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6867 Commits

Author SHA1 Message Date
Andrew Tridgell 19c717df2e AP_OpticalFlow: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 8aa1a89081 AP_Mission: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell cd7fbddcce AP_InertialNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 197c09fcd8 AP_Baro: added num_instances() API 2015-01-09 11:50:56 +11:00
Andrew Tridgell d2c827aa4b AP_AHRS: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 25f69f05eb AC_WPNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 5ec8ce933e AC_Sprayer: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 55ec316718 AC_Fence: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 5c4440a9ac AC_AttitudeControl: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell bb6deb4817 GCS_MAVLink: re-generated headers 2015-01-09 11:50:55 +11:00
Andrew Tridgell 56f682f186 GCS_MAVLink: added SCALED_PRESSURE2 message 2015-01-09 11:50:55 +11:00
Andrew Tridgell 8a3d3bed72 SITL: changes for new AP_Baro API 2015-01-09 11:50:54 +11:00
Andrew Tridgell f1891cea1f AP_Baro: BMP085 driver done, but untested 2015-01-09 11:50:54 +11:00
Andrew Tridgell 5bb57a31f7 AP_Baro: split into frontend/backend 
this allows for support of multiple sensors on a board
 2015-01-09 11:50:54 +11:00
Andrew Tridgell 464714f1ab HAL_PX4: fixed build warning 2015-01-09 11:37:46 +11:00
Andrew Tridgell d34e5b3f42 AP_GPS: fixed PX4 GPS driver for new upstream format 2015-01-09 11:37:38 +11:00
Andrew Tridgell ef5cdb0d6c AP_NavEKF: use more array bounds checked variables 2015-01-09 11:05:07 +11:00
Andrew Tridgell fefdc37a4d AP_Math: fixed warnings on bounds checking in quaternion 2015-01-09 11:04:50 +11:00
priseborough 3d46680348 AP_NavEKF: Make NED origin independent of home position 
This enables the filter to report the last known position after disarm.
The LLH location of the filters NED origin is published and should be logged every time the vehicle is armed to assist with post-flight trajectory reconstruction.
The LLH location of the filters NED origin can be set externally whilst the vehicle is disarmed.
 2015-01-09 10:51:24 +11:00
priseborough f0ea858e4c AP_NavEKF: Make LLH output report last known position in const pos mode 2015-01-09 10:51:24 +11:00
priseborough a0957a83f8 AP_NavEKF: Fix bug in reported position and velocity 
The last known position was being output on the velocities when in constant position mode.
 2015-01-09 10:51:24 +11:00
priseborough 7d1cd604a8 AP_NavEKF: Report last known position when GPS is lost 2015-01-09 10:51:24 +11:00
priseborough 1789dc08a3 AP_NavEKF: Correctly report position timeout when GPS is lost 2015-01-09 10:51:24 +11:00
Randy Mackay 3e583e3650 DataFlash: fix EKF4 logging 2015-01-09 10:51:24 +11:00
Randy Mackay e6e6a781c1 AP_NavEKF: init filter status bits to zero 2015-01-09 10:51:23 +11:00
priseborough ffd9f7a4ed AP_NavEKF: Predict filter solution status 2015-01-09 10:51:23 +11:00
Randy Mackay 3896dadc77 DataFlash: EKF logs filter status as uint16 2015-01-09 10:51:23 +11:00
Randy Mackay 657afcfe7a AP_NavEKF: add pred_horiz_pos flags to filter status 2015-01-09 10:51:23 +11:00
Randy Mackay 54cff29fc2 DataFlash: EKF logging uses nav_filter_status 2015-01-09 10:51:23 +11:00
Randy Mackay f4d8bc586c Nav_EKF: getFilterStatus returns nav_filter_status struct 2015-01-09 10:51:23 +11:00
Randy Mackay 8a914af4a8 AP_NavEKF: add nav_filter_status definition 2015-01-09 10:51:23 +11:00
priseborough d57e0b6bde AP_NavEKF: Remove compiler warning messages 2015-01-09 10:51:23 +11:00
priseborough a4ba4d1000 AP_NavEKF: Fix bug in optical flow innovation variances 
Also improves protection against badly conditioned variances
 2015-01-09 10:51:23 +11:00
priseborough 8bc8d1444a AP_NavEKF: Extend definition of GPS availability to include user inhibit 2015-01-09 10:51:22 +11:00
priseborough d0d49065e7 AP_NavEKF: Prevent potential repeated use of optical flow data 2015-01-09 10:51:22 +11:00
priseborough b0c703e4f7 AP_NavEKF: Fix bug in optical flow fusion control logic 2015-01-09 10:51:22 +11:00
priseborough d656c94bbc AP_NavEKF: Fix out of bounds index bug 2015-01-09 10:51:22 +11:00
priseborough 300ba65f64 AP_NavEKF: Remove duplicate flow measurement state correction 2015-01-09 10:51:22 +11:00
priseborough 92bb75a635 AP_NavEKF: Prevent load leveling from dropping flow measurements 2015-01-09 10:51:22 +11:00
priseborough 873860e810 DataFlash: Allow negative HAGL values in the EKF optical flow debug log 2015-01-09 10:51:22 +11:00
priseborough 2f5aa210ce AP_NavEKF: Enable recovery from extended flow measurement rejection 2015-01-09 10:51:21 +11:00
priseborough d470d55234 DataFlash: Update EKF optical flow debug logging 2015-01-09 10:51:21 +11:00
priseborough 9f4baaa865 AP_NavEKF: Update flow debug logging 2015-01-09 10:51:21 +11:00
priseborough 8d1dae3ac1 AP_NavEKF: Improve optical flow terrain height estimation 
The two state auxiliary EKF has been replaced with a single state filter that only estimates terrain offset. The new filter fuses a optical flow line of sight rate scalar (length of the optical flow LOS rate vector) which provides a terrain offset estimate that is less affected by yaw errors.
Estimation of focal length scale factor error in flight wasn't accurate enough and will be replaced with a pre-flight intrinsic sensor calibration procedure as the scale factor error does not change over time provided the lens assembly is not adjusted.

AP_NavEKF: Remove unwanted printf
 2015-01-09 10:51:21 +11:00
priseborough d599fa588e AP_NavEKF: Don't allow EKF to initialise without GPS lock if we are a plane 
This is needed because planes arm automatically.

AP_NavEKF: Fix bug in GPS patch
 2015-01-09 10:51:21 +11:00
Staroselskii Georgii c16eb5d330 AP_Compass: fixed corrections for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii 4394f0cf75 AP_Compass: fixed external compass detection for AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii f0753e965e AP_Compass: eliminated possible division by zero in AK8963 2015-01-09 06:38:22 +11:00
Staroselskii Georgii b804430276 AP_Compass: changed default orientation for AK8963 on Navio 2015-01-09 06:38:22 +11:00
Mikhail Avkhimenia 954b0795d4 HAL_Linux: Enable PCA9685 output after its setup 2015-01-09 06:38:21 +11:00
Randy Mackay 2a5a133bbf AC_AttControl: remove deprecated trigger_xy method 2015-01-07 14:03:49 +09:00
Randy Mackay ed7e176c61 LandingGear: command_mode becomes enum 2015-01-07 11:58:22 +09:00
Robert Lefebvre c297aaeeab AP_LandingGear: Add force_deploy method. 2015-01-07 11:58:19 +09:00
Robert Lefebvre 4177852d89 AP_LandingGear: Remove relay control from library. 2015-01-07 11:58:17 +09:00
Robert Lefebvre 4935a42054 RC_Channel_Aux: Add new landing gear control to Aux_servo_function_t enum. 
Conflicts:
	libraries/RC_Channel/RC_Channel_aux.h
 2015-01-07 11:58:17 +09:00
Robert Lefebvre 9b0a33c453 AP_LandingGear: Create LandingGear Library. 2015-01-07 11:58:15 +09:00
Andrew Tridgell 1b3c3c754d AP_InertialSensor: use correct ifdef for AK8963 2015-01-07 11:58:05 +11:00
Andrew Tridgell 9835544163 AP_Compass: fixed build on non-Linux platforms 2015-01-07 08:41:14 +11:00
Andrew Tridgell 2ddf3e728a DataFlash: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell 9d3a9c20a8 HAL_VRBrain: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell 0c73dc2440 HAL_PX4: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell 4da0a24887 HAL_Linux: use common RingBuffer.h 2015-01-07 08:41:14 +11:00
Andrew Tridgell 6fb00f4fc3 AP_HAL: create a common utility/RingBuffer.h header 2015-01-07 08:41:14 +11:00
Staroselskii Georgii 43c88c37eb AP_Baro: fixed MS5611 initialisation in order to get rid off conflicts with other I2C devices 2015-01-07 08:41:13 +11:00
Staroselskii Georgii f7f9cd2173 AP_InertialSensor: prevented MPU9250 from disabling I2C slaves 2015-01-07 08:41:13 +11:00
Staroselskii Georgii a08a34f863 AP_HAL: changed default compass for Navio 2015-01-07 08:41:13 +11:00
Staroselskii Georgii 0d1cf347c7 AP_Compass: added AK8963 support 2015-01-07 08:41:12 +11:00
Staroselskii Georgii e4a21f291d AP_HAL_Linux: added LinuxSPIUARTDriver that can handle SPI-driven Ublox 2015-01-07 08:41:12 +11:00
Staroselskii Georgii 2b589d4604 AP_HAL_Linux: enable output for PCA9685 PWM in NavioRCOuput 2015-01-07 08:41:12 +11:00
Randy Mackay f41d7ddaee Rally: reduce distance limit to 300m for copter 
This reduces the chance that a forgotten rally point will cause the
vehicle to RTL to a distant location because instead it will RTL to
home.
 2015-01-06 15:55:47 +09:00
Andrew Tridgell e9058df31f SITL: added optional flow delay 2015-01-06 14:19:02 +11:00
Andrew Tridgell 228b04e21e SITL: added SIM_FLOW_DELAY parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell 0076413c0a SITL: produce flow data at the requested rate 2015-01-06 14:19:02 +11:00
Andrew Tridgell 5758f39127 SITL: added SIM_FLOW_RATE parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell b499cd1b59 AP_AHRS: fixed examples build 
using a relative include works as the object is just passed through,
not used, in this header
 2015-01-05 07:04:27 +11:00
priseborough 2f0b1b3d9c AP_NavEKF: Fix bug preventing use of optical flow without GPS 2015-01-03 21:49:22 +11:00
Andrew Tridgell f13248e5f5 SITL: implement SIM_TERRAIN 
either use AP_Terrain or flat earth
 2015-01-03 21:47:54 +11:00
Andrew Tridgell 9b65376961 SITL: added SIM_TERRAIN parameter 
to choose either flat earth or AP_Terrain for sonar and optical flow
AGL emulation
 2015-01-03 21:47:28 +11:00
Andrew Tridgell d25bd8955d GCS_MAVLINK: move send_opticalflow() into common library 2015-01-03 15:53:22 +11:00
Andrew Tridgell 66a03d100e SITL: make some units clearer in comment 2015-01-03 15:44:19 +11:00
Andrew Tridgell 16affe51be AP_NavEKF: avoid an extra quaternion copy 2015-01-03 15:44:07 +11:00
Andrew Tridgell 023c42593f SITL: fixed units of body frame conversion for optical flow 2015-01-03 15:43:30 +11:00
priseborough bf4ebcfda1 AP_HAL_AVR_SITL: Add maths for calculation of truth optical flow rates 2015-01-03 14:45:13 +11:00
Andrew Tridgell 70c2aeca42 AP_AHRS: make optflow available via AHRS 
same pattern as compass and airspeed sensor
 2015-01-03 14:16:34 +11:00
Andrew Tridgell 51cd64b3b2 SITL: make velocity and rotmat available to the optical flow simulator 2015-01-03 14:16:34 +11:00
Andrew Tridgell aff01c6d09 AP_OpticalFlow: fixed reversed timestamp 
thanks to Randy
 2015-01-03 14:16:34 +11:00
Andrew Tridgell d2634a26bd SITL: added framework for SITL optical flow sensor 2015-01-03 14:16:34 +11:00
Andrew Tridgell 254aa32d4e SITL: added SIM_FLOW_ENABLE option 2015-01-03 14:16:34 +11:00
Andrew Tridgell 11ff12dfd3 AP_OpticalFlow: split library into frontend/backend 
this will make it easier to add a SITL backend
 2015-01-03 14:16:33 +11:00
priseborough a9eec29e45 DataFlash: Update EKF optical flow data logging 2015-01-03 14:09:15 +11:00
priseborough 69e86d3ea4 AP_NavEKF: Update EKF optical flow data logging 2015-01-03 14:09:12 +11:00
priseborough b651eac48d AP_NavEKF: Apply timeout to terrain offset validity reporting 
The terrain offset solution status is usable for a short period of time without state updates so a timeout has been added which prevents the rapid changes in solution status due to short duration sensor read errors.
 2015-01-03 14:09:09 +11:00
priseborough e6474d676e AP_NavEKF: Report correct horiz vel sol'n status during optical flow nav 2015-01-03 14:09:05 +11:00
priseborough 75201c8968 AP_NavEKF: Prevent divide by zero casued by Tnb_flow.c.z = 0 2015-01-03 14:07:13 +11:00
Andrew Tridgell 6bb4a8c361 AP_Math: make location_path_proportion() and location_passed_point() more efficient 
the dot product is much more efficient than the trigonometry. Thanks
to Paul for the suggestion
 2015-01-03 14:06:59 +11:00
Andrew Tridgell 6993be54b7 HAL_Linux: raise storage size to 16k 
match PX4 size
 2015-01-03 14:06:54 +11:00
Andrew Tridgell 745b739ab7 AP_InertialSensor: make calibrated() function fast enough to call in flight 
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.

Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
 2015-01-03 14:06:42 +11:00
Randy Mackay 5ba1b20d3b BattMon: add SMBus to MONITOR param description 2015-01-02 17:20:05 +09:00
Randy Mackay ffbc3862bd Compass: update compass orient param description 
Update rotation 38 to Yaw293Pitch68Roll90
 2015-01-02 17:19:12 +09:00
Jonathan Challinger 9e5a30d5ba AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90 2015-01-02 17:15:18 +09:00
Andrew Tridgell ef55a3c6a6 AP_GPS: keep reporting GPS status messages when no GPS at 1Hz 
to ensure the GCS knows that we have lost the GPS we need to keep
reporting GPS_RAW_INT messages when the GPS disappears. Sending at 1Hz
should be sufficient

Fixes issue #1722
 2015-01-02 17:10:23 +11:00
priseborough 8d3940ce1b AP_NavEKF: Improved use of enumerated type for aiding mode 2015-01-02 12:10:41 +09:00
priseborough 76d1378962 AP_NavEKF: Fix compiler warning messages 2015-01-01 23:39:48 +11:00
priseborough 3e3dd9d695 AP_NavEKF: Fix parenthesis error in EKF status reporting and clean up logic 
This fixes a bug which could have caused the realative position status to be incorrectly reported under some conditions and also caused a compiler warning message. the logic used to report the filter solution status has been broken down into smaller, easier to understand statements.
 2015-01-01 23:39:48 +11:00
priseborough c06f6e105e AP_NavEKF: Consistent initialisation of tuning parameters and variables 
Non user adjustable parameters are now declared as 'const' in the header.
The _ prefix has been removed from non user adjustable tuning parameters.
We use a function call rather than a constructor to initialise variables because it enables the filter to be re-started in flight if necessary.
For consistency some signed integer type declarations have been changed to unsigned where appropriate.
 2015-01-01 23:39:31 +11:00
priseborough f1dfa282dc AP_NavEKF: Consolidate constant velocity mode decision logic 
The decision to switch to constant velocity mode during optical flow operation and te decision to switch back were previously being made in two different places in code. Both decisions are now made in the one place which makes the code easier to follow and maintain.
 2015-01-01 19:53:21 +11:00
priseborough 9caf2ac895 AP_NavEKF: Make reversion to no GPS mode unambiguous 2015-01-01 19:53:21 +11:00
priseborough 58e9dd5dcd AP_NavEKF: Enumerate Position and Velocity aiding status 2015-01-01 19:53:21 +11:00
Andrew Tridgell fb5e53e1e4 AP_Param: cope with older gcc versions 
Travis-CI uses 4.6.3
 2015-01-01 18:55:11 +11:00
Andrew Tridgell 9ae0dd05f8 AP_Param: avoid build warning due to %S format 2015-01-01 18:25:05 +11:00
Andrew Tridgell f38f86ab8c AP_Math: added location_path_proportion() 
this can be used for glide slope calculations
 2015-01-01 15:17:10 +11:00
Andrew Tridgell 4e5510c99e AP_TECS: fixed warning 2015-01-01 15:14:48 +11:00
Andrew Tridgell f8bce994b5 AP_OpticalFlow: don't write an error message if no flow sensor 
most users have no flow sensor
 2015-01-01 11:02:43 +11:00
Andrew Tridgell 06a72839ed AP_InertialSensor: fixed error detection on secondary IMUs 
the break; was preventing error detection on lsm303d/l3gd20
 2015-01-01 08:55:57 +11:00
Randy Mackay 022c549339 BattMon_SMBus_I2C: use get_PEC to check reads 2014-12-31 15:23:00 +09:00
Randy Mackay bf0e5a350c BattMon_SMBus_I2C: add get_PEC method 2014-12-31 15:22:59 +09:00
Randy Mackay 3951e4d99b BattMon: example sketch reads from SMBus 2014-12-31 15:22:58 +09:00
Randy Mackay aecc8aac1f BattMon: correct typo in monitor type enum 2014-12-31 15:22:57 +09:00
Randy Mackay 909d525206 BattMon: fix example sketch compile error 2014-12-31 15:22:51 +09:00
Randy Mackay cf36fd55bd GCS_MAVlink: correct sending of 2nd battery's voltage 2014-12-31 15:22:49 +09:00
Randy Mackay 76a28a962c BattMon: remove #defines for monitor type 2014-12-31 15:22:47 +09:00
Randy Mackay f077ecd338 BattMon_PX4: class to read from PX4Firmware via orb 2014-12-31 15:22:46 +09:00
Randy Mackay 3f35dc54fe BattMon_I2C: smart battery class for APM 2014-12-31 15:22:45 +09:00
Randy Mackay 314db1403d BattMon_SMBus: smart battery monitor driver 2014-12-31 15:22:45 +09:00
Randy Mackay 4d7df9ed26 BattMon_Analog: move analog features to new class 2014-12-31 15:22:44 +09:00
Randy Mackay 39dbf05c8f BattMon_Backend: create backend class 2014-12-31 15:22:43 +09:00
Randy Mackay eec66d8451 BattMon: parent class becomes frontend class 2014-12-31 15:22:42 +09:00
Randy Mackay c36253b9b2 AC_PosControl: add comments 
No functional change
 2014-12-31 14:03:22 +09:00
Jonathan Challinger 6eab698e85 AC_WPNav: remove various timing hacks 2014-12-31 14:03:20 +09:00
Jonathan Challinger 557d339cf1 AC_PosControl: remove various unnecessary timing hacks 2014-12-31 14:03:18 +09:00
Jonathan Challinger 5438d38df5 AC_WPNav: provide reset_I to init_xy_controller 2014-12-31 14:03:16 +09:00
Jonathan Challinger d6e455417f AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller 2014-12-31 14:03:13 +09:00
priseborough b016bae445 AP_NavEKF: Clean up reset of constant velocity mode 
Move velocity store out of optical flow to velocity and position fusion control as it is a velocity fusion function.
Always clear the previous mode status
 2014-12-31 13:16:16 +09:00
priseborough 3d207c316a AP_NavEKF: Change names for position and velocity hold modes 
Name change done to avoid confusion with flight modes. modes are now referred to as constant position and constant velocity mode.
 2014-12-31 13:16:15 +09:00
priseborough b650ee51a9 AP_NavEKF: Consolidate arming checks 2014-12-31 13:16:15 +09:00
priseborough 48cae0df15 AP_NavEKF: Fall back to attitude and hgt estimation for copter if GPS lost 2014-12-31 13:16:14 +09:00
priseborough b21f9daa90 AP_NavEKF: Update solution status reporting 
This patch makes the reporting of an absolute position solution less abbiguaous and ensures that relative position is always true if absolute position is true
 2014-12-31 13:16:13 +09:00
priseborough b99b3c7b9d DataFlash: Don't log EKF optical flow data if not required 2014-12-31 13:16:09 +09:00
priseborough b6d300db19 AP_NavEKF: clean up determination of GPS availability 2014-12-31 13:14:22 +09:00
priseborough 40b02fc19a AP_NavEKF: Ensure filter doesn't try to use GPS after initialisation 2014-12-31 13:14:20 +09:00
priseborough bab1a69f1c AP_NavEKF: make position and velocity resets consistent with GPS usage 2014-12-31 13:14:18 +09:00
priseborough 0dc2356175 AP_NavEKF: Ensure initialisation methods read required sensor data 2014-12-31 13:14:16 +09:00
priseborough 5d1de79f08 AP_NavEKF: Modify initial values to make startup behaviour more consistent 2014-12-31 13:14:14 +09:00
priseborough a63af34d8f AP_NavEKF: Allow 10 seconds for the filter to settle after initialisation 
Filter is declared unhealthy and will not arm for first 10 seconds after initialisation
 2014-12-31 13:14:12 +09:00
priseborough 0a5de21dc7 AP_NavEKF: Fix bug in reporting of solution status 
Because synthetic  position measurements at 0,0 are fused during position hold mode, a position timeout cannot be used as the only means of detecting position solution status.
 2014-12-31 13:14:09 +09:00
priseborough 92c3026072 AP_NavEKF: Link process noise to arm status, not pos hold mode 2014-12-31 13:14:07 +09:00
priseborough a535b73a6d AP_NavEKF: Initialise timeout status to true 
This status will be cleared when data arrives and is fused successfully
 2014-12-31 13:14:04 +09:00
priseborough 363c1e393d AP_NavEKF: Latch use of position hold mode for duration of flight 
Required to prevent acquisition of GPS mid flight causing unwanted change in position and velocity
A distinction has been mad between the arm and disarm transition and the decision to use position hold mode (formerly static mode)
 2014-12-31 13:14:02 +09:00
priseborough a0a6c0362f AP_NavEKF: Relax timeout check applied to optical flow data 
200 msec was too short and could lead to false positives. 5000 msec is the largest time we can go free inertial.
 2014-12-31 13:14:00 +09:00
priseborough 5bd4ee9715 AP_NavEKF: Use compensation for baro delay in position hold mode 2014-12-31 13:13:58 +09:00
priseborough 4dc1ee2d66 AP_NavEKF: Rename static mode to avoid confusion with other non-GPS modes 
This renames static mode as posHoldMode to make it clearer what this and the other non-GPS modes do
 2014-12-31 13:13:54 +09:00
priseborough b160f4c03b AP_NavEKF: Compensate optical flow fusion for GPS glitch recovery offset 2014-12-31 13:13:52 +09:00
priseborough e4c969084d AP_NavEKF: Improve behaviour recovering from a GPS timeout 
When regaining GPS after a timeout, an offset is applied when fusing  GPS velocity so that GPS velocity and position data as fused by the EKF is kinematically consistent.
This velocity offset is also accounted for when fusing air data so that wind estimates are not corrupted when the GPS position offset is being pulle back to zero.
The intended behaviour is that the EKF position will be pulled back to the GPS position at a rate of 5m/s for planes and 1 m/s for copters. This avoids large deviations in trajectory when GPS is regained.
 2014-12-31 13:13:50 +09:00
priseborough 6eb533121c AP_NavEKF: Add static mode to solution status message 2014-12-31 13:13:48 +09:00
priseborough 5c3a56a087 AP_NavEKF: Fix error in comments 2014-12-31 13:13:46 +09:00
priseborough 3891dada78 AP_NavEKF: remove unnecessary function 2014-12-31 13:13:44 +09:00
priseborough a16253796f AP_NavEKF: Fix bug preventing the non-GPS mode being selected externally 
When on the ground it is likely the flow sensor will be returning  data that does not meet the minimum quality requirements selected.
The previous check was for the presence of valid data. This has been loosened to look for the presence of data.
When the vehicle becomes airborne, the quality of flow data normally improves as the image comes into focus.
 2014-12-31 13:13:42 +09:00
priseborough a42100e4c5 AP_NavEKF: Improved handling of no GPS 
This patch enables indoor operation of the EKF by putting it into static mode if optical flow operation is not enabled and no GPS is available
 2014-12-31 13:13:40 +09:00
priseborough 73a06cd0c1 AP_NavEKF: Fix bug causing magnetic field state learning to be forgotten 2014-12-31 13:13:37 +09:00
priseborough bf89c56e54 AP_NavEKF: Fix comments error in description of flow sensor sign conventions 2014-12-31 13:13:35 +09:00
priseborough 685fa383e4 DataFlash: Log EKF solution status message 
This message is a bitmasked integer that will be used by control software to determine what data is available from the EKF and decide what control modes are available.
Duplicate static mode message removed. Static mode is now contained in the bitmasked solution status message
 2014-12-31 13:13:33 +09:00
priseborough 4eb19c2324 AP_NavEKF: Rationalise health status reporting 
1) Un-used public methods to report height and position drifting have been removed
2) A time-out has been added to the airspeed innovation consistency check so that if we are relying on airspeed to constrain velocity drift, a filter divergence or other fault that causes the airspeed to be continually rejected will trigger a change in health status.
3) A timeout of velocity, position or height measurements does not cause a filter fault to be reported. Timeouts can be due to sensor errors and do not necessarily indicate that the filter has failed.
4) Time-outs of various measurements are used to present a consolidated bitmask which inidicates which parts of the solution can be used, eg attitude, height, velocity, relative position, absolute position, etc.
 2014-12-31 13:13:31 +09:00
priseborough 78b30e4ce5 AP_NavEKF: Increase rate at which GPS glitch offsets are reduced for planes 2014-12-31 13:13:29 +09:00
Andrew Tridgell e0943851d6 DataFlash: log gyro and accel error counts 2014-12-30 12:16:02 +11:00
Andrew Tridgell b9adc6e466 AP_InertialSensor: prefer sensors that have zero error counts 
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
 2014-12-29 21:19:35 +11:00
Randy Mackay 4a1ba9b186 AC_WPNav: minor const fix 2014-12-27 13:19:32 +09:00
Randy Mackay c7192c5eef Notify: remove Led class 
This class didn't add any functionality beyond what the NotifyDevice class
already provided so in keeping with our desire to keep things simple we
can remove this class
 2014-12-26 13:06:41 +09:00
Randy Mackay 352b52d73f Notify: remove reliance on Led class 2014-12-26 13:06:24 +09:00
Randy Mackay d67b4a8d49 Notify: add pre_arm_gps_check flag 
RGB LED will remain flashing blue when vehicle is disarmed and this
check has failed (i.e. false).
 2014-12-26 12:32:34 +09:00
Andrew Tridgell c93ae67541 DataFlash: don't try and open logfile on failure more than once 
this prevents a corrupted microSD card from causing a continuous
attempt to open a log file while in flight, which can cause large
scheduler delays

Pair-Programmed-With: Grant Morphett <grant@gmorph.com>
 2014-12-21 14:50:42 +11:00
Andrew Tridgell abd1ece6e3 DataFlash: don't write out parameters if log open fails 2014-12-21 14:50:42 +11:00
priseborough f2c506339a AP_NavEKF: Reduce time required to recover from GPS timeouts 
The time required for GPS to be lost or rejected before vehicles with airspeed sensors either reset to GPS or invoke the zero side-slip assumption to constrain drift has been reduced from 15 to 10 seconds
A duplicate zeroing of the GPS position offset has been removed
If the vehicle is a non hovering vehicle (eg a plane) then the speed at which the GPS offset is pulled back to zero after a reset is increased from 1 to 3  m/s

This also improves recovery from bad inertial data for planes
 2014-12-18 21:50:40 +11:00
priseborough f73816dbb5 AP_NavEKF: Improve robustness to long periods without GPS 2014-12-18 21:07:45 +11:00
Randy Mackay a44b4b5e87 Mission: allow 15 do-jump commands on Pixhawk 2014-12-18 17:02:48 +09:00
priseborough 3afde0061f AP_NavEKF: Use named states for velocity reset 
Readibility improvement
 2014-12-18 17:29:50 +11:00
priseborough f6ce25df2a AP_NavEKF: Do not reset vertical velocity state from GPS 
Doing this can cause large height and height rate errors if large GPS velocity errors cause the GPS tn be rejected for long enough to cause a timeout and reset of states.
 2014-12-18 17:29:47 +11:00
Andrew Tridgell 597273cfff AP_TECS: remove lag from height demand in landing 
this predicts ahead the height demand for landing, where we have a
continuous demanded descent. This removes the effect of the lag
introduced by the height demand filters
 2014-12-18 09:58:12 +11:00
Andrew Tridgell b5a5b71512 GCS_MAVLink: reverse sense of check_and_forward() 
also increase number of routes on larger systems and improved route
learning logic
 2014-12-17 10:32:28 +11:00
Andrew Tridgell a967a682a4 GCS_MAVLink: added routing test sketch 2014-12-17 10:32:28 +11:00
Andrew Tridgell 7f817502c4 GCS_MAVLINK: implement new routing rules 
see description in coments
 2014-12-17 10:32:28 +11:00
Andrew Tridgell 70f5ec60e8 AP_TECS: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Andrew Tridgell 8c1cab84c7 AP_SpdHgtControl: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Randy Mackay 21beb26484 Notify: minor event reordering 
No functional change
 2014-12-15 14:10:26 +09:00
Randy Mackay e68a69e139 ToneAlarm_PX4: remove user_mode_init flag 
Replaced by an initialised check in the main ArduCopter flight code
 2014-12-15 14:10:21 +09:00
Randy Mackay 1c8ab375e2 Notify: rename failsafe_action event 2014-12-15 14:10:15 +09:00
Randy Mackay 972c8e47d2 Notify: rename notify_types to notify_flags_type 2014-12-15 14:10:10 +09:00
Randy Mackay bfc86ac7c0 ToneAlarm_PX4: add comments 2014-12-15 14:10:06 +09:00
Randy Mackay c75ab8f3e5 Notify: add comments re events 2014-12-15 14:09:15 +09:00
Jonathan Challinger 3dfcdde6be AP_Notify: Rework ToneAlarm_PX4 to play tones from local array 2014-12-15 14:09:04 +09:00
priseborough e2d47f836e AP_TECS: Fix bug causing plane to fly high on landing approach 
The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This caused the plane to lag behind height changes if the D gain was non-zero, which caused it to fly high during landing approach.
 2014-12-14 09:43:46 +11:00
Randy Mackay b54b7b7448 GCS_MAVLink: fix compiler error 2014-12-11 16:26:26 +09:00
Randy Mackay e581e81da5 AP_NavEKF: reorder declation to fix compiler warning 
No functional change
 2014-12-11 15:37:56 +09:00
Randy Mackay ddda0d52ce Baro: reorder declaration to fix compiler warning 
No functional change
 2014-12-11 13:06:24 +09:00
Andrew Tridgell ade7f9e1a9 GCS_MAVLink: fixed forwarding of non-targetted messages 2014-12-11 12:32:50 +09:00
Andrew Tridgell fcf17829cc GCS_MAVLink: fixed addition to routing table 2014-12-11 12:32:48 +09:00
Andrew Tridgell 079158d4b8 GCS_MAVLink: strip out the old GCS_Class class 
this is not longer needed as we don't support multiple protocol
classes
 2014-12-11 12:32:45 +09:00
Andrew Tridgell f198cdcf20 GCS_MAVLink: added support for a MAVLink snoop function 
this can be used to watch messages for different targets
 2014-12-11 12:32:32 +09:00
Andrew Tridgell 34be7f808e GCS_MAVLink: only try to fwd packets to active channels 2014-12-11 12:32:30 +09:00
Andrew Tridgell 411766f45a AP_Mount: removed use of mavlink_check_target() 2014-12-11 12:32:27 +09:00
Andrew Tridgell 4a9331c505 AP_Camera: removed use of mavlink_check_target() 2014-12-11 12:32:24 +09:00
Andrew Tridgell f1edd1bafb GCS_MAVLink: removed use of mavlink_check_target() 
not needed now we do routing properly, as messages will only be
processed if they are for us
 2014-12-11 12:31:06 +09:00
Andrew Tridgell aa88ba4158 GCS_MAVLink: only call message handler for our own messages 2014-12-11 12:30:59 +09:00
Andrew Tridgell 11f88f0f5d GCS_MAVLink: added routing object to GCS_MAVLink 2014-12-11 12:30:55 +09:00
Andrew Tridgell b91529622b GCS_MAVLink: initial implementation of MAVLink routing object 
will be used to auto-route packets over all available links
 2014-12-11 12:30:50 +09:00
Andrew Tridgell 76c710f596 GCS_MAVLink: removed obsolete headers 2014-12-11 12:30:46 +09:00
Andrew Tridgell 3354cb37d0 AP_GPS: fixed vertical velocity in Replay 
fixed NavEKF use of velocity velocity
 2014-12-09 18:57:17 +11:00
Andrew Tridgell 4a91546ced HAL_PX4: FRAM does not support fsync 
the fsync just wastes time reopening /fs/mtd
 2014-12-09 14:35:36 +11:00
Randy Mackay da247bacf8 GCS_MAVLink: add OPTICAL_FLOW to ap_message enum 2014-12-08 14:58:30 +09:00
Randy Mackay 3c23f00e81 OptFlow: remove ADNS3080 image grabber example 2014-12-08 14:58:24 +09:00
Andrew Tridgell 193bda068c HAL_Linux: run IO processes when we do a stop_clock() 
this has the effect of allowing logging to progress in Replay where we
are running at much more than realtime speeds
 2014-12-08 11:24:39 +11:00
Andrew Tridgell cb9c518ab8 Revert "AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'" 
This reverts commit 13df6fb1c9.

This patch was a result of an incorrect merge of the optflow branch
into master. It reintroduced the bug fixed by this commit:

  AP_NavEKF : Fix bug in reset of GPS glitch offset
  8aa267f75f
 2014-12-08 07:53:47 +11:00
Andrew Tridgell 22a7b69260 AP_OpticalFlow: don't build optical flow example 
broken by library changes
 2014-12-06 22:05:42 +11:00
Andrew Tridgell ed510d4f87 AP_OpticalFlow: run PX4 flow sensor at 10Hz 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:51 +11:00
priseborough a2bd3b4a42 AP_NavEKF: Add public method returning height above ground level 2014-12-06 18:16:51 +11:00
priseborough d701cfcb75 AP_NavEKF: Output terrain relative PosD when relying on Optical Flow 2014-12-06 18:16:51 +11:00
priseborough 0156d846f1 AP_NavEKF: Increase height at which nav gain reduction starts 
Compensates for optical flow induced noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough 12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough a905432ffe AP_NavEKF: reduce height at which nav gain reduction starts 2014-12-06 18:16:51 +11:00
priseborough 5785272933 AP_NavEKF: Improve robustness to corrupted flow sensor data 2014-12-06 18:16:51 +11:00
priseborough b1d44d4dde AP_NavEKF: Add protection for negative height above ground 2014-12-06 18:16:50 +11:00
priseborough e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough 11fb51ceba AC_WPNav: Add nav velocity gain scaler to interfaces 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough 5b8265ad6f AP_AHRS: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough d994da0886 AP_NavEKF: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough 5fa0c59310 AC_WPNav: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
priseborough 83775554ea AP_AHRS: Publish EKF ground speed limit 2014-12-06 18:16:50 +11:00
priseborough bc2255d6b1 AP_NavEKF: Improve comments in setInhibitGPS public method 2014-12-06 18:16:50 +11:00
priseborough 416eaf4633 AP_NavEKF: Apply single definition of using optical flow 2014-12-06 18:16:50 +11:00
priseborough b56b68ce10 AP_NavEKF: Add public method reporting horizontal speed limit 
This is required if using optical flow, as depending on height, the speed must be limited to prevent the sensor saturating
 2014-12-06 18:16:50 +11:00
priseborough c8fb376cc4 AP_NavEKF: Fix bug in bias rate of change limiting 
This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent
 2014-12-06 18:16:50 +11:00
priseborough 599e53f3f2 AP_NavEKF: Prevent flow scale factor updating on ground 2014-12-06 18:16:49 +11:00
priseborough 083e22966c AP_NavEKF: Add public method to report available output data 2014-12-06 18:16:49 +11:00
priseborough 5532750a99 AP_AHRS: Add public method to inhibit GPS useage when using EKF 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough e53d28854e AP_NavEKF: Add public method to inhibit GPS use and clean-up GPS use logic 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough 8fb1d9cf8d AP_NavEKF: Fix bug preventing opt flow scale factor estimation 
Also removes un-used variable declarations
 2014-12-06 18:16:49 +11:00
priseborough a78920761c AP_NavEKF: Update comments in flow data interface 2014-12-06 18:16:49 +11:00
priseborough 063fb41748 AP_OpticalFlow: Add separate scale factors for X and Y axis. 
The resolution is also increased to take advantage of the planned introduction of automated calibration methods
 2014-12-06 18:16:49 +11:00
priseborough 52c7e56a4a AP_NavEKF: Add parameter for max valid optical flow rate magnitude 2014-12-06 18:16:49 +11:00
priseborough 6f8971d80a AP_NavEKF: Speed up flow sensor gyro bias correction 2014-12-06 18:16:49 +11:00
priseborough d7ad45ebda AP_NavEKF: Don't fuse flow measurements if too big 2014-12-06 18:16:49 +11:00
priseborough 2dff76394d AC_PosControl: Add spike and noise filter to demanded angles 
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.

Signed-off-by: priseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:49 +11:00
priseborough 84944fdd4e AP_NAvEKF: Revert back to 10Hz fusion 2014-12-06 18:16:49 +11:00
priseborough f4f0dfc45c AP_OpticalFlow: efficiency improvements to data processing 2014-12-06 18:16:49 +11:00
priseborough 1f78a73cdb AP_NavEKF: Make flow measurement delay vehicle specific 
This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.
 2014-12-06 18:16:49 +11:00
priseborough 5f941655a8 AP_NavEKF: changes to support to 20Hz flow fusion rate 2014-12-06 18:16:48 +11:00
priseborough 0bf991eef9 AP_NavEKF: Fix bug in optical flow fusion smoothing 2014-12-06 18:16:48 +11:00
priseborough 7d27a22f77 DataFlash : Fix EKF optical flow logging bug 2014-12-06 18:16:48 +11:00
priseborough 7ec8dfebcf AP_OpticalFlow : Remove gyro scale factor user adjustable parameter 
No longer required because bug in flow sensor has been fixed.
 2014-12-06 18:16:48 +11:00
priseborough 2baa1e56ed Dataflash : Fix bug in EKF opt flow logging 2014-12-06 18:16:48 +11:00
priseborough df59f3311a AP_OpticalFlow : Add gyro scale factor correction parameter 2014-12-06 18:16:48 +11:00