2017-06-20 09:44:44 +10:00
priseborough
647db728ce AP_NavEKF2: Improve is flying check for non fly forward vehicles 
Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
 2017-06-19 06:09:07 +10:00
priseborough
edee8396ba AP_NavEKF3: Improve in-flight check for non fly forward vehicles 
This will enable the EK3_MAG_TYPE 0 option to be used for multirotors
 2017-06-19 06:09:07 +10:00
Andrew Tridgell
a0e4ec0f3a AP_Compass: fixed bitmask typo 2017-06-18 18:15:47 +10:00