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15,591 Commits 70 Branches 507 Tags 662 MiB
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15591 Commits

Author SHA1 Message Date
Andrew Tridgell 793a212d28 Travis: removed script breakage 2015-04-06 15:29:57 -07:00
Andrew Tridgell 2f8764d31a AntennaTracker: added LOCAL_POSITION message 2015-04-06 15:29:47 -07:00
Andrew Tridgell 5284211c96 AP_SerialManager: fixed matching bug in protocol_match() 
thanks to Mike Clement for noticing this
 2015-04-06 15:28:03 -07:00
Mike Clement c5c40adb76 GCS_MAVLink: use instance in find_baudrate 2015-04-06 14:47:51 -07:00
Mike Clement 89a50b99bb SerialManager: use instance in find_baudrate 2015-04-06 14:47:11 -07:00
Paul Riseborough 9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell 094910d7e4 Travis: more debugging code 2015-04-05 21:17:20 -07:00
Andrew Tridgell 991d111d91 Travis: another attempt at fixing compiler path 2015-04-05 12:24:54 -07:00
Andrew Tridgell 7048836d1e Travis: make arm compiler install unconditional 2015-04-05 10:57:17 -07:00
Andrew Tridgell 1315ed7ddf Travis: allow upgrade to gcc 4.8 to fail 2015-04-05 09:43:57 -07:00
Andrew Tridgell 36796fb810 Plane: added LOCAL_POSITION_NED message 2015-04-05 09:25:41 -07:00
Andrew Tridgell 4b5a36cc3f Rover: added LOCAL_POSITION_NED message 2015-04-05 09:25:28 -07:00
Andrew Tridgell 29be2f0b60 Copter: send LOCAL_POSITION_NED 
very useful for GPS-disabled operation and EKF debugging
 2015-04-05 09:16:41 -07:00
Andrew Tridgell 6e52ef2a74 GCS_MAVLink: added send_local_position() 2015-04-05 09:16:41 -07:00
Andrew Tridgell baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough 7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell 389148ac54 AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C 2015-04-04 17:03:00 -07:00
Andrew Tridgell 55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell 5a755c0400 AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults 
this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to
override the default parameters for a build. This is useful to build a
firmware that has different default parameters
 2015-04-04 09:01:40 -07:00
Andrew Tridgell 82a51e8791 GCS_MAVLink: use AP_Param::set_param_by_name() 2015-04-04 09:01:40 -07:00
Andrew Tridgell 5ca38e3d75 AP_Param: added set_param_by_name() 
this simplifies the GCS_MAVLink code
 2015-04-04 09:01:39 -07:00
Andrew Tridgell c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough d44cf14178 AP_AHRS : Publish EKF learned compass offsets 2015-04-03 15:24:47 -07:00
Paul Riseborough 10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger 95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell 79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell 3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough 98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough 92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough 5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough 398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough 5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough 14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough 1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough 98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough 961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough 496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough 8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough 19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough 70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00
Paul Riseborough ed9c05cf2a AP_NavEKF: Remove logic used to delay fusion for load levelling 
Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.
 2015-04-03 15:15:07 -07:00
Paul Riseborough c0d23ffc30 AP_NavEKF: Filter accuracy and stability improvements 
Improvements in PX4 firmware have reduced the computational load  and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch:

1) Ensures that a covariance prediction is always performed prior to fusion of any observation
2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step
3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step
 2015-04-03 15:15:07 -07:00