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16,724 Commits 71 Branches 509 Tags 734 MiB
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16724 Commits

Author SHA1 Message Date
Jonathan Challinger fb96335b46 Copter: get_RTL_alt returns alt above home 2015-05-01 16:37:36 +09:00
Randy Mackay fb7e75594f AP_NavEKF: replace memset with quaternion.initialise 2015-05-01 16:37:35 +09:00
Randy Mackay eaedeeb7bf AP_Math: add quaternion.initialise 2015-05-01 16:37:34 +09:00
Randy Mackay c366fbbc96 AP_NavEKF: remove unused haveDeltaAngles 2015-05-01 16:37:33 +09:00
Randy Mackay 6773c0b232 AP_InertialSensor: default primary accel and gyro 2015-05-01 16:37:33 +09:00
Paul Riseborough b71b8f4bda AP_NavEKF: Always return a NED relative position if possible 
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
 2015-05-01 16:37:32 +09:00
Paul Riseborough 20ba1e6b1b AP_NavEKF: Always return a WGS-84 location if possible 
If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
 2015-05-01 16:37:31 +09:00
Paul Riseborough dd1e0b2f0b AP_NavEKF: Add missing function to return the NED to XYZ quaternion 2015-05-01 16:37:30 +09:00
Paul Riseborough 2c4572eb50 AP_NavEKF: Make ground effect variable names more descriptive 2015-05-01 16:37:29 +09:00
Paul Riseborough 3986851c51 AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff 
The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
 2015-05-01 16:37:28 +09:00
Paul Riseborough 2cba60c731 AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion 
Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
 2015-05-01 16:37:27 +09:00
Paul Riseborough c4c0f819b5 AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step 2015-05-01 16:37:26 +09:00
Paul Riseborough 5dc29699ab AP_NavEKF: Publish the INS delta quaternion 2015-05-01 16:37:25 +09:00
Paul Riseborough d273302ce7 AP_NavEKF: Improve rate of accel bias learning before flight 2015-05-01 16:37:24 +09:00
Paul Riseborough 8dc6354a54 AP_NavEKF: Prevent touchdown baro errors tripping height innovation check 
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
 2015-05-01 16:37:23 +09:00
Jonathan Challinger 2f38dd1b67 AP_NavEKF: use quaternion functions to apply IMU delta angles 2015-05-01 16:37:22 +09:00
Jonathan Challinger 9c374eb4a8 AP_NavEKF: apply constrained floor to barometer innovation while landing 2015-05-01 16:37:21 +09:00
Jonathan Challinger 3c6446fadd AP_NavEKF: refactor meaHgtAtTakeOff filter 2015-05-01 16:37:20 +09:00
Paul Riseborough 744de74c16 AP_NavEKF: Reduce ground effect baro induced height errors during takeoff 2015-05-01 16:37:19 +09:00
Paul Riseborough 13616d6436 AP_NavEKF: Add takeoff and touchdown expected to reported filter status 2015-05-01 16:37:19 +09:00
Jonathan Challinger 8c92524b8a AP_NavEKF: add takeoffExpected and touchdownExpected 2015-05-01 16:37:18 +09:00
Jonathan Challinger b6b55bf6f2 AP_NavEKF: integrate gravity over correct time period 2015-05-01 16:37:17 +09:00
Jonathan Challinger cb0c424da1 AP_NavEKF: rewrite readIMUData 2015-05-01 16:37:16 +09:00
Jonathan Challinger bb88a4f8fe AP_InertialSensor: healthy() checks bounds 2015-05-01 16:37:15 +09:00
Jonathan Challinger af80f20a51 AP_InertialSensor: add get_primary_gyro, fix get_primary_accel 2015-05-01 16:37:14 +09:00
Randy Mackay 0acc06d713 AP_Motors: minor comment for interlock 2015-05-01 14:30:45 +09:00
Robert Lefebvre 05f18bb014 Copter: Rename output_min() to enable_motor_output() 2015-05-01 14:30:44 +09:00
Robert Lefebvre 41a6cc64ff Copter: Log Emergency Stop and Motor Interlock status 2015-05-01 14:30:43 +09:00
Robert Lefebvre d8a0952b5a Copter: Explicitly define aux_switch enum. 2015-05-01 14:30:42 +09:00
Robert Lefebvre da2854403e Copter: Explicitly define tuning_func enum value 2015-05-01 14:30:42 +09:00
Robert Lefebvre 4e51ce6d75 Copter: rename "estop" to "emergency stop". 
No functional change
 2015-05-01 14:30:41 +09:00
Robert Lefebvre 9d9f20a6cb Copter: Add Motor Interlock/E-Stop Conflict Prearm Check 2015-05-01 14:30:40 +09:00
Robert Lefebvre fab8604f16 Copter: Change Auto Yaw #define table into Enum. 2015-05-01 14:30:39 +09:00
Robert Lefebvre 32b4e70cb7 Copter: Deprecate Aux Switch Multi-Mode 2015-05-01 14:30:38 +09:00
Robert Lefebvre 22a7fba289 Copter: Change autopilot modes into Enum 2015-05-01 14:30:37 +09:00
Robert Lefebvre 39d23519b1 Copter: Change CH6_Tuning #defines into Enum 2015-05-01 14:30:36 +09:00
Robert Lefebvre 167507e28b Copter: non-functional format fixes in switches.pde 2015-05-01 14:30:35 +09:00
Robert Lefebvre a357ef43a4 Copter: Move Aux Switch flags into new Enum 2015-05-01 14:30:34 +09:00
Robert Lefebvre 8610da7fbc Copter: autopilot modes to check for motor interlock status 2015-05-01 14:30:33 +09:00
Robert Lefebvre a035d5ad1b Copter: Fix initialization of Motor Interlock Aux Sw function. 2015-05-01 14:30:31 +09:00
Robert Lefebvre 16cf9471ae Copter: Remove ap.motors_interlock, use only flag in AP_Motors 2015-05-01 14:30:31 +09:00
Robert Lefebvre 9b15ea6f5c Copter: Change throttle_zero to check interlock and E-stop status 2015-05-01 14:30:30 +09:00
Robert Lefebvre 2010410c44 Copter: Add numbers to Aux Switch Enum comments 2015-05-01 14:30:28 +09:00
Robert Lefebvre b82113acc7 Copter: Modify auto-disarm process for throttle interlock 2015-05-01 14:30:27 +09:00
Robert Lefebvre 7349827eb1 Copter: Add Aux Switch E-Stop Function 2015-05-01 14:30:26 +09:00
Robert Lefebvre 1a482de5e2 AP_MotorsHeli: Overload output_armed_zero_throttle 2015-05-01 14:30:25 +09:00
Robert Lefebvre 6bdace30d2 AP_Motors: Add throttle interlock functionality 
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
 2015-05-01 14:30:24 +09:00
Robert Lefebvre 4a0a4de687 Copter: update motors.throttle_interlock every time motors_output is run 2015-05-01 14:30:23 +09:00
Robert Lefebvre 7d745587a4 Copter: Add using_interlock flag, employ it in arming process 2015-05-01 14:30:22 +09:00
Robert Lefebvre e4c5915330 Copter: initial creation of motor_interlock 2015-05-01 14:30:21 +09:00