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7224 Commits

Author SHA1 Message Date
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