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14,881 Commits 71 Branches 509 Tags 716 MiB
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14881 Commits

Author SHA1 Message Date
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
Randy Mackay 781f2b7ddc Copter: update AC3.2.1-rc1 Release Notes 2015-01-09 05:06:36 +09:00
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 ce9b87c101 Copter: AC3.2.1-rc1 Release Notes 2015-01-08 21:53:47 +09:00
Grant Morphett e122c0961e Plane: Arming updated to use RC channel objects not RC channels directly 
The code had g.rc_3.control_in which would bypass the channel mapping and meant
arming could only occur if the throttle was always mapped to channel 3.
Updated to use the channel mapping object.
 2015-01-08 11:55:19 +11:00
Randy Mackay 80f59694d0 Copter: remove deprecated Guided-Spline 
Guided-Spline has been replaced by Guided-PosVel
 2015-01-07 14:03:50 +09:00
Randy Mackay 2a5a133bbf AC_AttControl: remove deprecated trigger_xy method 2015-01-07 14:03:49 +09:00
Randy Mackay be5bf91e92 Copter: add ekf velocity scaler to posvel controller 
Also set auto-yaw-mode to yaw-hold only when posvel controller is
started instead of on every iteration.
added GUIDED_POSVEL_TIMEOUT_MS definition.
removed deprecated trigger_xy call.
Also use wp_nav.get_speed_xy in place of get_speed_param
 2015-01-07 14:03:08 +09:00
Jonathan Challinger 474456e349 Copter: use guided_posvel for set_position_target messages 2015-01-07 14:02:24 +09:00
Jonathan Challinger bc29008233 Copter: add guided_posvel 2015-01-07 14:02:21 +09:00
Randy Mackay 06d1a4c59f Copter: use LandingGear command mode enum 2015-01-07 11:58:23 +09:00
Randy Mackay d26fa6d827 Copter: minor format fix 
no functional change
 2015-01-07 11:58:23 +09:00
Randy Mackay ed7e176c61 LandingGear: command_mode becomes enum 2015-01-07 11:58:22 +09:00
Randy Mackay 5f3c2bcd11 Copter: rename landing_gear.pde 2015-01-07 11:58:21 +09:00
Robert Lefebvre 62b5f32643 Copter: Use landinggear.force_deploy method when auto-landing 2015-01-07 11:58:20 +09:00
Robert Lefebvre 20fce5c9ff Copter: Move landing gear code into new file 2015-01-07 11:58:20 +09:00
Robert Lefebvre c297aaeeab AP_LandingGear: Add force_deploy method. 2015-01-07 11:58:19 +09:00
Robert Lefebvre fd61c3179a Copter: Remove relay pointer from LandingGear object 2015-01-07 11:58:18 +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 e10e020062 Copter: Add Landing Gear functionality to main code 2015-01-07 11:58:16 +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