Commit Graph

19201 Commits

Author SHA1 Message Date
Paul Riseborough 88cc1e2ffe DataFlash: Publish the EKF2 magnetometer selection index 2015-11-09 22:07:10 +11:00
Paul Riseborough f00b1ff22d AP_NavEKF2: Publish the magnetometer selection index 2015-11-09 22:07:10 +11:00
Paul Riseborough 7294c8004b AP_NavEKF2: Enable use of backup magnetometers after a timeout
If the magnetometer fails innovation consistency checks for too long (currently 10 sec), then the next available sensor approved for yaw measurement will be used.
2015-11-09 22:07:09 +11:00
Paul Riseborough 6deabe28c2 AP_NavEKF2: Require all magnetometer axes to pass innovation test
The original design intent was to require all axes to pass because severe errors are rarely constrained to a single axis.
This was not achieved with the previous implementation.
These changes move the innovation consistency checks for all three axes to the top before any axes are fused.
Unnecessary performance timers have been removed.
2015-11-09 22:07:09 +11:00
Paul Riseborough afeadfca51 AP_NavEKF2: Don't attempt to compensate for external mag calibration
This was problematic to implement with magnetometer switching. It is likely that slow magnetometer learning can still be performed externally (eg plane) but this will need to be monitored to see if it causes issues.
2015-11-09 22:07:09 +11:00
Jonathan Challinger 6524222397 Copter: adapt auto disarm check to use a timer 2015-11-09 15:34:41 +09:00
Paul Riseborough e8305c5653 AP_NavEKF: Prevent front-end from returning uninitialised data (garbage) 2015-11-09 15:56:45 +11:00
Andrew Tridgell 840c9e65bb AP_Baro: don't notify the GCS of new pressure reference too often 2015-11-09 14:34:07 +11:00
Andrew Tridgell e873ff1e5f AP_Param: copter with vectors when sending parameters 2015-11-09 14:28:20 +11:00
Andrew Tridgell 3624162b18 PX4: added size of binaries to build
this will help us monitor the use of flash
2015-11-09 13:25:49 +11:00
lvale e18181e5c2 Plane: Uniformization of severities
Plane uniformization of severities
2015-11-09 09:38:25 +11:00
Peter Barker 1b13315092 AP_Baro: notify GCS of calibration 2015-11-09 09:23:20 +11:00
Peter Barker 5f9b1c5f4e AP_Param: provide facility to notify GCS of param set 2015-11-09 09:23:20 +11:00
Peter Barker 046b008889 AP_Param: send saved param values to all GCS 2015-11-09 09:23:20 +11:00
Peter Barker 368363531f GCS_MAVLink: provide facilities to send param values to all GCS 2015-11-09 09:23:20 +11:00
Tom Pittenger 5c3486d003 Plane: power-off rangefinder at high alt without terrain avail
- moved terrain alt rangefinder power-off trigger from trerrain thread to rangefinder thread
- allow rangefinder to power-off using baro if terrain data not available
2015-11-09 08:36:41 +11:00
Tom Pittenger 73c5234633 AP_Terrain: cache status
instead of computing the terrain status on-demand, assign it in update() and cache the result. Then external tasks that check the status won't be doing terrain intensive calculations in their thread. All the calculations needed for the status were being performed in update already so this is an optimization.
2015-11-09 08:36:41 +11:00
Lucas De Marchi 3d8211696c build: allow -j on top level makefile
By using $(MAKE) variable we allow to pass down to the called makefile
the number of jobs we want to compile with. The flags are communicated
to the next level via MAKEFLAGS variable.

Reference:
https://www.gnu.org/software/make/manual/html_node/Options_002fRecursion.html#Options_002fRecursion
2015-11-09 08:32:04 +11:00
Tom Pittenger 178bbb080b Plane: improve crosstrack error while navigating to loiter point
There is no crosstrack concept in the loiter navigation so when going from waypoint to loiter you will not converge onto the line between those two points. This commit adds crosstracking by performing normal waypoint navigation until you get near it.
2015-11-09 08:25:26 +11:00
Paul Riseborough f08a4af751 AP_NavEKF2: Remove redundant if statement
Thank you to OXINARF for picking up this one
2015-11-08 17:06:57 +11:00
Paul Riseborough 0f8cfa02ab AP_NavEKF: Remove redundant if statement
Thank you to OXINARF for picking up this one
2015-11-08 17:06:57 +11:00
Paul Riseborough 2243f95074 AP_NavEKF: Enable clean entry into GPS aiding whilst in-flight
Ensures that the latest GPS data is used to reset the states.
Separates the logic used to set the origin from the logic used to determine when to reset states and commence GPS aiding
2015-11-08 17:06:49 +11:00
Paul Riseborough 9efc2152fc AP_NavEKF2: Fix comment 2015-11-08 16:26:04 +11:00
Paul Riseborough a8983d075f AP_NavEKF2: Enable clean entry into GPS aiding in-flight
The setting of the EKF origin and the entry into GPS aiding mode have been separated to make the logic clear.
The order of operations has been changed to ensure that when a reset to GPS is performed, a valid GPS measurement is available in the buffer
Declaration of GPS availability is not made unless the GPS data has been entered into the buffer
2015-11-08 16:26:04 +11:00
Paul Riseborough f99dbc70f9 AP_NavEKF2: Don't return ready to use GPS true if user has inhibited GPS 2015-11-08 16:26:04 +11:00
Paul Riseborough d6f7156f4e AP_NavEKF2: Fix timing offset in position reset calculation
the correction for GPS latency now uses the correct time for that observation
2015-11-08 16:26:04 +11:00
Paul Riseborough 803817821d AP_AHRS: Support changes to EKF2 interfaces that specify the instance
An instance of -1 is specified which causes data for the primary instance to be returned.
2015-11-08 15:37:28 +11:00
Paul Riseborough 138315af21 DataFlash: Add logging for second NKF instance 2015-11-08 15:37:28 +11:00
Paul Riseborough 0b64ad0123 AP_NavEKF2: Enable EKF instance to be specified when requesting public data
Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
2015-11-08 15:37:28 +11:00
Paul Riseborough dfdacf2ddc GCS_MAVLink: Accommodate change to EKF2 interface
Return euler angles for primary instance
2015-11-08 15:37:28 +11:00
Paul Riseborough 5b1d6f2aa2 DataFlash: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough 243888e923 GCS_MAVLink: accomodate change in EKF2 interface 2015-11-08 15:37:28 +11:00
Paul Riseborough 6c2dc3ccf8 AP_NavEKF2: Publish the number of instances 2015-11-08 15:37:27 +11:00
Paul Riseborough 46e4c45537 DataFlash: Only log EKF messages when enabled 2015-11-08 15:37:27 +11:00
Paul Riseborough 624f169b9b AP_NavEKF: Publish enabled status 2015-11-08 15:37:27 +11:00
Paul Riseborough 65e4a4ab94 AP_NavEKF2: Use correct casting of integers when printing
Changes in response to review comments
2015-11-08 15:37:27 +11:00
Paul Riseborough 987d261109 DataFlash: Update logging of EKF2 primary core index
Changes made in response to review comments
2015-11-08 15:37:27 +11:00
Paul Riseborough 2dcaeb0304 AP_NavEKF2: Update publishing of primary core index
Changes made in response to review comments
2015-11-08 15:37:27 +11:00
Paul Riseborough 1858da8307 AP_NavEKF2: Better switching in response to faults
Make selection sticky
If fault detected or unhealthy, then switch to healthy core with lowest fault score.
If no healthy core found, do not switch.
2015-11-08 15:37:27 +11:00
Paul Riseborough 5f6d1d8d25 AP_NavEKF2: Add fault score calculation 2015-11-08 15:37:27 +11:00
Paul Riseborough 4884b2d38a DataFlash: Log the primary EKF2 index 2015-11-08 15:37:27 +11:00
Paul Riseborough b24507d33c AP_NavEKF2: Publish the primary EKF index 2015-11-08 15:37:27 +11:00
Paul Riseborough 04165a60a7 AP_NavEKF2: Reduce false positive on EKF health check
Apply filtering to baro innovation check and and don't apply innovation checks once aiding has commenced because GPS and baro disturbances on the ground and during launch could generate a false positive
2015-11-08 15:37:27 +11:00
Paul Riseborough 49f9ea317c AP_NavEKF: Update console message and param descriptions for multiple EKF's 2015-11-08 15:37:26 +11:00
Paul Riseborough 2340e18fdc AP_NavEKF2: Offset the fusion time horizon between multiple instances
Prevents frame over-runs due to simultaneous fusion of measurements on each instance.
The offset is only applied if less than 5msec available between frames
2015-11-08 15:37:26 +11:00
Paul Riseborough 3eeff8dbc6 AP_NavEKF2: Remove unused code
This method of correcting for the fusion time horizon delay was too computationally expensive for our application and did not smooth fusion noise.
2015-11-08 15:37:26 +11:00
Paul Riseborough d48454ee2d AP_NavEKF2: Use nominated IMU unless unavailable
We now run a separate instance of the EKF for each IMU, so input data fusion of IMU's is no longer required.
2015-11-08 15:37:26 +11:00
Siddharth Bharat Purohit 392fce76b2 AP_NavEKF: define getGpsGlitchStatus function 2015-11-08 12:55:58 +09:00
Andrew Tridgell c823d64073 PX4: removed unused mixer files
reduce size of ROMFS
2015-11-07 16:37:51 +11:00
Jonathan Challinger 05e533e6fc Copter: don't accept disarm commands in stabilize and acro unless also landed 2015-11-07 11:07:14 +09:00