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13646 Commits

Author SHA1 Message Date
priseborough f71aeea61d AP_NavEKF : Reduce sensitivity on filter divergence check 
Flying aerobatics with Trad Heli has shown that the divergence check can be false triggered when large magnetometer errors and GPS dropouts are present.
This can also happen with multi rotors if large yaw rates are present.
This was an unintended consequence of the ekfsmoothing patch which improved filter stability during high rate manoeuvres, but made the divergence test more sensitive.
 2014-09-17 10:22:55 +09:00
priseborough 36bf304f29 AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' 
This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.
 2014-09-17 10:22:49 +09:00
priseborough 5b72cb7610 AP_NavEKF : Clean up time stamps 
Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and various calls to the hal.scheduler->millis() object have been consolidated.
 2014-09-17 10:22:45 +09:00
Craig Elder 4c38f51337 Frame_Parameters: 3DR_Iris+ changed mode switch configuration 2014-09-16 00:12:40 -07:00
Jonathan Challinger 8ca4795ffb Copter: Log NTUN while in LAND mode with GPS 2014-09-16 10:19:33 +09:00
Randy Mackay 345d4353e5 Copter: adjust EKF_CHECK parameter description 
Default has been changed to 0.8 for -rc9 so we need to update the
description values so they match
 2014-09-12 21:28:41 +09:00
Randy Mackay d15a5f9dcb Copter: THR_ACCEL_IMAX default to 800 2014-09-12 15:11:48 +09:00
Craig Elder f9f6f39d61 Merge branch 'master' of https://github.com/diydrones/ardupilot 2014-09-11 23:06:10 -07:00
Craig Elder d26173bf81 Frame_params: Updated 3DR Iris+ 2014-09-11 23:05:28 -07:00
Randy Mackay 224122958c Copter: reduce throttle to min once landed in RTL 
This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero.  Before this check it would
continue to attempt to hold it's
 2014-09-12 14:16:05 +09:00
Randy Mackay eac26cdd0f Copter: THR_ACCEL_IMAX param range increased 2014-09-12 14:16:04 +09:00
Andrew Tridgell e555b9a855 Plane: improved WP_RADIUS docs 2014-09-12 11:57:43 +10:00
Andrew Tridgell 7b4181dc14 Plane: prepare for 3.1.1 release 2014-09-12 11:07:26 +10:00
Randy Mackay a12d9109e0 Copter: remove thr check during init_arm_motors 
This check is redundant now that we have a check within the arm_check()
function.
Removing this check does raise a slight danger that someone could raise
the throttle after arming but before the gyro and baro calibration has
completed but the delay has been greatly shortened from what it once was
so there is much less danger that someone could approach the vehicle
during the short arming delay.
 2014-09-11 21:13:35 +09:00
Randy Mackay 5720bff29f Copter: AC3.2-rc9 release notes 2014-09-11 20:38:56 +09:00
Andrew Tridgell b69262b054 GCS_MAVLink: rebuild MAVLink headers 2014-09-11 20:16:27 +10:00
Andrew Tridgell 25f6dc2549 GCS_MAVLink: mavlink XML updates from upstream 2014-09-11 20:15:44 +10:00
Kristian Klausen 7b0046e75e Tools/autotest/sim_vehicle.sh: Added option to run the sim_vehicle framework with an external simulator 2014-09-11 20:09:06 +10:00
Andrew Tridgell 593a97afd6 HAL_VRBRAIN: fixed storage bug in VRBRAIN too 2014-09-11 18:58:54 +10:00
Andrew Tridgell d238ff7c5d HAL_Linux: fixed storage bug in Linux too 2014-09-11 18:58:54 +10:00
Andrew Tridgell 74525cad89 HAL_PX4: fixed dirty_mask calculation in FRAM storage 
this could lead to a number of bytes on 512 byte boundaries not being
written when changed in ram, so they would revert on next boot
 2014-09-11 18:58:54 +10:00
Andrew Tridgell 7aad03df28 Plane: minor doc update for fence auto enable 2014-09-11 18:58:54 +10:00
Randy Mackay 906b3dfbec Copter: AC3.2-rc8 release notes 2014-09-11 16:54:04 +09:00
Randy Mackay 4c6b0bb1cb Copter: format change to flight mode default defined 
This also kicks off the build for AC3.2-rc8
 2014-09-11 16:52:36 +09:00
Craig Elder 6e79ab8478 Frame_params: Added Frsky telemetry to 3DR_Iris+.param 2014-09-10 13:30:59 -07:00
Craig Elder b28b0aa6c1 CHDK-Scripts: Move SX260 file to its own folder 2014-09-10 11:54:51 -07:00
Brandon Basso 114b83341d CHDK-Scripts : initial commit of the SX260 specific file 2014-09-10 11:52:15 -07:00
Craig Elder 6a6aee1d44 CHDK-Scripts: Creating folder for Cannon SX260 files 2014-09-10 11:47:17 -07:00
Craig Elder 5fae3638dc Frame_params: Updated 3DR_Iris+ 2014-09-10 10:54:06 -07:00
Randy Mackay 48bc1456d0 Copter: increase Rate PID param ranges 
RATE_RLL_P to 0.25 (was 0.20)
RATE_PIT_P to 0.25 (was 0.20)
RATE_YAW_P to 0.50 (was 0.25)
RATE_YAW_I to 0.05 (was 0.02)
 2014-09-10 16:40:36 +09:00
Craig Elder a6db3586f6 Frame_params: Removed Iris with 3 Position Mode Switch.param 2014-09-09 18:55:34 -07:00
Brandon Basso 752e32f338 CHDK-Scripts : add instructions 2014-09-09 18:30:35 -07:00
Brandon Basso f495d6550b CHDK-Scripts : initial commit 2014-09-09 18:30:35 -07:00
Andrew Tridgell f3d1461d7a Plane: improve the short and long failsafe docs 
thanks to Mark Jacobsen for the analysis!
 2014-09-10 06:56:01 +10:00
Craig Elder e6b2726738 Frame_params: 3DR_Iris+.parm 2014-09-09 12:36:04 -07:00
Craig Elder ea82caf7a4 Copter: Parameters.pde 
Corrected typo in parameter description
 2014-09-09 12:34:59 -07:00
Craig Elder 6ea044cda9 CHDK-Scripts: Preparing to replace the script files 2014-09-09 11:48:16 -07:00
Randy Mackay 0d7a999fc1 Copter: arming check that throttle is low 2014-09-09 23:02:18 +09:00
Randy Mackay 294f836c8c Copter: never send unhealthy terrain status 
Copter does not yet rely on the terrain data (it's for informational
purposes only) so we will temporarily disable the failure flags to the
GCS to avoid support calls
 2014-09-09 22:19:20 +09:00
Randy Mackay bf18fb896a Copter: send extended status to GCS only after initialisation 2014-09-09 22:17:46 +09:00
Craig Elder 2f2665c022 Frame_params: Updated 3DR_Iris+.param 2014-09-09 00:36:06 -07:00
Andrew Tridgell 9d846d5f2a DataFlash: allow use of a smaller writebuf for PX4v1 
this fixes logging on PX4v1
 2014-09-09 17:32:44 +10:00
Craig Elder 8fcc96bb79 CHDK-Scripts: Adding kap_uav 2014-09-09 00:28:21 -07:00
Craig Elder 6ff1aa39ca CHDK-Scripts: adding README.md 2014-09-09 00:10:23 -07:00
Craig Elder f1934c6db2 Initial Commit 2014-09-09 00:02:17 -07:00
Randy Mackay 21d56735ca Copter: increase EKF_CHECK_THRESH default to 0.8 
Also remove unused #define related to inertial nav check (now removed)
 2014-09-09 14:59:27 +09:00
Randy Mackay 3e1bd04c94 TradHeli: update AttControl params to match multicopters 2014-09-09 14:41:57 +09:00
Craig Elder df82e0accc Frame_Params: Added 3DR Iris+ 2014-09-08 12:40:10 -07:00
Randy Mackay 9c613cd1ec Copter: reduce alt hold defaults 
Throttle Rate P to 5.0 (was 6.0)
Throttle Accel P to 0.5 (was 0.75)
Throttle Accel I to 1.0 (was 1.5)
 2014-09-07 22:14:40 +09:00
Craig Elder a57818dfc8 Frame_parameters: Updated Iris with 3 Position Mode Switch 2014-09-04 11:49:02 -07:00