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13,374 Commits 71 Branches 511 Tags 905 MiB
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5983 Commits

Author SHA1 Message Date
Andrew Tridgell
89755c2bb5 AP_NavEKF: make it clear that all sat counts are covered 2014-10-01 13:12:48 +09:00
Andrew Tridgell
468ebd811c AP_NavEKF: simplify variable handling in EKF 
use named state variables instead of states[] array where possible.
 2014-10-01 13:12:46 +09:00
Randy Mackay
c338b1675f GPS: fix SIRF set-binary message 
This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
 2014-10-01 11:43:24 +09:00
Randy Mackay
2d7f819e1d AC_WPNav: add shift_wp_origin_to_current_pos for takeoff 
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
 2014-09-29 15:28:14 +09:00
priseborough
a6cd04ca4c AP_NavEKF : Fix bug in GPS innovation variance growth calculation 
The uncertainty in acceleration is currently only scaled using horizontal accelerations, however during vertical plane aerobatics and high g pullups, misalignment in angles can cause significant horizontal acceleration error.
The scaling now uses the 3D acceleration vector length to better work during vertical plane high g maneouvres.
This error was found during flight testing with 8g pullups
 2014-09-27 10:34:54 +09:00
priseborough
1f1670279b AP_NavEKF : Fix bug in reset of position, height and velocity states 
If the inertial solution velocity or position needs to be reset to the GPS or baro, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS or baro measurement will be compared to an invalid previous state and will be rejected. This is particularly a problem if IMU saturation or timeout has occurred because the previous states could be out by a large amount
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s.
 2014-09-27 10:34:51 +09:00
priseborough
9c1b4e2332 AP_NavEKF : Explicitly initialise gpsNoiseScaler to default value 2014-09-24 14:29:12 +09:00
priseborough
3233416e43 AP_NavEKF : Reduce weighting on GPS when not enough satellites 
GPS measurement variance is doubled if only 5 satellites, and quadrupled if 4 or less.
The GPS glitch rejection thresholds remain the same
This will reduce the impact of GPS glitches on attitude.
 2014-09-23 20:39:50 +09:00
priseborough
62339c217c AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS 2014-09-23 20:39:48 +09:00
Randy Mackay
9c3379ff48 Compass: always default devid to zero 2014-09-23 20:36:54 +09:00
Randy Mackay
5e197407b9 AC_PosControl: 4hz filter on z-axis velocity error 2014-09-22 13:41:02 +09:00
Randy Mackay
e047093013 AC_PosControl: 2hz filter on accel error 
Replaced hard-coded filter with LowPassFilter class allowing the
filter's to be 2hz on both APM and Pixhawk
 2014-09-22 13:40:59 +09:00
Randy Mackay
9693ee0417 LowPassFilter: add div by zero check 2014-09-22 13:40:57 +09:00
Randy Mackay
ab4b545bb5 AC_WPNav: add loiter_soften_for_landing method 
This resets the position target to the current location.
 2014-09-19 22:41:30 +09:00
priseborough
bf1ccba742 AP_NavEKF : Reduce sensitivity on filter divergence check 
Flying aerobatics with Trad Heli has shown that the divergence check can be false triggered when large magnetometer errors and GPS dropouts are present.
This can also happen with multi rotors if large yaw rates are present.
This was an unintended consequence of the ekfsmoothing patch which improved filter stability during high rate manoeuvres, but made the divergence test more sensitive.
 2014-09-16 10:37:00 +09:00
Andrew Tridgell
939df78a2f HAL_VRBRAIN: fixed storage bug in VRBRAIN too 2014-09-11 20:22:12 +09:00
Andrew Tridgell
d24159204e HAL_PX4: fixed dirty_mask calculation in FRAM storage 
this could lead to a number of bytes on 512 byte boundaries not being
written when changed in ram, so they would revert on next boot
 2014-09-11 20:21:02 +09:00
priseborough
058fb8f3ee AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' 
This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.
 2014-09-11 16:35:27 +09:00
priseborough
01536e0c80 AP_NavEKF : Clean up time stamps 
Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and various calls to the hal.scheduler->millis() object have been consolidated.
 2014-09-11 16:35:25 +09:00
Andrew Tridgell
c8e652432d DataFlash: allow use of a smaller writebuf for PX4v1 
this fixes logging on PX4v1
 2014-09-09 16:45:13 +09:00
Randy Mackay
0aab3a024e TradHeli: update AttControl params to match multicopters 2014-09-09 16:45:12 +09:00
Randy Mackay
7fc5d693c2 INS: add get_accel_health_all and get_gyro_health_all 
Returns true only if all available accels or gyros are healthy
 2014-09-03 11:38:42 +09:00
Randy Mackay
5ead80994e InertialSensor: reorder .cpp file to match .h 
No functional changes
 2014-09-03 11:38:40 +09:00
Emile Castelnuovo
0f2083a9b8 AP_HAL: added missing CONFIG_HAL_BOARD_SUBTYPE #define for HAL_BOARD_VRBRAIN 2014-09-01 10:48:14 +09:00
Emile Castelnuovo
e995641e48 AP_HAL_VRBRAIN: enable 2nd GPS for VRBRAIN 5 2014-08-31 11:40:17 +09:00
Emile Castelnuovo
ada7be6ae1 AP_HAL: VRBRAIN corrected EEPROM size and added terrain folder on MicroSD 2014-08-31 11:40:15 +09:00
Emile Castelnuovo
781f15ba59 AP_relay: added default relay pin for VRBRAIN 2014-08-31 11:40:11 +09:00
Emile Castelnuovo
5d7a2726e2 AP_HAL_VRBRAIN: added management for external relay 1 and 2 2014-08-31 11:40:09 +09:00
Randy Mackay
ff94120fbd AC_WPNav: resolve twitch when passing spline waypoints 
The target positions target velocity was being reset to zero as we
passed through a spline waypoint.
 2014-08-28 17:03:14 +09:00
Randy Mackay
5759a69992 Mission: start next nav cmd immediately after prev completes 2014-08-28 17:03:11 +09:00
Andrew Tridgell
62d526a50d AP_AHRS: use EKF use_compass() if EKF enabled 
this allows magfailed status to show on console via SYS_STATUS health
bits
 2014-08-26 11:23:10 +09:00
Andrew Tridgell
6a654ff461 AP_NavEKF: make use_compass() public 2014-08-26 11:23:07 +09:00
Randy Mackay
ec2308bcd2 AC_AttControl: bug fix for ef target during acro 2014-08-23 22:22:03 +09:00
Randy Mackay
d7d90b4ff8 AC_AttControl: remove debug message 2014-08-22 22:59:53 +09:00
Randy Mackay
06e06438b3 AC_AttControlHeli: integrate div-by-zero check for bf-to-ef conversion 2014-08-22 22:59:47 +09:00
Randy Mackay
91817b0884 AC_AttControl: div-by-zero check for bf-to-ef conversion 2014-08-22 22:59:43 +09:00
Randy Mackay
440f4ebb95 AC_AttControlHeli: add passthrough_bf_roll_pitch_rate_yaw 2014-08-22 21:37:19 +09:00
Robert Lefebvre
9326d36e54 AC_AttitudeControl_Heli: Add use_flybar_passthrough accessor function. 2014-08-22 21:37:08 +09:00
Robert Lefebvre
244d38138e AC_AttitudeControl_Heli: Add passthrough_to_motor_roll_pitch function. 2014-08-22 21:37:06 +09:00
Robert Lefebvre
deaffecbf5 AC_AttitudeControl_Heli: Create Flybar Passthrough flag which will be used for control pass-through. 2014-08-22 21:36:57 +09:00
Andrew Tridgell
308c90f138 HAL_VRBrain: prevent read past end of buffer 2014-08-19 11:12:33 +09:00
Andrew Tridgell
54af047b87 HAL_PX4: prevent read past end of buffer 2014-08-19 11:12:30 +09:00
Andrew Tridgell
57956dbda2 AP_GPS: moved UBX log headers to DataFlash 
headers were not always being written
 2014-08-19 11:09:32 +09:00
Andrew Tridgell
c395a6657a DataFlash: moved UBX logging headers to DataFlash 2014-08-19 11:09:28 +09:00
NullVoxPopuli
86abf82cc7 Copter: Added support for V-Shaped and A-Shaped VTail Quadcopter frames 
Signed-off-by: NullVoxPopuli <LPSego3+dev@gmail.com>
 2014-08-18 14:31:54 +09:00
Randy Mackay
d6890ce878 Notify: remove ToshibaLED support from APM 
This saves about 1k of precious flash
 2014-08-16 10:30:30 +09:00
Andrew Tridgell
b38c9544f9 AP_RangeFinder: make values clearer for APM2 2014-08-15 20:28:22 +10:00
Randy Mackay
0c4ee422a4 Rally: fix comment to clarify altitudes are absolute 2014-08-14 21:10:21 +09:00
Randy Mackay
fd5dee96e4 BaroGlitch: check baro health after alt calculation 
Also correct type of distance_cm internal variable
 2014-08-14 16:03:33 +09:00
Randy Mackay
424a65663a Baro: init members to resolve compiler warning 2014-08-14 16:03:30 +09:00
Randy Mackay
53b073148b BaroGlitch: use baro healthy() 2014-08-14 16:03:21 +09:00
Randy Mackay
280db8725a Arming: use baro healthy() function 2014-08-14 16:03:18 +09:00
Randy Mackay
78b1bf8282 Baro: example sketch to use healthy() function 2014-08-14 16:03:15 +09:00
Randy Mackay
76634ee8c3 Baro_PX4: use healthy flag 2014-08-14 16:03:12 +09:00
Randy Mackay
d29fe51cb3 Baro_VRBrain: use healthy flag 2014-08-14 16:03:09 +09:00
Randy Mackay
24db492131 Baro_MS5611: use healthy flag 2014-08-14 16:03:06 +09:00
Randy Mackay
72f6985bd8 Baro_HIL: use healthy flag 2014-08-14 16:03:04 +09:00
Randy Mackay
fdb38dec5f Baro_BMP085: use healthy flag 2014-08-14 16:03:02 +09:00
Randy Mackay
330d883f97 Baro: add altitude sanity check 
healthy flag made protected
healthy accessor fn added which also check latest calculated altitude
was ok
 2014-08-14 16:02:59 +09:00
Randy Mackay
e9fbea9497 Baro: make get_altitude_difference const 2014-08-14 16:02:55 +09:00
Andrew Tridgell
df3c565cd8 AP_L1_Control: prevent another NaN in L1 2014-08-14 14:10:03 +10:00
Randy Mackay
58257e3858 AC_AttControl: set rate D term filter from ins filter 2014-08-14 11:47:35 +09:00
Randy Mackay
51f40fe3d6 INS: add accessor for mpu6k filter 2014-08-14 11:47:23 +09:00
lthall
329118b7c9 Copter: AC_ATT correct yaw error calculation 2014-08-14 11:47:13 +09:00
lthall
90dc9411a5 Copter: ACRO Error calculation fix 2014-08-14 11:47:08 +09:00
Randy Mackay
46369badb3 ServoRelayEvents: init members to resolve compiler warning 2014-08-14 11:27:35 +09:00
Randy Mackay
d026749f1b Notify: add break to resolve compiler warning 2014-08-14 11:27:34 +09:00
Randy Mackay
039f4740ce Mount: correct comment on set_mode_to_default time 2014-08-14 11:27:34 +09:00
Randy Mackay
5614e42063 Mount: init members to resolve compiler warnings 2014-08-14 11:27:33 +09:00
Randy Mackay
9b9f6cd47a AC_MotorsHeli: init member to resolve compiler warning 2014-08-14 11:27:33 +09:00
Randy Mackay
0e7cbd28c8 INS_HIL: init members to resolve compiler warnings 2014-08-14 11:27:32 +09:00
Randy Mackay
534922adc3 GPSGlitch: init members to resolve compiler warnings 2014-08-14 11:27:31 +09:00
Randy Mackay
a6de3283b6 AHRS_DCM: init members to resolve compiler warnings 2014-08-14 11:27:31 +09:00
Randy Mackay
3fd2b3b4a1 AC_WPNav: init members to resolve compiler warnings 2014-08-14 11:27:30 +09:00
Randy Mackay
af28b74944 Baro_BMP085: init members to resolve compiler warnings 2014-08-14 11:27:29 +09:00
Andrew Tridgell
adb9d462aa GCS_MAVLink: regenerated MAVLink headers 2014-08-14 11:01:59 +10:00
Andrew Tridgell
f9d5715754 GCS_MAVLink: merged latest upstream common.xml 2014-08-14 11:01:41 +10:00
Andrew Tridgell
3357df9529 AP_Mission: fixed example sketch 2014-08-14 10:48:31 +10:00
Andrew Tridgell
e1a13edf3d RC_Channel: fixed example build 2014-08-13 22:12:30 +10:00
Andrew Tridgell
184420355d PID: fixed example build 2014-08-13 22:12:24 +10:00
Andrew Tridgell
b16d84023e Filter: fixed example build 2014-08-13 22:12:20 +10:00
Andrew Tridgell
5025f04cb1 AP_OpticalFlow: fixed example build 2014-08-13 22:12:14 +10:00
Andrew Tridgell
c76c3457fd AP_Menu: fixed example build 2014-08-13 22:12:08 +10:00
Andrew Tridgell
184c4c8ac5 AP_Math: fixed example build 2014-08-13 22:12:04 +10:00
Andrew Tridgell
8e15b4db0d HAL_Empty: fixed example build 2014-08-13 22:12:00 +10:00
Andrew Tridgell
928024854e HAL_AVR: fixed example build 2014-08-13 22:11:53 +10:00
Andrew Tridgell
b61ecb47af AP_HAL: fixed example build 2014-08-13 22:11:46 +10:00
Andrew Tridgell
2502ca3ec7 AP_Declination: fixed example build 2014-08-13 22:11:30 +10:00
Andrew Tridgell
c49981c03d AP_Compass: fixed example build 2014-08-13 22:11:25 +10:00
Andrew Tridgell
1c94b39d6e AP_ADC: fixed example build 2014-08-13 22:11:21 +10:00
Andrew Tridgell
83dc9bf5b3 AC_PID: fixed example build 2014-08-13 22:11:16 +10:00
Andrew Tridgell
ea26f15e5e GCS_Console: fixed example build 2014-08-13 21:48:36 +10:00
Andrew Tridgell
6c19f23ace DataFlash: fixed example build 2014-08-13 21:48:36 +10:00
Andrew Tridgell
8540174854 AP_Rangefinder: fixed example build 2014-08-13 21:48:36 +10:00
Andrew Tridgell
e43cac1b26 AP_Notify: fixed example build 2014-08-13 21:48:36 +10:00
Andrew Tridgell
fddf895d66 AP_Mount: fixed example build 2014-08-13 21:48:36 +10:00
Andrew Tridgell
2e83555892 AP_Motors: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell
ce193f5c5c AP_Mission: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell
917c9f7865 AP_Math: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell
24251a7e12 AP_InertialSensor: fixed example build 2014-08-13 21:48:35 +10:00