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15640 Commits

Author SHA1 Message Date
Randy Mackay 52f7186cbf Copter: pre-arm check primary compass health 
Previously we would check the 1st compass which might not necessarily be
the primary compass
 2015-04-10 11:08:18 +09:00
Paul Riseborough 9268024094 AP_NavEKF: Update default parameters for copter optical flow fusion 2015-04-10 11:08:11 +09:00
Paul Riseborough 4fbdab27ff AP_NavEKF: Use range finder for primary hgt ref in opt flow mode 
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
 2015-04-10 11:08:07 +09:00
Randy Mackay 6834b5943e Copter: pre-arm alt disparity check only if using baro 
We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
 2015-04-10 11:08:02 +09:00
Paul Riseborough 1d7cb25c17 Copter : Update pre-arm and arm checks using EKF health status 
Bypass alt disparity check when doing ground relative navigation using range finder height
Add check of EKF health status to indicate when EKF is waiting to complete checks
 2015-04-10 11:07:50 +09:00
Paul Riseborough ff9917d338 AP_AHRS: Fix bug preventing EKF from initialising 2015-04-10 11:07:42 +09:00
Paul Riseborough d618c55e2f AP_NavEKF: Improved handling of noisy GPS speed accuracy data 2015-04-10 11:07:34 +09:00
Paul Riseborough 53358a4e10 AP_OpticalFlow: Add parameter to compensate for flow sensor yaw angle 
AP_OpticalFlow: update parameter name
 2015-04-10 11:07:31 +09:00
Paul Riseborough cab171b580 AP_InertialNav: Add method to return EKF height above ground estimate 
AP_InertialNav: Add validity flag to height above ground estimate
 2015-04-10 11:07:27 +09:00
Paul Riseborough e98edaa6cb AP_NavEKF: Return more accurate validity status for height above ground 2015-04-10 11:07:24 +09:00
Paul Riseborough 586e4a7d2b AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
Randy Mackay fea7632eac Copter: save EKF learned compass to primary compass 2015-04-10 11:07:18 +09:00
Paul Riseborough 2406e26ab4 Copter : Save EKF learned compass offsets on disarm 
Requires compass learning to be enabled in the compass parameters

Copter: fix compass offsets patch
 2015-04-10 11:07:13 +09:00
Leonard Hall 70fbb3c67e Copter: RATE_RLL_P param def max to 0.30 
same for RATE_PIT_P
 2015-04-09 20:19:57 +09:00
Jonathan Challinger dc5bdd5ad8 AP_AHRS: use filtered INS output to compute _accel_ef_blended 2015-04-09 20:19:56 +09:00
Leonard Hall 2bf8f21b7a Copter: roll, pitch rate IMAX to 2000 2015-04-09 20:19:56 +09:00
Randy Mackay a095a8c3a1 AC_PID: more protection against NaN and Inf 2015-04-09 20:19:55 +09:00
Randy Mackay bdfe8bbc54 AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX 2015-04-09 20:19:54 +09:00
Leonard Hall afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Leonard Hall ae77c18a19 AC_PID: Protect against NaN and INF 2015-04-09 18:30:12 +09:00
Andrzej Zaborowski 132cdc4916 Motors: Use _motor_to_channel_map in tricopter consistently. 
In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
 2015-04-09 11:43:22 +09:00
Randy Mackay d589c591a6 Copter: only log home when first set 
We should also log home when we arm
 2015-04-09 10:57:08 +09:00
Randy Mackay b0c777259f Copter: update home constantly while disarmed 2015-04-09 10:57:06 +09:00
Randy Mackay c3bdb9a13e Copter: update inertial alt only after home is set 2015-04-09 10:57:04 +09:00
Randy Mackay 2bec00e1c5 Copter: set ahrs home from ekf location 2015-04-09 10:57:02 +09:00
Randy Mackay e5ddd276fd Copter: remove baro init on arming 2015-04-09 10:56:59 +09:00
Randy Mackay 558018d839 InertialNav: add get_location method 2015-04-09 10:56:57 +09:00
Tom Pittenger 9ecbd0e30f AP_L1_Control: fixed uTurn-wobble 
When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.
 2015-04-08 15:21:02 -07:00
Jonathan Challinger 6e8008ab69 AP_SerialManager: use protocol_match in find_baudrate 2015-04-08 09:14:31 -07:00
Randy Mackay 11d0801c99 SITL: fix copter-avc test 2015-04-08 15:24:48 +09:00
Randy Mackay f260536373 AC_PID: fix example sketch compile error 2015-04-08 15:05:29 +09:00
Jonathan Challinger 6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger 07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Paul Riseborough c57e25142c AP_NavEKF: Update optical flow fusion maths to reduce height errors 2015-04-07 20:51:18 -07:00
mirkix 2e04effd4d Linux_HAL_Essentials: Add (UAV)CAN support 2015-04-07 20:48:01 -07:00
Randy Mackay 8335399525 SITL: fix copter test 
Allow more time for fly_square
Allow more movement in loiter_glitch test
 2015-04-08 12:18:22 +09:00
Randy Mackay 7eb710ed3a SITL: copter autotest uses sim time 2015-04-08 12:18:20 +09:00
Randy Mackay 9e1502e54a SITL: add wait_sim_seconds and get_sim_time 2015-04-08 12:18:18 +09:00
Randy Mackay 2799d15427 SITL: weaken simulated copter 2015-04-08 12:18:15 +09:00
Andrew Tridgell ee35c2aa35 autotest: update gimbal model to match new messages 2015-04-06 16:45:51 -07:00
Andrew Tridgell 35bac3ab4f GCS_MAVLink: regenerate without mavlink_frame_char changes 2015-04-06 16:43:02 -07:00
Andrew Tridgell df948e7358 AP_Mount: fixed for new GIMBAL_REPORT message 2015-04-06 16:42:23 -07:00
Andrew Tridgell 33824e0b2f GCS_MAVLink: re-ran generate.sh 2015-04-06 16:30:16 -07:00
Jonathan Challinger 73b8890bd3 GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages 2015-04-06 16:29:02 -07:00
myly10 55befdc345 AP_NavEKF: Typo correction for EAS_NOISE description 2015-04-06 15:52:29 -07:00
Andy Piper 33af275220 Support building of Pixhawk firmware under Vagrant/VirtualBox. 
On my Windows 7 machine this is at least 5x faster than a mingw based
build. Most of the requirements were taken from install-prereqs-ubuntu.sh
 2015-04-06 15:44:01 -07:00
Andrew Tridgell 03a50712db Plane: default LAND_DISARMDELAY to 20 seconds 
most people will want to disarm
 2015-04-06 15:37:54 -07:00
mirkix 445f358839 AP_HAL_Linux: Fix compiler warning of MAX_PWMS redefinition (previously defined) 2015-04-06 15:34:50 -07:00
Andrew Tridgell 793a212d28 Travis: removed script breakage 2015-04-06 15:29:57 -07:00