Commit Graph

18717 Commits

Author SHA1 Message Date
Paul Riseborough 24c0309e85 AP_InertialNav: Enable flight using EKF2
All EKF functions are accessed via the AHRS library enabling AHRS_EKF_TYPE to determine which EKF is being used by the control loops
2015-10-20 15:21:36 +11:00
Paul Riseborough e65ae51564 AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
2015-10-20 15:21:36 +11:00
Paul Riseborough f062ed4180 AP_InertialNav: Add output method for rate of change of vertical position 2015-10-20 15:21:36 +11:00
Paul Riseborough dab658f6ed AP_NavEKF: Add methods to output and calculate vertical position derivative 2015-10-20 15:21:36 +11:00
Paul Riseborough 9e3d9d15fc DataFlash: Log vertical position derivative output 2015-10-20 15:21:35 +11:00
Paul Riseborough 52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
2015-10-20 15:21:35 +11:00
Andrew Tridgell a39b341308 PX4: clean out .d dependency files from uavcan on px4-cleandep 2015-10-20 15:09:28 +11:00
Andrew Tridgell f5b5a3b0f8 AP_NavEKF: added EKF_DISABLE_INTERRUPTS
this helps with performance tuning
2015-10-20 14:37:41 +11:00
Andrew Tridgell 7ae5d3220a PX4: allow up to 1300 bytes frame size
needed for optimised EKF code
2015-10-20 14:36:58 +11:00
Andrew Tridgell 10fddf4c7e AP_NavEKF: enable optimisation level 3 for the EKF 2015-10-20 14:36:56 +11:00
Andrew Tridgell c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries
this costs some flash space but speeds things up considerably
2015-10-20 14:36:53 +11:00
Andrew Tridgell 2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay 756d564b7c Mission: sanity check command altitudes 2015-10-19 16:15:08 +09:00
Randy Mackay acd8252e4b Common: add location alt max definition 2015-10-19 16:15:05 +09:00
Randy Mackay d03489263d Copter: remove gyro cal on first arming 2015-10-19 12:00:41 +09:00
Randy Mackay b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
Andrew Tridgell 2ea23d66b0 PX4: use -fsingle-precision-constant for PX4 APM build
this will prevent us having to chase cases where developers forget to
add the f to a floating point constant in APM code
2015-10-19 12:12:20 +11:00
Jonathan Challinger 598925f8d2 Copter: EKF failsafe action always Land if RC failsafe active 2015-10-18 10:06:05 +09:00
orlando3d 6d266d2063 Update 3DR_X8-M_RTF.param 2015-10-18 09:27:54 +09:00
orlando3d 7c0239e59c Update 3DR_X8+_RTF.param 2015-10-18 09:27:51 +09:00
orlando3d 11ae5a64d0 Update 3DR_Iris+.param 2015-10-18 09:27:49 +09:00
Andrew Tridgell 4e220284e0 PX4: allow I2C airspeed sensor on either bus 2015-10-16 18:38:40 +11:00
Randy Mackay 073828a764 Plane: add ahrs health pre-arm check 2015-10-16 13:50:59 +09:00
Randy Mackay 09aef3a3b8 AP_Arming: remove ahrs check from ins 2015-10-16 13:50:58 +09:00
Randy Mackay 53b39b201b AP_Arming: make ins check virtual 2015-10-16 13:50:57 +09:00
Randy Mackay 304a23923a AP_Arming: add Bitmask parameter description
Also moved ARMING_CHECK to standard category
2015-10-16 13:50:56 +09:00
Randy Mackay 0cc4b6977e AP_Arming: add compass consistency check
Also moved the offsets and mag field limits into definitions at top of
.cpp file
2015-10-16 13:50:55 +09:00
Randy Mackay 342651cc9b AP_Arming: add board voltage checks 2015-10-16 13:50:54 +09:00
Randy Mackay f5f31e4b31 AP_Arming: move ahrs health check after Accel/Gyro checks
If the AHRS is unhealthy because of accel or gyro problems we want those underlying problem reported first
2015-10-16 13:50:53 +09:00
Randy Mackay 0a21fe65e9 AP_Arming: do not report prearm_failure_reason when ahrs unhealthy
The EKF's prearm failiure message is more related to the position estimate rather than the ahrs's health
2015-10-16 13:50:52 +09:00
Randy Mackay 78c6287f95 AP_Arming: check health of all barometers 2015-10-16 13:50:50 +09:00
Randy Mackay c716bfce88 AP_Arming: remove most exclamation marks 2015-10-16 13:50:49 +09:00
Randy Mackay 6b91beb3ff AP_Arming: formatting changes 2015-10-16 13:50:48 +09:00
Andrew Tridgell 6f36267a66 AP_NavEKF: fixed EKF error message during 10 second warmup 2015-10-16 14:58:46 +11:00
José Roberto de Souza 9889f826b3 AP_HAL_Linux: RCInput_UDP: Fix compiling warning
This warning happens because of the difference of datatypes between
32 and 64 bits processors.

%% libraries/AP_HAL_Linux/RCInput_UDP.o
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp: In member function 'virtual void Linux::LinuxRCInput_UDP::_timer_tick()':
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp:42:72: warning: format '%llu' expects argument of type 'long long unsigned int', but argument 3 has type 'uint64_t {aka long unsigned int}' [-Wformat=]
             hal.console->printf("no rc cmds received for %llu\n", delay);
2015-10-16 10:28:07 +11:00
José Roberto de Souza e6f0ba6c8b AP_HAL_Linux: Compile RCInput_UDP in all Linux boards
This RCInput is generic enough to be used on every Linux board.
2015-10-16 10:28:06 +11:00
teddytrowbridge a4690a7b0a SITL_State: fixed _set_param_default
Fixed _set_param_default() so that it finds the parameter using it's
NAME rather than the entire NAME=VALUE string
2015-10-16 10:20:31 +11:00
José Roberto de Souza c581a702a0 ArduCopter: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
José Roberto de Souza 30610fb17d AP_InertialSensor: Remove misspelled and unused method 2015-10-16 10:16:24 +11:00
José Roberto de Souza 3888579c07 AP_Compass: HMC5843: Use the correctly spelled method 2015-10-16 10:16:24 +11:00
José Roberto de Souza daa32725ac AP_InertialSensor: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
José Roberto de Souza c53e9d1ff0 AP_Baro: Fix typo 2015-10-16 10:05:03 +11:00
José Roberto de Souza 9a98eb35fc AP_Baro: Add MS5637 over I2C to init() 2015-10-16 10:05:03 +11:00
José Roberto de Souza 6215a3d224 AP_HAL: Add MS5637 over I2C to the supported barometers list 2015-10-16 10:05:03 +11:00
José Roberto de Souza c373ce34d1 AP_Baro: MS56XX: Some minor fixes 2015-10-16 10:05:03 +11:00
José Roberto de Souza d9931b5f34 AP_Baro: Add support to MS5637
As AVR2560 is not supported anymore and do integer operations is
usually faster than float-point the _calculate() implementation was
done using only integer operations and as more close to what
datasheet says.
2015-10-16 10:05:03 +11:00
Randy Mackay 6bdeae97b6 Compass: update param descriptions
offset parameter units are milligauss
User settable parameters should have a User category defined.  Those that should never be set by a user should not have this.
2015-10-15 20:52:38 +09:00
Randy Mackay 131536a3a7 Compass: resolve compiler warning 2015-10-15 20:33:25 +09:00
Randy Mackay 35769035d4 AP_NavEKF2: resolve compiler warning related to init order 2015-10-15 20:03:05 +09:00
Gustavo Jose de Sousa 0caaef7394 AP_Compass: mention mag field unit in existing documentation
We are now always using milligauss for mag field unit, so let's update
documentation accordingly.
2015-10-15 19:56:15 +09:00