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7d48b25207
Commit Graph

11852 Commits

Author SHA1 Message Date
Andrew Tridgell
7d48b25207 AP_Module: use ifdef in function, not caller 
suggestion by Lucas
 2016-07-14 13:39:48 +10:00
Andrew Tridgell
eee9fc88a1 AP_InertialSensor: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell
e82468a529 AP_AHRS: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell
5ce472ab8a AP_Module: changed hook prefix to ap_hook_ 2016-07-14 13:39:47 +10:00
Andrew Tridgell
e8d8ca5eef AP_Module: updated example module 2016-07-14 13:39:47 +10:00
Andrew Tridgell
847bfda48a HAL_Linux: adjust include ordering 2016-07-14 13:39:47 +10:00
Andrew Tridgell
dd5d0ffbad HAL_Linux: use default module directory 2016-07-14 13:39:47 +10:00
Andrew Tridgell
f29323871f AP_Module: added default module directory 2016-07-14 13:39:47 +10:00
Andrew Tridgell
33ce1213a2 AP_InertialSensor: call gyro_sample and accel_sample AP_Module hooks 2016-07-14 13:39:47 +10:00
Andrew Tridgell
6b6a02e67e AP_Module: also allow export of raw gyro and accel samples 
allows for oversampling in image correction
 2016-07-14 13:39:46 +10:00
Andrew Tridgell
36181b78de AP_AHRS: fixed build for px4 2016-07-14 13:39:46 +10:00
Andrew Tridgell
7a2d67bde9 AP_Module: added AP_MODULE_SUPPORTED define 2016-07-14 13:39:46 +10:00
Andrew Tridgell
107f76828d HAL_Linux: added AP_Module support 2016-07-14 13:39:46 +10:00
Andrew Tridgell
15a01eefb1 AP_AHRS: added AHRS_update hook 2016-07-14 13:39:46 +10:00
Andrew Tridgell
bd00beaf99 AP_Module: added external module hook library 
this allows for external modules to be called at defined hook
locations in ArduPilot. The initial example is a module that consumes
the AHRS state, but this can be generalised to a wide variety of hooks
 2016-07-14 13:39:46 +10:00
Andrew Tridgell
f3f34be9c4 SITL: added comment on heli interlock 2016-07-12 20:50:22 +10:00
Jonathan Challinger
630e5378da AC_PosControl: add get_horizontal_error 2016-07-12 18:40:25 +09:00
Jonathan Challinger
8fe0c1b05b AC_PrecLand: don't run if not enabled 2016-07-12 18:40:25 +09:00
Jonathan Challinger
e84d1581ab AC_PrecLand: use new irlock interface, refactor backend interface 2016-07-12 18:40:25 +09:00
Jonathan Challinger
6254608c45 AP_IRLock: refactor interface 2016-07-12 18:40:25 +09:00
Andrew Tridgell
4f17093add SITL: give a bit more pitch on tail in XPlane heli 2016-07-12 19:08:50 +10:00
Andrew Tridgell
fdd20830d6 SITL: use flaps for collective on helis in X-Plane 10 
works for more helis
 2016-07-12 19:08:50 +10:00
Randy Mackay
6e224158f1 AP_GPS_MAV: use GPS_INPUT_IGNORE_FLAGS 2016-07-12 15:44:46 +09:00
Randy Mackay
e34aa0bc72 AP_GPS_MAV: minor formatting fixes 
No functional change
 2016-07-12 15:44:19 +09:00
Allan Matthew
4249f7dbe6 AP_GPS: Add GPS_MAV type and accept GPS_INPUT message 2016-07-12 15:34:27 +09:00
Tom Pittenger
84ce499a0d AP_Baro: remove zero-init in constructor 2016-07-11 22:11:34 -07:00
Tom Pittenger
1d81df8144 Revert "AP_Baro: coverity scan - variables not initialized in constructor" 
This reverts commit 8d2872d3ab.
 2016-07-11 22:02:41 -07:00
Tom Pittenger
9fb4a928e5 Revert "AP_Airspeed: coverity scan - variables not initialized in constructor" 
This reverts commit 93462d0fe3.
 2016-07-11 22:02:22 -07:00
Tom Pittenger
fc02908c0d Revert "GCS_MAVLink: coverity scan - variables not initialized in constructor" 
This reverts commit bd8debdf8b.
 2016-07-11 22:01:50 -07:00
Tom Pittenger
773372d2f3 Revert "AP_TECS: coverity scan - variables not initialized in constructor" 
This reverts commit 753c0d47f0.
 2016-07-11 22:01:26 -07:00
Tom Pittenger
c38c3ae7fe Revert "AP_TECS: coverity scan: init variable struct" 
This reverts commit 19713200e5.
 2016-07-11 22:01:02 -07:00
Tom Pittenger
be752164f4 Revert "AP_L1_Control: coverity scan - variables not initialized in constructor" 
This reverts commit d558f32142.
 2016-07-11 21:59:12 -07:00
Andrew Tridgell
871219d199 SITL: support helicopters with X-Plane 10 
we get collective from "throttle2" and get interlock from generator1 on/off
 2016-07-12 14:40:08 +10:00
priseborough
8793c75da0 AP_NavEKF2: clean up mag field learned logic 2016-07-11 00:44:33 +10:00
priseborough
e6592186fc AP_NavEKF2: Tuning update 
Slow down magnetic field learning
 2016-07-10 08:21:18 +10:00
priseborough
10470b2dc1 AP_NavEKF2: fix bug in initialisation of declination co-variances 
Co-variances were being re-zeroed after being set. This meant that the initial declination learning was sensitive to measurement errors which could result in poor initial yaw accuracy.
 2016-07-10 08:21:18 +10:00
priseborough
6b04a81b8d AP_NavEKF2: Fix plane in-flight yaw reset bug 
Fixes bugs that prevented planes being able to reset yaw to GPS to recovery from takeoff with a bad magnetoemter.

1) If the velocity innovation check had not failed by the time the in-air transition occurred, then the yaw reset would not be performed
2) The velocity states were not being reset
3) The non fly-forward vehicle (copter) reset could occur first and effectively lock out the fly-forward vehicle (plane) yaw check.
 2016-07-10 08:21:18 +10:00
priseborough
51dbed2338 AP_NavEKF2: remember mag field states between flight on same power cycle 
Remember the mag bias and earth field states learned during flight when the vehicle  lands.
This improves performance for vehicles that do multiple flight on one power cycle
 2016-07-10 08:21:18 +10:00
priseborough
136df7cb5c AP_NavEKF2: reduce declination errors on start of 3-axis fusion 
Reset co-variances for NE field states.
 2016-07-10 08:21:18 +10:00
priseborough
744f19cd2d AP_NavEKF2: Improve scaling of output predictor I gain 
Provide consistent overshoot of 5% across a wider range of time constants and prevent selection of larger time constants causing 'ringing' in the position and velocity outputs.
 2016-07-09 15:57:36 +10:00
priseborough
a49c16d63c AP_NavEKF2: Update output filter tuning 
Updated tuning to take advantage of corrected time delta dtEkfAvg
 2016-07-09 15:57:36 +10:00
priseborough
55dee347e0 AP_NavEKF2: Fix bug in averaged filter delta time 
Average EKF time delta was not being updated.
 2016-07-09 15:57:36 +10:00
priseborough
cc7caa27bc DataFlash: Use a unique struct for EKF2 logging 2016-07-09 15:57:35 +10:00
priseborough
772c719df3 DataFlash: log tracking error for active instance of EKF2 2016-07-09 15:57:35 +10:00
priseborough
927186339c AP_NavEKF2: Improved output predictor tracking 
Implement a PI feedback controller for velocity and position state tracking
 2016-07-09 15:57:35 +10:00
priseborough
00b66ddc07 DataFlash: Log EKF2 output predictor tracking data 2016-07-09 15:57:35 +10:00
priseborough
253f744824 AP_NavEKF2: Collect output predictor tracking data 2016-07-09 15:57:35 +10:00
priseborough
14bb4f4574 AP_NavEKF2: Publish output observer tracking errors 2016-07-09 15:57:35 +10:00
priseborough
fa435d0323 AP_NavEKF2: Allow for faster accel bias change in-flight 
Fixes a problem observed in a flight log where rapid temperature change caused the accel bias to change faster than the EKF could keep up.
This allows the bias to be learned faster but with acceptable level of noise in the estimate
 2016-07-09 15:57:35 +10:00
priseborough
191c34612d AP_NavEKF2: Fix bug in use of corrected IMU data 
IMU data was being corrected before being used by the co-variance prediction, whereas the delta angles and velocities in the derivation were supposed to be uncorrected.
This patch creates separate variable for the corrected data
 2016-07-09 15:57:35 +10:00