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12255 Commits

Author SHA1 Message Date
Andrew Tridgell 79edc4b467 GCS_MAVLink: re-generate with addition of MAV_SYS_STATUS_AHRS 2014-05-15 21:14:21 +10:00
Andrew Tridgell ccebeba5a5 GCS_MAVLink: added MAV_SYS_STATUS_AHRS 
will be used to indicate AHRS health
 2014-05-15 21:14:21 +10:00
priseborough deb16ac5bb Replay: Add EKF fault status logging message to EKF4 2014-05-15 21:14:21 +10:00
priseborough f01cc78d37 DataFlash: Add EKF fault status logging 2014-05-15 21:14:21 +10:00
priseborough ce8e1daa16 AP_NavEKF: Improved divergence detection and reset 
Divergence is now detected by looking for very large changes in the gyro
bias. This will cause the filter to be reset and declared unhealthy for
10 seconds.

Don't reset filterDiverged status immediately during reset

Set filterDiverged true if covariance blows up

Add fault status reporting
 2014-05-15 21:14:21 +10:00
Andrew Tridgell 5d2d6e0063 GCS_MAVLink: regenerated MAVLink headers 2014-05-15 21:14:21 +10:00
Andrew Tridgell 983ac9cbf4 GCS_MAVLink: merge in latest upstream XML changes 2014-05-15 21:14:21 +10:00
Andrew Tridgell 1a05c27bbb AP_AHRS: added healthy() function 
this will be used to report when the AHRS subsystem becomes unhealthy
 2014-05-15 21:14:21 +10:00
Andrew Tridgell 086142580a AP_InertialSensor: added VibTest sketch 
logs all accel data at high rate to SD card
 2014-05-15 21:14:21 +10:00
Andrew Tridgell 47926dc6ea Replay: fixed for changes to AP_Compass HIL API 2014-05-15 21:14:21 +10:00
Jonathan Challinger e883b889b6 SITL: Add compassmot interference 2014-05-15 21:14:20 +10:00
Randy Mackay 409a593c1a Plane: prepended APM to RSSI_PIN's @Values 
This makes it consistent with rover and copter and clarifies where the
pin is on the Pixhawk
 2014-05-15 17:13:48 +09:00
Randy Mackay d7e015db89 Rover: add Pixhawk pin to RSSI_PIN's @Value 
Also prepended APM2 to existing values.  Added A2 to list to be
consistent with plane and copter
 2014-05-15 17:13:46 +09:00
Randy Mackay 9f81e286d1 Copter: add Pixhawk pin to RSSI_PIN's @Value 
Also prepend APM2 to existing definitions
 2014-05-15 17:13:43 +09:00
Randy Mackay 8b92ff4695 Rover: remove unused RELAY_PIN definition 
This is now part of the AP_Relay library
 2014-05-15 17:13:40 +09:00
Randy Mackay 4ebde25a26 AP_Relay: add -1:Disabled to list of param values 2014-05-15 17:13:37 +09:00
Randy Mackay f7a9ee24ef Copter: minor comment update 2014-05-15 16:21:35 +09:00
Randy Mackay 715e9c0474 Copter: reset mission when disarming 2014-05-15 16:21:32 +09:00
Randy Mackay 7d4c74c28e Copter: when leaving AUTO only stop mission if running 
This resolves an issue in which the mission would not automatically
start from the beginning if it had previously been run to completion
 2014-05-15 16:21:30 +09:00
Randy Mackay 5d20594fa4 AC_WPNav: bug fix for loiter and waypoint update rate 
Thanks to EmileC for spotting this
 2014-05-12 20:13:46 +09:00
Andrew Tridgell 48919b6253 Rover: use EKF velocity for high rate ground_speed updates 
this may give smoother throttle response when the EKF is enabled
 2014-05-11 21:39:06 +10:00
Andrew Tridgell 85ebe81ed3 AP_NavEKF: fixed logic for divergence test 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-11 18:00:38 +10:00
priseborough 40dc0e56fe AP_NavEKF: Add protection for badly conditioned innovation variances 2014-05-11 18:00:38 +10:00
priseborough 925c5751bd AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding 
This will enable in-flight magnetometer calibration to be inhibited unconditionally,
This is required for long balloon carriage flights where ground speed can be high
enough to put it into in-air state, but with very poor observability of magnetic field
states causing bad state estimates and heading offsets to develop over time.

The covariance matrix no longer has rows and columns artificially zeroed when in static
mode. Instead booleans indicating whether wind or magentic field state estimation is
active are used to:

a) Set the process noise on these states to zero to stop their variances from increasing
unchecked when not being updated, and
b) Turn off updates for these states when measurement fusion is being performed.

This reduces the likelihood of a badly conditioned covariance matrix forming
during static mode operation.

A filter divergence check has also been added that will declare the filter unhealthy if
position, velocity and magnetic field observations are all failing their innovation
consistency checks. This unhealthy status will persist for 10 seconds after the
condition clears.

AP_NavEKF: Remove unnecessary zeroing of wind covariances
 2014-05-11 18:00:38 +10:00
priseborough 3026ccee13 AP_NavEKF: Use baro data during launch transients whilst in static mode 
Baro data can be used as it will still be valid during the launch and
is not a synthesised measurement.
 2014-05-11 18:00:38 +10:00
Randy Mackay a38e00c048 Copter: remove unused HIGH, LOW definitions 
Minor commit to kick off the auto build so AC3.2-rc1 will go out
 2014-05-09 16:35:21 +09:00
Randy Mackay 3f329d0857 Copter: version to AC3.2-rc1 2014-05-09 13:48:47 +09:00
Randy Mackay e75d6a2da6 Copter: remove meaningless check from motor_test 2014-05-09 13:48:44 +09:00
Randy Mackay 0c7a3f1ec5 Copter: remove unused Log_Write_GPS function 2014-05-09 13:48:41 +09:00
Randy Mackay b4dcad725c Copter: remove unused servo_write function 2014-05-09 13:48:38 +09:00
Randy Mackay 1e8b99ad17 Copter: update release notes for AC3.2-rc1 2014-05-09 13:48:35 +09:00
Randy Mackay 05f5164dfa Mission: rename AUTORESET to RESTART 2014-05-09 11:31:37 +09:00
Andrew Tridgell cc1b75ad29 autotest: restore timeout in log download 
this removes the debug code now that the issue has been found (it was
an old version of pymavlink causing the problem)
 2014-05-09 09:50:22 +10:00
Andrew Chapman 3f0a52cb53 Copter: ch7/8 switch for auto pause/continue 
- added new mode for CH7/CH8 (#24, auto mission reset)
- changed mission.start() to mission.start_or_resume() in auto_init()
 2014-05-08 23:09:42 +09:00
Andrew Chapman 8640e11728 Copter: bug fix rally point landing target 
was drifting toward home by some distance as (0,0,0) was hard-coded in
control_rtl.pde. Fixed, tested in SITL
 2014-05-08 23:09:40 +09:00
Hug0 6b0d5f9770 AP_InertialNav: fix pos error degradation rate 
degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
 2014-05-08 23:09:39 +09:00
Andrew Tridgell 73dc32108f autotest: try to debug log download timeouts 2014-05-08 17:38:49 +10:00
Randy Mackay badc127c34 AC_WPNav: fix example sketch 2014-05-08 16:25:13 +09:00
Randy Mackay 9b6a4e0fc7 AC_Sprayer: fix example sketch 2014-05-08 16:25:11 +09:00
lthall 9ab9eaec25 AC_WPNav: Loiter jerk default to 10m/s/s/s 
Pair programmed with Randy
 2014-05-08 16:16:05 +09:00
Randy Mackay 197d83e32a Copter: bug fix to sport roll pitch control 2014-05-08 16:16:02 +09:00
Randy Mackay 0af9d502d9 Copter: set pos controller speeds before circle init 
This ensures stopping point is calculated correctly
 2014-05-08 16:15:59 +09:00
Randy Mackay 1cb297580f Copter: reduce Circle init twitch by using stopping point 2014-05-08 16:15:57 +09:00
Randy Mackay 3cc5b9446f Copter: AUTO and Guided call wp_and_spline_init 2014-05-08 16:15:55 +09:00
Randy Mackay 11918869a5 Copter: RTL calls wp_and_spline_init 2014-05-08 16:15:52 +09:00
Randy Mackay 091ff91a70 WPNav: add wp_and_spline_init to set speeds an init pos controller 2014-05-08 16:15:50 +09:00
Randy Mackay c13db680b7 AC_PosControl: remove reset_I_xy 
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
 2014-05-08 16:15:48 +09:00
Randy Mackay cd8b1f278c AC_PosControl: remove unused _cos_yaw variable 
Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
 2014-05-08 16:15:46 +09:00
Randy Mackay 48ec0caf75 AC_WPNav: run navigation at 10hz in SITL 2014-05-08 16:15:44 +09:00
Randy Mackay 0819e05896 AC_PosControl: lean_angles_to_accel added for smooth initialisation 
init_xy_controller also added to capture initialisation all in one place
 2014-05-08 16:15:41 +09:00