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4777 Commits

Author SHA1 Message Date
Mike McCauley 95bea052d2 AP_HAL_FLYMAPLE: update documentation in FlymaplePortingNotes.txt 2014-02-17 05:56:37 +11:00
Mike McCauley 2c94a40310 AP_InertialSensor: AP_InertialSensor_Flymaple Remove unnecessary 
comment
 2014-02-17 05:56:37 +11:00
Mike McCauley dd6abb49a9 AP_InertialSensor: AP_InertialSensor_Flymaple::healthy() was required after 
all.
 2014-02-17 05:56:37 +11:00
Mike McCauley 0a43cf8c5c AP_InertialSensor: AP_InertialSensor_Flymaple removed redundant definition of 
healthy().
 2014-02-17 05:56:37 +11:00
Mike McCauley f7279aa13f AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health 
and get_accel_health.
 2014-02-17 05:56:37 +11:00
Mike McCauley 4dc33c8de8 AP_HAL_FLYMAPLE: updated FlymaplePortingNotes.txt 2014-02-17 05:56:37 +11:00
Randy Mackay d277b6cabd AC_AttControl: fix @Units parameter descriptions 2014-02-16 22:36:59 +09:00
Paul Riseborough 7a82746fcc AP_NavEKF : fixed bug in pos and vel reset when in static mode 2014-02-16 22:35:19 +11:00
Paul Riseborough 275ef86f86 AP_NavEKF : Position and Velocity reset bugfix 2014-02-16 21:05:37 +11:00
Paul Riseborough b22dc706b2 AP_NavEKF : staticMode bugfix and robustness improvements 2014-02-16 21:04:55 +11:00
Paul Riseborough 2926602718 AP_NavEKF : Cleaned up InitialiseFilterDynamic 2014-02-16 21:04:51 +11:00
Paul Riseborough 404fbafe26 AP_NavEKF : Changed timout behaviour to only reset PosVel states 2014-02-16 21:04:46 +11:00
Andrew Tridgell 856dfd0ee6 AC_AttitudeControl: fixed example build 2014-02-16 18:43:15 +11:00
Andrew Tridgell ee37bc3d27 AP_AHRS: ensure we have HAL_CPU_CLASS available 2014-02-16 17:57:09 +11:00
Randy Mackay 6af705d455 AC_Circle: bug fix for pos target when radius is zero 2014-02-16 13:46:38 +11:00
Randy Mackay 9130c88f15 AC_PosControl: throttle rate to simple P controller 2014-02-16 13:35:44 +11:00
Randy Mackay a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +11:00
Randy Mackay 34b62fc078 AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX 2014-02-16 13:35:26 +11:00
lthall b8d9bdb794 AC_AttControl: accel limit for roll, pitch yaw rates 2014-02-16 13:35:23 +11:00
Andrew Tridgell 189d635493 AP_Compass: constrain compass offsets to +/- 2000 
this is prompted by a user log showing NaN compass offsets, resulting
in a crash. The patch ensures we never end up with NaN offsets, and
also constrains the offsets to a reasonable limit
 2014-02-16 13:33:41 +11:00
Andrew Tridgell 6618bdae67 DataFlash: periodically use lseek to avoid NuttX seek bug 2014-02-16 13:21:35 +11:00
Andrew Tridgell 9bb8f73d56 Compass: split compass learning out to its own C++ file 2014-02-16 13:21:06 +11:00
Andrew Tridgell 24e1070eb2 AP_NavEKF: initialise quaternion from rotation matrix 2014-02-15 12:21:11 +11:00
Andrew Tridgell 2df314799e AP_Math: added tests for quaternion to/from rotation matrix 2014-02-15 12:20:51 +11:00
Andrew Tridgell 689f230d40 AP_Math: added quaternion.from_rotation_matrix() 2014-02-15 12:20:31 +11:00
Andrew Tridgell c6b24c521b AP_NavEKF: force healthy false when initialising 
this prevents us feeding off our own values when booting

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-02-15 09:25:40 +11:00
Andrew Tridgell be33a9634e AP_AHRS: move using_EKF to .cpp to make it easier in gdb 2014-02-15 09:25:40 +11:00
Andrew Tridgell eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Andrew Tridgell 4d3f714a5d AP_Notify: fixed example build 2014-02-15 06:40:39 +11:00
Andrew Tridgell 830afefcef AP_HAL: fixed example build 2014-02-15 06:40:29 +11:00
Andrew Tridgell 3af38a778d AP_Baro: fixed example build 2014-02-15 06:40:15 +11:00
Andrew Tridgell 8201f9c928 AP_NavEKF: don't build example 2014-02-15 06:40:06 +11:00
Andrew Tridgell c1dff6aa65 AP_Math: fixed example build 2014-02-15 06:39:43 +11:00
Andrew Tridgell f9d0747750 AP_InertialSensor: fixed example build 2014-02-15 06:39:35 +11:00
Randy Mackay 5bdc564191 AP_AHRS: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay c18b3f6094 AP_Airspeed: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay bb715424ee Baro: fix BMP085 example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay d761ddd4af AP_Motors: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay ae59bef6d1 AC_INav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay 42d9225fbe HAL_AVR: ArduCopterLibs to use AC_P library 2014-02-15 06:09:08 +11:00
Randy Mackay bf3effcd10 AC_WPNav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay 889ee1bfef AC_Sprayer: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay 4484a4232a AC_Fence: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay c35bd84e21 AC_AttControl: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay 451910fc94 AC_AttControlHeli: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay ff9f4fe6e7 AC_AttControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay 94fb9c4274 AC_PosControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay fbf8106280 AC_Circle: remove AC_PID include 
This is no longer required with introduction of PosControl lib
 2014-02-15 06:09:08 +11:00
Randy Mackay e86a21a254 AC_WPNav: remove AC_PID include 
This is no longer required with introduction of PosControl lib
 2014-02-15 06:09:08 +11:00
Randy Mackay 8fae75ee87 AC_PID: add AC_P controller 
Used for stabilize angle controllers, alt hold and loiter
 2014-02-15 06:09:08 +11:00
Randy Mackay fbc5af2705 AC_PID: results returned as float 2014-02-15 06:09:08 +11:00
Randy Mackay a6ad51b38f AC_AttControl: rename most methods 2014-02-15 06:09:08 +11:00
lthall 65c2fc0cc6 AC_AttControl: ACRO fixes 2014-02-15 06:09:08 +11:00
Andrew Tridgell 0bbe038587 GCS_MAVLink: re-generate MAVLink headers 2014-02-15 05:48:24 +11:00
Andrew Tridgell 801ceacaf2 AP_AHRS: re-run update_trig() after EKF AHRS update 2014-02-15 05:48:24 +11:00
Andrew Tridgell a88212eb7a AP_InertialNav: fixed EKF version for new AHRS API 2014-02-15 05:48:24 +11:00
Andrew Tridgell a7a44a9a5c AP_NavEKF: fixed init order warning 2014-02-15 05:48:24 +11:00
Andrew Tridgell 9b8311580b AP_TECS: update for AHRS API change 2014-02-15 05:48:24 +11:00
Andrew Tridgell 25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF 
this avoids some linking issues, plus the functions are inaccurate
without EKF
 2014-02-15 05:48:24 +11:00
Andrew Tridgell 6964529124 AP_Baro: _calculate can be private 2014-02-15 05:48:24 +11:00
Andrew Tridgell c62ccce9d8 AP_AHRS: make estimate_wind() public 
this avoids it linking into copter
 2014-02-15 05:48:24 +11:00
Paul Riseborough b56c8211c9 AP_NavEKF: Reduced number of Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough c20fac1269 AP_NavEKF: Updated comments for private functions 2014-02-15 05:48:23 +11:00
Paul Riseborough deb64c4cbd AP_NavEKF: Pos Vel reset after long GPS timeout 2014-02-15 05:48:23 +11:00
Paul Riseborough 7ac0172db1 AP_NavEKF: removed repeated intialisation 2014-02-15 05:48:23 +11:00
Paul Riseborough 28fb5e364b AP_NavEKF: Fixed bug in pos/vel/hgt reset on timout 2014-02-15 05:48:23 +11:00
Paul Riseborough f74cce8b4e AP_NavEKF : Removed double to float conversions 2014-02-15 05:48:23 +11:00
Paul Riseborough 80f6dba694 AP_NavEKF: Improved control of fusion update intervals 2014-02-15 05:48:23 +11:00
Paul Riseborough 13b9daeff5 AP_NavEKF: Added constraints to Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough b123e1bb16 AP_NavEKF: Improved in-air reset behaviour 2014-02-15 05:48:22 +11:00
Paul Riseborough 1651980b9f AP_NavEKF: Improved behaviour following loss and regaining of GPS 2014-02-15 05:48:22 +11:00
Paul Riseborough 14eb63e7c9 AP_NavEKF: Made most tuning parameters Mavlink adustable 2014-02-15 05:48:22 +11:00
Andrew Tridgell f800f5592d AP_NavEKF: fixup parameter handling 2014-02-15 05:48:22 +11:00
Andrew Tridgell f09ae0c2d0 AP_AHRS: expose get_NavEKF as non-const 
better than having two methods
 2014-02-15 05:48:22 +11:00
Paul Riseborough f0f76920fa AP_NavEKF : Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough 128f71157d AP_NavEKF: Fixed bug in pre GPS fix updates 2014-02-15 05:48:22 +11:00
Paul Riseborough 08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +11:00
Paul Riseborough 357743ee2d AP_NavEKF: Adjusted tuning parameters for plane use 2014-02-15 05:48:22 +11:00
Paul Riseborough b4171853b1 AP_NavEKF: allow initialisation before GPS lock to aid indoor testing 2014-02-15 05:48:21 +11:00
Paul Riseborough 7fb60812c2 AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment 2014-02-15 05:48:21 +11:00
Paul Riseborough 9d375da550 AP_NavEKF: changed sqrt to sqrtf 2014-02-15 05:48:21 +11:00
Paul Riseborough 1f0b4b02d0 AP_NavEKF: fixed merge error that inverted static mode 2014-02-15 05:48:21 +11:00
Paul Riseborough 17e24521e8 DataFlash : Added logging of NavEKF innovations and variances 2014-02-15 05:48:21 +11:00
Paul Riseborough 9bbddb2f66 AP_TECS : Use NavEKF height and height rate data if available 2014-02-15 05:48:21 +11:00
Paul Riseborough 0599817aa9 AP_AHRS : EKF initialisation changed to use bootstrap method 2014-02-15 05:48:21 +11:00
Paul Riseborough 401e3aee43 AP_NavEKF : Changes to test harness to support accel bias states 2014-02-15 05:48:21 +11:00
Paul Riseborough 5219869389 AP_NavEKF : Added Z accel bias state and bootstrap initialisation method 2014-02-15 05:48:21 +11:00
Randy Mackay 301a04b74a AP_NavEKF: update params for copter 2014-02-15 05:48:21 +11:00
Randy Mackay f068d0ff7e AP_AHRS_NavEKF: expose non-const EKF for tuning 2014-02-15 05:48:20 +11:00
Randy Mackay 7c73020015 AP_NavEKF: make params public so they can be tuned 2014-02-15 05:48:20 +11:00
Randy Mackay 9f130b40a0 AP_AHRS_NavEKF: override set_correct_centrifugal 2014-02-15 05:48:20 +11:00
Randy Mackay 8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 2014-02-15 05:48:20 +11:00
Paul Riseborough a87df0ad56 AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual 2014-02-15 05:48:20 +11:00
Paul Riseborough 5c3dea28dc AP_NavEKF : Enable staticMode to be set externally 2014-02-15 05:48:20 +11:00
Andrew Tridgell 3617c65af7 AP_InertialSensor: make HIL treat time like PX4 does 2014-02-15 05:48:20 +11:00
Andrew Tridgell 77c4968342 AP_NavEKF: enable plotting in plot2.dat too 2014-02-15 05:48:20 +11:00
Andrew Tridgell ab2a5a0672 AP_NavEKF: enable some debug 2014-02-15 05:48:20 +11:00
Paul Riseborough 0d4d287215 AP_NavEKF: comment and parameter tweaks for ground testing 2014-02-15 05:48:20 +11:00
Paul Riseborough b6b0c2a489 AP_NavEKF: fixed bug in flag reset for hgt fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough 2f3b2a7111 AP_NavEKF: second attempt at higher rate baro fusion 2014-02-15 05:48:19 +11:00