Paul Riseborough
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
2014-02-27 08:12:10 +11:00
Paul Riseborough
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
2014-02-27 08:12:03 +11:00
Andrew Tridgell
8b59e564ba
AP_NavEKF: improved replay timing
2014-02-27 08:11:04 +11:00
Andrew Tridgell
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
2014-02-27 08:10:42 +11:00
Andrew Tridgell
66f238c0da
AP_NavEKF: support 400Hz replay from 50Hz logs
2014-02-26 19:34:01 +11:00
Andrew Tridgell
3fa2207a2d
AP_HAL: allow for microsecond resolution in scheduler->stop_clock()
...
this makes 400Hz in the replay code possible
2014-02-26 19:33:39 +11:00
Andrew Tridgell
6fc5c12f1d
AP_AHRS: remove unused variable
2014-02-26 10:28:12 +11:00
Andrew Tridgell
866e32f059
AP_Motors: removed unused variable
2014-02-26 09:40:39 +11:00
Andrew Tridgell
37394b30ee
Copter: added support for 2nd GPS
2014-02-26 09:40:29 +11:00
Andrew Tridgell
82ffc0ff2b
Rover: support a 2nd GPS
2014-02-26 09:24:23 +11:00
Andrew Tridgell
07826096a2
Plane: support a 2nd GPS
2014-02-26 09:24:23 +11:00
Andrew Tridgell
e410733682
DataFlash: added GPS2 logging
2014-02-26 09:19:00 +11:00
Andrew Tridgell
0115b9fa07
HAL_SITL: support a 2nd GPS
2014-02-26 08:19:47 +11:00
Andrew Tridgell
836f473db2
HAL_FLYMAPLE: no uartE
2014-02-26 08:19:20 +11:00
Andrew Tridgell
58d5454d65
HAL_Empty: no uartE
2014-02-26 08:19:18 +11:00
Andrew Tridgell
6c74ca58c3
HAL_AVR: no uartE
2014-02-26 08:19:15 +11:00
Andrew Tridgell
4cb61f1f08
AP_HAL: support uartE
2014-02-26 08:18:20 +11:00
Andrew Tridgell
bf2dd141e9
HAL_PX4: support uartE for 2nd GPS
2014-02-26 08:18:11 +11:00
Andrew Tridgell
95dd252f29
Plane: pass fix type to gps->setHIL()
2014-02-25 21:11:15 +11:00
Andrew Tridgell
2fcbdc4056
Copter: pass fix type to gps->setHIL()
2014-02-25 21:11:10 +11:00
Andrew Tridgell
50f89d0aa6
Rover: pass fix type to gps->setHIL()
2014-02-25 21:11:06 +11:00
Andrew Tridgell
63874dfffd
AP_NavEKF: set fix type in GPS replay
2014-02-25 21:10:49 +11:00
Andrew Tridgell
d7b2a09919
AP_GPS: added fix type to setHIL
2014-02-25 21:10:30 +11:00
Andrew Tridgell
09cce5d24e
AP_NavEKF: fixed replay with current copter logs
2014-02-25 20:56:53 +11:00
Jonathan Challinger
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
...
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
2014-02-25 18:49:16 +11:00
Paul Riseborough
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
2014-02-25 15:55:44 +11:00
Andrew Tridgell
8a4289b56f
Plane: remove unused variables
...
thanks to Mike McCauley
2014-02-24 18:49:14 +11:00
Andrew Tridgell
11028c665d
Rover: removed unused variables
...
thanks to Mike McCauley
2014-02-24 18:48:55 +11:00
Andrew Tridgell
7a6f671659
AP_GPS: added have_vertical_velocity() function
...
for use by EKF
2014-02-24 18:24:10 +11:00
Andrew Tridgell
c1f9be75fe
autotest: fly the cruise rudder circuit a bit faster
2014-02-24 12:08:33 +11:00
Andrew Tridgell
a273951f70
HAL_Linux: added missing Util.cpp
2014-02-24 11:59:24 +11:00
Andrew Tridgell
eac4b1ec96
Rover: fixed EKF usage for rover
...
added barometer object, and use shared home object from AHRS. This
gives basic EKF operation.
2014-02-24 09:25:50 +11:00
Andrew Tridgell
203073e3ba
Rover: only use pivot steering in AUTO modes
2014-02-24 08:23:20 +11:00
Paul Riseborough
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
2014-02-23 19:50:37 +11:00
Paul Riseborough
01c84c3f47
AP_NavEKF : fixed bug in height limit range
2014-02-23 19:50:36 +11:00
Paul Riseborough
36d619ec3a
AP_NavEKF : Changed default IMU bias process noise to use smallest value
2014-02-23 19:50:36 +11:00
Paul Riseborough
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
2014-02-23 19:50:35 +11:00
Paul Riseborough
939a32a7bb
AP_NavEKF : Improved stability of Z accel bias
2014-02-23 19:50:34 +11:00
Paul Riseborough
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
2014-02-23 19:50:34 +11:00
Andrew Tridgell
6732d6c79b
AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL
2014-02-23 19:10:07 +11:00
Andrew Tridgell
5d7346b5c2
HAL_SITL: fixed build with new HIL INS API
2014-02-23 19:09:41 +11:00
Andrew Tridgell
4bcf9b5d98
Plane: fixed logging of relative altitude
2014-02-23 08:18:43 +11:00
Andrew Tridgell
492e65acde
Plane: fix for HIL API change
2014-02-23 08:18:31 +11:00
Andrew Tridgell
ffcc77a21f
Copter: fix for HIL API change
2014-02-23 08:18:20 +11:00
Andrew Tridgell
4ed2630f4f
Rover: fix for HIL API change
2014-02-23 08:18:15 +11:00
Andrew Tridgell
ffbd655ba0
AP_NavEKF: support dual sensors in log replay, and fix flight altitude
2014-02-23 08:17:55 +11:00
Andrew Tridgell
707cc2b532
AP_NavEKF: allow log filename to be specified in replay
2014-02-23 08:17:01 +11:00
Andrew Tridgell
0e18079c47
AP_InertialSensor: allow HIL sensors to support multiple instances
...
this allows log replay to test both sets of sensors on a Pixhawk log
2014-02-23 08:16:33 +11:00
Andrew Tridgell
735c6449a1
AP_HAL: added support for commandline arguments
...
useful for log replay, specifying log file
2014-02-23 08:15:39 +11:00
Andrew Tridgell
4e56196655
AP_NavEKF: allow states to be accessed using names as well as a Vector22
2014-02-21 20:24:47 +11:00
