Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 08:58:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
25,391 Commits 71 Branches 510 Tags 771 MiB
7be0f437a9
Commit Graph

13176 Commits

Author SHA1 Message Date
priseborough
60ebe97e10 AP_InertialSensor: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough
509709ce9d AP_Motors: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough
453ced4a38 AP_GPS: remove unused EKF1 include 2016-12-19 08:07:11 +11:00
priseborough
bb29c74e52 AP_NavEKF: remove EKF1 2016-12-19 08:07:11 +11:00
priseborough
809bfc1154 GCS_MAVLink: replace call to EKF1 
Return hagl from primary EKF
 2016-12-19 08:07:11 +11:00
priseborough
f70cc3cf34 AP_InertialNav: remove EKF1 2016-12-19 08:07:10 +11:00
priseborough
6d086e0c31 AP_Mount: remove EKF1 2016-12-19 08:07:10 +11:00
priseborough
78f89e0663 AP_Beacon: Update parameters for EKF3 testing 2016-12-19 08:07:10 +11:00
priseborough
33a7c682a3 AP_AHRS: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Andrew Tridgell
b00ec26957 DataFlash: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Andrew Tridgell
75688c8342 AP_OpticalFlow: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
priseborough
7202acc1b5 AP_NavEKF3: Default EKF3 to off 
Will revert this and set EKF2 to off by default after testing is completed on all platform types
 2016-12-19 08:07:09 +11:00
priseborough
39969e7d8e AP_NavEKF3: added EKF3 for EKF experimentation 
AP_NavEKF3: Implement same maths as PX4/ecl EKF

Replace attitude vector states with quaternions
Remove gyro scale factor states
Add XY accel delta velocity bias estimation
Initial tuning
Add GPS body frame offset compensation

AP_NavEKF3: Fix bugs and consolidate aiding switch logic

Switching in and out of aiding modes was being performed in more than one place and was using two variables.
The reversion out of GPS mode due to prolonged loss of GPS was not working.
This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function.

AP_NavEKF3: prevent multiple fusion mode changes per filter update

AP_NavEKF3: Update tuning defaults

AP_NavEKF3: Fix bug causing switching in and out of aiding
If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding.
This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed.
An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS.

AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers
This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset.

AP_NavEKF3: Improve switch-over to backup magnetometer
When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected.

AP_NavEKF3: enable automatic use of range finder height

AP_NavEKF3: Fix bug in handling of invalid range data

AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3:

AP_NavEKF3: Handle yaw jumps due to core switches

AP_NavEKF3: Enable simultaneous GPS and optical flow use

AP_NavEKF3: fix console status reporting

AP_NavEKF3: send messages to mavlink instead of console

This allows the GCS to better handle the display of messages to the user.

AP_NavEKF3: replace deprecated function call

AP_NavEKF3: Compensate for sensor body frame offsets

AP_NavEKF3: Fix bug in median filter code

AP_NavEKF3: save some memory in the position offsets in EKF3

We don't need to copy that vector3f for every sample. A uint8_t does the job

AP_NavEKF3: Add fusion of range beacon data

AP_NavEKF3: Bring up to date with EKF2

AP_NavEKF3: Misc range beacon updates

AP_NavEKF3: Add mising accessors

AP_NavEKF3: remove duplicate include

AP_NavEKF3: Prevent NaN's when accessing range beacon debug data

AP_NavEKF3: Update range beacon naming

AP_NavEKF3: updates

AP_NavEKF3: miscellaneous changes

AP_NavEKF3: misc updates

AP_NavEKF3: misc range beacons updates

AP_NavEKF3: add missing rover default param
 2016-12-19 08:06:47 +11:00
Andrew Tridgell
ab05472e0e AP_AHRS: added EKF3 for EKF experimentation 
Conflicts:
	libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
 2016-12-18 10:28:04 +11:00
priseborough
fd8916ef38 DataFlash: fix Baro 3 labels 2016-12-18 10:28:04 +11:00
priseborough
cd669738a5 AP_Beacon: fix SITL param error 2016-12-18 10:28:04 +11:00
priseborough
fe69d9a0ea AP_NavEKF2: remove duplicate include 2016-12-18 10:28:04 +11:00
priseborough
a8f3a374e2 AP_NavEKF2: replace sqrt function calls with sqrtf 
Prevents compiler errors and un-wanted use of double precision types
 2016-12-18 10:28:04 +11:00
Lucas De Marchi
b0ddf81687 Remove stdbool.h include for C++ sources 
This header is not needed in our C++ sources.
 2016-12-16 11:38:52 -08:00
Andrew Tridgell
790d186c6c AP_Compass: switched to unified Invensese driver for AK8963 2016-12-16 12:31:34 +11:00
Andrew Tridgell
65b9b86099 AP_InertialSensor: unify MPU6000 and MPU9250 drivers 
make a single AP_InertialSensor_Invensense driver. This avoids a lot
of duplication and will save time as new varients are added
 2016-12-16 12:31:34 +11:00
murata
0f486aeecb AC_Fence: shorten calculation of return value 2016-12-15 10:42:48 +09:00
Tom Pittenger
3e2098192b AP_Landing: add is_complete() accessor 2016-12-14 04:32:30 -08:00
Tom Pittenger
f09007cbe9 AP_Landing: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00
Tom Pittenger
7daf1a87be AP_Landing: non-functional change - re-organizing header declarations 2016-12-14 04:32:30 -08:00
Tom Pittenger
e061e1734c AP_Landing: abstract land abort request method 2016-12-14 04:32:30 -08:00
Randy Mackay
d41467424b DataFlash: fix to suppressing comment for case fall through 
no functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:25:15 +09:00
Randy Mackay
0dd7e78c2b RangeFinder: fix to suppressing comment for case fall through 
no functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:31 +09:00
Randy Mackay
2da7ea746b MotorsHeli: minor formatting updates 2016-12-14 13:21:59 +09:00
Leonard Hall
a09d4db4fd AP_MotorsMulticopter: fix battery resistance calculation 2016-12-14 11:07:29 +09:00
priseborough
76106889d5 AP_NavEKF2: Prevent unwanted core switch on startup 
Require primary core to be healthy for 10 seconds before starting selection logic
 2016-12-13 01:18:28 +00:00
Andrew Tridgell
8a1275356d AP_Baro: moved MS5611 reset before prom read 
thanks to Jacob and Lucas for pointing this out
 2016-12-13 11:10:35 +11:00
murata
b48ea53f60 Revert "AC_Fence: Activate the create flag." 
This reverts commit c63a6a2738.
 2016-12-09 23:55:29 +00:00
Andrew Tridgell
be9ac273ce AP_Param: apply notify check to AP_ParamV too 
thanks to Francisco
 2016-12-09 14:36:01 -08:00
Andrew Tridgell
a440ac4c9d AP_Compass: use a set_and_notify for external and IDs 
ensure that GCS that connects quickly gets the right value
fixes issue #5364
 2016-12-09 14:36:01 -08:00
Andrew Tridgell
eaa68f32e3 AP_Param: avoid a notify if value is already correct 2016-12-09 14:36:01 -08:00
priseborough
69f3c83c20 AP_NavEKF2: Don't use speed switch criteria when speed estimate is invalid 
Prevent unwanted switches from range finder to Baro height aiding due to triggering of the speed threshold
 2016-12-09 21:17:28 +00:00
priseborough
14a0155f5e AP_NavEKF2: Allow threshold speed for range finder use to be adjusted 2016-12-09 21:17:28 +00:00
Lucas De Marchi
899fce53ff AP_Compass: IST8310: minor fixes and refactors 
- Inline code that needs to take and release the lock in init()
    function, just like other drivers
  - Minor changes to coding style and renames to be similar to other
    drivers
 2016-12-09 10:08:37 -08:00
Georgii Staroselskii
f061572e13 AP_Compass: add IST8310 support 
One needs to specify I2C address and a bus number in AP_Compass.cpp to use it.
 2016-12-09 10:08:37 -08:00
murata
c63a6a2738 AC_Fence: Activate the create flag. 2016-12-09 17:25:27 +00:00
Randy Mackay
b296bc1d00 GPS: MAV driver fix for sanity checks of cog, sat count 2016-12-08 15:52:26 +09:00
Randy Mackay
8118222946 GPS: MAV driver fix for GPS_INPUT altitude 2016-12-08 15:52:26 +09:00
Randy Mackay
9e62f12dd7 GPS: MAV driver gets support for HIL_GPS message 2016-12-08 15:52:26 +09:00
Randy Mackay
9fc0bc19e7 AP_Beacon: fix potential out-of-bounds write to beacon_state 
uncovered by covarity and wickedshell
 2016-12-08 15:39:37 +09:00
Ivan Smirnov
d4d35bdcbd AP_HAL_Linux: Scheduler: added _timer_tick for uartD 2016-12-07 10:25:00 -08:00
murata
25e47cce6b AP_NavEKF2: Changed sqrt method to sqrtf method. 
AP_NavEKF2: Changed sqrt method to sqrtf method.
 2016-12-07 15:41:41 +00:00
Andrew Tridgell
05d9455f87 Revert "HAL_PX4: Add input parameter check." 
This reverts commit 5f41b09fde.

This change is completely incorrect. It is quite common to do SPI
transfers with zero send bytes, and is required for many sensors and
other devices
 2016-12-07 12:47:10 +11:00
Jonathan Challinger
6e47bed97d AP_RangeFinder: fix hard fault with LightWareI2C 2016-12-07 07:52:38 +11:00
Pierre Kancir
556993d7f0 AP_Math: Vector2 add == operator for int 2016-12-06 09:31:21 -08:00
Pierre Kancir
6bf1322633 AP_Math: polygon.cpp correct float comparison 2016-12-06 09:31:21 -08:00
Pierre Kancir
385e5badd8 Ap_Compass: LIS3MDL fix order 2016-12-06 09:31:21 -08:00
Pierre Kancir
c49c851a57 Ap_Compass: AK09916 fix order 2016-12-06 09:31:21 -08:00
Pierre Kancir
8ef5067e12 AP_Motors: MotorsHeli_Single utilize an explicit type cast to avoid the loss of a fractional part. 2016-12-06 06:25:15 -08:00
Tom Pittenger
03b5523b43 AP_Landing: abstract out init_start_nav_cnd work to landing lib 
This reverts commit 3e89580383 and fixes it
 2016-12-06 03:45:17 -08:00
Andrew Tridgell
3e89580383 Revert "AP_Landing: abstract out init_start_nav_cnd work to landing lib" 
This reverts commit 8d8775125a.

doesn't build
 2016-12-06 17:32:10 +11:00
Tom Pittenger
8d8775125a AP_Landing: abstract out init_start_nav_cnd work to landing lib 2016-12-05 18:43:47 -08:00
Tom Pittenger
2d8c9c5129 AP_Landing: added missing break 2016-12-05 18:43:15 -08:00
Michael du Breuil
f9acca67d3 AP_Mission: Align with spec better 
Location is out of spec for NAV_RETURN_TO_LAUNCH

NAV_LOITER_UNLIM couldn't roundtrip the provided loiter radius
 2016-12-05 17:31:36 -08:00
Tom Pittenger
84bdf15203 AP_Airspeed: updated comment to match PR 2016-12-05 17:19:57 -08:00
jinchengde@gmail.com
efd0f0b832 modify NavEKF2 for AHRS Test 2016-12-05 17:10:23 -08:00
murata
d619d33374 AP_HAL_PX4: UARTDriver: Delete the condition that does not hold. 2016-12-05 16:53:36 -08:00
Andrew Tridgell
eea7758a63 AP_Baro: added GND_EXT_BUS option 
this is needed to enable probing for a MS5611 on external I2C bus. The
MS5611 looks the same as a MS5525 airspeed sensor, so we can't just
auto-probe. Users will need to enable external barometers
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
43bac678cd AP_Airspeed: Added MS5525 airspeed driver 
also improved averaging in MS4525 driver
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
04731dccd6 AP_Airspeed: rename MS4525 driver 
ready for new driver types
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
e2192d5b4d HAL_PX4: report user bus number not system bus number 2016-12-05 16:51:49 -08:00
Andrew Tridgell
c657ad449b AP_HAL: added get_bus_address() 
used to report sensor probing results in drivers
 2016-12-05 16:51:49 -08:00
Andrew Tridgell
60c29417f1 AP_HAL: added uint16 access functions 2016-12-05 16:51:49 -08:00
Andrew Tridgell
bc33c19f21 AP_IRLock: fixed build 2016-12-05 16:51:49 -08:00
Andrew Tridgell
8b8837ab72 GCS_MAVLink: fixed build 2016-12-05 16:51:49 -08:00
Andrew Tridgell
bdc41446ae AP_OpticalFlow: fixed build 2016-12-05 16:51:49 -08:00
Andrew Tridgell
14a1f559c7 AP_Airspeed: added ARSPD_TYPE and use standard driver backend methods 
this will allow for new sensor types
 2016-12-05 16:51:49 -08:00
Tom Pittenger
b614b41d6d AP_TECS: fixed compiler warning 
- AP_Landing _landing was declared out-of-order
 2016-12-05 16:46:55 -08:00
Tom Pittenger
725a9c40a6 AP_Landing: fixed compiler warnings 
- init variable out of order, callbacks were declared first
 2016-12-05 16:15:20 -08:00
Pierre Kancir
79a9e8dfad AP_Math: Matrix_alg fix implicite cast from bool to float 2016-12-05 12:39:31 -08:00
Pierre Kancir
f54cf6e097 AP_NavEKF: storeIndex remove second initialisation 2016-12-05 12:39:31 -08:00
Pierre Kancir
de05e6ba29 InertialSensor : MPU9250 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 12:39:30 -08:00
Pierre Kancir
13c16e187f InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part 2016-12-05 10:59:45 -08:00
Pierre Kancir
a5161edc97 SITL: remove duplicate 2016-12-05 10:59:45 -08:00
Pierre Kancir
421524951f AC_PosControl: remove unnecessary parentheses 2016-12-05 10:59:45 -08:00
Pierre Kancir
fb7a00799f AP_Math: quaternion fix missing return 2016-12-05 10:33:41 -08:00
Florent Martel
abc2cdb61b AP_FrSky_Telem: fixed sign of vertical velocity (+ve up) 2016-12-04 15:05:16 -08:00
Pierre Kancir
f9c8827809 SITL: Scheduler correct misplaced parenthese && switch to do while loop 2016-12-04 18:28:14 +00:00
murata
86e495f415 AP_Arming: Do not set check results each time. 2016-12-03 20:39:33 +00:00
Francisco Ferreira
202c33491e RangeFinder: remove useless returns and update comment 2016-12-03 17:44:06 +00:00
murata
a99bde9dad RangeFinder: Change type determination from if state to switch state. 2016-12-03 17:33:01 +00:00
mirkix
7e33ba04a9 AP_HAL: Add BBBmini PX4FLOW I2C bus number 2016-12-03 21:07:07 +11:00
Tom Pittenger
608da33d80 AP_Landing: merged GCS text for aborted landing 2016-12-02 17:40:01 -08:00
murata
5f41b09fde HAL_PX4: Add input parameter check. 2016-12-02 17:09:47 -08:00
Tom Pittenger
3a9ad24907 AP_Landing: compute wind_alignment and half of head-wind 
Determine how aligned heading_deg is with the wind. Return result
is 1.0 when perfectly aligned heading into wind, -1 when perfectly
aligned with-wind, and zero when perfect cross-wind. There is no
distinction between a left or right cross-wind. Wind speed is ignored
 2016-12-02 15:35:28 -08:00
Peter Barker
0e2b3781ae AP_Gripper: a valid() method 2016-12-02 12:52:53 +11:00
Peter Barker
4a1439ca0b AP_Gripper: add grabbed and released method 2016-12-02 12:52:53 +11:00
Peter Barker
20b83861e9 AP_Mission: support for NAV_CMD_PLACE 
AP_Mission: check return values of mission fetches
 2016-12-02 12:52:50 +11:00
Peter Barker
20b86605fa SITL: gripper closes faster, vary load carried by gripper 
If gripper is closed on ground it is considered to be carrying
something
 2016-12-02 12:04:05 +11:00
Peter Barker
b751f836bb SITL: attach a string with a mass on the end to servo gripper 2016-12-02 12:04:05 +11:00
Peter Barker
f8918d15b1 SITL: add a hagl method to aircraft 2016-12-02 12:04:05 +11:00
Peter Barker
f1c23dc9be SITL: remove argument to on_ground 
This was always the current position
 2016-12-02 12:04:05 +11:00
Peter Barker
e24f3f9419 SITL: correct on-ground correction 
Using the cached ground_height_difference may mean
you end up at the wrong height if you were near
the edge of an SRTM square and had high horizontal
velocity
 2016-12-02 12:04:05 +11:00
Peter Barker
319cfa766b RC_Channel: add method to get current radio out for a function 2016-12-02 12:04:05 +11:00
Andrew Tridgell
23480a92ad HAL_PX4: only include parts needed for build 
allow for external USE_FLASH_STORAGE define in build
 2016-12-02 09:58:36 +11:00