Randy Mackay
d5934343d4
Rover: pass sonar into ahrs constructor
2015-04-24 11:22:16 +09:00
Randy Mackay
94dc973c29
Copter: update ARMING_CHECK parm description
2015-04-24 11:12:03 +09:00
Randy Mackay
6e623bce28
Copter: remove optical flow init failure message
...
the sensor only becomes healthy once it has received data which will
take a few seconds after initialisation meaning this failure message
will always be displayed even when the sensor is fine.
2015-04-24 10:58:07 +09:00
Randy Mackay
b05bdd657d
AP_NavEKF: getHeightControlLimit modifies height on success
2015-04-24 10:58:05 +09:00
Randy Mackay
37e8d1a338
Copter: PosController alt limit from fence and EKF
2015-04-24 10:58:03 +09:00
Randy Mackay
ba94a993f5
AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success
2015-04-24 10:58:00 +09:00
Paul Riseborough
51624149e1
AP_InertialNav: Add function to return EKF height control limit
2015-04-24 10:57:58 +09:00
Paul Riseborough
cf04600710
AP_NavEKF: Add public function to limit height control during OF nav
2015-04-24 10:57:56 +09:00
Paul Riseborough
68b225de4d
AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height
2015-04-24 10:57:54 +09:00
Paul Riseborough
c2e6fdb56c
AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate
...
This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
2015-04-24 10:57:51 +09:00
Paul Riseborough
fd7fdc1ad9
AP_NavEKF: Remove unnecessary state resets on arm and disarm
...
Resetting states unnecessarily creates transients due to presence of bias errors
2015-04-24 10:57:49 +09:00
Paul Riseborough
3e67080002
AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias
2015-04-24 10:57:47 +09:00
Paul Riseborough
e48171ab11
AP_NavEKF: Improve takeoff with optical flow and range data loss
...
Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
2015-04-24 10:57:45 +09:00
Paul Riseborough
3e061b174e
AP_NavEKF: Report unhealthy for all filter faults
2015-04-24 10:57:43 +09:00
Paul Riseborough
6c4c54c2ba
AP_NavEKF: Use default on ground range parameter from range finder object
2015-04-24 10:57:41 +09:00
Jonathan Challinger
10476333d8
AP_NavEKF: don't run when previously disarmed and time has slipped
2015-04-24 10:57:39 +09:00
Jonathan Challinger
085faaac6a
AP_NavEKF: fix delay detection so that filter properly resets after a delay
2015-04-24 10:57:36 +09:00
Randy Mackay
3719ea53e4
Copter: add range finder status to extended status msg
2015-04-24 10:57:34 +09:00
Randy Mackay
245e46205a
Rover: replace range finder health with status
2015-04-24 10:57:32 +09:00
Randy Mackay
5e359c977f
Copter: replace range finder health with status
2015-04-24 10:57:30 +09:00
Randy Mackay
0acc4af63c
Plane: replace range finder health with status
2015-04-24 10:57:28 +09:00
Randy Mackay
a01fb64f12
RangeFinder: fix example sketch
2015-04-24 10:57:25 +09:00
Randy Mackay
715da653c3
RangeFinder_Analog: set status
2015-04-24 10:57:23 +09:00
Randy Mackay
fadfa70e99
RangeFinder_MaxSonar: set status
2015-04-24 10:57:21 +09:00
Randy Mackay
e212ebb0d0
RangeFinder_PulsedLight: set status
2015-04-24 10:57:19 +09:00
Randy Mackay
aa04bef5af
RangeFinder_PX4: set status and consume out of range samples
2015-04-24 10:57:16 +09:00
Randy Mackay
71de0ab815
RangeFinder_PX4_PWM: set status and consume out of range samples
2015-04-24 10:57:12 +09:00
Randy Mackay
7663b8eade
RangeFinder: replace healthy with status and no_data methods
2015-04-24 10:57:10 +09:00
Randy Mackay
1ff443d667
Copter: add rangefinder pre-arm check
2015-04-24 10:57:08 +09:00
Randy Mackay
8ed6207ca8
RangeFinder: add pre-arm checks
2015-04-24 10:57:05 +09:00
Randy Mackay
f1cbd1f03b
RangeFinder: add ground clearance parameter
2015-04-24 10:57:03 +09:00
Paul Riseborough
1c8e3f9444
AP_NavEKF: Allow EKF to pull data from range finder object
2015-04-24 10:57:01 +09:00
Paul Riseborough
7f1749dc1c
AP_AHRS: Allow EKF to pull data from range finder object
2015-04-24 10:56:58 +09:00
Paul Riseborough
32f87d008a
Plane: Allow EKF to pull data from range finder object
2015-04-24 10:56:56 +09:00
Paul Riseborough
133b8f5ad7
Copter: Allow EKF to pull data from range finder object
2015-04-24 10:56:53 +09:00
Andrew Tridgell
f21aa17980
AP_GPS: fixed sending of GPS_RAW_INT with multiple links
...
thanks to ziltoid2 for this fix! See PR #2132
2015-04-24 08:21:00 +10:00
Niels Joubert
eae9452cd1
AntennaTracker: Handle GPS Injection
2015-04-24 08:01:33 +10:00
Niels Joubert
6b7b3247ed
Plane: Handle GPS Injection
2015-04-24 08:01:33 +10:00
Niels Joubert
60c247ed12
Rover: Handle GPS Data Injection
2015-04-24 08:01:32 +10:00
Niels Joubert
a52d554a10
ArduCopter: Handle GPS Data Injection
2015-04-24 08:01:32 +10:00
Niels Joubert
2a5b25ddbf
GCS_MAVLink: Re-enable GPS Injection Packets
2015-04-24 08:01:32 +10:00
Niels Joubert
704e75d140
ArduCopter: Remove kruft from old RTK driver
2015-04-24 08:01:32 +10:00
Niels Joubert
a5beef00d1
GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS
...
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.
THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.
NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
2015-04-24 08:01:32 +10:00
Fergus Noble
0480867de2
SITL: Update SBP simulation functions for pseudo-absolute mode
2015-04-24 08:01:32 +10:00
Paul Riseborough
405862bd8f
AP_AHRS: Reduce time delay for EKF initialisation
2015-04-23 20:35:52 +09:00
Paul Riseborough
4a5bf0a266
AP_NavEKF: Reduce EKF start time
...
Makes EKF start conditional on DCM solution tilt error
2015-04-23 20:35:48 +09:00
Paul Riseborough
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
...
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
2015-04-23 20:35:35 +09:00
Randy Mackay
7e43eaafab
GPS: TYPE param description to PX4-UAVCAN
2015-04-23 20:17:26 +09:00
Randy Mackay
6e30093924
AP_AHRS: correct sanity checks on update_trig
2015-04-23 09:45:43 +09:00
