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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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- 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
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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
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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
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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
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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
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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
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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
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init_xy_controller also added to capture initialisation all in one place
2014-05-08 16:15:41 +09:00