Paul Riseborough
bd152d332c
AP_NavEKF : Add accel aliasing protection
2014-03-02 08:10:04 +11:00
Andrew Tridgell
f2c79ad639
Replay: fixed -g option
2014-03-02 08:09:13 +11:00
Andrew Tridgell
ecdcf70ef5
Replay: added accel and gyro mask options
2014-03-02 08:00:51 +11:00
Andrew Tridgell
3218ac8e7a
Replay: added parameter handling
...
use parameters from log, and allow override
2014-03-01 15:15:46 +11:00
Andrew Tridgell
853271dd37
Replay: moved replay tool into Tools/Replay
2014-03-01 14:30:55 +11:00
Andrew Tridgell
295cd9adba
AP_NavEKF: give a sensible error for no such file on replay
2014-03-01 14:24:51 +11:00
Paul Riseborough
854f013146
AP_NavEKF : Fixes zero compass offsets on initialisation
2014-02-28 19:43:12 +11:00
Andrew Tridgell
cc4c443b32
SITL: simulate dual accel/gyro
2014-02-28 17:30:38 +11:00
Jonathan Challinger
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
2014-02-28 17:25:54 +11:00
Andrew Tridgell
736201689b
AP_NavEKF: only use the active accel from DCM if fly_forward is set
2014-02-27 17:40:13 +11:00
Andrew Tridgell
aaaae9a222
AP_AHRS: added get_fly_forward() method
...
will be used to detect a copter
2014-02-27 17:39:49 +11:00
Paul Riseborough
62eff63267
AP_NavEKF : Increase the tuning range for magnetometer measurement noise
2014-02-27 17:20:38 +11:00
Andrew Tridgell
9a5ecc9541
AP_AHRS: use primary accel for accel_ef
...
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
2014-02-27 16:28:37 +11:00
Andrew Tridgell
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
Andrew Tridgell
cf148fa76c
AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk
2014-02-27 12:46:27 +11:00
Andrew Tridgell
a9e683dada
AP_NavEKF: use the accelerometer chosen by DCM for each step
2014-02-27 09:41:48 +11:00
Andrew Tridgell
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
...
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
2014-02-27 09:41:28 +11:00
Andrew Tridgell
0b45d2bc06
AP_AHRS: removed the AHRS_GPS_DELAY parameter
...
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
2014-02-27 08:57:44 +11:00
Andrew Tridgell
6b9e1edf38
Plane: disable GPS2 in HIL
2014-02-27 08:16:28 +11:00
Andrew Tridgell
3de574e5dc
Copter: disable GPS2 in HIL
2014-02-27 08:16:20 +11:00
Andrew Tridgell
87ea98fe2c
Rover: disable GPS2 in HIL
2014-02-27 08:16:11 +11:00
Paul Riseborough
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
2014-02-27 08:12:10 +11:00
Paul Riseborough
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
2014-02-27 08:12:03 +11:00
Andrew Tridgell
8b59e564ba
AP_NavEKF: improved replay timing
2014-02-27 08:11:04 +11:00
Andrew Tridgell
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
2014-02-27 08:10:42 +11:00
Andrew Tridgell
66f238c0da
AP_NavEKF: support 400Hz replay from 50Hz logs
2014-02-26 19:34:01 +11:00
Andrew Tridgell
3fa2207a2d
AP_HAL: allow for microsecond resolution in scheduler->stop_clock()
...
this makes 400Hz in the replay code possible
2014-02-26 19:33:39 +11:00
Andrew Tridgell
6fc5c12f1d
AP_AHRS: remove unused variable
2014-02-26 10:28:12 +11:00
Andrew Tridgell
866e32f059
AP_Motors: removed unused variable
2014-02-26 09:40:39 +11:00
Andrew Tridgell
37394b30ee
Copter: added support for 2nd GPS
2014-02-26 09:40:29 +11:00
Andrew Tridgell
82ffc0ff2b
Rover: support a 2nd GPS
2014-02-26 09:24:23 +11:00
Andrew Tridgell
07826096a2
Plane: support a 2nd GPS
2014-02-26 09:24:23 +11:00
Andrew Tridgell
e410733682
DataFlash: added GPS2 logging
2014-02-26 09:19:00 +11:00
Andrew Tridgell
0115b9fa07
HAL_SITL: support a 2nd GPS
2014-02-26 08:19:47 +11:00
Andrew Tridgell
836f473db2
HAL_FLYMAPLE: no uartE
2014-02-26 08:19:20 +11:00
Andrew Tridgell
58d5454d65
HAL_Empty: no uartE
2014-02-26 08:19:18 +11:00
Andrew Tridgell
6c74ca58c3
HAL_AVR: no uartE
2014-02-26 08:19:15 +11:00
Andrew Tridgell
4cb61f1f08
AP_HAL: support uartE
2014-02-26 08:18:20 +11:00
Andrew Tridgell
bf2dd141e9
HAL_PX4: support uartE for 2nd GPS
2014-02-26 08:18:11 +11:00
Andrew Tridgell
95dd252f29
Plane: pass fix type to gps->setHIL()
2014-02-25 21:11:15 +11:00
Andrew Tridgell
2fcbdc4056
Copter: pass fix type to gps->setHIL()
2014-02-25 21:11:10 +11:00
Andrew Tridgell
50f89d0aa6
Rover: pass fix type to gps->setHIL()
2014-02-25 21:11:06 +11:00
Andrew Tridgell
63874dfffd
AP_NavEKF: set fix type in GPS replay
2014-02-25 21:10:49 +11:00
Andrew Tridgell
d7b2a09919
AP_GPS: added fix type to setHIL
2014-02-25 21:10:30 +11:00
Andrew Tridgell
09cce5d24e
AP_NavEKF: fixed replay with current copter logs
2014-02-25 20:56:53 +11:00
Jonathan Challinger
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
...
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
2014-02-25 18:49:16 +11:00
Paul Riseborough
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
2014-02-25 15:55:44 +11:00
Andrew Tridgell
8a4289b56f
Plane: remove unused variables
...
thanks to Mike McCauley
2014-02-24 18:49:14 +11:00
Andrew Tridgell
11028c665d
Rover: removed unused variables
...
thanks to Mike McCauley
2014-02-24 18:48:55 +11:00
Andrew Tridgell
7a6f671659
AP_GPS: added have_vertical_velocity() function
...
for use by EKF
2014-02-24 18:24:10 +11:00
