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16,570 Commits 71 Branches 510 Tags 769 MiB
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7845 Commits

Author SHA1 Message Date
Randy Mackay
facbfaf31f SerialManager: support for 4th mavlink channel 2015-05-15 15:07:24 +09:00
Randy Mackay
62e7e8cc7d GCS_MAVLink: add support for 4th mavlink chan on PX4 2015-05-15 15:07:23 +09:00
Andrew Tridgell
74485c5754 DataFlash: added Log_Write_POS() call 
write AHRS position to DF log
 2015-05-15 14:28:08 +10:00
Andrew Tridgell
3370ec62a1 HAL_SITL: fix for multi-compass SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell
91b4ba3588 AP_Compass: allow for more than one compass in HIL/SITL 2015-05-15 14:25:44 +10:00
Andrew Tridgell
11f70da8b4 DataFlash: fixed incorrect change to GPS message 2015-05-15 14:25:43 +10:00
Randy Mackay
ade4f81c77 Compass: fix example sketch 2015-05-15 11:53:28 +09:00
Paul Riseborough
bd91b9727f AP_NavEKF: Add pre-arm check for horizontal inertial errors 
This check will declare the EKF as unhealthy if the horizontal position innovations exceed a threshold  before motors are armed.
This will help to prevent a takeoff with bad inertial data caused by bad accel or gyro offsets.
 2015-05-15 10:35:25 +09:00
Randy Mackay
1b13250fd8 RC_Channel: small parameter description change 2015-05-14 10:33:08 +09:00
Randy Mackay
61c851885f AC_WPNav: remove unused set_spline_dest_and_vel 2015-05-13 22:40:08 +09:00
Randy Mackay
7056484ef0 Copter: fix spline overshoot 2015-05-13 22:40:06 +09:00
Randy Mackay
56b92e7d8c AC_PID: fix example sketch 2015-05-13 17:55:39 +09:00
Paul Riseborough
c2ac80cc63 AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors 2015-05-13 16:11:13 +09:00
Randy Mackay
3f8b832075 InertialSensor: fix example sketch 2015-05-13 10:13:51 +09:00
Randy Mackay
3bcd97fcd1 Parachute: increase deployment duration to 2sec 2015-05-12 22:08:20 +09:00
Randy Mackay
5560d3dba1 BattMonitor: fix example sketch 2015-05-12 21:34:24 +09:00
Randy Mackay
e080b2acce AP_Arming: use accel_calibrated_ok_all 2015-05-12 16:32:22 +09:00
Randy Mackay
1f14eec4ea InertialSensor: accel_calibrated_all_ok replaces calibrated 
This checks that the current number of accelerometers matches the number
of calibrated accels in order to catch accel failures at boot
 2015-05-12 16:32:16 +09:00
Randy Mackay
0d72f3ac29 AP_HAL: fix example sketches 2015-05-12 14:42:15 +09:00
Andrew Tridgell
8bf2baef70 AP_InertialSensor: fixed primary accel/gyro in replay 2015-05-11 11:19:11 +10:00
Andrew Tridgell
f40c96de9d SITL: add 'quad' and 'copter' as aliases for quadcopter 2015-05-11 09:19:53 +10:00
Andrew Tridgell
2a47cc3c81 HAL_SITL: cleanup command line handling 2015-05-11 08:48:42 +10:00
Andrew Tridgell
bab94c8a04 SITL: close high fds before launching JSBSIM 2015-05-11 08:06:10 +10:00
Andrew Tridgell
414f4125de AP_HAL: use FD_CLOEXEC to prevent sockets being inherited in SITL 2015-05-11 08:05:51 +10:00
Andrew Tridgell
7692889248 SIM_JSBSim: added elevon and vtail support 2015-05-10 21:57:39 +10:00
Andrew Tridgell
aa9853179c SITL: fixed startup yaw 2015-05-10 21:57:19 +10:00
Andrew Tridgell
5687adbdba HAL_SITL: support JSBSim backend 2015-05-10 21:02:20 +10:00
Andrew Tridgell
692fc18698 AP_HAL: protect Socket.h from double include 2015-05-10 21:02:04 +10:00
Andrew Tridgell
c136d65c25 SITL: added initial JSBSim simulator backend 2015-05-10 21:01:49 +10:00
Andrew Tridgell
8ec98a5ec9 SITL: make it possible to connect two SITL instances together 
this adds --client to set uartC as a tcp client rather than a TCP
server
 2015-05-10 15:36:18 +10:00
Andrew Tridgell
3991e0c476 DataFlash: fixed sign of sv in GRAW message 2015-05-10 12:15:04 +10:00
Andrew Tridgell
3529e02675 AP_AHRS: if we have 3 gyros then only use first two 
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
 2015-05-09 21:00:49 +10:00
Paul Riseborough
cb59570938 AP_NavEKF: Remove bug preventing external selection of optical flow mode 2015-05-09 18:31:18 +10:00
Randy Mackay
3390d9932e AP_AHRS: fix example sketch 2015-05-09 12:23:05 +09:00
Tom Pittenger
2deb0e08ea AP_NavEKF: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger
79605de8f5 AP_Mission: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger
e20ffa8c75 AP_Math: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Tom Pittenger
1c8efb25a8 AP_HAL_SITL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger
4b6d0d8e24 AP_HAL: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger
9d74f57ed3 AP_PID: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Tom Pittenger
70bef20a29 AC_AttitudeControl: replace fabs() with fabsf() 2015-05-09 09:57:26 +10:00
Andrew Tridgell
1127b716c4 SITL: lower the default noise 
prevents problems calibrating the gyro
 2015-05-09 07:22:37 +10:00
Andrew Tridgell
2552acbf12 AP_Arming: fixed accel cal test in arming 
use a per-imu time of last cal pass, and triple accel threshold for
IMU3. Raise threshold to 0.5 for IMU1/IMU2
 2015-05-08 21:01:52 +10:00
Tom Pittenger
d94c95a6ef GCS_MAVLink: return true if mission recieve is complete 
when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission
 2015-05-08 21:01:51 +10:00
Paul Riseborough
a232606fc9 AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins 
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:

1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
 2015-05-08 16:47:31 +09:00
Paul Riseborough
08382373f1 AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading 
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
 2015-05-08 16:47:29 +09:00
Randy Mackay
3781f133d7 AC_AttControlHeli: remove unused definitions 2015-05-08 14:50:38 +09:00
Randy Mackay
bef5633ed5 AC_AttControlHeli: use params from parent class 2015-05-08 14:50:36 +09:00
Randy Mackay
7951346d72 AC_AttControl: bf_feedfoward_save made more concise 2015-05-08 14:29:49 +09:00
Randy Mackay
3d9a6a69e2 MotorsHeli: COLYAW to float 2015-05-08 14:14:36 +09:00
Randy Mackay
edfa206bb8 Motors_Heli: nest heli params 2015-05-08 14:14:35 +09:00
Randy Mackay
68b05a4ca2 AP_Motors: is_throttle_mix_min returns bol 2015-05-08 14:14:32 +09:00
Leonard Hall
cf45a1cf3a AC_AttitudeControl: add get accel and save ff 2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582 AC_AttitudeControl: Enable FF by default 2015-05-08 14:14:21 +09:00
Leonard Hall
0f894ac1a8 AP_Motors: Rename and move Throttle Mix / Comp 2015-05-08 14:14:17 +09:00
Jonathan Challinger
142e018a18 AP_NavEKF: fix bug causing takeoff to fail 2015-05-08 09:15:45 +09:00
Randy Mackay
fa4ba456b4 GPS: fix example sketches 2015-05-07 14:01:14 +09:00
Andrew Tridgell
afc9812d0b AP_InertialSensor: update VibTest after moving messages info DataFlash 2015-05-07 13:25:37 +10:00
Andrew Tridgell
7d90033a36 AP_InertialSensor: support raw accel and gyro dataflash logging 2015-05-07 12:08:30 +10:00
Andrew Tridgell
21d805422d DataFlash: added defines for raw accel and gyro logging 2015-05-07 12:08:04 +10:00
Andrew Tridgell
f5140e25b0 AP_InertialSensor: updated VibTest for latest PX4 interfaces 2015-05-07 10:51:52 +10:00
Andrew Tridgell
cbdc9f0706 SITL: fixed autotest SITL 2015-05-06 10:09:43 +10:00
Andrew Tridgell
2369e06815 AP_HAL: fixed SITL build on windows 2015-05-06 09:07:03 +10:00
Andrew Tridgell
b09fcfc20e HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS 
such as my ubuntu 14.04 laptop :-)
 2015-05-05 21:42:46 +10:00
Andrew Tridgell
6a8da06d19 HAL_SITL: hook in CRRCSim backend 2015-05-05 21:42:46 +10:00
Andrew Tridgell
93d5101bf9 SITL: added CRRCSim simulation connection 2015-05-05 21:42:45 +10:00
Andrew Tridgell
4c11002976 AP_HAL: added HAL_OS_SOCKETS define 
used for systems with BSD sockets
 2015-05-05 21:34:19 +10:00
Andrew Tridgell
08b9ed3342 AP_HAL: added socket handling class 2015-05-05 21:34:19 +10:00
Randy Mackay
9dede2f0ec Math: remove duplicate HALF_SQRT_2 definition 2015-05-05 14:23:14 +09:00
Randy Mackay
151707cb0a Filter: replace 2*M_PI_F with M_2PI_F 2015-05-05 14:22:52 +09:00
Peter Barker
463270e0ee AP_AHRS: avoid FPE when we don't have a compass reading 2015-05-05 15:02:35 +10:00
Andrew Tridgell
77a2b4acf6 AP_Math: removed fast_atan 2015-05-05 13:57:22 +10:00
Andrew Tridgell
872583f441 AC_AttitudeControl: removed fast_atan 2015-05-05 13:57:16 +10:00
Andrew Tridgell
8ba5272b0e AP_Scheduler: fixed PSTR() usage 2015-05-05 13:54:27 +10:00
Andrew Tridgell
88fb7ddff8 AP_Param: fixed PSTR() usage 2015-05-05 13:54:15 +10:00
Andrew Tridgell
089e63f987 AP_InertialSensor: fixed PSTR handling 
must use PSTR on code compiled for AVR
 2015-05-05 13:54:00 +10:00
Andrew Tridgell
31693e332e AP_InertialSensor: use non-PSTR printf 
this is not built on AVR
 2015-05-05 13:48:34 +10:00
Andrew Tridgell
730644eaeb AP_Mount: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:25 +10:00
Andrew Tridgell
84ac721340 AC_AttitudeControl: use M_PI_F instead of (float)M_PI 2015-05-05 13:44:19 +10:00
Andrew Tridgell
f9114f849b Filter: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell
bcc6c7d380 AP_Param: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell
a140a5e77f AP_NavEKF: revert AP_Math class change 2015-05-05 13:27:07 +10:00
Andrew Tridgell
7c9e3d4b58 AP_Mount: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell
0b897e04bb AP_Math: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell
e6a8a6da07 AP_InertialSensor: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell
015fce5183 AP_Compass: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell
d2167633f0 AP_Camera: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell
48fb7f8159 AP_BARO: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell
4d4a607b80 AP_AHRS: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell
c08b62f9e4 AC_WPNAV: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell
33555b7f12 AC_PID: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Andrew Tridgell
aa1bfb1ca7 AC_Fence: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Andrew Tridgell
326b0b33ea AC_AttitudeControl: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Andrew Tridgell
936fbbb362 AP_Math: removed AP_Math class 2015-05-05 13:27:03 +10:00
Tom Pittenger
7fd285f483 AC_WPNav: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:03 +10:00
Tom Pittenger
4ec2fb3a9c AP_Math: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:02 +10:00
Tom Pittenger
1b84bbc3e7 AC_WPNav: Compiler warnings: add in the appropriate whitrespace 2015-05-05 13:27:02 +10:00
Tom Pittenger
0e076d6dc8 AP_InertialSensor: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:02 +10:00
Tom Pittenger
6acd92be1e AP_RangeFinder: compiler warnings: compare signed to unsigned 2015-05-05 13:27:02 +10:00
Tom Pittenger
9e98c68099 AP_InertialSensor: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:01 +10:00