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11,157 Commits 71 Branches 510 Tags 770 MiB
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4826 Commits

Author SHA1 Message Date
Andrew Tridgell
d7b2a09919 AP_GPS: added fix type to setHIL 2014-02-25 21:10:30 +11:00
Andrew Tridgell
09cce5d24e AP_NavEKF: fixed replay with current copter logs 2014-02-25 20:56:53 +11:00
Jonathan Challinger
f321a5f241 AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS 
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
 2014-02-25 18:49:16 +11:00
Paul Riseborough
72a91ccbca AP_NavEKF : Prevents aliasing triggering innovation consistency check failures 2014-02-25 15:55:44 +11:00
Andrew Tridgell
7a6f671659 AP_GPS: added have_vertical_velocity() function 
for use by EKF
 2014-02-24 18:24:10 +11:00
Andrew Tridgell
a273951f70 HAL_Linux: added missing Util.cpp 2014-02-24 11:59:24 +11:00
Paul Riseborough
5db9a87d31 AP_NavEKF : fixed bug in velocity rate of change filter 
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
 2014-02-23 19:50:37 +11:00
Paul Riseborough
01c84c3f47 AP_NavEKF : fixed bug in height limit range 2014-02-23 19:50:36 +11:00
Paul Riseborough
36d619ec3a AP_NavEKF : Changed default IMU bias process noise to use smallest value 2014-02-23 19:50:36 +11:00
Paul Riseborough
89e0b48320 AP_NavEKF : Bug fix for height drift due to timer wrap-around 2014-02-23 19:50:35 +11:00
Paul Riseborough
939a32a7bb AP_NavEKF : Improved stability of Z accel bias 2014-02-23 19:50:34 +11:00
Paul Riseborough
9f3c19c03a AP_AHRS : change initialisation requirements for EKF and use dynamic method 2014-02-23 19:50:34 +11:00
Andrew Tridgell
6732d6c79b AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL 2014-02-23 19:10:07 +11:00
Andrew Tridgell
5d7346b5c2 HAL_SITL: fixed build with new HIL INS API 2014-02-23 19:09:41 +11:00
Andrew Tridgell
ffbd655ba0 AP_NavEKF: support dual sensors in log replay, and fix flight altitude 2014-02-23 08:17:55 +11:00
Andrew Tridgell
707cc2b532 AP_NavEKF: allow log filename to be specified in replay 2014-02-23 08:17:01 +11:00
Andrew Tridgell
0e18079c47 AP_InertialSensor: allow HIL sensors to support multiple instances 
this allows log replay to test both sets of sensors on a Pixhawk log
 2014-02-23 08:16:33 +11:00
Andrew Tridgell
735c6449a1 AP_HAL: added support for commandline arguments 
useful for log replay, specifying log file
 2014-02-23 08:15:39 +11:00
Andrew Tridgell
4e56196655 AP_NavEKF: allow states to be accessed using names as well as a Vector22 2014-02-21 20:24:47 +11:00
Andrew Tridgell
009913ec60 AP_Math: make is_nan const for quaternion and add .zero() for vector2 2014-02-21 20:24:47 +11:00
Randy Mackay
33fe778cdd InertialSensor_PX4: resolve compiler warning 2014-02-21 13:53:34 +09:00
Randy Mackay
98bdbb7fed AC_WPNav: set loiter accel to 1/2 of speed 
Bug fix from Leonard.
Also fixed some formatting.
 2014-02-20 21:37:45 +09:00
Andrew Tridgell
f222f2ef1e DataFlash: fixed logging on PX4v1 
large writes break IO, a NuttX bug
 2014-02-20 06:55:35 +11:00
Andrew Tridgell
20b0444c15 AP_NavEKF: remove sleep on init of EKF 
this prevents HIL from locking up, and also prevents a possible 1s
delay in flight on EKF init
 2014-02-19 22:04:12 +11:00
Andrew Tridgell
b434c11215 AP_AHRS: removed empty file 2014-02-19 22:00:25 +11:00
Randy Mackay
aa5ea23245 GCS_MAVLink: regenerate for COMPASSMOT_STATUS msg 2014-02-19 16:04:08 +11:00
Randy Mackay
a7c25ec649 GCS_MALink: improved generate.sh failure msg 2014-02-19 16:04:05 +11:00
Andrew Tridgell
50cbc661ef GCS_MAVLink: added new COMPASSMOT_STATUS message 2014-02-19 16:03:57 +11:00
Andrew Tridgell
c9d0c1face AP_NavEKF: use ahrs->get_armed() for static mode demanded 2014-02-19 10:52:57 +11:00
Andrew Tridgell
3b1f9a4bbf AP_AHRS: added get_armed() and set_armed() calls 
will be used by NavEKF to determine static mode
 2014-02-19 10:52:24 +11:00
Andrew Tridgell
fe0cb23733 AP_InertialSensor: fixed HIL for 400Hz INS 2014-02-19 10:29:00 +11:00
Andrew Tridgell
536160a3fb AP_NavEKF: use AHRS get_correct_centrifugal() 2014-02-19 10:28:45 +11:00
Andrew Tridgell
fad0b2b233 AP_AHRS: added get_correct_centrifugal() 
used by NavEKF to force static mode
 2014-02-19 10:28:14 +11:00
Andrew Tridgell
599c3a8abf AP_Math: added more operators to VectorN 2014-02-19 10:14:58 +11:00
Andrew Tridgell
869e41fd03 AP_NavEKF: fixed detection of airspeed sensor 
the get_airspeed() AHRS call can change as the user enables/disables
the airspeed sensor, plus it only gets enabled after the NavEKF
constructor runs.
 2014-02-19 09:22:45 +11:00
Paul Riseborough
1ade39977a AP_NavEKF : covariance prediction cleanup 2014-02-19 09:22:45 +11:00
Paul Riseborough
8daca145d0 AP_NavEKF : useAirspeed set automatically 2014-02-19 09:22:45 +11:00
Paul Riseborough
6fbada26d3 AP_NavEKF : Improvements to staticMode robustness 2014-02-19 09:22:45 +11:00
Mike McCauley
bd768a0c0c AP_HAL_FLYMAPLE RCOutput.cpp: enable_ch no longer resets servo 
FLYMAPLERCOutput::enable_ch incorrectly reset the servo to 0, which caused
servo twitching once per second when RC_Channel_aux::enable_aux_servos
enabled each channel.
 2014-02-18 09:25:08 +11:00
Andrew Tridgell
ad4db4de6c AP_Airspeed: added setHIL() method 
useful for log playback
 2014-02-18 09:25:08 +11:00
Andrew Tridgell
e11ada7bf0 RC_Channel: fixed comment on enable_aux_servos() 
thanks to Mike McCauley for spotting
 2014-02-18 09:25:07 +11:00
Andrew Tridgell
b2bd81f262 AP_Baro: added alternative setHIL interface 
uses pressure and temperature for better log replay
 2014-02-18 09:25:07 +11:00
Andrew Tridgell
5bf170c440 AP_NavEKF: fixed log replay code 
also added BARO and ARSP messages
 2014-02-18 09:25:07 +11:00
jschall
024855014f AC_PosControl: update _pos_error if it is being limited 
This fixes a bug that causes 10hz throttle noise.
 2014-02-17 22:33:06 +09:00
Andrew Tridgell
9cf70fe3f7 AP_HAL: another broken example build 
this one an internal compiler error
 2014-02-17 12:42:13 +11:00
Mike McCauley
4f9f87a8c6 AP_HAL_FLYMAPLE: Add notes to FlymaplePortingNotes.txt re GPS selection. 2014-02-17 05:56:37 +11:00
Mike McCauley
54a0b04c12 AP_HAL_FLYMAPLE: RCInput detects stale input readings better. Update test 
code.
 2014-02-17 05:56:37 +11:00
Mike McCauley
f1533aa350 AP_HAL_FLYAPLE: update documentation in FlymaplePortingNotes.txt 2014-02-17 05:56:37 +11:00
Mike McCauley
81791bdc43 AP_HAL_FLYMAPLE: Added documentation about alternative orientations to FlymaplePortingNotes.txt 2014-02-17 05:56:37 +11:00
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