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14,345 Commits 71 Branches 510 Tags 774 MiB
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Author SHA1 Message Date
Randy Mackay
aba829678a Copter: optflow instantiation format change 
No functional change
 2014-12-08 14:58:26 +09:00
Randy Mackay
c93c7af20c Copter: move update_optflow to sensors.pde 
No functional change
 2014-12-08 14:58:25 +09:00
Randy Mackay
3c23f00e81 OptFlow: remove ADNS3080 image grabber example 2014-12-08 14:58:24 +09:00
Randy Mackay
67fdfffc2a Copter: remove OF_Loiter PIDs and tuning 2014-12-08 14:58:18 +09:00
Randy Mackay
0994529624 Copter: remove OF_Loiter from FLTMODE param descriptions 
Also remove OF_Loiter reference in comments
No functional change
 2014-12-08 14:57:04 +09:00
Andrew Tridgell
fa95ea91fd Replay: generate dataflash logs in Replay 
this allows the calculated EKF flight path to be compared with
different parameters by using replay
 2014-12-08 11:25:22 +11:00
Andrew Tridgell
193bda068c HAL_Linux: run IO processes when we do a stop_clock() 
this has the effect of allowing logging to progress in Replay where we
are running at much more than realtime speeds
 2014-12-08 11:24:39 +11:00
Andrew Tridgell
cb9c518ab8 Revert "AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'" 
This reverts commit 13df6fb1c9.

This patch was a result of an incorrect merge of the optflow branch
into master. It reintroduced the bug fixed by this commit:

  AP_NavEKF : Fix bug in reset of GPS glitch offset
  8aa267f75f
 2014-12-08 07:53:47 +11:00
Grant Morphett
89602d60fd Autotest: Added BMAC (Belconnen Model Aero Club) to the locations list. 2014-12-07 10:58:08 +11:00
Andrew Tridgell
22a7b69260 AP_OpticalFlow: don't build optical flow example 
broken by library changes
 2014-12-06 22:05:42 +11:00
Andrew Tridgell
fba02479b7 Copter: fixed build with no EKF 2014-12-06 18:43:38 +11:00
Andrew Tridgell
0599f1dcb1 Plane: changed version number to 3.2.1alpha1 2014-12-06 18:37:39 +11:00
Andrew Tridgell
ed510d4f87 AP_OpticalFlow: run PX4 flow sensor at 10Hz 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:51 +11:00
priseborough
a2bd3b4a42 AP_NavEKF: Add public method returning height above ground level 2014-12-06 18:16:51 +11:00
priseborough
d701cfcb75 AP_NavEKF: Output terrain relative PosD when relying on Optical Flow 2014-12-06 18:16:51 +11:00
priseborough
0156d846f1 AP_NavEKF: Increase height at which nav gain reduction starts 
Compensates for optical flow induced noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
a905432ffe AP_NavEKF: reduce height at which nav gain reduction starts 2014-12-06 18:16:51 +11:00
priseborough
5785272933 AP_NavEKF: Improve robustness to corrupted flow sensor data 2014-12-06 18:16:51 +11:00
priseborough
b1d44d4dde AP_NavEKF: Add protection for negative height above ground 2014-12-06 18:16:50 +11:00
priseborough
963cc4d60a Copter: Add velocity gain scaler to interfaces 
Allows nav gain to be scaled to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough
e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough
11fb51ceba AC_WPNav: Add nav velocity gain scaler to interfaces 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough
9e7709fa09 Copter: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough
5b8265ad6f AP_AHRS: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough
d994da0886 AP_NavEKF: Expand EKF speed limit public method to handle control limits 2014-12-06 18:16:50 +11:00
priseborough
9844dacf40 Copter: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
priseborough
5fa0c59310 AC_WPNav: Add EKF ground speed limit to loiter speed control 
This is required to prevent the speed controller saturating the optical flow sensor during low altitude flying.
 2014-12-06 18:16:50 +11:00
priseborough
83775554ea AP_AHRS: Publish EKF ground speed limit 2014-12-06 18:16:50 +11:00
priseborough
bc2255d6b1 AP_NavEKF: Improve comments in setInhibitGPS public method 2014-12-06 18:16:50 +11:00
priseborough
416eaf4633 AP_NavEKF: Apply single definition of using optical flow 2014-12-06 18:16:50 +11:00
priseborough
b56b68ce10 AP_NavEKF: Add public method reporting horizontal speed limit 
This is required if using optical flow, as depending on height, the speed must be limited to prevent the sensor saturating
 2014-12-06 18:16:50 +11:00
priseborough
c8fb376cc4 AP_NavEKF: Fix bug in bias rate of change limiting 
This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent
 2014-12-06 18:16:50 +11:00
priseborough
599e53f3f2 AP_NavEKF: Prevent flow scale factor updating on ground 2014-12-06 18:16:49 +11:00
priseborough
083e22966c AP_NavEKF: Add public method to report available output data 2014-12-06 18:16:49 +11:00
priseborough
5532750a99 AP_AHRS: Add public method to inhibit GPS useage when using EKF 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough
e53d28854e AP_NavEKF: Add public method to inhibit GPS use and clean-up GPS use logic 
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
 2014-12-06 18:16:49 +11:00
priseborough
8fb1d9cf8d AP_NavEKF: Fix bug preventing opt flow scale factor estimation 
Also removes un-used variable declarations
 2014-12-06 18:16:49 +11:00
priseborough
a78920761c AP_NavEKF: Update comments in flow data interface 2014-12-06 18:16:49 +11:00
priseborough
063fb41748 AP_OpticalFlow: Add separate scale factors for X and Y axis. 
The resolution is also increased to take advantage of the planned introduction of automated calibration methods
 2014-12-06 18:16:49 +11:00
priseborough
52c7e56a4a AP_NavEKF: Add parameter for max valid optical flow rate magnitude 2014-12-06 18:16:49 +11:00
priseborough
6f8971d80a AP_NavEKF: Speed up flow sensor gyro bias correction 2014-12-06 18:16:49 +11:00
priseborough
d7ad45ebda AP_NavEKF: Don't fuse flow measurements if too big 2014-12-06 18:16:49 +11:00
priseborough
2dff76394d AC_PosControl: Add spike and noise filter to demanded angles 
This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.

Signed-off-by: priseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:49 +11:00
priseborough
84944fdd4e AP_NAvEKF: Revert back to 10Hz fusion 2014-12-06 18:16:49 +11:00
priseborough
f4f0dfc45c AP_OpticalFlow: efficiency improvements to data processing 2014-12-06 18:16:49 +11:00
priseborough
1f78a73cdb AP_NavEKF: Make flow measurement delay vehicle specific 
This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.
 2014-12-06 18:16:49 +11:00
priseborough
f23722ecee Plane: Remove statement about flow driver rate in comment 2014-12-06 18:16:48 +11:00
priseborough
5f941655a8 AP_NavEKF: changes to support to 20Hz flow fusion rate 2014-12-06 18:16:48 +11:00
priseborough
715d64dce9 Copter: Check for new optical flow updates at 200Hz 
Supports use of higher flow read rates if required.
 2014-12-06 18:16:48 +11:00