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22,492 Commits 71 Branches 509 Tags 752 MiB
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22492 Commits

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Author SHA1 Message Date
Andrew Tridgell
511ca6d764 autotest: support -P2 option for SITL with MAVLink2 2016-05-21 15:25:11 +10:00
Paul Riseborough
74121fdaeb AP_NavEKF2: fix bug preventing in-flight alignment 2016-05-21 15:13:53 +10:00
Paul Riseborough
16cb7078cd AP_NavEKF2: Fix misleading pre-flight status reporting 2016-05-21 15:13:53 +10:00
Paul Riseborough
38d61f5281 AP_NavEKF2: Update status reporting to handle no-magnetometer startup 2016-05-21 15:13:53 +10:00
Paul Riseborough
9aa3cdfaae AP_NavEKF2: Update GPS yaw re-alignment function 
Updates to support initial alignment without magnetometer
 2016-05-21 15:13:53 +10:00
Paul Riseborough
e3c966661b AP_NavEKF2: Remove unnecessary variance reset 
This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
 2016-05-21 15:13:53 +10:00
Paul Riseborough
1179c08473 AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw 
This happens if planes are flown without a compass
 2016-05-21 15:13:53 +10:00
Paul Riseborough
581c1aa0d4 AP_NavEKF2: Adjust attitude variance values used after a heading reset 
Because these errors are in body frame, a spherical error should be used to accommodate different orientations
 2016-05-21 15:13:53 +10:00
Paul Riseborough
5ec8d523f6 AP_NavEKF: remove unwanted co-variance reset 
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
 2016-05-21 15:13:53 +10:00
Paul Riseborough
66e4d9d6e8 AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset 
Ensures consistent behaviour after resets and reduces attitude disturbances
 2016-05-21 15:13:52 +10:00
Paul Riseborough
cf8175a073 AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass 
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
 2016-05-21 15:13:52 +10:00
Paul Riseborough
08de4e6d95 AP_NavEKF: Do not perform start-up yaw alignment if no compass 
Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
 2016-05-21 15:13:52 +10:00
Paul Riseborough
d2694fe5dc AP_NavEKF2: Remove duplicate transition into GPS aiding 
This decision is made in one place in setAidingMode()
 2016-05-21 15:13:52 +10:00
Paul Riseborough
7201f7d2fd AP_NavEKF2: fix comment 2016-05-21 15:13:52 +10:00
Paul Riseborough
64a8153b68 AP_NavEKF2: update function name 
The primary purpose of this function is re-alignment
 2016-05-21 15:13:52 +10:00
Paul Riseborough
addd213af0 AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude 2016-05-21 15:13:52 +10:00
Paul Riseborough
d33bbf8cc7 AP_NavEKF: remove debug code 2016-05-21 15:13:52 +10:00
Paul Riseborough
54213ad871 DataFlash: Improve reporting of normalised ekf2 magnetometer innovations 
Report the maximum of the x,y,z axis
 2016-05-21 15:13:52 +10:00
Paul Riseborough
a3b78e6231 AP_NavEKF2: update tuning defaults 2016-05-21 15:13:51 +10:00
Paul Riseborough
65f63341d7 AP_NavEKF2: Improve numerical error protection in optical flow fusion 
Abort fusion of data if variances will become negative and publish the fault
 2016-05-21 15:13:51 +10:00
Paul Riseborough
42da33593d AP_NavEKF2: fix yaw fusion numerical health reporting 2016-05-21 15:13:51 +10:00
Paul Riseborough
6eb9d43507 AP_NavEKF2: add numerical error checking and isolation to mag decl fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
b325c5faeb AP_NavEKF2: add error checking and isolation to mag heading fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
a0b1dc5325 AP_NavEKF2: add error checking and isolation to 3D amg fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
51a3df0319 AP_NavEKF2: Add error checking and isolation to pos vel fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough
b1e9207c0f Replay: extend ekf fault status reporting coverage 2016-05-21 15:13:51 +10:00
Paul Riseborough
fcee82f9b2 DataFlash: extend ekf fault status reporting coverage 2016-05-21 15:13:51 +10:00
Paul Riseborough
597ec61673 AP_AHRS: extend ekf fault status reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
d59d8cc6e3 AP_NavEKF: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
71b589c89c AP_NavEKF2: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough
0982bd0b2b AP_NavEKF2: update parameter documentation 2016-05-21 15:13:50 +10:00
Paul Riseborough
46a2993a0d AP_NavEKF: use intuitive units for imu bias process noise parameters 2016-05-21 15:13:50 +10:00
Paul Riseborough
8c374fd679 AP_NavEKF2: correct comments 2016-05-21 15:13:50 +10:00
Paul Riseborough
6be9eaa524 AP_NavEKF2: use receiver estimated accuracy 
Adjust the GPS observation noise based on receiver accuracy output if available.
 2016-05-21 15:13:50 +10:00
Paul Riseborough
dddc213836 AP_NavEKF2: Open up tuning limits 
Done to assist tuning assessments
 2016-05-21 15:13:50 +10:00
Paul Riseborough
cf05e110fc AP_NavEKF2: fix scaling error in use of IMU noise parameters 
Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
 2016-05-21 15:13:50 +10:00
Randy Mackay
5461002eea Copter: read rangefinder at 20hz 2016-05-21 10:36:53 +09:00
Randy Mackay
e6b3638d84 Copter: minor change to land mode's logic to use rangefinder 
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay
8171532dc5 Copter: allow rangefinder to be disabled from definition 2016-05-21 10:36:53 +09:00
Randy Mackay
e489c3184c Copter: rangefinder.enabled false if no range finders are configured 2016-05-21 10:36:53 +09:00
Randy Mackay
00445ce7bd SITL: parameter file to enable rangefinder in copter 2016-05-21 10:36:53 +09:00
Randy Mackay
59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay
2bafc36ded AC_WPNav: support rangefinder for terrain following 2016-05-21 10:36:53 +09:00
Randy Mackay
e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay
5ac13c0355 Copter: move rangefinder variables into structure 
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
 2016-05-21 10:36:53 +09:00
Randy Mackay
70463dc572 Copter: auto_spline_start handles triggers terrain failsafe 
Also immediately exit auto_wp_start on terrain failsafe
 2016-05-21 10:36:53 +09:00
Randy Mackay
3688636736 Copter: RTL ignores terrain during terrain failsafe 2016-05-21 10:36:53 +09:00
Randy Mackay
273b9acad8 Copter: prearm check that RTL_ALT is below rangefinder max alt 
Only applies where terrain following is enabled and a range finder is connected
 2016-05-21 10:36:53 +09:00
Randy Mackay
c7f80324fa Copter: tilt correct rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay
ba38b0234f Copter: use rangefinder class's valid_range_count 
Also read_rangefinder directly updates rangefinder_alt variable instead of returning distance
No functional change
 2016-05-21 10:36:53 +09:00