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6574 Commits

Author SHA1 Message Date
priseborough 75201c8968 AP_NavEKF: Prevent divide by zero casued by Tnb_flow.c.z = 0 2015-01-03 14:07:13 +11:00
Andrew Tridgell 6bb4a8c361 AP_Math: make location_path_proportion() and location_passed_point() more efficient 
the dot product is much more efficient than the trigonometry. Thanks
to Paul for the suggestion
 2015-01-03 14:06:59 +11:00
Andrew Tridgell 6993be54b7 HAL_Linux: raise storage size to 16k 
match PX4 size
 2015-01-03 14:06:54 +11:00
Andrew Tridgell 745b739ab7 AP_InertialSensor: make calibrated() function fast enough to call in flight 
this will be used in plane to make AHRS SYS_STATUS unhealthy if a user
tries to fly with EKF enabled without a full 3D accel cal.

Note that it doesn't rely on using AP_Param load() to detect that a
value has been set, as some users are first doing a 3D cal then later
doing a 1D cal. In that case load() was returning true and would give
a false positive
 2015-01-03 14:06:42 +11:00
Randy Mackay 5ba1b20d3b BattMon: add SMBus to MONITOR param description 2015-01-02 17:20:05 +09:00
Randy Mackay ffbc3862bd Compass: update compass orient param description 
Update rotation 38 to Yaw293Pitch68Roll90
 2015-01-02 17:19:12 +09:00
Jonathan Challinger 9e5a30d5ba AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90 2015-01-02 17:15:18 +09:00
Andrew Tridgell ef55a3c6a6 AP_GPS: keep reporting GPS status messages when no GPS at 1Hz 
to ensure the GCS knows that we have lost the GPS we need to keep
reporting GPS_RAW_INT messages when the GPS disappears. Sending at 1Hz
should be sufficient

Fixes issue #1722
 2015-01-02 17:10:23 +11:00
priseborough 8d3940ce1b AP_NavEKF: Improved use of enumerated type for aiding mode 2015-01-02 12:10:41 +09:00
priseborough 76d1378962 AP_NavEKF: Fix compiler warning messages 2015-01-01 23:39:48 +11:00
priseborough 3e3dd9d695 AP_NavEKF: Fix parenthesis error in EKF status reporting and clean up logic 
This fixes a bug which could have caused the realative position status to be incorrectly reported under some conditions and also caused a compiler warning message. the logic used to report the filter solution status has been broken down into smaller, easier to understand statements.
 2015-01-01 23:39:48 +11:00
priseborough c06f6e105e AP_NavEKF: Consistent initialisation of tuning parameters and variables 
Non user adjustable parameters are now declared as 'const' in the header.
The _ prefix has been removed from non user adjustable tuning parameters.
We use a function call rather than a constructor to initialise variables because it enables the filter to be re-started in flight if necessary.
For consistency some signed integer type declarations have been changed to unsigned where appropriate.
 2015-01-01 23:39:31 +11:00
priseborough f1dfa282dc AP_NavEKF: Consolidate constant velocity mode decision logic 
The decision to switch to constant velocity mode during optical flow operation and te decision to switch back were previously being made in two different places in code. Both decisions are now made in the one place which makes the code easier to follow and maintain.
 2015-01-01 19:53:21 +11:00
priseborough 9caf2ac895 AP_NavEKF: Make reversion to no GPS mode unambiguous 2015-01-01 19:53:21 +11:00
priseborough 58e9dd5dcd AP_NavEKF: Enumerate Position and Velocity aiding status 2015-01-01 19:53:21 +11:00
Andrew Tridgell fb5e53e1e4 AP_Param: cope with older gcc versions 
Travis-CI uses 4.6.3
 2015-01-01 18:55:11 +11:00
Andrew Tridgell 9ae0dd05f8 AP_Param: avoid build warning due to %S format 2015-01-01 18:25:05 +11:00
Andrew Tridgell f38f86ab8c AP_Math: added location_path_proportion() 
this can be used for glide slope calculations
 2015-01-01 15:17:10 +11:00
Andrew Tridgell 4e5510c99e AP_TECS: fixed warning 2015-01-01 15:14:48 +11:00
Andrew Tridgell f8bce994b5 AP_OpticalFlow: don't write an error message if no flow sensor 
most users have no flow sensor
 2015-01-01 11:02:43 +11:00
Andrew Tridgell 06a72839ed AP_InertialSensor: fixed error detection on secondary IMUs 
the break; was preventing error detection on lsm303d/l3gd20
 2015-01-01 08:55:57 +11:00
Randy Mackay 022c549339 BattMon_SMBus_I2C: use get_PEC to check reads 2014-12-31 15:23:00 +09:00
Randy Mackay bf0e5a350c BattMon_SMBus_I2C: add get_PEC method 2014-12-31 15:22:59 +09:00
Randy Mackay 3951e4d99b BattMon: example sketch reads from SMBus 2014-12-31 15:22:58 +09:00
Randy Mackay aecc8aac1f BattMon: correct typo in monitor type enum 2014-12-31 15:22:57 +09:00
Randy Mackay 909d525206 BattMon: fix example sketch compile error 2014-12-31 15:22:51 +09:00
Randy Mackay cf36fd55bd GCS_MAVlink: correct sending of 2nd battery's voltage 2014-12-31 15:22:49 +09:00
Randy Mackay 76a28a962c BattMon: remove #defines for monitor type 2014-12-31 15:22:47 +09:00
Randy Mackay f077ecd338 BattMon_PX4: class to read from PX4Firmware via orb 2014-12-31 15:22:46 +09:00
Randy Mackay 3f35dc54fe BattMon_I2C: smart battery class for APM 2014-12-31 15:22:45 +09:00
Randy Mackay 314db1403d BattMon_SMBus: smart battery monitor driver 2014-12-31 15:22:45 +09:00
Randy Mackay 4d7df9ed26 BattMon_Analog: move analog features to new class 2014-12-31 15:22:44 +09:00
Randy Mackay 39dbf05c8f BattMon_Backend: create backend class 2014-12-31 15:22:43 +09:00
Randy Mackay eec66d8451 BattMon: parent class becomes frontend class 2014-12-31 15:22:42 +09:00
Randy Mackay c36253b9b2 AC_PosControl: add comments 
No functional change
 2014-12-31 14:03:22 +09:00
Jonathan Challinger 6eab698e85 AC_WPNav: remove various timing hacks 2014-12-31 14:03:20 +09:00
Jonathan Challinger 557d339cf1 AC_PosControl: remove various unnecessary timing hacks 2014-12-31 14:03:18 +09:00
Jonathan Challinger 5438d38df5 AC_WPNav: provide reset_I to init_xy_controller 2014-12-31 14:03:16 +09:00
Jonathan Challinger d6e455417f AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller 2014-12-31 14:03:13 +09:00
priseborough b016bae445 AP_NavEKF: Clean up reset of constant velocity mode 
Move velocity store out of optical flow to velocity and position fusion control as it is a velocity fusion function.
Always clear the previous mode status
 2014-12-31 13:16:16 +09:00
priseborough 3d207c316a AP_NavEKF: Change names for position and velocity hold modes 
Name change done to avoid confusion with flight modes. modes are now referred to as constant position and constant velocity mode.
 2014-12-31 13:16:15 +09:00
priseborough b650ee51a9 AP_NavEKF: Consolidate arming checks 2014-12-31 13:16:15 +09:00
priseborough 48cae0df15 AP_NavEKF: Fall back to attitude and hgt estimation for copter if GPS lost 2014-12-31 13:16:14 +09:00
priseborough b21f9daa90 AP_NavEKF: Update solution status reporting 
This patch makes the reporting of an absolute position solution less abbiguaous and ensures that relative position is always true if absolute position is true
 2014-12-31 13:16:13 +09:00
priseborough b99b3c7b9d DataFlash: Don't log EKF optical flow data if not required 2014-12-31 13:16:09 +09:00
priseborough b6d300db19 AP_NavEKF: clean up determination of GPS availability 2014-12-31 13:14:22 +09:00
priseborough 40b02fc19a AP_NavEKF: Ensure filter doesn't try to use GPS after initialisation 2014-12-31 13:14:20 +09:00
priseborough bab1a69f1c AP_NavEKF: make position and velocity resets consistent with GPS usage 2014-12-31 13:14:18 +09:00
priseborough 0dc2356175 AP_NavEKF: Ensure initialisation methods read required sensor data 2014-12-31 13:14:16 +09:00
priseborough 5d1de79f08 AP_NavEKF: Modify initial values to make startup behaviour more consistent 2014-12-31 13:14:14 +09:00