Randy Mackay
b3bbec24e4
RangeFinder: TYPE param description to PX4-I2C
2014-10-02 20:24:14 +09:00
Randy Mackay
8ce4893180
RangeFinder: TYPE param description to PX4-MaxbotixI2C
...
This hopefully reduces confusion for PX4/Pixhawk users with MaxBotix I2C
sonar
2014-10-02 16:49:15 +09:00
Randy Mackay
7ced9b1bd3
TradHeli: remove overall throttle level from landing check
2014-10-02 16:10:44 +09:00
Randy Mackay
b17c6d3368
Plane: only report ahrs unhealthy after initialisation
2014-10-02 14:41:28 +09:00
Randy Mackay
799f559c1d
Rover: only report ahrs unhealthy after initialisation
2014-10-02 14:41:27 +09:00
Randy Mackay
f059af2386
Copter: only report ahrs unhealthy after initialisation
2014-10-02 14:41:26 +09:00
Randy Mackay
85eee31510
AHRS: rename ekfNotStarted method to initialised
...
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
2014-10-02 14:40:54 +09:00
priseborough
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
2014-10-02 14:38:29 +09:00
Randy Mackay
b06d3d3f52
Tracker: remove forwarding of pos and pressure to vehicle
2014-10-01 15:54:26 +09:00
Randy Mackay
111ec147f0
Tracker: GCS_Mavlink format fix-up of indentation
2014-10-01 15:54:24 +09:00
Randy Mackay
3e62b188a1
Tracker: process mavlink msgs from vehicle once
...
previously heartbeat messages from the vehicle could be processed twice.
Once at the top of hte handleMessage function where they were forwarded
onto the GCS and then again lower down in the function where all
received heartbeats were sent to the vehicle.
2014-10-01 15:54:21 +09:00
Randy Mackay
7a06ed8a8a
AntennaTracker: minor comment and format fix
2014-10-01 15:54:18 +09:00
Randy Mackay
72053a8a74
AntennaTracker: notify armed after receiving vehicle position
2014-10-01 15:54:16 +09:00
Randy Mackay
dbc1c03d49
Tracker: use handle_set_mode()
2014-10-01 15:54:13 +09:00
Andrew Tridgell
9453154b75
Rover: use handle_set_mode()
2014-10-01 14:19:42 +10:00
Andrew Tridgell
f2e6fa3fb0
Copter: use handle_set_mode()
2014-10-01 14:19:31 +10:00
Andrew Tridgell
c4b17b74e2
Plane: use handle_set_mode()
2014-10-01 14:19:20 +10:00
Andrew Tridgell
60aa017e11
GCS_MAVLink: added handle_set_mode() function
2014-10-01 14:19:04 +10:00
Randy Mackay
a860d91930
Rover: allow GCS to turn safety switch on/off
2014-10-01 13:12:08 +10:00
Randy Mackay
bab2c17e11
Rover: set sys_status motor outputs bit from safety switch
2014-10-01 13:11:50 +10:00
Randy Mackay
82225de6fa
Plane: allow GCS to turn safety switch on/off
2014-10-01 13:11:50 +10:00
Randy Mackay
7a6b55368e
Plane: set sys_status motor outputs bit from safety switch
2014-10-01 13:09:58 +10:00
Randy Mackay
7caa611eb1
Compass_HIL: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
86aac4f40c
Compass_HMC5843: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
900896977c
Compass_VRBrain: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
85e82a0399
Compass_PX4: use instance specific orient and external
2014-10-01 13:02:03 +10:00
Randy Mackay
023b6afe8b
Compass: add ORIENT2 and EXTERNAL2 params
2014-10-01 13:02:03 +10:00
Randy Mackay
16058cb730
Compass_VRBrain: primary compass based on use_for_yaw
2014-10-01 13:02:02 +10:00
Randy Mackay
01fa4ba619
Compass_PX4: primary compass based on use_for_yaw
2014-10-01 13:02:02 +10:00
Randy Mackay
798cc36e64
Compass: use_for_yaw for each compass
2014-10-01 13:02:02 +10:00
Randy Mackay
84d792216e
Compass: use_for_yaw to use primary compass health
...
This allows the internal compass to be used if the external compass
fails.
2014-10-01 13:02:02 +10:00
Andrew Tridgell
d6c56b8f7a
AP_NavEKF: make it clear that all sat counts are covered
2014-10-01 12:55:29 +10:00
Andrew Tridgell
a1f5be5b9e
AP_NavEKF: simplify variable handling in EKF
...
use named state variables instead of states[] array where possible.
2014-10-01 12:55:29 +10:00
priseborough
8223a0d193
AP_NavEKF : Explicitly initialise gpsNoiseScaler to default value
2014-10-01 12:55:29 +10:00
priseborough
b61a6c64d7
AP_NavEKF : Reduce weighting on GPS when not enough satellites
...
GPS measurement variance is doubled if only 5 satellites, and quadrupled if 4 or less.
The GPS glitch rejection thresholds remain the same
This will reduce the impact of GPS glitches on attitude.
2014-10-01 12:55:29 +10:00
priseborough
7370e07c8d
AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS
2014-10-01 12:55:29 +10:00
priseborough
f99f5759f5
AP_NavEKF : Fix bug in GPS innovation variance growth calculation
...
The uncertainty in acceleration is currently only scaled using horizontal accelerations, however during vertical plane aerobatics and high g pullups, misalignment in angles can cause significant horizontal acceleration error.
The scaling now uses the 3D acceleration vector length to better work during vertical plane high g maneouvres.
This error was found during flight testing with 8g pullups
2014-10-01 12:55:29 +10:00
priseborough
f0ee11e951
AP_NavEKF : Fix bug in reset of position, height and velocity states
...
If the inertial solution velocity or position needs to be reset to the GPS or baro, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS or baro measurement will be compared to an invalid previous state and will be rejected. This is particularly a problem if IMU saturation or timeout has occurred because the previous states could be out by a large amount
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s.
2014-10-01 12:55:28 +10:00
Randy Mackay
e7b4a02d26
GPS: fix SIRF set-binary message
...
This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
2014-10-01 11:42:31 +09:00
Andrew Tridgell
f6cc8ce5bc
GCS_MAVLink: fixed log erase and log request end
2014-10-01 11:45:51 +10:00
Randy Mackay
2dbfc6158d
Rover: check target of set-mode request from GCS
...
Issue discovered and fix contributed by Deadolous
2014-09-30 15:19:28 +10:00
Randy Mackay
6d3acba04c
Plane: check target of set-mode request from GCS
...
Issue discovered and fix contributed by Deadolous
2014-09-30 15:19:25 +10:00
Randy Mackay
47c135c4e1
GCS_MAVLink: add comments around checking target
2014-09-30 15:18:35 +10:00
Randy Mackay
0322a876eb
GCS_MAVLink: check target before erasing log
2014-09-30 15:18:31 +10:00
Randy Mackay
77e89214eb
Copter: shift pos targets to current location before takeoff
2014-09-29 15:26:54 +09:00
Randy Mackay
dbe1c55666
AC_WPNav: add shift_wp_origin_to_current_pos for takeoff
...
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
2014-09-29 15:26:18 +09:00
Randy Mackay
41d7462eee
LogAnalyzer: add POSHOLD to TestPitchRollCoupling
2014-09-29 11:46:02 +09:00
Randy Mackay
0803d79701
INS: param descriptions for ACC2, GYR2
2014-09-27 21:05:33 +09:00
Randy Mackay
e14ae0c0b1
Compass: param descriptions for OFS2, MOT2
2014-09-27 17:59:26 +09:00
Jonathan Challinger
73e1719ee1
Copter: print frame type in log headers
2014-09-27 16:11:21 +09:00