priseborough
7659e9c31f
AP_NavEKF3: Improve checking of time delay validity when setting buffers
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This change means that provided the GPS_DELAY_MS parameters are set for each GPS receiver attached, the EKF will not have to wait for the configuration of each receiver to be determined before it can start.
This significantly reduces start-up times when the delay parameters are set.
2017-06-21 11:44:45 +01:00
priseborough
7d63286088
AP_NavEKF3: update to match AP_GPS interface change
2017-06-21 11:44:45 +01:00
priseborough
fa5534502a
AP_AHRS: Update to match AP_GPS interface change
2017-06-21 11:44:45 +01:00
priseborough
5dcfc94371
AP_GPS: Add validity boolean to GPS lag reporting
2017-06-21 11:44:45 +01:00
priseborough
bd0229b7bc
AP_GPS: Fix bug in calculation of blended GPS delay
2017-06-21 11:44:45 +01:00
Francisco Ferreira
da5060964b
AP_Math: uniformize template type parameter keyword
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Use typename everywhere instead of class
2017-06-21 18:19:31 +09:00
Francisco Ferreira
1ffe12008c
AP_Math: adapt test for new norm method API
2017-06-21 18:19:31 +09:00
Francisco Ferreira
7b98f41947
AP_Math: correct norm to need two arguments
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Correctly use sqrtf instead of the double version
Stop casting to float since sq already returns one
2017-06-21 18:19:31 +09:00
Andrew Tridgell
f3d995a716
AP_Compass: improved robustness of BMM150 detection code
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cope with bus errors on startup
2017-06-21 16:25:37 +10:00
Andrew Tridgell
68460144df
AP_Compass: added retries on init in BMM150
2017-06-21 16:25:37 +10:00
Andrew Tridgell
9b093c4a33
AP_Compass: fixed a numerical issue in BMM150 driver
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we were getting the following:
ret=-32768 z=5 rhall=6267 z1=23743 z2=712 z3=-1035 z4=0 xyz1=6264 dividend=163840 dividend2=-1073577207 divisor=5253
the signed/unsigned casts for rhall and xyz1 did not produce the
desired result
2017-06-21 16:25:37 +10:00
Andrew Tridgell
0623db98d6
AP_Compass: cope with bus errors in BMM150
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if we have bus errors the BMM150 can get confused, giving rubbish
output. This uses the checked register code to reset, and a full soft
reset after 250ms of no samples.
2017-06-21 16:25:37 +10:00
Andrew Tridgell
fa3d40af8a
AP_Compass: fixed shift typo
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this doesn't affect LE MCUs like STM32
2017-06-21 16:25:37 +10:00
Andrew Tridgell
b8f628da83
HAL_PX4: fixed bug in last_sent
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thanks to Francisco
2017-06-21 11:40:12 +10:00
Andrew Tridgell
17893958bf
HAL_PX4: cope with brushed motors in read_last_sent()
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we need the value before scaling is applied, so slew rates can work
2017-06-21 10:55:24 +10:00
Andrew Tridgell
bc8c13d053
SRV_Channel: cope with large time jumps in slew rate limiter
2017-06-20 20:53:44 +09:00
Randy Mackay
a303c40f1f
AP_Beacon: initialise counter in get_next_boundary_point
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This is not a bug but at least one compiler has complained about this
2017-06-20 16:34:41 +09:00
priseborough
06d40a7901
AP_NavEKF3: Fix terrain estimator innovation consistency check
2017-06-20 02:08:56 +01:00
priseborough
ce8e935896
AP_NavEKF2: Fix terrain estimator innovation consistency check
2017-06-20 02:08:56 +01:00
priseborough
284fc0f3c5
AP_NavEKF3: Fix bug in flow fusion for terrain estimation
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Also remove unused class variables
2017-06-20 02:08:56 +01:00
priseborough
b7e6e6f95f
AP_NavEKF2: Fix bug in flow fusion for terrain estimation
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Also remove unused class variables
2017-06-20 02:08:56 +01:00
Michael du Breuil
0b26908359
Landing: Disarm on land for deepstall
2017-06-19 17:02:23 -07:00
Andrew Tridgell
a1508b58c1
AP_NavEKF3: use AHRS likely flying state
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this sets inFlight when AHRS has indicated flying for 5s
2017-06-20 09:44:44 +10:00
Andrew Tridgell
cbffc29f0b
AP_NavEKF2: use AHRS likely flying state
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this sets inFlight when AHRS has indicated flying for 5s
2017-06-20 09:44:44 +10:00
Andrew Tridgell
770f697cfc
AP_AHRS: added set/get for flying state
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this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
2017-06-20 09:44:44 +10:00
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
