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9377 Commits

Author SHA1 Message Date
Lucas De Marchi
d83609b24c DataFlash: remove check for max BARO instances 
For all supported boards we allow more than 1 baro instance.
 2015-10-21 10:05:18 +11:00
Lucas De Marchi
4d3229daa2 AP_Baro: remove check for HAL_CPU_CLASS 
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
BARO_MAX_INSTANCES and BARO_MAX_DRIVERS constant for all supported
boards.
 2015-10-21 10:05:18 +11:00
Lucas De Marchi
d1ac6cbd4c GCS_MAVLink: remove check for vibe check 
For all supported boards we have vibration check.
 2015-10-21 10:05:18 +11:00
Lucas De Marchi
121eeb4b58 DataFlash: remove check for vibe check 
For all supported boards we have vibration check.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
30a50b362f AP_InertialSensor: remove check for vibe check 
For all supported boards we have vibration check.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
db62e55753 AP_InertialSensor: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
ae77c4b692 GCS_MAVLink: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
f99d64e621 DataFlash: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
3114a988f8 AP_Arming: remove check for max INS instances 
For all supported boards the maximum number of instances is 3.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
a147b97d2b AP_InertialSensor: remove check for HAL_CPU_CLASS 
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
INS_MAX_INSTANCES, INS_MAX_BACKENDS and INS_VIBRATION_CHECK constant for
all supported boards.
 2015-10-21 10:05:17 +11:00
Lucas De Marchi
4480956c68 AP_InertialSensor: MPU6000: remove dead code for !FAST_SAMPLING 
The code with ifdef for !FAST_SAMPLING is bit rotting and the example
for AP_InertialSensor is currently broken for this case. Instead of
adding more ifdefs, remove the legacy implementation for !FAST_SAMPLING
since we don't support it anymore.

Reported by Grant:

	/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:
	In member function 'void AP_InertialSensor_MPU6000::_accumulate(uint8_t*,
	uint8_t)':
	/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:776:20:
	error: no match for 'operator+=' (operand types are 'Vector3l {aka
	Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
		 _accel_sum += accel;

	/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:777:19:
	error: no match for 'operator+=' (operand types are 'Vector3l {aka
	Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
		 _gyro_sum += gyro;
 2015-10-21 10:05:17 +11:00
Caio Marcelo de Oliveira Filho
75add595a0 AP_HAL_Empty: remove empty example 
There are hello world examples elsewhere, and a bit misleading. It
doesn't test the Empty implementation, but the current board
implementation.
 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
5781164624 AP_HAL_PX4: remove unnecessary includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
22137b51e3 AP_PerfMon: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
ff13a7bf1f GCS_Console: remove unnecessary board include from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
5ad8077016 AP_Parachute: remove unnecessary board include from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
417651b1dc AP_Motors: remove unnecessary board includes from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
1fc801c2c9 AP_ADC: remove unnecessary board includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
918a339660 AP_Declination: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
42a111f5df AP_Mount: remove unnecessary board include from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
de98ec7c1a AP_OpticalFlow: fix build of example for PX4 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
ae9bc62e84 AP_OpticalFlow: remove unnecessary includes from example 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho
817248b2f5 AP_Airspeed: remove unnecessary includes from example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
db1491f079 AP_GPS: remove unnecessary board includes from examples 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
d840fc0680 AP_Notify: remove unnecessary includes from examples 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
d51adf2523 AP_Notify: fix build of ToshibaLED_test in PX4 
The unused variables were causing error due to shadowing. The
AP_Scheduler library was missing from make.inc.
 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
191cff2035 AP_InertialSensor: remove unnecessary includes from examples 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
118de8d01f AP_Mission: remove unnecessary includes from example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
5d2279a554 AP_RangeFinder: remove unnecessary includes from example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
6566deff66 AP_RangeFinder: fix compilation for Linux/SITL 
Add libraries that those boards depend on. This should be handled in the
future elsewhere (and once for each board), but for now let's make it
compile again.
 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
4731f87683 AP_Common: add Makefile and clean up includes 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
a3169d0a34 AP_Compass: remove unnecessary includes from example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
9b73fcb6f8 AP_AHRS: remove unnecessary includes in the example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
24178c3e10 AP_Baro: remove unnecessary includes in example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
b028219c94 DataFlash: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
03b0c76553 StorageManager: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
d32207008d Filter: remove unnecessary includes from examples 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
8e1e77007e AP_BattMonitor: remove unnecessary includes in example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
9a2e0c2fd9 AC_PID: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
09579cb6e3 GCS_MAVLink: remove unnecessary includes 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
e8d9c4dc9b PID: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
12850742f9 AP_Scheduler: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
b98bf2a65e AP_HAL: remove unnecessary includes from examples 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho
c95a89411c AP_HAL_Linux: remove unnecessary includes in example 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
e36728d1db RC_Channel: make example compile again 
By adding a missing library dependency. Also remove unnecessary
includes, in particular including each board HAL file is not needed
anymore.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
5020db4481 AP_Math: remove unnecessary includes 
Remove unnecessary includes, in particular the includes for specific
boards. The list of libraries for 'polygon' example was updated so that
the example compiles again.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
b29d6eff5d AP_HAL: add an AP_HAL_MAIN_CALLBACKS() macro 
This is going to be used by vehicles that already have an object with
setup/loop functions. The vehicle object will just implement the
HAL::Callbacks interface.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
19b4ca60c4 AP_HAL: provide AP_HAL_MAIN() 
Move the macros to a single place and reduce the variations not based on
board, but based on

- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.

The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
e30457a84d AP_HAL_VRBRAIN: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
cb61bdd8d1 AP_HAL_PX4: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
e18884a328 AP_HAL_AVR: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
1649104382 AP_HAL_FLYMAPLE: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
3c22564307 AP_HAL_Linux: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
e4ef0e43c0 AP_HAL_SITL: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
0c837326b5 AP_HAL_Empty: merge init() and run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
6fc60e2d5e AP_HAL: remove unused init() from the interface 
And make run() pure virtual to ensure future implementations provide it.
 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
fe1dd1be25 AP_HAL_VRBRAIN: implement HAL::run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
0dab23c4df AP_HAL_PX4: implement HAL::run() 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
3fe1d86c80 AP_HAL_AVR: implement HAL::run() for APM1 and APM2 2015-10-21 09:16:08 +11:00
Caio Marcelo de Oliveira Filho
51bc25a2ab AP_HAL_FLYMAPLE: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
32dc822470 AP_HAL_Linux: implement HAL::run() 
Added a note about the different ordering between setup callback and
scheduler initialized call.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
c6292ff097 AP_HAL_SITL: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
346ab77c27 AP_HAL_Empty: implement HAL::run() 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
72cd5ef185 AP_HAL: add run() method 
Add run method, that encapsulate any mainloop logic on behalf of the
client code. The setup/loop functions are passed via a HAL::Callbacks
interface. The AP_HAL_MAIN() macro should be kept as trivial as
possible.

This interface should be implemented by the existing vehicle objects. To
make easy for the examples (that don't have the equivalent of vehicle
objects), a FunCallbacks was added to bridge to the functions directly.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Andrew Tridgell
79d85f7e10 AP_AHRS: wait for up to 10 samples to get a valid accel vector 
the initial accel vectors can be invalid
 2015-10-21 09:09:11 +11:00
Andrew Tridgell
eac91430a2 AP_AHRS: update _dcm_attitude() on reset() 
this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
 2015-10-21 08:58:30 +11:00
Jonathan Challinger
c35605fa04 AP_AHRS_DCM: align tilt during initialization 2015-10-21 08:34:02 +11:00
Jonathan Challinger
78af6d61de AP_Compass: only play compass cal cancel tone if a cal was running 2015-10-21 08:24:49 +11:00
Jonathan Challinger
3b480bd6ec AP_InertialSensor: fix order of accelerometer corrections 2015-10-21 08:22:36 +11:00
Jonathan Challinger
562db11159 AP_Compass: fix potential AP_Notify concurrency problem 2015-10-20 20:54:02 +09:00
Paul Riseborough
cd8b9c7d26 AP_NavEKF: prevent high rate mag data locking out other data fusion 2015-10-20 20:16:04 +11:00
Paul Riseborough
ab8c28a7cc AP_NavEKF: Fix bug allowing takeoff in GPS modes without aiding 
The legacy EKF switches GPs aiding on on arming, whereas the new EKF switches it on based on GPS data quality.
This means the decision to arm and therefore the predicted solution flags must now reflect the actual status of the navigation solution as it will no longer change when motor arming occurs.
 2015-10-20 20:16:00 +11:00
Paul Riseborough
e076ed7f66 AP_NavEKF2: Remove compiler warning message 2015-10-20 18:16:16 +11:00
Andrew Tridgell
b0aa7cb990 DataFlash: use new perf API 2015-10-20 18:16:16 +11:00
Andrew Tridgell
cb0f7cb370 NavEKF2: use new perf counter API 2015-10-20 18:16:15 +11:00
Andrew Tridgell
f66966ccae NavEKF: use new perf counter API 2015-10-20 18:16:15 +11:00
Andrew Tridgell
8dbb51c64e HAL_PX4: implement AP_HAL::Util perf calls for PX4 2015-10-20 18:09:57 +11:00
Andrew Tridgell
28fa05c965 AP_HAL: added generic perf counter 
simple wrapper around PX4 API, but ready for use by other HALs
 2015-10-20 18:09:57 +11:00
Paul Riseborough
60c2e81d19 AP_NavEKF2: Apply optimisations to declination fusion covariance update 
These are the same type of optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:41 +11:00
Paul Riseborough
0054291cf4 AP_NavEKF2: Apply optimisations to side-slip fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough
5e4bc4e954 AP_NavEKF2: Apply optimisations to airspeed fusion covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough
a29147d6d2 AP_NavEKF2: Apply optimisations to optical flow covariance update 
These are the same optimisations that were successful with the magnetometer fusion
 2015-10-20 15:21:40 +11:00
Paul Riseborough
b5e43288d4 AP_NavEKF2: Down to 12 from 14 usec for perf test[8] 2015-10-20 15:21:40 +11:00
Paul Riseborough
0f530bb5a0 AP_NavEKF2: Correct comments 2015-10-20 15:21:40 +11:00
Andrew Tridgell
d1dfd5fd01 AP_NavEKF2: use common header for optimisation level and irq disable 2015-10-20 15:21:40 +11:00
Andrew Tridgell
a017ae7e00 AP_NavEKF2: down to 218us for test[9] 2015-10-20 15:21:40 +11:00
Andrew Tridgell
fc23be8025 AP_NavEKF2: enable fine grained perf tuning for mag fusion 2015-10-20 15:21:40 +11:00
Andrew Tridgell
b6c1352e4c AP_NavEKF2: added 10 test perf counters 
used for fine grained performance tuning
 2015-10-20 15:21:40 +11:00
Paul Riseborough
824436dfb6 AP_NavEKF2: Explicitly define constants as floats 2015-10-20 15:21:40 +11:00
Paul Riseborough
2fbd050418 AP_NavEKF2: Use blended accelerometer data 
If high vibration levels cause offsets between the two, it switches to the accelerometer with lower vibration levels. The default behaviour is to use the average of both accelerometers.
 2015-10-20 15:21:40 +11:00
Paul Riseborough
240ea92947 AP_NavEKF: Re-center gyro bias limits on arming 
Allows the gyro bias to vary by up to +-10 deg/second before and after arming.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
8515dda727 AP_NavEKF: Fix bug in vertical position derivative calculation 2015-10-20 15:21:39 +11:00
Paul Riseborough
2b13020c19 AP_NavEKF2: Fix bug in vertical position derivative calculation 2015-10-20 15:21:39 +11:00
Paul Riseborough
f6ad79688e AP_NavEKF2: Update start sequence console messages 2015-10-20 15:21:39 +11:00
Paul Riseborough
6b3e114cd6 AP_NavEKF: Enable EKF1 to be disabled to reduce frame over-runs 2015-10-20 15:21:39 +11:00
Paul Riseborough
1a1236f764 AP_NavEKF2: Update magnetometer fusion documentation 2015-10-20 15:21:39 +11:00
Paul Riseborough
8526a8ba7e AP_NavEKF2: Level processor loading between frames 
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
225b81baf4 AP_NavEKF2: Prevent users breaking filter by setting excessive time delays 
If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
a1d6c7ae1e AP_NavEKF2: Improve timing accuracy 
This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
 2015-10-20 15:21:39 +11:00
Paul Riseborough
e0ed2dab63 AP_NavEKF2: Adjust IMU FIFO buffer for different IMU data rates 
The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
 2015-10-20 15:21:39 +11:00
Paul Riseborough
baa8692960 AP_NavEKF2: Allow use of magnetometer learning during optical flow nav 
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
 2015-10-20 15:21:38 +11:00
Paul Riseborough
1b8a93ef0c AP_NavEKF2: Update function header comments 2015-10-20 15:21:38 +11:00
Paul Riseborough
6899767d28 AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference 2015-10-20 15:21:38 +11:00
Paul Riseborough
0722ebe8a0 AP_AHRS: Add EKF variance checks 2015-10-20 15:21:38 +11:00
Paul Riseborough
242b9641c8 AP_NavEKF2: Fix in-air logic bug 2015-10-20 15:21:38 +11:00
Paul Riseborough
e7de2d3ea3 AP_NavEKF: Update magnetic field learning options 
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
 2015-10-20 15:21:38 +11:00
Paul Riseborough
495809f211 AP_NavEKF2: Allow magnetic field learning to be faster 2015-10-20 15:21:38 +11:00
Paul Riseborough
84a02efd52 AP_NavEKF2: Improve efficiency of Z magnetometer fusion 2015-10-20 15:21:37 +11:00
Paul Riseborough
35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough
4e928bf294 AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements 2015-10-20 15:21:37 +11:00
Paul Riseborough
71c399674a AP_NavEKF2: Delay use of magnetic field states until off-ground 
Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
99c2dc41e0 AP_NavEKF2: Miscellaneous tuning changes 2015-10-20 15:21:37 +11:00
Paul Riseborough
2d44441d6b DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
ae830b44c4 AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
840f307d58 AP_NavEKF: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
1323db10e8 DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
e8037f94ad AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review
 2015-10-20 15:21:37 +11:00
Paul Riseborough
47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
f63c32531c AP_InertialNav: Address peer review comments 
The decision to set the origin to zero has been moved out of the AHRS library and into the inertial nav library as this is consumer specific.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
58d57994f4 AP_AHRS: Rectify coding errors found during peer review 
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
 2015-10-20 15:21:36 +11:00
Paul Riseborough
27393855f1 AP_NavEKF2: Change assumed gyro calibration accuracy 
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough
0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic 
Ensure takeoff detect status goes to false when on ground
 2015-10-20 15:21:36 +11:00
Paul Riseborough
d3a6690e4f AP_NavEKF2: Fix bugs preventing use of optical flow navigation 2015-10-20 15:21:36 +11:00
Paul Riseborough
24c0309e85 AP_InertialNav: Enable flight using EKF2 
All EKF functions are accessed via the AHRS library enabling AHRS_EKF_TYPE to determine which EKF is being used by the control loops
 2015-10-20 15:21:36 +11:00
Paul Riseborough
e65ae51564 AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS 
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
f062ed4180 AP_InertialNav: Add output method for rate of change of vertical position 2015-10-20 15:21:36 +11:00
Paul Riseborough
dab658f6ed AP_NavEKF: Add methods to output and calculate vertical position derivative 2015-10-20 15:21:36 +11:00
Paul Riseborough
9e3d9d15fc DataFlash: Log vertical position derivative output 2015-10-20 15:21:35 +11:00
Paul Riseborough
52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Andrew Tridgell
f5b5a3b0f8 AP_NavEKF: added EKF_DISABLE_INTERRUPTS 
this helps with performance tuning
 2015-10-20 14:37:41 +11:00
Andrew Tridgell
10fddf4c7e AP_NavEKF: enable optimisation level 3 for the EKF 2015-10-20 14:36:56 +11:00
Andrew Tridgell
c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Andrew Tridgell
2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay
756d564b7c Mission: sanity check command altitudes 2015-10-19 16:15:08 +09:00
Randy Mackay
acd8252e4b Common: add location alt max definition 2015-10-19 16:15:05 +09:00
Randy Mackay
b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
Randy Mackay
09aef3a3b8 AP_Arming: remove ahrs check from ins 2015-10-16 13:50:58 +09:00
Randy Mackay
53b39b201b AP_Arming: make ins check virtual 2015-10-16 13:50:57 +09:00
Randy Mackay
304a23923a AP_Arming: add Bitmask parameter description 
Also moved ARMING_CHECK to standard category
 2015-10-16 13:50:56 +09:00
Randy Mackay
0cc4b6977e AP_Arming: add compass consistency check 
Also moved the offsets and mag field limits into definitions at top of
.cpp file
 2015-10-16 13:50:55 +09:00
Randy Mackay
342651cc9b AP_Arming: add board voltage checks 2015-10-16 13:50:54 +09:00
Randy Mackay
f5f31e4b31 AP_Arming: move ahrs health check after Accel/Gyro checks 
If the AHRS is unhealthy because of accel or gyro problems we want those underlying problem reported first
 2015-10-16 13:50:53 +09:00
Randy Mackay
0a21fe65e9 AP_Arming: do not report prearm_failure_reason when ahrs unhealthy 
The EKF's prearm failiure message is more related to the position estimate rather than the ahrs's health
 2015-10-16 13:50:52 +09:00
Randy Mackay
78c6287f95 AP_Arming: check health of all barometers 2015-10-16 13:50:50 +09:00
Randy Mackay
c716bfce88 AP_Arming: remove most exclamation marks 2015-10-16 13:50:49 +09:00
Randy Mackay
6b91beb3ff AP_Arming: formatting changes 2015-10-16 13:50:48 +09:00
Andrew Tridgell
6f36267a66 AP_NavEKF: fixed EKF error message during 10 second warmup 2015-10-16 14:58:46 +11:00