d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
...
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.
It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.
Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.
Thanks to Leonard and Paul for help with this design!
2016-11-25 17:49:57 +11:00
b165e025d9
Filter: added new constructor for 1p filter
...
allow both sample rate and cutoff to be specified in constructor
2016-11-25 17:49:57 +11:00
7220dc15f9
HAL_PX4: adjusted bus speeds on invensense sensors
2016-11-25 17:49:57 +11:00
5934a099a4
AP_HAL: added support for more SRXL varients
...
based on work by Roman Seb <roman-29188@gmx.de>
2016-11-24 22:54:23 +11:00
65ce9821be
PX4Firmware: submodule update
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update to SRXL driver from Roman Seb
2016-11-24 22:54:23 +11:00
0a177d04fd
AP_NavEKF2: Simply core switch implementation
...
Functionally equivalent
2016-11-24 19:58:10 +09:00
7d48054e6f
AP_NavEKF2: Group GPS innovation tests when compiling error score
2016-11-24 19:58:07 +09:00
e9ea06bd10
AP_NavEKF2: minor comment fix
2016-11-24 19:58:03 +09:00
a32068a973
AC_WPNav: remove ekf position reset handler
...
This has been migrated to the position control library
2016-11-24 19:58:00 +09:00
1012333eef
AC_PosControl: add ekf position reset handling
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Previously this was in AC_WPNav and used only for loiter but it should work for any flight modes that use horizontal or vertical position control
2016-11-24 19:57:56 +09:00
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
2016-11-24 19:57:53 +09:00
6406e34016
AC_WPNav: remove unused _loiter_step member
2016-11-24 19:57:50 +09:00
0df45703f1
AP_NavEKF2: Fix errors in position reset delta publishing
2016-11-24 19:57:47 +09:00
f6021c959d
AP_NavEKF2: capture and publish vertical position reset deltas
...
Calculate the change in vertical position due to a internal EKF state reset or a EKF core switch
2016-11-24 19:57:45 +09:00
e62863f9a1
AP_NavEKF2: Reduce unnecessary EKF core switching
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1) Do not switch to a core until its states have been updated.
2) Distinguish between mandated switches required for health failure and optional switches required due to innovation checks failing.
3) Apply hyseresis to innovation check levels
2016-11-24 19:57:41 +09:00
de153ce1d7
AP_NavEKF: Correct the setting process of variable dAngBiasSigma.
2016-11-24 03:24:18 +00:00
ec42ddfb4e
AP_NavEKF: style changes (tab to spaces, etc.)
...
AP_NavEKF: style changes (tab to spaces, etc.)
AP_NavEKF: style changes (tab to spaces, etc.)
2016-11-24 03:24:18 +00:00
5ed9d22bf6
Rover: correct indentation and style on GCS_Mavlink
...
Remove trailling whitespace, tabs, limit single line if-statement scope, add missing space
2016-11-24 09:34:48 +11:00
326e0f224f
Rover: added SYSID_ENFORCE parameter
2016-11-24 09:34:48 +11:00
8c0de11d6d
APMrover2: remove double include stdarg.h
2016-11-23 18:47:34 +00:00
e9feb7bdda
AP_RangeFilnder: moved the const buffer definition to the header and changed from '8' to 'sizeof(send_request_buffer)'
2016-11-23 10:28:38 -08:00
f97ede9865
AP_RangeFilnder: change send_request_buffer member variable to const and other fixes
2016-11-23 10:28:38 -08:00
e8ff156fa6
AP_RangeFilnder: add clear buffer at INIT state and change send_buffer to member variable to reduce CRC computation for sending request
2016-11-23 10:28:38 -08:00
c1c643e56e
AP_RangeFinder: remove clear buffer in send_request
2016-11-23 10:28:38 -08:00
ea0e413b04
AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero
2016-11-23 14:43:29 +09:00
ae927e1775
DataFlash: Adjust the return value to the type of the method.
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DataFlash: Adjust the return value to the type of the method.
2016-11-22 10:07:16 -08:00
f9b0f9164a
AP_HAL_Linux: add TODO to AnalogIn_Raspilot
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This is especially bad for raspilot since it has a spi bus shared for
all the peripherals.
2016-11-21 18:11:31 -02:00
87c6d5da13
AP_InertialSensor: replace panic() with return
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When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
2016-11-21 18:04:10 -02:00
c2125a0078
AP_Baro: wait forever for semaphore on startup
2016-11-21 18:04:10 -02:00
6f82ec0642
HAL_Linux: convert RASPilot drivers to thread per bus
2016-11-21 18:04:10 -02:00
6129b1abb6
AP_InertialSensor: wait forever for semaphore on startup
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some boards take a silly amount of time to get semaphore on startup
2016-11-21 17:57:21 -02:00
d50fd3a6cd
AP_OpticalFlow: fix onboard init
...
mistake in patch to avoid segfault which enabled
AP_OpticalFlow_Linux instead of AP_OpticalFlow_Onboard.
Store a reference to ahrs in order to execute init later, when
ahrs is initialized.
2016-11-21 16:38:59 -02:00
75a2a1cd6c
Tools: Don't install libc6-i386 on 32bit Ubuntu
2016-11-21 17:03:04 +00:00
d97861d685
AP_GPS: Ublox: Skip SBAS request if we don't want to alter it
2016-11-21 14:15:19 +09:00
b7f95d9c25
AP_RangeFinder: remove serial.end and begin
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Also some formatting changes
2016-11-21 14:07:01 +09:00
99fafcb495
RangeFinder: add uLanding to TYPE parameter description
2016-11-21 13:52:15 +09:00
148fa03d6b
AP_RangeFinder: support MaxBotix Serial rangefinders
...
This has been tested with LV-MaxSonar®-EZ1 MB1010
2016-11-21 11:21:56 +09:00
44c5fee90d
AP_RangeFinder: formatting fixes for uLanding
2016-11-21 11:07:41 +09:00
69bc4c42c9
AP_RangeFinder: Add support for Aerotenna uLanding radar altimeter
2016-11-21 11:07:41 +09:00
faa534cf64
AP_SerialManager: Add support for Aerotenna uLanding radar altimeter
2016-11-21 11:07:41 +09:00
22517422f9
AP_Motors: add option to disable motor PWM output while disarmed
2016-11-21 10:49:21 +09:00
f2a0bf9ad1
PX4Firmware: lower pin speed of external SPI bus
2016-11-21 10:32:48 +11:00
2ed32a3ac0
Copter: added raw RFND logging
2016-11-21 10:30:12 +11:00
6c09758447
AP_RangeFinder: removed momentary spikes in PulsedLight I2C Lidar
2016-11-21 10:30:04 +11:00
252f90ba36
HAL_PX4: drop I2C speed to 100kHz
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reduce I2C errors on long cables for all sensors
2016-11-21 10:29:52 +11:00
b3ac4fcb72
GCS_MAVLINK: speed up USB log download
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makes it about 2x as fast on Pixhawk
2016-11-20 18:41:25 +11:00
504de3ea9e
AP_HAL_Linux: RCInput_RPI: fix whitespaces
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Also add/change some minor coding style issues, reducing scope of
variables.
2016-11-19 14:05:22 -02:00
aadc1643fc
AP_HAL_Linux: reduce speed of MPU* devices
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After introducing the temperature check we are resetting the fifo
several times due to difference in temperature.
2016-11-19 14:05:22 -02:00
8d3361cef4
AP_HAL_Linux: RCInput_RPI: fix using Util class on constructor
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Program received signal SIGSEGV, Segmentation fault.
0x000b8760 in Linux::UtilRPI::get_rpi_version() const ()
(gdb) bt
#0 0x000b8760 in Linux::UtilRPI::get_rpi_version() const ()
#1 0x000b57ac in Linux::RCInput_RPI::RCInput_RPI() ()
#2 0x0000acfc in _GLOBAL__sub_I__ZN9HAL_LinuxC2Ev ()
#3 0x000e1600 in __libc_csu_init ()
#4 0x76cad228 in __libc_start_main (main=0x7efff774, argc=1994186752,
argv=0x76cad228 <__libc_start_main+168>, init=0xe15b4 <__libc_csu_init>,
fini=0xe1614 <__libc_csu_fini>, rtld_fini=0x76fdf464 <_dl_fini>,
stack_end=0x7efff774) at libc-start.c:246
#5 0x0000afa4 in _start ()
2016-11-19 14:05:22 -02:00
bc476e1987
AP_ADC: fix ADS1115 instantiation
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This can't be called on constructor since hal may not be initialized at
that time.
2016-11-19 14:05:22 -02:00
Andrew Tridgell
priseborough
Randy Mackay
murata
Pierre Kancir
Pierre Kancir
ShingoMatsuura
Leonard Hall
Lucas De Marchi
Julien Beraud
Michael du Breuil
Ricardo de Almeida Gonzaga
davidaroyer
Jonathan Challinger