Andrew Tridgell
9bdb6838e6
HAL_PX4: cope with nested cork/push
2017-05-01 14:32:18 +10:00
Andrew Tridgell
9b297ef5a1
HAL_Linux: fixed nested cork/push
...
don't generate extra pulse sets if we nest
2017-05-01 14:32:18 +10:00
Andrew Tridgell
2ba6e7af35
Copter: fixed aux servos in RC failsafe
...
we should always output to channels
2017-05-01 14:32:18 +10:00
Andrew Tridgell
f257a869ac
HAL_SITL: make cork/push safe to call nested
2017-05-01 14:32:18 +10:00
Andrew Tridgell
351304ebcb
Plane: don't set fly-forward when transitioning
...
when quad motors are providing assistance don't see the fly-forward
flag in the AHRS. This will lower the chance of EKF yaw confusion
2017-05-01 14:27:45 +10:00
priseborough
2d4eee0cce
AP_NavEKF2: documentation update
2017-05-01 14:24:55 +10:00
priseborough
4a898037e9
AP_NavEKF3: documentation update
2017-05-01 14:24:55 +10:00
Andrew Tridgell
a04aff7a7d
AP_NavEKF3: added inter-EKF scheduling cooperation
...
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.
It allows us to run EK3 and EK2 at the same time with good scheduling
performance
2017-05-01 14:24:55 +10:00
Andrew Tridgell
2de8777669
AP_NavEKF2: added inter-EKF scheduling cooperation
...
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.
It allows us to run EK3 and EK2 at the same time with good scheduling
performance
2017-05-01 14:24:55 +10:00
Andrew Tridgell
e62fdad12c
AP_InertialSensor: added get_last_update_usec()
...
this will be used by the inter-EKF scheduling changes
2017-05-01 14:24:55 +10:00
Andrew Tridgell
e78f55ef9b
AP_AHRS: change order of EK2/EK3 update
...
if EK3 is our primary estimator when we want to run the EK3 update
first, so it gets time priority for inter-EKF scheduling.
2017-05-01 14:24:55 +10:00
Andrew Tridgell
36a633bc7a
Sub: call BoardConfig.init_safety() at end of startup
...
this fixes a bug where motors can start on soft reboot
2017-04-30 21:47:04 +10:00
Andrew Tridgell
3eeff938b0
Plane: call BoardConfig.init_safety() at end of startup
...
this fixes a bug where motors can start on soft reboot
2017-04-30 21:47:04 +10:00
Andrew Tridgell
10b89db498
Copter: call BoardConfig.init_safety() at end of startup
...
this fixes a bug where motors can start on soft reboot
2017-04-30 21:47:04 +10:00
Andrew Tridgell
c5d17a9d92
Rover: call BoardConfig.init_safety() at end of startup
...
this fixes a bug where motors can start on soft reboot
2017-04-30 21:47:04 +10:00
Andrew Tridgell
f151fd3691
AntennaTracker: call BoardConfig.init_safety() at end of startup
...
this fixes a bug where motors can start on soft reboot
2017-04-30 21:47:04 +10:00
Andrew Tridgell
4c36c77db1
AP_BoardConfig: split setup of safety switch init init_safety()
...
this allows it to be called late, so that servo outputs are fully
setup before the safety is disabled when BRD_SAFETYENABLE=0
2017-04-30 21:47:04 +10:00
Randy Mackay
b1bd3f0364
AC_WPNav: yaw points along leash
2017-04-29 11:47:51 +09:00
Peter Barker
ca5bf02d7c
autotest: quote words as they go into generated ritw file
2017-04-29 11:31:26 +10:00
Andrew Tridgell
55ac480e91
Tools: added decode_devid.py
2017-04-29 10:13:23 +09:00
priseborough
8ead9d6b19
DataFlash: Add logging of average EKF time step min/max
2017-04-29 11:03:44 +10:00
priseborough
0bf50fd56f
AP_NavEKF3: Add monitoring of average EKF time step
2017-04-29 11:03:44 +10:00
priseborough
e48f46c98b
AP_NavEKF2: Add monitoring of average EKF time step
2017-04-29 11:03:44 +10:00
priseborough
7d777485d8
AP_NavEKF: Add monitoring of average EKF time step
2017-04-29 11:03:44 +10:00
priseborough
3ce81967ae
AP_NavEKF3: Improve calculation and use of average EKF time step
2017-04-29 11:03:44 +10:00
priseborough
7abf9997e6
AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF
2017-04-29 11:03:44 +10:00
Andrew Tridgell
4ce0a8e24e
GCS_MAVLink: time limit GCS update() calls
...
and add performance counters
2017-04-28 16:09:12 -07:00
Mark Whitehorn
dc10675965
ArduPlane: suppress differential thrust when throttle is zero
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this prevents motors from spinning when disarming in FBWA
2017-04-28 16:08:50 -07:00
priseborough
1301b9797a
AP_NavEKF3: Fix solution validity reporting bug
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Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
2017-04-28 17:19:23 +01:00
priseborough
082f429da3
AP_NavEKF2: Fix solution validity reporting bug
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Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
2017-04-28 17:19:23 +01:00
Leonard Hall
62c123bb08
AC_WPNav: correct straight line waypoint leash calculation
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The former calculation was not correctly using the 3D leash
2017-04-28 17:58:34 +09:00
Andrew Tridgell
d4e6720b01
AP_BattMonitor: added BATT_VOLT_TIMEO
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this is useful for aircraft with very low C batteries, to prevent a low
voltage failsafe on takeoff. For long endurance aircraft low C batteries
are often used, and the voltage sags a lot on takeoff, but it fine for
the rest of the flight
2017-04-28 17:40:18 +10:00
Andrew Tridgell
0ccb3a7688
DataFlash: added logging of timing statistics
2017-04-28 17:19:39 +10:00
Andrew Tridgell
adb281cd4e
AP_NavEKF3: added timing statistics logging
2017-04-28 17:19:39 +10:00
Andrew Tridgell
ee5c032f27
AP_NavEKF2: added recording of timing statistics
2017-04-28 17:19:39 +10:00
Andrew Tridgell
ae3df89d17
AP_NavEKF: added ekf_timing structure
2017-04-28 17:19:39 +10:00
Andrew Tridgell
5a57aafb98
Plane: reduce pitch demand on takeoff on roll error
2017-04-28 16:34:33 +10:00
Andrew Tridgell
954905e0eb
Plane: allow battery failsafe with usb connected
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some people connect USB to allow connections from a companion
computer. The arming check is sufficient to prevent unwanted battery
failsafes when bench testing
2017-04-28 16:33:49 +10:00
Pierre Kancir
27e52695fe
APMRover2: add initial support for MAV_CMD_CONDITION_YAW
2017-04-28 12:01:47 +10:00
Leonard Hall
ba011eef78
AC_WPNav: init z-axis feed-foward to correct stopping point calcs
2017-04-28 09:10:02 +09:00
Randy Mackay
3a397584a1
AC_PosControl: z-axis stopping point up to 3m above vehicle
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Stopping point while descending remains at 2m for safety
2017-04-28 09:10:02 +09:00
Leonard Hall
6e92f74ca0
AC_PosControl: add clear_desired_velocity_ff_z method
2017-04-28 09:10:02 +09:00
Randy Mackay
aab27d8d0e
Copter: auto loiter initialisation simplified
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The simpler set_wp_destination can be used instead of set_wp_origin_and_destination
2017-04-28 09:10:02 +09:00
Randy Mackay
65e97a9503
Copter: rtl initialises wp controller earlier
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We need to initialise wp controller or the build_path could use the wrong speeds and accelerations when calculating the origin (aka stopping point)
2017-04-28 09:10:02 +09:00
Michael du Breuil
22ab8de4d2
AP_BattMonitor: SMBus: Fetch pack capacity
2017-04-28 00:36:10 +01:00
Michael du Breuil
f919c409bb
AP_BattMonitor: Remove redundant state copy
...
Every backend stored a instance reference, which wasn't used in most locations
which is redundant given that the state already tracks the instance for us as
well.
2017-04-28 00:36:10 +01:00
Michael du Breuil
3ab3face9b
AP_BattMonitor: SMBus: Read serial number
2017-04-28 00:36:10 +01:00
Patryk Gronkiewicz
302ea1204f
Fixed header
2017-04-27 13:08:02 -07:00
Francisco Ferreira
7dca7933fa
AP_HAL_PX4: fix UAVCAN armed state to depend on safety switch
2017-04-27 14:04:56 +01:00
Francisco Ferreira
e7bd64b7d6
PX4: remove mkblctrl driver initialization
2017-04-27 13:32:43 +01:00