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7678 Commits

Author SHA1 Message Date
Jonathan Challinger
3e0dab7b2d AC_PosControl: remove accel error filter and set throttle output filter instead 2015-04-16 21:00:07 +09:00
Jonathan Challinger
b7f7624aac AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions 2015-04-16 21:00:04 +09:00
Jonathan Challinger
e80776f1f5 AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter 2015-04-16 21:00:01 +09:00
Jonathan Challinger
518e798f53 AC_AttitudeControl: rework angle_boost 2015-04-16 20:59:58 +09:00
Jonathan Challinger
7abd02baf2 AC_PosControl: change int32/int16 to float in accel_to_throttle 2015-04-16 20:59:55 +09:00
Jonathan Challinger
d14893fcd5 AC_PosControl: don't limit throttle any more 2015-04-16 20:59:51 +09:00
Jonathan Challinger
f3555d0d43 AC_AttitudeControl: modify throttle interface to specify stabilization 2015-04-16 20:59:45 +09:00
Jonathan Challinger
5c2341009a AC_AttitudeControl: throttle is a float 2015-04-16 20:59:42 +09:00
Jonathan Challinger
8e442675a7 AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output 2015-04-16 20:59:40 +09:00
Jonathan Challinger
bc2afb31dd AP_Motors: virtual not necessary in child class 2015-04-16 20:59:37 +09:00
Jonathan Challinger
a2c69fe90d AP_Motors: add optional motor output throttle filter 2015-04-16 20:59:31 +09:00
Leonard Hall
4d9da2720b AC_AttitudeControl: add get for angle bf errors 2015-04-16 13:29:52 +09:00
Leonard Hall
88be3d67e7 AP_Motors: add get for throttle comp 2015-04-16 13:29:50 +09:00
Leonard Hall
791fbcf9b3 AP_Motors_Class: time constants of throttle comp 2015-04-16 13:29:46 +09:00
Michael du Breuil
04e9141881 AP_TECS: Allow tecs to control throttle during takeoff 2015-04-16 08:56:37 +10:00
Michael du Breuil
a9fc2b8a32 AP_Vehicle: Moved takeoff_throttle_max into plane parameters 2015-04-16 08:56:36 +10:00
Andrew Tridgell
4586de6637 AP_NavEKF: enable optimisation in Linux build 
only really need debugging for SITL
 2015-04-16 08:36:16 +10:00
Leonard Hall
48fb487a8c AC_AttitudeControl: Formatting fix 2015-04-15 22:04:27 +09:00
Paul Riseborough
dffa2e19bf AP_NavEKF: Make copter glitch accel consistent with timeout and radius 2015-04-15 17:32:48 +09:00
Paul Riseborough
5d70854c08 AP_NavEKF: Fix minor bug in calculation of innovation variance 
the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.
 2015-04-15 17:32:46 +09:00
Paul Riseborough
1008c6390c AP_NavEKF: Fail absolute position status if GPS repeatedly rejected 2015-04-15 17:32:44 +09:00
Paul Riseborough
77d3798278 AP_NavEKF: Reduce recovery time after a GPS fusion timeout 2015-04-15 17:32:41 +09:00
Paul Riseborough
0852aeab6e AP_NavEKF: Allow raw innovations to be monitored during timeouts 2015-04-15 17:32:39 +09:00
Paul Riseborough
d3f4b4a02b AP_NavEKF: Fix name consistency for data check time stamps 2015-04-15 17:32:36 +09:00
Jonathan Challinger
6ea91d012e AC_PID: calculate filt_alpha every time the filter is run 2015-04-14 16:19:02 +09:00
Randy Mackay
f06c859d93 AC_Fence: add comment re check_fence method 2015-04-14 16:10:09 +09:00
Jonathan Challinger
05fda4ee4c AC_Fence: accept curr_alt parameter instead of getting alt from inav 2015-04-14 16:10:07 +09:00
Jonathan Challinger
f06cc5d0c1 AC_Fence: change inav to const reference 2015-04-14 16:10:02 +09:00
Staroselskii Georgii
dff430e136 AP_HAL_Linux: added UART port for second GPS 2015-04-14 15:59:34 +10:00
Staroselskii Georgii
da6316ed4c AP_HAL_Linux: fixed TCP client connection in LinuxUARTDriver 2015-04-14 15:59:33 +10:00
Randy Mackay
39213584da AC_WPNav: minor comment and formatting changes 2015-04-14 14:50:58 +09:00
Jonathan Challinger
fd55068620 AC_WPNav: fix double-twitch on stop in loiter 2015-04-14 14:50:55 +09:00
Jonathan Challinger
1da410a6c6 AC_WPNav: allow user to tune loiter 2015-04-14 14:50:53 +09:00
mirkix
13ee34c58a AP_InertialSensor: MPU9150 fix compiler warnings 2015-04-14 11:14:48 +10:00
Staroselskii Georgii
4a3e61f4e4 AP_GPS: turn UBlox autodetection only for NavIO 2015-04-14 10:45:49 +10:00
Staroselskii Georgii
716fd56c62 AP_HAL_Linux: added support for dynamic speed configration in LinuxSPIUARTDriver 2015-04-14 10:45:49 +10:00
Staroselskii Georgii
47a336d192 AP_GPS: added Ublox' hardware generation autodetection 2015-04-14 10:45:49 +10:00
Staroselskii Georgii
baf2b4da4e AP_HAL_Linux: renamed AnalogIn_Navio 2015-04-14 10:16:26 +10:00
Mikhail Avkhimenia
7ba6a5e346 AP_HAL: Specify terrain directory for Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
930aeaf556 AP_HAL_Linux: add RPi version runtime detection 2015-04-14 10:16:25 +10:00
Mikhail Avkhimenia
c11304ba7a AP_HAL_Linux: change GPIO register address for Raspberry Pi 2 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
641fa05028 AP_HAL_Linux: added buffering in RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
e6c2977da2 AP_HAL_Linux: fixed style in RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
024825f95a AP_HAL_Linux: fixed PCA9685 initialization for RCOutput_Navio 2015-04-14 10:16:25 +10:00
Staroselskii Georgii
2a137b6ea9 AP_HAL_Linux: fixed RCInput initialization on NavIO 2015-04-14 10:16:24 +10:00
Sean O\'Brien
6474aa2477 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:38 +10:00
Sean O\'Brien
bfba8870e2 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:35 +10:00
Lucas De Marchi
b292873304 AP_InertialSensor: fix starvation in L3G4200D 
The main thread would always be blocked on the semaphore to read the
data from accelerometer and gyroscope. Especially if we have a slow
update of these values in _accumulate() due to the I2C transfer function
taking too much time: the timer thread would never give up the CPU,
causing starvation on the main thread.

This fixes the issue by reducing the critical region using a flip-buffer
so _accumulate() can work on its own copy of the data. Now that the
critical region is smaller, also avoid the semaphore and use a spinlock
instead.
 2015-04-14 10:01:47 +10:00
Andrew Tridgell
b17878c8c4 SITL: lower default GPS delay to 0.2 seconds 
this matches typical uBlox
 2015-04-14 09:57:47 +10:00
Andrew Tridgell
d7249cc1e6 AP_AHRS: only use EKF for plane and rover if all data available 
we need position and velocity to be working for plane and rover
 2015-04-14 09:57:45 +10:00
Lucas De Marchi
996739df12 AP_Compass: Do not panic if compass is not found 
Copter uses 2 compasses for linux configuration, but one of them may not
be available. Do not panic if a AK8963 isn't found.
 2015-04-14 09:29:12 +10:00
Gustavo Jose de Sousa
be67b019a7 AP_GPS: Add missing setup for GPS_AUTO_test 
GPS_AUTO_test was missing some setup lines.
 2015-04-14 09:27:41 +10:00
Andrew Tridgell
7f7d92913e HAL_Linux: allow running as non-root 
this is needed for Replay, plus is very useful for debugging
 2015-04-14 09:25:35 +10:00
Lucas De Marchi
f049c8e4c5 AP_HAL_Linux: remove needless call to mlockall() 
All threads share the same address space and have the same pages locked
into memory so it's not necessary to call mlockall() for each of them.

Grepping /proc/<tid>/status gives the same VmLck for all of them, even
when only the main thread locks the memory:

    # for i in `seq 477 482`; do \
	name=$(cat /proc/$i/comm); \
	vm=$(cat /proc/$i/status |grep VmLck); \
        echo -e "$name\t$vm"; \
    done
    ArduCopter.elf  VmLck:     57868 kB
    sched-timer     VmLck:     57868 kB
    sched-uart      VmLck:     57868 kB
    sched-rcin      VmLck:     57868 kB
    sched-tonealarm VmLck:     57868 kB
    sched-io        VmLck:     57868 kB
 2015-04-14 09:17:21 +10:00
Lucas De Marchi
b7355dc62b AP_HAL_Linux: set thread name for ease debug 
Use pthread_setname_np() to set thread name so it's easier to debug
what't going on with each of them. This is the example output of the
relevant par of "ps -Leo class,rtprio,wchan,comm":

FF      12 futex_ ArduCopter.elf
FF      15 usleep sched-timer
FF      14 hrtime sched-uart
FF      13 poll_s sched-rcin
FF      11 hrtime sched-tonealarm
FF      10 hrtime sched-io
 2015-04-14 09:17:21 +10:00
Lucas De Marchi
2c48434110 AP_HAL_Linux: use a table to initialize threads 
Refactor function calls into a table and pass in the name so it can be
used in error message.
 2015-04-14 09:17:21 +10:00
Lucas De Marchi
e3d78b8960 AP_HAL_Linux: fix passing callback to member function 
It's undefined behavior to pass the callback to pthread to a class
member like we were doing. Refactor the code so the callbacks are static
members.

This fixes the following warnings:

libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void*)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);
 2015-04-14 09:17:20 +10:00
Lucas De Marchi
62c2f737d5 AP_HAL_Linux: fix setting RT priorities 
LinuxScheduler::init() was not really working as it should. This was the
result of "ps -Leo class,rtprio,wchan,comm | grep ArduCopter":

FF      12 futex_ ArduCopter.elf
FF      12 usleep ArduCopter.elf
FF      12 hrtime ArduCopter.elf
FF      12 poll_s ArduCopter.elf
FF      12 hrtime ArduCopter.elf
FF      12 hrtime ArduCopter.elf

As can be seen all the threads run with the same priority, the one of the main
thread. There were basically 2 mistakes:

	1) pthread_attr_setschedpolicy() needs to be called before
	   pthread_attr_setschedparam(). Otherwise the latter will just return
	   an error and not set the priority

	2) pthread_create() defaults to ignore the priority and inherit the
	   it from the parent thread. pthread_attr_setinheritsched() needs to
	   be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See
	   pthread_attr_setinheritsched(3) for an example program to test the
	   behaviors.

Also, it's undefined behavior to call pthread_attr_init() several times on the
same pthread_attr_t. Although we could reutilize the same attribute without
calling  pthread_attr_init() again, lets refactor the code a little bit, so all
the pthread calls are in a single place. Then also call pthread_attr_destroy()
when we are done.
 2015-04-14 09:17:20 +10:00
Lucas De Marchi
29b667efdf AP_HAL_Linux: remove useless mlock of stack 
In Linux the default stack size is always greater than 32k, either 2MB
or 8MB depending on the architecture. There's no point in creating a
function to lock 32k.
 2015-04-14 09:17:20 +10:00
Randy Mackay
e2071a4630 Notify: ToneAlarm fix to stopping continuous tones 2015-04-13 17:44:45 +09:00
Randy Mackay
2472702838 Notify: rename lost_copter to vehicle_lost 2015-04-13 17:44:44 +09:00
Jaime Machuca
043d24f03a Notify: add Lost Copter tone 2015-04-13 17:42:07 +09:00
Andrew Tridgell
0695277773 HAL_SITL: use pthread barriers for synthetic clock synchronisation 
this avoids siganls and provides a race free way of keeping time in
lock step
 2015-04-13 06:05:55 +10:00
Paul Riseborough
e79ccf1fcc AP_NavEKF: Fix bug allowing terrain to be above vehicle position 
The terrain state and vehicle state need to be compared at the same time horizon.
 2015-04-11 15:51:08 +09:00
Paul Riseborough
6d58c63c4c AP_NavEKF: Prevent potential divide by zeros in OF fusion 2015-04-11 15:51:03 +09:00
Paul Riseborough
89142f1c5f AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates. 
the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.
 2015-04-11 15:19:05 +09:00
Randy Mackay
56d2306a18 BattMon_SMBus_PX4: read capacity 2015-04-11 14:10:22 +09:00
Randy Mackay
c6440a48b3 BattMon_Backend: add init and set_capacity methods 2015-04-11 14:10:19 +09:00
Paul Riseborough
9268024094 AP_NavEKF: Update default parameters for copter optical flow fusion 2015-04-10 11:08:11 +09:00
Paul Riseborough
4fbdab27ff AP_NavEKF: Use range finder for primary hgt ref in opt flow mode 
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
 2015-04-10 11:08:07 +09:00
Paul Riseborough
ff9917d338 AP_AHRS: Fix bug preventing EKF from initialising 2015-04-10 11:07:42 +09:00
Paul Riseborough
d618c55e2f AP_NavEKF: Improved handling of noisy GPS speed accuracy data 2015-04-10 11:07:34 +09:00
Paul Riseborough
53358a4e10 AP_OpticalFlow: Add parameter to compensate for flow sensor yaw angle 
AP_OpticalFlow: update parameter name
 2015-04-10 11:07:31 +09:00
Paul Riseborough
cab171b580 AP_InertialNav: Add method to return EKF height above ground estimate 
AP_InertialNav: Add validity flag to height above ground estimate
 2015-04-10 11:07:27 +09:00
Paul Riseborough
e98edaa6cb AP_NavEKF: Return more accurate validity status for height above ground 2015-04-10 11:07:24 +09:00
Paul Riseborough
586e4a7d2b AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
Jonathan Challinger
dc5bdd5ad8 AP_AHRS: use filtered INS output to compute _accel_ef_blended 2015-04-09 20:19:56 +09:00
Randy Mackay
a095a8c3a1 AC_PID: more protection against NaN and Inf 2015-04-09 20:19:55 +09:00
Randy Mackay
bdfe8bbc54 AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX 2015-04-09 20:19:54 +09:00
Leonard Hall
afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Leonard Hall
ae77c18a19 AC_PID: Protect against NaN and INF 2015-04-09 18:30:12 +09:00
Andrzej Zaborowski
132cdc4916 Motors: Use _motor_to_channel_map in tricopter consistently. 
In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
 2015-04-09 11:43:22 +09:00
Randy Mackay
558018d839 InertialNav: add get_location method 2015-04-09 10:56:57 +09:00
Tom Pittenger
9ecbd0e30f AP_L1_Control: fixed uTurn-wobble 
When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.
 2015-04-08 15:21:02 -07:00
Jonathan Challinger
6e8008ab69 AP_SerialManager: use protocol_match in find_baudrate 2015-04-08 09:14:31 -07:00
Randy Mackay
f260536373 AC_PID: fix example sketch compile error 2015-04-08 15:05:29 +09:00
Jonathan Challinger
6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger
a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger
07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Paul Riseborough
c57e25142c AP_NavEKF: Update optical flow fusion maths to reduce height errors 2015-04-07 20:51:18 -07:00
Andrew Tridgell
35bac3ab4f GCS_MAVLink: regenerate without mavlink_frame_char changes 2015-04-06 16:43:02 -07:00
Andrew Tridgell
df948e7358 AP_Mount: fixed for new GIMBAL_REPORT message 2015-04-06 16:42:23 -07:00
Andrew Tridgell
33824e0b2f GCS_MAVLink: re-ran generate.sh 2015-04-06 16:30:16 -07:00
Jonathan Challinger
73b8890bd3 GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages 2015-04-06 16:29:02 -07:00
myly10
55befdc345 AP_NavEKF: Typo correction for EAS_NOISE description 2015-04-06 15:52:29 -07:00
mirkix
445f358839 AP_HAL_Linux: Fix compiler warning of MAX_PWMS redefinition (previously defined) 2015-04-06 15:34:50 -07:00
Andrew Tridgell
5284211c96 AP_SerialManager: fixed matching bug in protocol_match() 
thanks to Mike Clement for noticing this
 2015-04-06 15:28:03 -07:00
Mike Clement
c5c40adb76 GCS_MAVLink: use instance in find_baudrate 2015-04-06 14:47:51 -07:00
Mike Clement
89a50b99bb SerialManager: use instance in find_baudrate 2015-04-06 14:47:11 -07:00
Paul Riseborough
9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell
6e52ef2a74 GCS_MAVLink: added send_local_position() 2015-04-05 09:16:41 -07:00
Andrew Tridgell
baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough
7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell
389148ac54 AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C 2015-04-04 17:03:00 -07:00
Andrew Tridgell
55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell
5a755c0400 AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults 
this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to
override the default parameters for a build. This is useful to build a
firmware that has different default parameters
 2015-04-04 09:01:40 -07:00
Andrew Tridgell
82a51e8791 GCS_MAVLink: use AP_Param::set_param_by_name() 2015-04-04 09:01:40 -07:00
Andrew Tridgell
5ca38e3d75 AP_Param: added set_param_by_name() 
this simplifies the GCS_MAVLink code
 2015-04-04 09:01:39 -07:00
Andrew Tridgell
c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough
d44cf14178 AP_AHRS : Publish EKF learned compass offsets 2015-04-03 15:24:47 -07:00
Paul Riseborough
10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough
d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger
95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell
79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell
3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough
98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough
fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough
a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough
92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough
5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough
fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough
398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough
5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger
a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough
a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough
14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough
1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough
b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough
98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough
961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough
a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough
496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough
19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
ed9c05cf2a AP_NavEKF: Remove logic used to delay fusion for load levelling 
Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.
 2015-04-03 15:15:07 -07:00
Paul Riseborough
c0d23ffc30 AP_NavEKF: Filter accuracy and stability improvements 
Improvements in PX4 firmware have reduced the computational load  and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch:

1) Ensures that a covariance prediction is always performed prior to fusion of any observation
2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step
3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step
 2015-04-03 15:15:07 -07:00
Jonathan Challinger
de1f7f5e63 AP_NavEKF: use published delta velocities and delta angles if available 2015-04-03 15:15:07 -07:00
priseborough
3421a320b5 AP_NavEKF: Compensate for ground effect when takeoff or landing expected 2015-04-03 15:15:07 -07:00
Jonathan Challinger
20d92f5f9d AP_NavEKF: floor GPS velocity noise at parameter value for conservatism 2015-04-03 15:15:07 -07:00
priseborough
9a797a5d49 AP_NavEKF: Use GPS reported speed accuracy if available 
UBlox receivers report an estimate of the speed accuracy that tests show correlates well to speed glitches. Using this to scale the GPS velocity observation noise will reduce the effect of bad GPS velocity data.
 2015-04-03 15:15:06 -07:00
Andrew Tridgell
45e016ea5b AP_InertialSensor: check for zero delta_velocity dt 2015-04-03 15:10:47 -07:00
Jonathan Challinger
b306d7a356 AP_InertialSensor: accel cal sample for 400ms instead of 1s 2015-04-03 14:54:19 -07:00
Jonathan Challinger
1e1d8efa22 AP_InertialSensor: use expected update rate for accel cal sampling 2015-04-03 14:54:17 -07:00
Jonathan Challinger
bd84328440 AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample 2015-04-03 14:54:15 -07:00
Jonathan Challinger
b2b42e081a AP_InertialSensor: use delta_velocity/dt for calibration if available 2015-04-03 14:54:10 -07:00
Jonathan Challinger
423160eaf8 AP_InertialSensor: publish delta_velocity_dt 2015-04-03 14:54:06 -07:00
Andrew Tridgell
4147825b87 AP_InertialSensor: fixed gyro calibration bug 
we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
 2015-04-03 06:57:30 -07:00
Andrew Tridgell
728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00
Randy Mackay
d738eda59d GCS_MAVLink: integrate Serial Manager instance 2015-04-01 14:59:23 -07:00
Randy Mackay
1ed7737669 Mount: integrate Serial Manager instance 2015-04-01 14:59:21 -07:00
Randy Mackay
cbcd32d698 GPS: integrate Serial Manager instance 2015-04-01 14:59:20 -07:00
Randy Mackay
c148330c2b FrSkyTelem: integrate Serial Manager instance 2015-04-01 14:59:18 -07:00
Randy Mackay
aef16160dc SerialManager: consolidate MAVLink1 and 2 2015-04-01 14:59:17 -07:00
Randy Mackay
ca92821445 Filter: LowPassFilter gets another div-by-zero check 2015-04-01 10:34:28 -07:00
Jonathan Challinger
57f8a4d29d Filter: add get_cutoff_frequency 2015-04-01 10:15:07 -07:00
Jonathan Challinger
1828515b3b AP_Motors: bug fix to _batt_voltage_filt 2015-04-01 10:15:06 -07:00
Jonathan Challinger
89cdd02f58 AP_Motors: remove duplicate get_throttle function 2015-04-01 10:15:05 -07:00
Jonathan Challinger
0e53c0a892 AP_Motors: make output_armed() and output_disarmed() pure virtual 2015-04-01 10:14:38 -07:00
Andrew Tridgell
5acc4c333b AP_Arming: accept accel/gyro if OK in last 10 seconds 
this should prevent short periods of movement from triggering arming
status change alarms
 2015-03-31 15:37:24 -07:00
Randy Mackay
3f3e622be5 AC_PID: fix example sketch 2015-03-30 16:07:56 -07:00
Andrew Tridgell
8ba043e593 AP_AHRS: fixed EKF startup bug 
This fixes the EKF for when GPS lock takes more than 10 seconds

fixes issue #2010
 2015-03-28 10:52:22 -07:00
Andrew Tridgell
3289d38339 AP_NavEKF: make the init functions return bool 
we need to know if it has initialised successfully
 2015-03-28 10:51:38 -07:00
Andrew Tridgell
7cd7ff89fd HAL_PX4: recover 12k of ram from USB buffers 
faster NuttX means we don't need such larger buffers
 2015-03-27 15:08:52 -07:00
Andrew Tridgell
10ec1b8290 DataFlash: example no longer builds with APM2 2015-03-26 06:32:00 -07:00
Andrew Tridgell
5cbfe4fd11 HAL_SITL: fixed copter interactive SITL 2015-03-25 12:27:27 -07:00
Andrew Tridgell
0c2232a4be HAL_SITL: don't sync clocks during system initialisation 2015-03-24 08:06:50 -07:00
Jonathan Challinger
127791127c AC_PosControl: fix double literals 2015-03-24 06:29:04 -07:00
Leonard Hall
09aa2f8114 AC_AttitudeControl: Fix function discription 2015-03-23 07:40:04 -07:00
Leonard Hall
6b104c0529 AC_AttitudeControl: No Overshoot limit for Stab 
This maybe done in a more obvious way using a switch rather than just
making the overshoot larger than 180 degrees.
 2015-03-23 07:40:02 -07:00
Andrew Tridgell
9748cb1e3e HAL_SITL: use a synthetic clock when possible 
this decouples wall clock time from simulation time if the FDM
supports it
 2015-03-22 18:57:30 -07:00
Randy Mackay
8a3a7bdcd1 Mount: add set_angle_target method 2015-03-21 21:52:22 +09:00
Randy Mackay
f6021010c5 Mission: support do-mount-control 2015-03-21 21:52:19 +09:00
Randy Mackay
2189b16165 Mount_SToRM: remove message throttling 
recent versions of gimbal firmware can handle 50hz update rate
 2015-03-21 05:56:18 +09:00
Randy Mackay
b3362d5829 Mount: calc_angle_to_location returns vehicle relative yaw 2015-03-21 05:56:16 +09:00
Randy Mackay
d2739c5ce5 Mount_SToRM: slow updates to 10hz, reverse yaw, pitch 2015-03-20 20:46:45 +09:00
Randy Mackay
c7dd6ae816 BattMon: SMBus becomes unhealthy after 5sec timeout 
Also remove unused internal variable
 2015-03-20 11:05:30 +09:00
Randy Mackay
c44f304253 BattMon: analog monitor always healthy 2015-03-20 11:05:27 +09:00
Randy Mackay
98efcd5f03 AHRS: always use EKF for copter 2015-03-19 15:15:51 +09:00
Andrew Tridgell
5a4ed85588 AP_TECS: added TECS_LAND_PMAX 
this limits maximum pitch during the flare, which both reduces
integrator windup and prevents too high pitch which can cause a stall
 2015-03-19 14:46:41 +11:00
Randy Mackay
9aba885231 AC_Fence: fix prearm check 
before arming the EKF's pred_horiz_pos_abs flag should be used
 2015-03-18 21:25:47 +09:00
Andrew Tridgell
ecd2a6f515 DataFlash: log temperature of IMUs 
this is the first step towards supporting temperature calibration of
IMUs
 2015-03-17 13:33:26 +11:00
Andrew Tridgell
23272e4013 AP_InertialSensor: added get_temperature() interface 
this will allow logging of individual temperature sensors
 2015-03-17 13:32:54 +11:00
Randy Mackay
7f25938834 AHRS: fix example sketch 2015-03-16 20:29:19 +09:00
Randy Mackay
b01f9505b1 Mission: fix example sketch 
Also replace printf with print where possible
 2015-03-16 20:29:05 +09:00
Randy Mackay
385b3744ea MotorTri: check servo_out above min_throttle 2015-03-16 14:49:38 +09:00
Randy Mackay
f9e29a7f77 MotorSingle: check servo_out above min_throttle 
We need to recalc radio_out or the motors could fall below min throttle
 2015-03-16 14:49:37 +09:00
Randy Mackay
8de5d16f96 MotorCoax: check servo_out above min_throttle 
We need to recalc radio_out or the motors could fall below min throttle
 2015-03-16 14:49:35 +09:00
Leonard Hall
9a3f48cc1f AC_PosControl: ensure throttle output above zero 2015-03-16 14:49:33 +09:00
Leonard Hall
31a55b2bd6 MotorsMatrix: fix div by zero by ensuring throttle is above min 2015-03-16 14:49:31 +09:00
Paul Riseborough
9c2f1ce869 AP_Mount: Fix bug in mavlink gimbal attitude control 2015-03-16 09:54:43 +11:00
ahcorde
103bb2a08d AP_InertialSensor: Fix orientation MPU6000 PXF 2015-03-16 09:50:51 +11:00
mirkix
d4d42599b0 AP_HAL_Linux: Add RcInput and RcOutput with only one PRU when using a BBB. BBBMINI use the RC AIO PRU firmware already 2015-03-16 09:33:54 +11:00
mirkix
a6b018eab9 AP_HAL_Linux: BBBMINI use kernel CS now 2015-03-16 09:15:06 +11:00
Jonathan Challinger
dff899647f AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT 2015-03-16 09:14:03 +11:00
Jonathan Challinger
f92c711d14 AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use 2015-03-16 09:14:03 +11:00
Andrew Tridgell
569626ac1a AP_TECS: fixed APM2 build 2015-03-16 08:40:18 +11:00
Andrew Tridgell
cf2445dc97 AP_InertialSensor: prevent nested accelerometer calibration 2015-03-15 15:22:59 +11:00
Andrew Tridgell
8fc58d1cbe AP_Vehicle: expose LAND_FLARE_SEC in vehicle parameters for fixed wing 2015-03-15 13:52:34 +11:00
Andrew Tridgell
060f553097 AP_TECS: provide a much smoother transition before flare 
this moves the pitch constraint smoothly between unconstrained and
fully constrained over two time constants before the flare. This
greatly reduces the sudden pitch changes at flare
 2015-03-15 13:52:17 +11:00
Andrew Tridgell
9c0614c7bb AP_RangeFinder: default test to I2C Lidar 2015-03-15 13:50:59 +11:00
Andrew Tridgell
c8b0970e61 AP_Compass: show compass count in example 2015-03-14 20:00:29 +11:00
Andrew Tridgell
c565d3b805 AP_Airspeed: fixed example build 2015-03-14 20:00:15 +11:00
Andrew Tridgell
f4455d063e AP_Compass: fixed example 2015-03-14 17:07:39 +11:00
Andrew Tridgell
585a105128 AP_AHRS: use compass->last_update_usec() 2015-03-14 12:31:50 +11:00
Andrew Tridgell
de3f461a55 AP_NavEKF: use compass->last_update_usec() 2015-03-14 12:31:39 +11:00
Andrew Tridgell
1962706a33 AP_Compass: fixed last_update, using last_update_usec() 
this broke use of compass in the EKF
 2015-03-14 12:31:23 +11:00
Andrew Tridgell
86fc90f54c AP_Compass: removed spurious rotation in PX4 backend 
and cleanup rotation macros
 2015-03-14 08:52:37 +11:00
Andrew Tridgell
d7bac39539 AP_Compass: removed two unused functions 2015-03-14 08:52:37 +11:00
Andrew Tridgell
73782c41a9 DataFlash: disable CLI on APM2 2015-03-13 22:52:55 +11:00
Andrew Tridgell
8a99cab535 AP_InertialSensor: load only HIL backend for hil_mode 2015-03-13 22:52:55 +11:00
Andrew Tridgell
fec2025469 AP_Compass: added set_hil_mode() 2015-03-13 22:52:55 +11:00
Andrew Tridgell
2e9d2e6449 AP_Baro: load only HIL backend for hil_mode 2015-03-13 22:52:55 +11:00
Randy Mackay
bb74b8dec8 AC_PosControl: fix twitch when entering RTL 
Also removed slow_cpu flag
Fixed bug in update to _accel_target_jerk_limited.
 2015-03-13 20:47:19 +09:00
Andrew Tridgell
8f6982860f AP_Compass: fixed devid for 2nd compass 2015-03-13 20:46:32 +11:00
Andrew Tridgell
7b51c907f5 AP_Compass: zero some more variables in constructor and init 2015-03-13 19:22:11 +11:00
Andrew Tridgell
4bc92b6373 AP_Compass: removed _product_id var 2015-03-13 18:59:52 +11:00
Andrew Tridgell
3a1cbaeb25 AP_Mission: fix for new compass API 2015-03-13 18:46:18 +11:00
Andrew Tridgell
b488d6de00 AP_AHRS: fix for new compass API 2015-03-13 18:46:17 +11:00
Andrew Tridgell
520c7c1306 AP_InertialSensor: always allow for AK8963 on MPU9250 2015-03-13 18:46:17 +11:00
Andrew Tridgell
d040318014 AP_Baro: removed unused define 2015-03-13 18:46:17 +11:00
Vic
033bd243d6 SITL: Changes in compass for SITL 2015-03-13 18:46:16 +11:00
Andrew Tridgell
60b8736cf1 AP_InertialSensor: use right AK8963 compass defines 2015-03-13 18:46:15 +11:00
Andrew Tridgell
b52918331a AP_HAL: make PXF use AK8963 compass by default 2015-03-13 18:46:15 +11:00
Andrew Tridgell
d186b82edc AP_HAL: consolidate AK8963 defines 2015-03-13 18:46:15 +11:00
Andrew Tridgell
0efd3bacea AP_Compass: make new backend match old PX4 behaviour 
when a compass is internal only apply board orientation, not user
specified rotation
 2015-03-13 18:46:15 +11:00
Andrew Tridgell
a871c87cad AP_Compass: use state array for compass variables 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches
13f0aa5ecd AP_Compass: Separate common code into backend 
_copy_to_frontend function takes care of abstracting
this code from the driver. For now the function takes
care of the offset and rotation that is common.
 2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches
d3b76cd8d3 AP_Compass: split compass into frontend/backend 2015-03-13 18:46:15 +11:00
Randy Mackay
385558db4d OptFlow: fix example sketch 2015-03-13 16:41:01 +09:00
Randy Mackay
4772fd338c Mission: fix example sketch 2015-03-13 16:40:59 +09:00
Randy Mackay
c88ff00f5f AC_WPNav: remove example sketch 
this only tested compiling anyway
 2015-03-13 16:40:57 +09:00
Randy Mackay
ce2d0a14a6 AC_Sprayer: remove example sketch 
This only tested compiling anyway
 2015-03-13 16:40:54 +09:00
Randy Mackay
4754ecc9e2 AC_Fence: remove example sketch 
This only tested compiling anyway
 2015-03-13 16:40:52 +09:00
Randy Mackay
90702e2d79 AC_AttControl: remove example sketch 
This sketch only tested compiling anyway
 2015-03-13 16:40:50 +09:00
Randy Mackay
883e23b97d GPS_Glitch: remove class 
This logic is now within the EKF
 2015-03-13 16:40:48 +09:00
Randy Mackay
0344ec5d89 Arming: remove GPS glitch checks 2015-03-13 16:40:43 +09:00
Randy Mackay
0dc985a6ab Notify: remove GPS glitch notification 2015-03-13 16:40:41 +09:00
Randy Mackay
4461952534 InertialNav: remove GPS glitch protection and baro reference 2015-03-13 16:40:39 +09:00
Randy Mackay
9012c538fb InertialNav: remove example sketch 2015-03-13 16:40:35 +09:00
Randy Mackay
a76d970cc6 InertialNav_EKF: remove fall back to complementary filter 2015-03-13 16:40:33 +09:00
Randy Mackay
7221070533 InertialNav: make parent virtual 2015-03-13 16:40:31 +09:00
Randy Mackay
4e7d92094c Baro: remove glitch detection 2015-03-13 16:40:29 +09:00
Randy Mackay
c54b5b9af9 InertialNav: remove baro glitch protection 2015-03-13 16:40:25 +09:00
Randy Mackay
8e8487c699 Notify: remove baro_glitch reporting 2015-03-13 16:40:23 +09:00
Andrew Tridgell
1f70b34cbc AP_Baro: fixed baro startup on PXF cape 2015-03-13 13:48:41 +11:00
Andrew Tridgell
808c33d0a7 AP_InertialSensor: support both MPU9250 and MPU9255 
seems to be just different WHOAMI register
 2015-03-13 13:26:49 +11:00
Andrew Tridgell
8fee936ad7 HAL_SITL: fixed emulation of MTK1.6 GPS 2015-03-13 10:30:20 +11:00
Andrew Tridgell
e0870d5038 AP_GPS: disable NMEA and SiRF on AVR 2560 
we are too low on flash space for plane on APM2 now
 2015-03-13 10:30:00 +11:00
Andrew Tridgell
5da80f44b1 AP_GPS: fixed MTK1.6 time handling 
my MTK1.6 does not use hectoseconds, it uses milliseconds
 2015-03-13 10:29:36 +11:00
Randy Mackay
230ca583d1 NavEKF: support sending EKF_STATUS_REPORT 2015-03-12 12:20:00 +09:00
Randy Mackay
5ee67e63ec GCS_MAVLink: add EKF_STATUS_REPORT to enum 2015-03-12 12:19:58 +09:00
Randy Mackay
3c555fc396 GCS_MAVLink: version number after adding EKF_STATUS_REPORT 2015-03-12 12:19:56 +09:00
Randy Mackay
5aef7e6d1a GCS_MAVLink: generate after adding EKF_STATUS_REPORT 2015-03-12 12:19:54 +09:00
Randy Mackay
d464344c34 GCS_MAVLink: add EKF_STATUS_REPORT message to xml 2015-03-12 12:19:50 +09:00
Andrew Tridgell
07fd31c724 AP_InertialSensor: change copter filters to 20Hz 
with the backend filters disabled 20Hz is closer to the old default of
30Hz
 2015-03-12 13:11:17 +11:00
Andrew Tridgell
e0a0c3afcf AP_Arming: default to arming required 2015-03-12 12:53:27 +11:00
Andrew Tridgell
a1d43e39e0 AP_InertialSensor: added get_gyro_filter_hz() and get_accel_filter_hz() 2015-03-12 12:50:31 +11:00
Andrew Tridgell
3d7d46b9b0 AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER 
this allows filtering to be set separately on accels and gyros where possible
 2015-03-12 12:50:31 +11:00
Andrew Tridgell
f3314791f2 AP_InertialSensor: removed INS_CALSENSFRAME 
it is no longer needed as we have shifted the accel cal indexes
 2015-03-12 12:50:31 +11:00
Andrew Tridgell
4bc6c8e655 AP_InertialSensor: shift to new parameter indexes for accel calibration 
this allows for users to switch between development trees and previous
stable versions while retaining their accel calibration values.
 2015-03-12 12:50:30 +11:00
Andrew Tridgell
5d0eb49114 AP_InertialSensor: calculate queue depth based on requested sample rate 
this auto-scales the queue depth for plane, rover and copter
 2015-03-12 12:50:30 +11:00
Andrew Tridgell
f3706d63c7 Filter: prevent copying the filter parms on apply 2015-03-12 12:50:30 +11:00
Andrew Tridgell
ea49d1cd39 AP_InertialSensor: removed unused variable 2015-03-12 12:50:30 +11:00
Andrew Tridgell
b36122dec0 Filter: removed stdio.h 
breaks AVR build
 2015-03-12 12:50:30 +11:00
Andrew Tridgell
e6a4b9f68c AP_InertialSensor: check accel health during accel cal 2015-03-12 12:50:29 +11:00
Andrew Tridgell
875339f12a AP_InertialSensor: try to avoid a compiler fault in travis 2015-03-12 12:50:29 +11:00
Andrew Tridgell
031c81beee AP_AHRS: removed call to 1D accel cal 2015-03-12 12:50:29 +11:00
Andrew Tridgell
4deb136bb0 AP_Arming: require 3D accel cal always 2015-03-12 12:50:28 +11:00
Andrew Tridgell
786172aa4e AP_InertialSensor: removed 1D accel calibration 
it is finally time to move on from this. We want to push people
towards better calibration and removing the 1D accel cal is the first
step
 2015-03-12 12:50:28 +11:00
Andrew Tridgell
a975520033 AP_InertialSensor: check range of accels in 3D calibration 
during 3D accel cal it is possible to get data which passes the sphere
fit but which has very poor coverage and does not provide sufficient
data for a good result. This checks that each axis covers a range of
at least 12 m/s/s in body frame
 2015-03-12 12:50:28 +11:00
Andrew Tridgell
a8a8628515 AP_InertialSensor: added INS_CALSENSFRAME parameter 
this allows us to detect if accel calibration was done in sensor frame
or not. If it was done in sensor frame then the accel calibration is
independent of AHRS_ORIENTATION, which makes it easier to move a board
to a new airframe without having to recalibrate.
 2015-03-12 12:50:28 +11:00
Jonathan Challinger
bc655ff0cc AP_InertialSensor_PX4: add optional debug 2015-03-12 12:50:28 +11:00
Jonathan Challinger
074ee49cd0 AP_InertialSensor_PX4: interleave accel and gyro samples by time 2015-03-12 12:50:28 +11:00
Jonathan Challinger
addf80b669 AP_InertialSensor_PX4: explicitly configure sensors, publish deltas 2015-03-12 12:50:27 +11:00
Jonathan Challinger
b5131b7b64 AP_InertialSensor: add coning.py example 2015-03-12 12:50:27 +11:00
Jonathan Challinger
2a547f329b AP_InertialSensor: allow backends to publish delta velocities and angles 2015-03-12 12:50:27 +11:00
Jonathan Challinger
155c173ed1 AP_InertialSensor: rename _rotate_and_offset to _publish 2015-03-12 12:50:27 +11:00
Jonathan Challinger
502446d821 AP_InertialSensor: use LowPassFilter2pVector3f 2015-03-12 12:50:27 +11:00
Jonathan Challinger
0133f0bb57 LowPassFilter2p: split into LowPassFilter2pfloat and LowPassFilter2pVector3f 2015-03-12 12:50:27 +11:00
ustas
a2d5ac6805 AP_GPS: add includes for success build example sketch 
include AP_Scheduler.h for achieve build GPS_UBLOX_passthrough example
 2015-03-11 21:30:31 +09:00
mirkix
4f1dd85e47 AP_HAL: Add test sketch for RC input to RC output pass through 2015-03-11 21:14:15 +09:00
Randy Mackay
12724e9556 AC_PID: remove include of stdio.h 2015-03-11 20:40:05 +09:00
Randy Mackay
cc0d5b9ced AC_PI_2D: replace set_filt_hz method with filt_hz 
Thanks to Jonathan Challinger for spotting this bug
 2015-03-11 17:28:36 +09:00
Randy Mackay
c10b0b34ca AC_PID: replace set_filt_hz method with filt_hz 
Thanks to Jonathan Challinger for spotting this bug
Also add sanity check to filt_hz
 2015-03-11 17:28:20 +09:00
Jonathan Challinger
88ec13b10d AC_PosControl: fix build 2015-03-11 10:00:00 +09:00
Randy Mackay
50d2e98aa4 AC_AttControl: init throttle_hover in constructor 2015-03-10 22:10:36 +09:00
Randy Mackay
965db2c7f7 AC_PosControl: add comments and defines for jerk limits 2015-03-10 22:10:34 +09:00
Jonathan Challinger
4408c1b935 AC_PosControl: 2d jerk constraint in accel_to_lean_angles 2015-03-10 22:10:32 +09:00
Jonathan Challinger
9871b95586 AC_PosControl: fix dt sanity checking 2015-03-10 22:10:30 +09:00
Jonathan Challinger
e7efe23fb5 GCS_MAVLink: reserve message IDs for future feature additions 2015-03-10 15:30:14 +09:00
Randy Mackay
5e26450a6f AP_Motors: make THR_LOW_COMP a variable instead of param 2015-03-10 12:20:27 +09:00
Leonard Hall
007c96a3d8 AP_Motors: Low throttle compensation setters 2015-03-10 12:20:21 +09:00
Leonard Hall
6275ee0289 AP_Motors: Check for battery voltage reading fail 2015-03-10 12:20:19 +09:00
Randy Mackay
5f26a36060 INS: protect against two calibrations running at the same time 2015-03-09 17:58:38 +11:00
Randy Mackay
f9c6e35d19 INS: add calibrating method 2015-03-09 17:58:38 +11:00
Randy Mackay
b0e7990c90 INS: set gyro_cal_ok only after completing calibration 2015-03-09 17:58:37 +11:00
Andrew Tridgell
aec7907571 AP_InertialSensor: updated comment on accel check in gyro cal 2015-03-09 17:58:36 +11:00
Andrew Tridgell
494e909703 AP_InertialSensor: ensure accel cal completion messages get through 2015-03-09 07:36:50 +11:00
Andrew Tridgell
38bde56523 AP_InertialSensor: continue finding best gyro after convergence 
with multiple gyros if we are still calibrating one of the gyros then
keep looking for better values for the already converged gyros.
 2015-03-08 07:49:38 +11:00
Andrew Tridgell
20a4c98bac AP_InertialSensor: use accelerometers to prevent bad gyro cal 
if the board is rotating at a steady rate we can end up with a bad
gyro calibration. This can happen on a steadily moving platform such
as a ship.

This uses the accelerometers to detect the steady movement and not
accept the gyro calibration
 2015-03-08 07:48:16 +11:00
Andrew Tridgell
434d094993 AP_InertialSensor: allow MAVLink packets to flow during accelcal 
this uses the snoop functionality of GCS_MAVLink to allow the delay
callback to be used during accel calibration
 2015-03-07 21:56:39 +11:00
Andrew Tridgell
af7765c57c GCS_MAVLink: fixed typo 2015-03-07 13:54:58 +11:00
Andrew Tridgell
ac848dc103 GCS_MAVLink: zero packet data before reply in serial control 2015-03-07 13:53:44 +11:00
Randy Mackay
7675160e33 Notify: add firmware update flag and implement for OreoLED 2015-03-06 17:26:51 +09:00
Jace A Mogill
442d07a6c9 Notify: OreoLED fast startup with solid green 
For manual flight modes: Solid white in front, red in rear
For automatic flight modes: Breathing white in front, red in rear
Loss of RC: Alternating red/black in front and rear

merge with fast green
 2015-03-06 17:26:45 +09:00
Jonathan Challinger
e2383581cc AC_AttitudeControl: relax_bf_rate_controller resets rate integrators 2015-03-06 14:02:57 +09:00
Leonard Hall
3ad9b1a06b AP_MotorsMatrix: remove incorrect throttle limit flag 2015-03-06 14:02:55 +09:00
Leonard Hall
20de383084 AC_AttControl: accel limiting for angular control only if feed forward enabled 2015-03-06 14:02:52 +09:00
Jonathan Challinger
d148039f65 AP_Motors: stricter batt_voltage misconfiguration check 2015-03-06 14:02:49 +09:00
Leonard Hall
7de5bccc93 AC_PosControl: remove THR_HOVER parameter 
Parameter is set by main code so no need to store to eeprom
 2015-03-06 14:02:46 +09:00
Leonard Hall
9866eaded1 AC_PosControl: rename p_alt_pos to p_pos_z 
Also pid_alt_accel to pid_accel_z
 2015-03-06 14:02:44 +09:00
Leonard Hall
349f1aeceb AC_PosControl: use 2-axis PI controller 2015-03-06 14:02:42 +09:00
Leonard Hall
8d4f0ec80c AC_PosControl: integrate PID input filter 2015-03-06 14:02:39 +09:00
Randy Mackay
e4d48fdc92 AC_AttControlHeli: separate accel max for roll, pitch 
renamed _accel_y_max to _accel_yaw_max
 2015-03-06 14:02:36 +09:00
Leonard Hall
51455af51a AC_AttConHeli: integrate PID input filter 2015-03-06 14:02:35 +09:00
Leonard Hall
792b2a2eb3 AC_AttControl: separate accel max for roll, pitch, yaw 
Also add:
Rate filters
rename rate filter defines
d-term only filter for roll, pitch rate control
accessors to save max accel for roll, pitch, yaw
fix for duplicate ACCEL_Y_MAX param
 2015-03-06 14:02:33 +09:00
Leonard Hall
9833c91b2b AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw 2015-03-06 14:02:30 +09:00
Leonard Hall
f00025e5c9 AC_AttControl: accessor for rate feedforward 2015-03-06 14:02:27 +09:00
Leonard Hall
691fb8947e AC_AttControl: accessor for rate_bf_targets 2015-03-06 14:02:25 +09:00
Leonard Hall
784a4ce51a AC_AttControl: increase max angle overshoot to 30deg 2015-03-06 14:02:23 +09:00
Leonard Hall
eb084f7c58 AC_AttControl: bf yaw control uses input filtered PID 2015-03-06 14:02:21 +09:00
Leonard Hall
11a19803e0 Motors: add accessors for motor logging 
accessor include get_roll, get_pitch, get_yaw, throttle input
 2015-03-06 14:01:58 +09:00
Leonard Hall
34a5bc8b33 AC_PI_2D: 2-axis PI controller 2015-03-06 14:01:56 +09:00
Leonard Hall
046949ea8a AC_HELI_PID: add input filter and restructure 
Also removed unused initial_ff from construtor
 2015-03-06 14:01:54 +09:00
Leonard Hall
517448e536 AC_PID: add input filtering and restructure 2015-03-06 14:01:52 +09:00
Andrew Tridgell
2aae594371 GCS_MAVLink: handle serial loopback in routing 2015-03-04 20:24:11 +11:00
Andrew Tridgell
086f878bdc HAL_PX4: split IO thread into separate IO and storage threads 
this prevents a blocked microSD card from blocking IO to the FRAM,
causing parameter changes not to be sticky
 2015-03-04 20:18:17 +11:00
Andrew Tridgell
58c92b0158 GCS_MAVLink: added SCALED_IMU3 logging 2015-03-04 19:30:08 +11:00
Andrew Tridgell
79be500e04 GCS_MAVLink: re-generate headers 2015-03-04 19:29:28 +11:00
Andrew Tridgell
eeacbe518b GCS_MAVLink: update from upstream XML 2015-03-04 19:21:24 +11:00
Randy Mackay
f5f7cd540f Motors: fix example sketches 2015-03-03 21:39:24 +09:00
Leonard Hall
cf8c211c35 Motors: fix thrust curve and add constraint 2015-03-03 15:49:07 +09:00
Leonard Hall
3e960dfc3b Motors: add get_voltage_comp_gain 
This clarifies that lift_max is the inverse of the battery voltage gain
compensation
 2015-03-03 15:49:04 +09:00
Leonard Hall
997c6f0868 Motors: move battery resistance calcs to parent 
Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
 2015-03-03 15:49:02 +09:00
Randy Mackay
09d7cdbc23 Motors: batt_voltage_filt becomes filter object 2015-03-03 15:49:00 +09:00
Randy Mackay
4b78b2ce80 Filter: add get method to LowPassFilter 2015-03-03 15:48:58 +09:00
Leonard Hall
529c6fed3a Motors: move over current throttle limiting to parent 
Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
 2015-03-03 15:48:54 +09:00
Randy Mackay
812473fd9a MotorsMatrix: use get_hover_throttle_as_pwm 2015-03-03 15:48:52 +09:00
Randy Mackay
1a9d3125ef Motors: _hover_out to pct * 10 instead of pwm 2015-03-03 15:48:50 +09:00
Leonard Hall
6b7bdf64bd Motors: move batt voltage lift_max calcs to parent 
Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
 2015-03-03 15:48:48 +09:00
Randy Mackay
c549b58eb7 MotorsMatrix: remove check of throttle_curve_enabled 2015-03-03 15:48:46 +09:00
Randy Mackay
5fb3de48ee MotorsTri, Single, Coax: use new thrust curve 2015-03-03 15:48:44 +09:00
Randy Mackay
2eaa4a8445 Motors: remove old throttle curve 2015-03-03 15:48:42 +09:00
Leonard Hall
751dbb7df7 Motors: move thrust curve and volt scaling to parent 
Moving from MotorsMatrix to Motors allows it to be used from other frames
 2015-03-03 15:48:41 +09:00
Randy Mackay
80b498f598 Motors: add loop_rate to test sketch 2015-03-03 15:48:39 +09:00
Randy Mackay
7ab76dbd0e Motors: add loop_rate to constructor for all frames 2015-03-03 15:48:34 +09:00
Randy Mackay
77d4b3a2ae Motors: add loop_rate to constructor 2015-03-03 15:48:32 +09:00
Leonard Hall
ec9d7dd99e Motors: minor comment fixes 2015-03-03 15:48:30 +09:00
Leonard Hall
1d0ee68116 Motors: over current throttle limiting 2015-03-03 15:48:28 +09:00