priseborough
235b3bebda
AP_NavEKF : Add range finder health and enable range finder fusion
...
The 2-state auxiliary filter is also renamed.
2014-12-06 18:16:45 +11:00
priseborough
a4984a1e76
AP_AHRS : Add range finder health status to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
27f9289391
Copter : Add range finder measurements to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
988de2a898
AP_NavEKF : Add smoothing to optical flow fusion
2014-12-06 18:16:44 +11:00
priseborough
70c779dbc2
AP_NavEKF : Optical flow numerical optimisations
2014-12-06 18:16:44 +11:00
priseborough
2a1420171a
AP_NavEKF : reduce minimum accepted flow quality
2014-12-06 18:16:44 +11:00
priseborough
3fbedc9f98
AP_NAvEKF : update comments
2014-12-06 18:16:44 +11:00
priseborough
81b09c9361
AP_NavEKF : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
12b012a00e
AP_AHRS : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
635e593d55
Copter : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
cd418c946c
AP_NavEKF : preliminary implementation for optical flow and range finder fusion
...
Range finder measurements are not input to EKF at this time, however the method for fusing them is
implemented.
2014-12-06 18:16:44 +11:00
priseborough
bc74abcd00
DataFlash : EKF optical flow fusion support preliminary changes
2014-12-06 18:16:44 +11:00
priseborough
7b76fc29fb
AP_AHRS : EKF optical flow fusion support preliminary changes
2014-12-06 18:16:44 +11:00
priseborough
34249ffa42
Copter : EKF optical flow fusion support preliminary changes
...
Assumes optflow sensor has been modified to push data at a low rate, eg 10Hz
and velocity data is angular velocity, not linear velocity
2014-12-06 18:16:44 +11:00
Randy Mackay
8b80e58861
Copter: enable OPTFLOW - do not merge to master
2014-12-06 18:16:44 +11:00
Randy Mackay
9d5c27ca83
PX4: start px4flow driver
2014-12-06 18:16:43 +11:00
priseborough
13df6fb1c9
AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'
...
This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.
Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and the various calls to the hal.scheduler->millis() object have been consolidated.
Unused variables have been removed
2014-12-06 18:16:43 +11:00
priseborough
dcb252cc05
AP_NavEKF : Fix bug in reset of position and velocity states
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If the inertial solution velocity or position needs to be reset to the GPS, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS measurement will be compared to an invalid previous state and will be rejected.
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s
2014-12-06 18:16:43 +11:00
priseborough
cb4d5986e0
AP_OpticalFlow : Update PX4Flow interface
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Interface now uses the integral of flow and body rates
2014-12-06 18:16:43 +11:00
priseborough
0d774d301d
AP_OpticalFlow : Remove support for ADNS3080 sensor
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It is not compatible with the new interface and data fusion requirements
2014-12-06 18:16:43 +11:00
priseborough
60527a023a
Copter : Update optical flow test for new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
0d7555b259
Copter : Remove legacy optical flow control mode
...
This mode is not compatible with the new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
900519b35b
Copter : Remove legacy optical flow control mode
...
This mode is not compatible with the new PX4Flow interface
2014-12-06 18:16:43 +11:00
priseborough
23953b459e
Copter : Update logging for new PX4Flow sensor interface
2014-12-06 18:16:43 +11:00
priseborough
20e715aa13
Copter : Remove ADNS3080 flow sensor support
2014-12-06 18:16:43 +11:00
priseborough
5ef2208017
Copter: Change flow sensor read sample rate to 10Hz
2014-12-06 18:16:43 +11:00
Randy Mackay
4452aa8448
AP_AHRS_DCM: compile error fix for low speed CPUs
...
Also correct initialisatoin order to remove compiler warning
2014-12-05 19:43:05 +09:00
Jonathan Challinger
bfe71fea82
AC_PosControl: Use blended accelerometer measurement in altitude control
2014-12-05 19:40:10 +09:00
Jonathan Challinger
9261dfdefb
AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions
2014-12-05 19:40:08 +09:00
Jonathan Challinger
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
2014-12-05 19:40:06 +09:00
Jonathan Challinger
033ee3c900
AP_AHRS: Add get_accel_ef_blended function
2014-12-05 19:40:04 +09:00
Jonathan Challinger
7692761f34
AP_NavEKF: Added getAccelNED function
2014-12-05 19:40:01 +09:00
Randy Mackay
7be78621f4
Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2
...
Based on work by Jon Challinger (see earlier commit)
2014-12-05 14:01:16 +09:00
Jonathan Challinger
203b713f0d
Copter: run_nav_updates at 100hz on pixhawk
2014-12-05 14:01:14 +09:00
priseborough
874d0780aa
AP_NavEKF: Reduce vulnerability to ground fixed magnetic interference
...
Re-initialisation of the magnetic field states and yaw angle is now only performed a maximum of two times after start-up.
Once when coming out of static modefor the first time (first arm event)
Again (for copter only) when the altitude gain above the arming altitude exceeds 1.5m
this prevents magnetic interference present at arming (eg arming on a metal roof)from corrupting the magnetic field states enough to cause bad heading errors and toilet bowling on copter
2014-12-05 14:33:04 +11:00
Andrew Tridgell
722ce0628a
PX4: enable ccache on windows build
2014-12-04 08:12:47 +11:00
Andrew Tridgell
7f383facac
Plane: re-enable CLI on non-APM1/APM2 boards
2014-12-03 20:14:26 +11:00
Andrew Tridgell
c05a0bc67f
Plane: prevent a change altitude command from causing a sudden descent
...
when a change altitude command comes in while a large glide slope
altitude change is present we could end up using the old glide slope
with the new altitude. This resets the altitude offset, causing a
direct altitude change
2014-12-03 18:31:23 +11:00
Andrew Tridgell
ede920f293
AP_Mission: ensure location options are zero at start of mavlink conversion
2014-12-03 18:29:43 +11:00
Andrew Tridgell
f98e283091
GCS_MAVLink: re-generate with updated upstream mavlink
2014-12-03 10:08:36 +11:00
Andrew Tridgell
940966f3e3
DataFlash: fixed example sketch build
2014-12-03 08:39:36 +11:00
Andrew Tridgell
86bf02d64c
RC_Channel: update example sketch to copy input to output
2014-12-02 16:27:33 +11:00
Andrew Tridgell
5aabfd4dc4
AP_HAL: added RCInput example sketch
2014-12-02 15:49:50 +11:00
Andrew Tridgell
8e36c1cd60
AP_HAL: fixed RCOutput example
2014-12-02 15:03:59 +11:00
Andrew Tridgell
4ec6a74829
AP_HAL: addex UART_test example sketch
2014-12-02 13:14:03 +11:00
Andrew Tridgell
9e0a7e6631
AP_HAL: fixed printf example build
2014-12-02 13:14:03 +11:00
Andrew Tridgell
c5e4e8f035
SITL: fixed SITL for example sketches
...
cope with no SITL object
2014-12-02 13:14:03 +11:00
Randy Mackay
9e731550fd
AHRS: default EKF on for copter
2014-12-01 17:29:39 +09:00
priseborough
053c5054f3
AP_TECS: Change default landing damp gain to 0.5
2014-11-29 20:03:49 +11:00
priseborough
0912f05e7c
AP_TECS: Add parameter to adjust height rate gain during flare
2014-11-29 20:03:41 +11:00
