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7b02d326f6
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6081 Commits

Author SHA1 Message Date
Andrew Tridgell
7b02d326f6 AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled 
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-10-09 18:30:20 +11:00
Andrew Tridgell
39fadad7d6 HAL_Linux: fixed build warnings 2014-10-09 16:49:23 +11:00
Andrew Tridgell
b3894e8b10 HAL_VRBRAIN: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Andrew Tridgell
10b0ca7ea8 HAL_PX4: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Andrew Tridgell
c834589daa HAL_Linux: reduce the number of times we split up UART reads 2014-10-09 12:29:25 +11:00
Andrew Tridgell
076bb1294e HAL_Linux: improved UDP packetisation and add flow control reporting 
report we have flow control on UDP and TCP
 2014-10-09 12:29:25 +11:00
Randy Mackay
834f2bea07 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:00:07 +09:00
Andrew Tridgell
70ca87c4e6 AP_RangeFinder: handle all I2C rangefinder types on PX4 in PX4Firmware 2014-10-09 11:06:16 +11:00
Andrew Tridgell
cebfef3ead HAL_Linux: don't accept less than 5 input channels 2014-10-09 09:19:35 +11:00
Andrew Tridgell
a3fee16604 HAL_Linux: added DSM/Spektrum RCInput support 
this decodes DSM using the RCIN pulses from the PRU
 2014-10-08 12:50:50 +11:00
Andrew Tridgell
3e3f87188b HAL_Linux: enable DSM power pin 2014-10-08 12:50:50 +11:00
Andrew Tridgell
50e5ae6f7a HAL_Linux: added low level DSM decoder 
based on dsm.c from PX4 project
 2014-10-08 12:50:50 +11:00
Andrew Tridgell
9b207d029d HAL_Linux: change ring buffer to 300 entries 2014-10-07 14:57:34 +11:00
Andrew Tridgell
b1845ed00d HAL_Linux: initial support for parallel SBUS and PPM-SUM decoding 2014-10-07 14:57:34 +11:00
Andrew Tridgell
42e9dc3c31 HAL_Linux: added SBUS decoder from PX4 project 
thanks Lorenz!
 2014-10-07 14:57:34 +11:00
Andrew Tridgell
809b6cc855 AP_AHRS: added get_yaw_rate_earth() 
used to estimate course correction on takeoff
 2014-10-07 07:17:46 +11:00
Craig Elder
be352e9471 AP_GPS: Removed CFG-DAT message from 3DR-Ublox-NEO7 
CFG-DAT is generated by U-Center but no longer used by the receiver.
 2014-10-06 11:21:42 -07:00
Andrew Tridgell
e0e534628b HAL_Linux: support direct UDP output from UART drivers 
this allows safe operation over WiFi links without MAVProxy
 2014-10-06 15:13:03 +11:00
Randy Mackay
1754cacf3c AC_PosControl: remove completed to-do comments 2014-10-04 23:49:24 +09:00
Randy Mackay
f65e81cb07 AC_AttControl: remove some old comments 2014-10-04 23:49:21 +09:00
Randy Mackay
793ed20534 CoaxCopter: set throttle upper and lower flags 2014-10-04 23:49:19 +09:00
Randy Mackay
57f6d0ff60 SingleCopter: set throttle upper and lower flags 2014-10-04 23:49:16 +09:00
Randy Mackay
85fb4b122a MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag 
Also trigger throttle_upper flag when throttle in reaches 1000
 2014-10-04 23:49:14 +09:00
Randy Mackay
91e5201439 Tri: _min_throttle interpreted as 0~1000 range for throttle_lower flag 
limit.throttle_lower flag becomes true when the throttle passed into the
motors lib (which is in the 0 ~ 1000 range) is below _min throttle.
This makes the interpretation of the THR_MIN parameter consistent
between the main code (which uses 0 ~ 1000 range) and the motors lib
(which previously used the RC3_MIN ~ RC3_MAX range).
The remaining problem however is that the output of the motors continues
to use THR_MIN as if it were a pwm.  I don't believe this is a dangerous
problem however.
 2014-10-04 23:49:11 +09:00
Craig Elder
7367ea04a7 AP_GPS: Adding support for the NEO7 GPS 2014-10-03 03:21:28 -07:00
priseborough
8aa267f75f AP_NavEKF : Fix bug in reset of GPS glitch offset 
The GPS glitch offset was being zeroed during position resets. This caused the filter to reject subsequent GPS measurements if the GPS error persisted long enough to invoke a timeout and a position reset.
 2014-10-03 09:17:03 +10:00
Randy Mackay
b3bbec24e4 RangeFinder: TYPE param description to PX4-I2C 2014-10-02 20:24:14 +09:00
Randy Mackay
8ce4893180 RangeFinder: TYPE param description to PX4-MaxbotixI2C 
This hopefully reduces confusion for PX4/Pixhawk users with MaxBotix I2C
sonar
 2014-10-02 16:49:15 +09:00
Randy Mackay
85eee31510 AHRS: rename ekfNotStarted method to initialised 
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
 2014-10-02 14:40:54 +09:00
priseborough
7cea7c6a18 AP_AHRS : add method to report if EKF is waiting to start 2014-10-02 14:38:29 +09:00
Andrew Tridgell
60aa017e11 GCS_MAVLink: added handle_set_mode() function 2014-10-01 14:19:04 +10:00
Randy Mackay
7caa611eb1 Compass_HIL: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
86aac4f40c Compass_HMC5843: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
900896977c Compass_VRBrain: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
85e82a0399 Compass_PX4: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
023b6afe8b Compass: add ORIENT2 and EXTERNAL2 params 2014-10-01 13:02:03 +10:00
Randy Mackay
16058cb730 Compass_VRBrain: primary compass based on use_for_yaw 2014-10-01 13:02:02 +10:00
Randy Mackay
01fa4ba619 Compass_PX4: primary compass based on use_for_yaw 2014-10-01 13:02:02 +10:00
Randy Mackay
798cc36e64 Compass: use_for_yaw for each compass 2014-10-01 13:02:02 +10:00
Randy Mackay
84d792216e Compass: use_for_yaw to use primary compass health 
This allows the internal compass to be used if the external compass
fails.
 2014-10-01 13:02:02 +10:00
Andrew Tridgell
d6c56b8f7a AP_NavEKF: make it clear that all sat counts are covered 2014-10-01 12:55:29 +10:00
Andrew Tridgell
a1f5be5b9e AP_NavEKF: simplify variable handling in EKF 
use named state variables instead of states[] array where possible.
 2014-10-01 12:55:29 +10:00
priseborough
8223a0d193 AP_NavEKF : Explicitly initialise gpsNoiseScaler to default value 2014-10-01 12:55:29 +10:00
priseborough
b61a6c64d7 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.
 2014-10-01 12:55:29 +10:00
priseborough
7370e07c8d AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS 2014-10-01 12:55:29 +10:00
priseborough
f99f5759f5 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
 2014-10-01 12:55:29 +10:00
priseborough
f0ee11e951 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.
 2014-10-01 12:55:28 +10:00
Randy Mackay
e7b4a02d26 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 11:42:31 +09:00
Andrew Tridgell
f6cc8ce5bc GCS_MAVLink: fixed log erase and log request end 2014-10-01 11:45:51 +10:00
Randy Mackay
47c135c4e1 GCS_MAVLink: add comments around checking target 2014-09-30 15:18:35 +10:00