priseborough
647db728ce
AP_NavEKF2: Improve is flying check for non fly forward vehicles
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Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
2017-06-19 06:09:07 +10:00
priseborough
edee8396ba
AP_NavEKF3: Improve in-flight check for non fly forward vehicles
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This will enable the EK3_MAG_TYPE 0 option to be used for multirotors
2017-06-19 06:09:07 +10:00
Andrew Tridgell
a0e4ec0f3a
AP_Compass: fixed bitmask typo
2017-06-18 18:15:47 +10:00
Touch
5da2e0b3fb
Update code format
2017-06-18 17:25:20 +10:00
ljwang
8fff1ec4d4
add QMC5883L driver for GPS compass module
2017-06-18 17:25:20 +10:00
ljwang
e648f2e61e
add QMC5883L driver for GPS compass module
2017-06-18 17:25:20 +10:00
Peter Barker
5c19f09cd7
DataFlash: handle mavlink messages, not just remote-log-block-statuses
2017-06-17 15:07:48 +01:00
Peter Barker
cf918d233f
GCS_MAVLink: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up
2017-06-17 15:07:48 +01:00
Andrew Tridgell
abd0831239
AP_Motors: changed BRUSHED16kHz to BRUSHED
2017-06-17 17:37:45 +10:00
Andrew Tridgell
11396919c8
HAL_PX4: changed BRUSHED16kHz to BRUSHED
2017-06-17 17:37:45 +10:00
Andrew Tridgell
1c741e78e6
AP_HAL: changed BRUSHED16kHz to BRUSHED
2017-06-17 17:37:45 +10:00
Andrew Tridgell
96627bc4e5
HAL_PX4: allow any pulse freq in brushed mode
2017-06-17 17:37:45 +10:00
Andrew Tridgell
97e88501c6
AP_OpticalFlow: support pixart 3901
2017-06-16 17:14:10 +01:00
Peter Barker
6a03af8f3e
DataFlash: make EnableWrites a frontend thing
2017-06-16 17:07:48 +01:00
Peter Barker
07e37281ef
DataFlash: add a should_log method
2017-06-16 17:07:48 +01:00
Peter Barker
001d3a7118
DataFlash: correct consts on CardInserted
2017-06-16 17:07:48 +01:00
Peter Barker
244365767d
DataFlash: remove DataFlash_Block and DataFlash_SITL
2017-06-16 13:52:45 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
6a01c65197
AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC)
2017-06-16 12:05:20 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
7426bdb9b7
AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter
2017-06-16 12:05:20 +01:00
Randy Mackay
a199604348
AP_Beacon: fix get_boundary_points num_points
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Thanks @OXINARF for finding this!
2017-06-15 09:36:27 +09:00
priseborough
b42fb31d7d
AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK
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Turn off by default.
Update parameter description
2017-06-14 12:44:41 +01:00
priseborough
49ec2b4032
AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK
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Turn off by default.
Update parameter description.
2017-06-14 12:44:41 +01:00
priseborough
fd25450632
AP_NavEKF2: Ensure reported local height = global height - origin height
2017-06-14 12:44:41 +01:00
priseborough
6d14cf0ab8
AP_NavEKF3: Ensure reported local height = global height - origin height
2017-06-14 12:44:41 +01:00
priseborough
798d5f85a2
DataFlash: Log EKF origin height
2017-06-14 12:44:41 +01:00
priseborough
a3483d0d34
AP_AHRS: Update for compatibility with EKF interface change
2017-06-14 12:44:41 +01:00
priseborough
3ae7998f51
AP_NavEKF3: Allow reporting of origin height for specified instance
2017-06-14 12:44:41 +01:00
priseborough
77d21f72d4
AP_NavEKF2: Allow reporting of origin height for specified instance
2017-06-14 12:44:41 +01:00
priseborough
e58ba8044d
AP_NavEKF3: Improve protection for badly conditioned dVel bias covariances
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If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
2017-06-14 12:44:41 +01:00
priseborough
bf963f8b65
AP_NavEKF3: Raise lower limit on del vel bias state variances
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This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
2017-06-14 12:44:41 +01:00
priseborough
628d140319
AP_NavEKF3: Make target covariance time step larger
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The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
2017-06-14 12:44:41 +01:00
priseborough
4c08622a7c
DataFlash: Add logging for EKF3 state variances
2017-06-14 12:44:41 +01:00
priseborough
2b97d0f5c9
AP_NavEKF3: Add public accessor for state variances
2017-06-14 12:44:41 +01:00
priseborough
9f97cbfc3b
AP_NavEKF3: Revert auto-code to original form and remove micro optimisations
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To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.
Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
2017-06-14 12:44:41 +01:00
priseborough
f38fccd57c
AP_NavEKF3: Prevent possible race condition re-zeroing state variances
2017-06-14 12:44:41 +01:00
priseborough
7adaea6019
AP_NavEKF3: Improve partitioning and efficiency of the covariance prediction
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This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
2017-06-14 12:44:41 +01:00
priseborough
a1c117360c
AP_NavEKF3: Ensure Kalman gain calculatons respect deactivated states
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All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
2017-06-14 12:44:41 +01:00
priseborough
5058405f8c
AP_NavEKF3: add gyro bias state inhibit and rework index limit calculation
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Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
2017-06-14 12:44:41 +01:00
priseborough
0cba133a1e
AP_NavEKF3: Fix initialisation of state inhibit flags
2017-06-14 12:44:41 +01:00
priseborough
36e7dfb5f6
AP_NavEKF2: Improve GPS reference height estimator
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Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
priseborough
9da3caca47
AP_NavEKF3: Improve GPS reference height estimator
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Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
Pierre Kancir
e7a5dd6a69
AP_Marvelmind: fix warning in example
2017-06-14 12:40:47 +01:00
Pierre Kancir
914bc53100
Dataflash: fix shadowing of logstructure in SITL
2017-06-14 12:40:47 +01:00
Peter Barker
af6eb4e41d
DataFlash: remove unused NeedPrep function
2017-06-14 12:20:29 +01:00
Peter Barker
9fb4ac2143
DataFlash: update examples for init simplification
2017-06-14 12:20:29 +01:00
Peter Barker
91b62abfe5
DataFlash: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Randy Mackay
3bcc410048
AP_Beacon: fix pozyx west-east processing
2017-06-14 16:07:32 +09:00
Randy Mackay
af7f4fef0a
DataFlash: protect against large testRatio from EKF
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This should be resolved in the EKF but for now this stops the floating point exception
2017-06-14 16:07:32 +09:00
Shingo Matsuura
7b0f6edf31
AC_Avoidance: add adjust velocity by beacon fence
2017-06-14 16:07:32 +09:00
Randy Mackay
cded78022c
AP_Beacon: update_boundary_points calculates outer perimeter around beacons
2017-06-14 16:07:32 +09:00
