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13,470 Commits 70 Branches 507 Tags 660 MiB
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13470 Commits

Author SHA1 Message Date
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 2dbfc6158d Rover: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-30 15:19:28 +10:00
Randy Mackay 6d3acba04c Plane: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-30 15:19:25 +10:00
Randy Mackay 47c135c4e1 GCS_MAVLink: add comments around checking target 2014-09-30 15:18:35 +10:00
Randy Mackay 0322a876eb GCS_MAVLink: check target before erasing log 2014-09-30 15:18:31 +10:00
Randy Mackay 77e89214eb Copter: shift pos targets to current location before takeoff 2014-09-29 15:26:54 +09:00
Randy Mackay dbe1c55666 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 15:26:18 +09:00
Randy Mackay 41d7462eee LogAnalyzer: add POSHOLD to TestPitchRollCoupling 2014-09-29 11:46:02 +09:00
Randy Mackay 0803d79701 INS: param descriptions for ACC2, GYR2 2014-09-27 21:05:33 +09:00
Randy Mackay e14ae0c0b1 Compass: param descriptions for OFS2, MOT2 2014-09-27 17:59:26 +09:00
Jonathan Challinger 73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay 8aa5c10d53 Copter: remove unused AIRFRAME definition 2014-09-27 15:15:13 +09:00
Randy Mackay 1a249a8129 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-27 12:22:12 +09:00
Randy Mackay 5ca3c4baf6 Mission: fix CHANGE_ALT to store climb rate in lat param 
The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
 2014-09-26 23:23:04 +09:00
Randy Mackay ef0e37b478 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:22:58 +09:00
Randy Mackay 45bc9fd10c Copter: add AC3.2 default to LOG_BITMASK value 2014-09-25 15:32:21 +09:00
Randy Mackay 0d88b602ec Copter: fix RSSI_RANGE param values 
The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
 2014-09-25 15:32:20 +09:00
Craig Elder ab46f2d2fe Frame_params: 3DR_Iris+ reduced WP_NAV to 650 2014-09-24 13:43:52 -07:00
Jonathan Challinger 7c3e614c19 LogAnalyzer: Add IMU Mismatch check 2014-09-24 15:50:23 +09:00
Randy Mackay ed566fa56c Copter: update AC3.2-rc10 release notes 2014-09-24 14:30:10 +09:00
Andrew Tridgell 4b01cee330 Plane: send heartbeat to AFS when calibrating sensors 2014-09-24 12:02:39 +10:00
Andrew Tridgell 5eee51b5a4 APM_OBC: added heartbeat() method 
this is used for when the plane is calibrating sensors, to ensure
heartbeat is continued to the failsafe board
 2014-09-24 12:02:38 +10:00
Andrew Tridgell 1fa03a49c9 Plane: disable the CLI if AFS failsafe enabled on APM2 
the flash space is a bit too low for both CLI and AFS
 2014-09-24 12:02:38 +10:00
Randy Mackay 41c576044f Copter: allow passthru for ch 9 ~ 14 
Based on work by Emile Castelnuovo
 2014-09-23 22:55:19 +09:00
Randy Mackay c2c5807ec7 Compass: always default devid to zero 2014-09-23 20:35:18 +09:00
Randy Mackay d4cfb432ca Copter: use disparity threshold define for pre-arm checks 
There are two duplicate checks, one in the pre-arm checks (i.e. checks
run every 15 seconds or so before the vehicle is armed) and one in the
arming checks (run immediately before arming).  The definition in the
pre-arm checks was still using the old hardcoded value.
 2014-09-23 19:33:04 +09:00
lthall 2b4f5fa79d Copter: increase autotune limits 
Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
 2014-09-22 21:33:35 +09:00
Randy Mackay cf3b2be99c AC_PosControl: 4hz filter on z-axis velocity error 2014-09-22 13:40:01 +09:00
Randy Mackay 665f353416 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
 2014-09-21 17:53:55 +09:00
Randy Mackay cf35bd3f42 LowPassFilter: add div by zero check 2014-09-21 17:33:59 +09:00
Randy Mackay e7753223ba Copter: low battery msg to severity high 2014-09-21 17:33:19 +09:00
Randy Mackay 193bc5331a Copter: cleanup enabling of cli and frsky telem for APM 2014-09-20 14:41:26 +09:00
Randy Mackay d8d1b38a52 Copter: increase Alt Disparity check to 2m 2014-09-20 12:24:36 +09:00
Randy Mackay 9bbf40109e Copter: add LOG_FROM_STARTUP definition 
Uncommenting this line in APM_Config.h will start logging as soon as the
board starts up instead of waiting for the vehicle to be armed
 2014-09-20 12:23:47 +09:00
Jason Short b2238b7c8a Copter: auto esc calibration 
Throttle is raised to maximum and then lowered without any input from
pilot
 2014-09-19 22:21:49 +09:00
Randy Mackay 58602bd1ae Copter: move esc calibration to separate file 
Restructured into case statement
Replaced use of g.throttle_max with definition
Added more comments
Send message to ground station instead of printing on console (although
probably both are unlikely to be read)
 2014-09-19 22:21:47 +09:00
Jason Short b57539a9ad AP_Motors: throttle_pass_through accepts pwm 2014-09-19 22:21:45 +09:00
Randy Mackay 1c11a91ec2 Copter: rename land_maybe_complete function 2014-09-19 16:43:17 +09:00
Randy Mackay b9977a1115 Copter: add land_complete_maybe flag 2014-09-19 16:43:15 +09:00
Randy Mackay 6951a20fb0 Copter: soften loiter target when maybe landed 
Applies to auto's land, land, loiter, pos hold and rtl flight modes
 2014-09-19 16:43:12 +09:00
Randy Mackay 765420ee04 AC_WPNav: add loiter_soften_for_landing method 
This resets the position target to the current location.
 2014-09-19 16:43:10 +09:00
Randy Mackay b552479e31 Copter: typo fix for baro vs inav alt disparity definition 2014-09-18 17:32:03 +09:00
Randy Mackay 18e3db0011 Copter: define limit for baro vs inav alt disparity 2014-09-18 17:24:40 +09:00
Andre Kjellstrup b4c6d6395e Copter: reset battery_fs after dis/rearming 2014-09-18 11:17:03 +09:00