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14732 Commits

Author SHA1 Message Date
priseborough 4eb19c2324 AP_NavEKF: Rationalise health status reporting 
1) Un-used public methods to report height and position drifting have been removed
2) A time-out has been added to the airspeed innovation consistency check so that if we are relying on airspeed to constrain velocity drift, a filter divergence or other fault that causes the airspeed to be continually rejected will trigger a change in health status.
3) A timeout of velocity, position or height measurements does not cause a filter fault to be reported. Timeouts can be due to sensor errors and do not necessarily indicate that the filter has failed.
4) Time-outs of various measurements are used to present a consolidated bitmask which inidicates which parts of the solution can be used, eg attitude, height, velocity, relative position, absolute position, etc.
 2014-12-31 13:13:31 +09:00
priseborough 78b30e4ce5 AP_NavEKF: Increase rate at which GPS glitch offsets are reduced for planes 2014-12-31 13:13:29 +09:00
Randy Mackay 82a83200b1 AutoTest: minor fix to AVC copter params 
remove unnecessary AHRS_EKF_USE because it's on by default now
 2014-12-30 20:48:53 +09:00
Randy Mackay 4ea48f8f64 AutoTest: increase throttle for fly_square test 2014-12-30 20:48:12 +09:00
Andrew Tridgell e0943851d6 DataFlash: log gyro and accel error counts 2014-12-30 12:16:02 +11:00
Andrew Tridgell b9adc6e466 AP_InertialSensor: prefer sensors that have zero error counts 
if a sensor has failed in flight then try not to use it if another
error-free sensor is available
 2014-12-29 21:19:35 +11:00
Andrew Tridgell 8d393c89d0 autotest: fixed bash syntax 2014-12-27 21:40:57 +11:00
Randy Mackay f2b0fc3566 Copter: disarm on landing regardless of pilot input 2014-12-27 13:33:06 +09:00
Randy Mackay 4a1ba9b186 AC_WPNav: minor const fix 2014-12-27 13:19:32 +09:00
Randy Mackay 72127cde35 Copter: remove broken support for do-change-alt 
This command was not implemented fully removing this code resolves a
compiler warning
 2014-12-26 22:17:45 +09:00
Randy Mackay 2bc1b7e4d6 Copter: skip pre-arm checks when already armed 2014-12-26 22:01:43 +09:00
Brandon Basso 4ace5bcccb CHDK script changes 
S100 settings
 2014-12-26 16:04:35 +09:00
Randy Mackay 990a34cb75 Copter: remove support for do-set-home mission command 
This avoids the chance of an arithmetic exception in cases where the
position is moved too far
 2014-12-26 15:55:26 +09:00
Randy Mackay c7192c5eef Notify: remove Led class 
This class didn't add any functionality beyond what the NotifyDevice class
already provided so in keeping with our desire to keep things simple we
can remove this class
 2014-12-26 13:06:41 +09:00
Randy Mackay 352b52d73f Notify: remove reliance on Led class 2014-12-26 13:06:24 +09:00
Randy Mackay 860e4b1ce2 Tracker: pre_arm_gps_check flag always true 2014-12-26 12:32:43 +09:00
Randy Mackay 4db219e70a Rover: pre_arm_gps_check flag always true 2014-12-26 12:32:41 +09:00
Randy Mackay 11def53ca7 Plane: pre_arm_gps_check flag always true 2014-12-26 12:32:38 +09:00
Randy Mackay 2ea9b8a5a8 Copter: set pre_arm_gps_check flag 2014-12-26 12:32:36 +09:00
Randy Mackay d67b4a8d49 Notify: add pre_arm_gps_check flag 
RGB LED will remain flashing blue when vehicle is disarmed and this
check has failed (i.e. false).
 2014-12-26 12:32:34 +09:00
The Gitter Badger e757d75f54 Added Gitter badge 2014-12-23 05:38:32 +00:00
Andrew Tridgell c93ae67541 DataFlash: don't try and open logfile on failure more than once 
this prevents a corrupted microSD card from causing a continuous
attempt to open a log file while in flight, which can cause large
scheduler delays

Pair-Programmed-With: Grant Morphett <grant@gmorph.com>
 2014-12-21 14:50:42 +11:00
Andrew Tridgell abd1ece6e3 DataFlash: don't write out parameters if log open fails 2014-12-21 14:50:42 +11:00
priseborough f2c506339a AP_NavEKF: Reduce time required to recover from GPS timeouts 
The time required for GPS to be lost or rejected before vehicles with airspeed sensors either reset to GPS or invoke the zero side-slip assumption to constrain drift has been reduced from 15 to 10 seconds
A duplicate zeroing of the GPS position offset has been removed
If the vehicle is a non hovering vehicle (eg a plane) then the speed at which the GPS offset is pulled back to zero after a reset is increased from 1 to 3  m/s

This also improves recovery from bad inertial data for planes
 2014-12-18 21:50:40 +11:00
priseborough f73816dbb5 AP_NavEKF: Improve robustness to long periods without GPS 2014-12-18 21:07:45 +11:00
Randy Mackay a44b4b5e87 Mission: allow 15 do-jump commands on Pixhawk 2014-12-18 17:02:48 +09:00
Randy Mackay 05fedbf98f Copter: minor formatting fixes 2014-12-18 16:38:34 +09:00
Jonathan Challinger 91bff63267 Copter: Fix LAND overshoot issue 2014-12-18 16:38:31 +09:00
priseborough 3afde0061f AP_NavEKF: Use named states for velocity reset 
Readibility improvement
 2014-12-18 17:29:50 +11:00
priseborough f6ce25df2a AP_NavEKF: Do not reset vertical velocity state from GPS 
Doing this can cause large height and height rate errors if large GPS velocity errors cause the GPS tn be rejected for long enough to cause a timeout and reset of states.
 2014-12-18 17:29:47 +11:00
Andrew Tridgell 597273cfff AP_TECS: remove lag from height demand in landing 
this predicts ahead the height demand for landing, where we have a
continuous demanded descent. This removes the effect of the lag
introduced by the height demand filters
 2014-12-18 09:58:12 +11:00
Andrew Tridgell eb13395967 Plane: cleanup mavlink_system setup 2014-12-17 11:30:04 +11:00
Andrew Tridgell 87df3c3442 Rover: cleanup mavlink_system setup 2014-12-17 11:29:50 +11:00
Andrew Tridgell b5a5b71512 GCS_MAVLink: reverse sense of check_and_forward() 
also increase number of routes on larger systems and improved route
learning logic
 2014-12-17 10:32:28 +11:00
Andrew Tridgell a967a682a4 GCS_MAVLink: added routing test sketch 2014-12-17 10:32:28 +11:00
Andrew Tridgell 7f817502c4 GCS_MAVLINK: implement new routing rules 
see description in coments
 2014-12-17 10:32:28 +11:00
Randy Mackay b6bcf841e1 Copter: remove second camera mount 2014-12-16 21:26:20 +09:00
Andrew Tridgell 976ae14f1f Plane: improve landing aim point calculation 
try to account for wind and current ground speed to dynamically update
glide slope in landing to flare at the right point
 2014-12-15 21:51:08 +11:00
Andrew Tridgell 70f5ec60e8 AP_TECS: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Andrew Tridgell 8c1cab84c7 AP_SpdHgtControl: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Jonathan Challinger cafb38e923 Copter: allow radio failsafe while disarmed so that user can be notified 2014-12-15 14:10:29 +09:00
Randy Mackay 21beb26484 Notify: minor event reordering 
No functional change
 2014-12-15 14:10:26 +09:00
Randy Mackay 79e40b4f6a Copter: do not send mode_change event before init complete 
This avoids a beep as the flight mode is set during start-up
 2014-12-15 14:10:23 +09:00
Randy Mackay e68a69e139 ToneAlarm_PX4: remove user_mode_init flag 
Replaced by an initialised check in the main ArduCopter flight code
 2014-12-15 14:10:21 +09:00
Randy Mackay 562f3e7382 Copter: set notify event when failsafe changes flight mode 2014-12-15 14:10:19 +09:00
Randy Mackay 1c8ab375e2 Notify: rename failsafe_action event 2014-12-15 14:10:15 +09:00
Randy Mackay 6a15d21704 Copter: minor format change 2014-12-15 14:10:13 +09:00
Randy Mackay 972c8e47d2 Notify: rename notify_types to notify_flags_type 2014-12-15 14:10:10 +09:00
Randy Mackay bfc86ac7c0 ToneAlarm_PX4: add comments 2014-12-15 14:10:06 +09:00
Randy Mackay c75ab8f3e5 Notify: add comments re events 2014-12-15 14:09:15 +09:00