ardupilot

Commit Graph

Author	SHA1	Message	Date
Arthur Benemann	255c5b3025	AP_Mount: report MAVLink gimbal angle to the GCS	2015-04-21 21:45:45 +09:00
Arthur Benemann	b3c35aee4e	AP_Gimbal: fix problem with rotation math on control loop	2015-04-21 21:45:44 +09:00
Arthur Benemann	4bdf909bbf	AP_Mount: Create new copter parameters to hold gimbal settings	2015-04-21 21:45:43 +09:00
Arthur Benemann	cf2377d113	AP_Gimbal: Move gimbal parameters to a structure	2015-04-21 21:45:42 +09:00
Arthur Benemann	9b94f26583	AP_Gimbal: Relax minimal angle constrains on the gimbal	2015-04-21 21:45:41 +09:00
Arthur Benemann	a05fe7e117	AP_Gimbal: Re-implement the target low-pass filter	2015-04-21 21:45:40 +09:00
Arthur Benemann	b3dd8891c8	AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class	2015-04-21 21:45:38 +09:00
Arthur Benemann	ee8c92c850	AP_Gimbal: clean-up for AP_Mount merge	2015-04-21 21:45:37 +09:00
Arthur Benemann	4ad3e786a5	AP_NavEKF: fix initialization of the SmallEKF The constructor 'states' variable was not being called. To make sure other variables where also zeroed now	2015-04-21 21:45:36 +09:00
Arthur Benemann	0189f80462	AP_Gimbal: update getGimbalRateDemVecTilt to use quaternions	2015-04-21 21:45:35 +09:00
Arthur Benemann	4bdae02cfd	AP_Gimbal: disable gimbal motors if copter is fliped	2015-04-21 21:45:34 +09:00
Arthur Benemann	ebaf1e28b1	AP_Gimbal: smooth the RC input with a low pass filter	2015-04-21 21:45:33 +09:00
Arthur Benemann	534790634b	AP_Gimbal: add a radio failsafe state to the gimbal	2015-04-21 21:45:32 +09:00
Arthur Benemann	1da4be3a87	AP_Gimbal: initial implementation of the rate controlled gimbal library	2015-04-21 21:45:30 +09:00
Arthur Benemann	1d9beed42f	AP_SmallEKF: add function to report if the EKF is stable	2015-04-21 21:45:29 +09:00
Arthur Benemann	7b28bf7d44	AP_NavEKF: Remove small EKF dependency on navigation EKF	2015-04-21 21:45:28 +09:00
Arthur Benemann	558a69bdca	Mount_MAVLink: remove code now in AP_Gimbal	2015-04-21 21:44:56 +09:00
Jonathan Challinger	2053d5e42e	GCS_MAVlink: add GIMBAL_ and GOPRO_ messages	2015-04-21 21:40:05 +09:00
Randy Mackay	87e6452ee9	Mission: bug fix when jump target is zero This would result in copter flying to a waypoint high above home	2015-04-21 20:42:49 +09:00
Andrew Tridgell	a0969905ce	AP_AHRS: make get_error_rp() and get_error_yaw() const this makes them usable by multiple consumers, and allows use by EKF	2015-04-21 21:42:17 +10:00
Andrew Tridgell	2dfe3cb844	DataFlash: added a perf counter for microSD overruns this allows us to tell if a microSD can handle a high logging rate	2015-04-21 20:45:30 +10:00
Andy Piper	b0937154f5	DataFlash: log compass health This patch simply logs the health of each compass for easy diagnosis.	2015-04-21 13:18:24 +09:00
Andrew Tridgell	c153d31dd2	DataFlash: speed up DataFlash in Replay	2015-04-21 10:14:41 +10:00
Andrew Tridgell	dcb25632fb	AP_Compass: removed old setHIL compass offset	2015-04-21 08:30:05 +10:00
Andrew Tridgell	a4bad1c703	HAL_SITL: use SIM_MAG_OFS in SITL compass	2015-04-21 08:29:51 +10:00
Andrew Tridgell	1ce9cb693a	SITL: added SIM_MAG_OFS for setting compass offsets in SITL	2015-04-21 08:29:27 +10:00
Andrew Tridgell	179e47c618	HAL_Linux: prevent time from going backwards in Replay	2015-04-20 15:12:51 +10:00
Andrew Tridgell	d7000c4105	AP_Compass: fixed compass timestamps in Replay	2015-04-20 15:12:51 +10:00
Randy Mackay	337a94e52e	Camera: remove empty configure_msg method	2015-04-20 13:50:15 +09:00
Randy Mackay	d456b97fd2	Camera: control_cmd triggers pic	2015-04-20 13:50:12 +09:00
Jaime Machuca	38491c4ff7	Camera: fix mission cmds sending msgs to components mission commands were triggering the sending of mavlink mission items when they should have been sending command long messages	2015-04-20 13:50:10 +09:00
Randy Mackay	4eb3263653	Camera: mission cmds send do-digicam msgs to components This allows digicam-control and digicam-configure mission command to trigger sending the equivalent mavlink messages to components	2015-04-20 13:50:08 +09:00
Randy Mackay	8dcd555037	Camera: trigger_pic sends do-digicam-control to components This (optionally) allows pictures triggered from ch7/ch8 switch to send a mavlink do-digicam-control message to components	2015-04-20 13:50:06 +09:00
Randy Mackay	1f705eb6a3	GCS_MAVLink: add send_to_components method	2015-04-20 13:50:04 +09:00
Randy Mackay	888c2289ce	Mission: support do-digicam-control parameters	2015-04-20 13:50:01 +09:00
Peter Barker	c95348c1d9	SITL: Avoid run-time FPEs due to bad gyro settings if SIM_DRIFT_TIME is set to 0 _gyro_drift essentially suffers a divide-by-zero if SIM_DRIFT_TIME is 0. The gyro initialisation routines in AP_InertialSensor do not return once the generated NaN propogates back to them.	2015-04-19 07:24:45 +10:00
Jonathan Challinger	12957867fd	AC_PosControl: fix thr twitch when changing modes	2015-04-18 12:38:44 +09:00
Randy Mackay	44d2ae06fb	Mount: unix style line endings	2015-04-17 22:59:34 +09:00
Randy Mackay	06ea18f97e	Filter: fix LPF example sketch	2015-04-17 22:54:06 +09:00
Randy Mackay	99a9a88529	Filter: dt check fix for LPF	2015-04-17 10:59:03 +09:00
Jonathan Challinger	f20a91ec95	Filter: add dt<0 check to LPF	2015-04-17 10:47:06 +09:00
Randy Mackay	22e1156c31	Filter: add some comments to LowPassFilter	2015-04-17 10:47:04 +09:00
Jonathan Challinger	738b1967ad	AC_PosControl: use LowPassFilterVector2f	2015-04-17 10:47:01 +09:00
Jonathan Challinger	8f667b3d1c	AC_PosControl: fix up comments	2015-04-17 10:46:59 +09:00
Jonathan Challinger	4993fd4d71	AP_Motors: use new lowpass filter	2015-04-17 10:46:47 +09:00
Jonathan Challinger	87500d9d70	AC_AttitudeControl: use new lowpass filter	2015-04-17 10:46:45 +09:00
Jonathan Challinger	76da2868d0	Filter: rework LowPassFilter	2015-04-17 10:46:42 +09:00
Leonard Hall	c2a6a0a9e2	AC_PosControl: add accel filter parameter	2015-04-16 21:00:45 +09:00
Leonard Hall	a632a57d79	AC_PosControl: accessors to log z-axis vel and accel	2015-04-16 21:00:32 +09:00
Leonard Hall	0aca3c4be6	AC_PosControl: add relax Alt Hold controllers	2015-04-16 21:00:25 +09:00
Leonard Hall	24b8d32b0e	AC_AttitudeControl: add comment	2015-04-16 21:00:22 +09:00
Leonard Hall	7cb3c4ba39	AC_PosControl: add feed forward to Alt Hold	2015-04-16 21:00:20 +09:00
Randy Mackay	a1e6a3ee32	AC_PosControl: minor format fix	2015-04-16 21:00:14 +09:00
Jonathan Challinger	3e0dab7b2d	AC_PosControl: remove accel error filter and set throttle output filter instead	2015-04-16 21:00:07 +09:00
Jonathan Challinger	b7f7624aac	AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions	2015-04-16 21:00:04 +09:00
Jonathan Challinger	e80776f1f5	AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter	2015-04-16 21:00:01 +09:00
Jonathan Challinger	518e798f53	AC_AttitudeControl: rework angle_boost	2015-04-16 20:59:58 +09:00
Jonathan Challinger	7abd02baf2	AC_PosControl: change int32/int16 to float in accel_to_throttle	2015-04-16 20:59:55 +09:00
Jonathan Challinger	d14893fcd5	AC_PosControl: don't limit throttle any more	2015-04-16 20:59:51 +09:00
Jonathan Challinger	f3555d0d43	AC_AttitudeControl: modify throttle interface to specify stabilization	2015-04-16 20:59:45 +09:00
Jonathan Challinger	5c2341009a	AC_AttitudeControl: throttle is a float	2015-04-16 20:59:42 +09:00
Jonathan Challinger	8e442675a7	AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output	2015-04-16 20:59:40 +09:00
Jonathan Challinger	bc2afb31dd	AP_Motors: virtual not necessary in child class	2015-04-16 20:59:37 +09:00
Jonathan Challinger	a2c69fe90d	AP_Motors: add optional motor output throttle filter	2015-04-16 20:59:31 +09:00
Leonard Hall	4d9da2720b	AC_AttitudeControl: add get for angle bf errors	2015-04-16 13:29:52 +09:00
Leonard Hall	88be3d67e7	AP_Motors: add get for throttle comp	2015-04-16 13:29:50 +09:00
Leonard Hall	791fbcf9b3	AP_Motors_Class: time constants of throttle comp	2015-04-16 13:29:46 +09:00
Michael du Breuil	04e9141881	AP_TECS: Allow tecs to control throttle during takeoff	2015-04-16 08:56:37 +10:00
Michael du Breuil	a9fc2b8a32	AP_Vehicle: Moved takeoff_throttle_max into plane parameters	2015-04-16 08:56:36 +10:00
Andrew Tridgell	4586de6637	AP_NavEKF: enable optimisation in Linux build only really need debugging for SITL	2015-04-16 08:36:16 +10:00
Leonard Hall	48fb487a8c	AC_AttitudeControl: Formatting fix	2015-04-15 22:04:27 +09:00
Paul Riseborough	dffa2e19bf	AP_NavEKF: Make copter glitch accel consistent with timeout and radius	2015-04-15 17:32:48 +09:00
Paul Riseborough	5d70854c08	AP_NavEKF: Fix minor bug in calculation of innovation variance the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.	2015-04-15 17:32:46 +09:00
Paul Riseborough	1008c6390c	AP_NavEKF: Fail absolute position status if GPS repeatedly rejected	2015-04-15 17:32:44 +09:00
Paul Riseborough	77d3798278	AP_NavEKF: Reduce recovery time after a GPS fusion timeout	2015-04-15 17:32:41 +09:00
Paul Riseborough	0852aeab6e	AP_NavEKF: Allow raw innovations to be monitored during timeouts	2015-04-15 17:32:39 +09:00
Paul Riseborough	d3f4b4a02b	AP_NavEKF: Fix name consistency for data check time stamps	2015-04-15 17:32:36 +09:00
Jonathan Challinger	6ea91d012e	AC_PID: calculate filt_alpha every time the filter is run	2015-04-14 16:19:02 +09:00
Randy Mackay	f06c859d93	AC_Fence: add comment re check_fence method	2015-04-14 16:10:09 +09:00
Jonathan Challinger	05fda4ee4c	AC_Fence: accept curr_alt parameter instead of getting alt from inav	2015-04-14 16:10:07 +09:00
Jonathan Challinger	f06cc5d0c1	AC_Fence: change inav to const reference	2015-04-14 16:10:02 +09:00
Staroselskii Georgii	dff430e136	AP_HAL_Linux: added UART port for second GPS	2015-04-14 15:59:34 +10:00
Staroselskii Georgii	da6316ed4c	AP_HAL_Linux: fixed TCP client connection in LinuxUARTDriver	2015-04-14 15:59:33 +10:00
Randy Mackay	39213584da	AC_WPNav: minor comment and formatting changes	2015-04-14 14:50:58 +09:00
Jonathan Challinger	fd55068620	AC_WPNav: fix double-twitch on stop in loiter	2015-04-14 14:50:55 +09:00
Jonathan Challinger	1da410a6c6	AC_WPNav: allow user to tune loiter	2015-04-14 14:50:53 +09:00
mirkix	13ee34c58a	AP_InertialSensor: MPU9150 fix compiler warnings	2015-04-14 11:14:48 +10:00
Staroselskii Georgii	4a3e61f4e4	AP_GPS: turn UBlox autodetection only for NavIO	2015-04-14 10:45:49 +10:00
Staroselskii Georgii	716fd56c62	AP_HAL_Linux: added support for dynamic speed configration in LinuxSPIUARTDriver	2015-04-14 10:45:49 +10:00
Staroselskii Georgii	47a336d192	AP_GPS: added Ublox' hardware generation autodetection	2015-04-14 10:45:49 +10:00
Staroselskii Georgii	baf2b4da4e	AP_HAL_Linux: renamed AnalogIn_Navio	2015-04-14 10:16:26 +10:00
Mikhail Avkhimenia	7ba6a5e346	AP_HAL: Specify terrain directory for Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	930aeaf556	AP_HAL_Linux: add RPi version runtime detection	2015-04-14 10:16:25 +10:00
Mikhail Avkhimenia	c11304ba7a	AP_HAL_Linux: change GPIO register address for Raspberry Pi 2	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	641fa05028	AP_HAL_Linux: added buffering in RCOutput_Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	e6c2977da2	AP_HAL_Linux: fixed style in RCOutput_Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	024825f95a	AP_HAL_Linux: fixed PCA9685 initialization for RCOutput_Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	2a137b6ea9	AP_HAL_Linux: fixed RCInput initialization on NavIO	2015-04-14 10:16:24 +10:00
$Sean O\'Brien$ Sean O\'Brien	6474aa2477	AP_HAL_AVR_SITL: added sensor delays to sitl.	2015-04-14 10:10:38 +10:00
$Sean O\'Brien$ Sean O\'Brien	bfba8870e2	AP_HAL_AVR_SITL: added sensor delays to sitl.	2015-04-14 10:10:35 +10:00
Lucas De Marchi	b292873304	AP_InertialSensor: fix starvation in L3G4200D The main thread would always be blocked on the semaphore to read the data from accelerometer and gyroscope. Especially if we have a slow update of these values in _accumulate() due to the I2C transfer function taking too much time: the timer thread would never give up the CPU, causing starvation on the main thread. This fixes the issue by reducing the critical region using a flip-buffer so _accumulate() can work on its own copy of the data. Now that the critical region is smaller, also avoid the semaphore and use a spinlock instead.	2015-04-14 10:01:47 +10:00
Andrew Tridgell	b17878c8c4	SITL: lower default GPS delay to 0.2 seconds this matches typical uBlox	2015-04-14 09:57:47 +10:00
Andrew Tridgell	d7249cc1e6	AP_AHRS: only use EKF for plane and rover if all data available we need position and velocity to be working for plane and rover	2015-04-14 09:57:45 +10:00
Lucas De Marchi	996739df12	AP_Compass: Do not panic if compass is not found Copter uses 2 compasses for linux configuration, but one of them may not be available. Do not panic if a AK8963 isn't found.	2015-04-14 09:29:12 +10:00
Gustavo Jose de Sousa	be67b019a7	AP_GPS: Add missing setup for GPS_AUTO_test GPS_AUTO_test was missing some setup lines.	2015-04-14 09:27:41 +10:00
Andrew Tridgell	7f7d92913e	HAL_Linux: allow running as non-root this is needed for Replay, plus is very useful for debugging	2015-04-14 09:25:35 +10:00
Lucas De Marchi	f049c8e4c5	AP_HAL_Linux: remove needless call to mlockall() All threads share the same address space and have the same pages locked into memory so it's not necessary to call mlockall() for each of them. Grepping /proc/<tid>/status gives the same VmLck for all of them, even when only the main thread locks the memory: # for i in `seq 477 482`; do \ name=$(cat /proc/$i/comm); \ vm=$(cat /proc/$i/status \|grep VmLck); \ echo -e "$name\t$vm"; \ done ArduCopter.elf VmLck: 57868 kB sched-timer VmLck: 57868 kB sched-uart VmLck: 57868 kB sched-rcin VmLck: 57868 kB sched-tonealarm VmLck: 57868 kB sched-io VmLck: 57868 kB	2015-04-14 09:17:21 +10:00
Lucas De Marchi	b7355dc62b	AP_HAL_Linux: set thread name for ease debug Use pthread_setname_np() to set thread name so it's easier to debug what't going on with each of them. This is the example output of the relevant par of "ps -Leo class,rtprio,wchan,comm": FF 12 futex_ ArduCopter.elf FF 15 usleep sched-timer FF 14 hrtime sched-uart FF 13 poll_s sched-rcin FF 11 hrtime sched-tonealarm FF 10 hrtime sched-io	2015-04-14 09:17:21 +10:00
Lucas De Marchi	2c48434110	AP_HAL_Linux: use a table to initialize threads Refactor function calls into a table and pass in the name so it can be used in error message.	2015-04-14 09:17:21 +10:00
Lucas De Marchi	e3d78b8960	AP_HAL_Linux: fix passing callback to member function It's undefined behavior to pass the callback to pthread to a class member like we were doing. Refactor the code so the callbacks are static members. This fixes the following warnings: libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void)': /home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);	2015-04-14 09:17:20 +10:00
Lucas De Marchi	62c2f737d5	AP_HAL_Linux: fix setting RT priorities LinuxScheduler::init() was not really working as it should. This was the result of "ps -Leo class,rtprio,wchan,comm \| grep ArduCopter": FF 12 futex_ ArduCopter.elf FF 12 usleep ArduCopter.elf FF 12 hrtime ArduCopter.elf FF 12 poll_s ArduCopter.elf FF 12 hrtime ArduCopter.elf FF 12 hrtime ArduCopter.elf As can be seen all the threads run with the same priority, the one of the main thread. There were basically 2 mistakes: 1) pthread_attr_setschedpolicy() needs to be called before pthread_attr_setschedparam(). Otherwise the latter will just return an error and not set the priority 2) pthread_create() defaults to ignore the priority and inherit the it from the parent thread. pthread_attr_setinheritsched() needs to be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See pthread_attr_setinheritsched(3) for an example program to test the behaviors. Also, it's undefined behavior to call pthread_attr_init() several times on the same pthread_attr_t. Although we could reutilize the same attribute without calling pthread_attr_init() again, lets refactor the code a little bit, so all the pthread calls are in a single place. Then also call pthread_attr_destroy() when we are done.	2015-04-14 09:17:20 +10:00
Lucas De Marchi	29b667efdf	AP_HAL_Linux: remove useless mlock of stack In Linux the default stack size is always greater than 32k, either 2MB or 8MB depending on the architecture. There's no point in creating a function to lock 32k.	2015-04-14 09:17:20 +10:00
Randy Mackay	e2071a4630	Notify: ToneAlarm fix to stopping continuous tones	2015-04-13 17:44:45 +09:00
Randy Mackay	2472702838	Notify: rename lost_copter to vehicle_lost	2015-04-13 17:44:44 +09:00
Jaime Machuca	043d24f03a	Notify: add Lost Copter tone	2015-04-13 17:42:07 +09:00
Andrew Tridgell	0695277773	HAL_SITL: use pthread barriers for synthetic clock synchronisation this avoids siganls and provides a race free way of keeping time in lock step	2015-04-13 06:05:55 +10:00
Paul Riseborough	e79ccf1fcc	AP_NavEKF: Fix bug allowing terrain to be above vehicle position The terrain state and vehicle state need to be compared at the same time horizon.	2015-04-11 15:51:08 +09:00
Paul Riseborough	6d58c63c4c	AP_NavEKF: Prevent potential divide by zeros in OF fusion	2015-04-11 15:51:03 +09:00
Paul Riseborough	89142f1c5f	AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates. the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.	2015-04-11 15:19:05 +09:00
Randy Mackay	56d2306a18	BattMon_SMBus_PX4: read capacity	2015-04-11 14:10:22 +09:00
Randy Mackay	c6440a48b3	BattMon_Backend: add init and set_capacity methods	2015-04-11 14:10:19 +09:00
Paul Riseborough	9268024094	AP_NavEKF: Update default parameters for copter optical flow fusion	2015-04-10 11:08:11 +09:00
Paul Riseborough	4fbdab27ff	AP_NavEKF: Use range finder for primary hgt ref in opt flow mode Falls back to baro if range finder is unavailable Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.	2015-04-10 11:08:07 +09:00
Paul Riseborough	ff9917d338	AP_AHRS: Fix bug preventing EKF from initialising	2015-04-10 11:07:42 +09:00
Paul Riseborough	d618c55e2f	AP_NavEKF: Improved handling of noisy GPS speed accuracy data	2015-04-10 11:07:34 +09:00
Paul Riseborough	53358a4e10	AP_OpticalFlow: Add parameter to compensate for flow sensor yaw angle AP_OpticalFlow: update parameter name	2015-04-10 11:07:31 +09:00
Paul Riseborough	cab171b580	AP_InertialNav: Add method to return EKF height above ground estimate AP_InertialNav: Add validity flag to height above ground estimate	2015-04-10 11:07:27 +09:00
Paul Riseborough	e98edaa6cb	AP_NavEKF: Return more accurate validity status for height above ground	2015-04-10 11:07:24 +09:00
Paul Riseborough	586e4a7d2b	AP_NavEKF: Add Matlab derivations and simulations behind small EKF	2015-04-10 11:07:21 +09:00
Jonathan Challinger	dc5bdd5ad8	AP_AHRS: use filtered INS output to compute _accel_ef_blended	2015-04-09 20:19:56 +09:00
Randy Mackay	a095a8c3a1	AC_PID: more protection against NaN and Inf	2015-04-09 20:19:55 +09:00
Randy Mackay	bdfe8bbc54	AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX	2015-04-09 20:19:54 +09:00
Leonard Hall	afcd1c6ec3	AC_AttitudeControl: sqrt controller on Stab	2015-04-09 20:19:43 +09:00
Leonard Hall	ae77c18a19	AC_PID: Protect against NaN and INF	2015-04-09 18:30:12 +09:00
Andrzej Zaborowski	132cdc4916	Motors: Use _motor_to_channel_map in tricopter consistently. In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are always mapped to actual output channels through _motor_to_channel_map while the _CH_TRI_YAW is not, but there were a few inconsistencies in this that could lead to things like PWM min and max values being set on wrong channels. It looks like all in all _motor_to_channel_map being in PROGMEM probably doesn't help save memory and I'm not sure how useful it is in the first place but regardless the usage should be consistent.	2015-04-09 11:43:22 +09:00
Randy Mackay	558018d839	InertialNav: add get_location method	2015-04-09 10:56:57 +09:00
Tom Pittenger	9ecbd0e30f	AP_L1_Control: fixed uTurn-wobble When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.	2015-04-08 15:21:02 -07:00
Jonathan Challinger	6e8008ab69	AP_SerialManager: use protocol_match in find_baudrate	2015-04-08 09:14:31 -07:00
Randy Mackay	f260536373	AC_PID: fix example sketch compile error	2015-04-08 15:05:29 +09:00
Jonathan Challinger	6baec4952b	AP_Math: add conversions to and from 3-1-2 euler angles	2015-04-07 21:20:51 -07:00
Jonathan Challinger	a1d4f40c16	AP_Math: change quaternion operator* and operator/ to const	2015-04-07 21:20:51 -07:00
Jonathan Challinger	07735fefa6	AP_Math: fix div by zero in quaternion	2015-04-07 21:20:51 -07:00
Paul Riseborough	c57e25142c	AP_NavEKF: Update optical flow fusion maths to reduce height errors	2015-04-07 20:51:18 -07:00
Andrew Tridgell	35bac3ab4f	GCS_MAVLink: regenerate without mavlink_frame_char changes	2015-04-06 16:43:02 -07:00
Andrew Tridgell	df948e7358	AP_Mount: fixed for new GIMBAL_REPORT message	2015-04-06 16:42:23 -07:00
Andrew Tridgell	33824e0b2f	GCS_MAVLink: re-ran generate.sh	2015-04-06 16:30:16 -07:00
Jonathan Challinger	73b8890bd3	GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages	2015-04-06 16:29:02 -07:00
myly10	55befdc345	AP_NavEKF: Typo correction for EAS_NOISE description	2015-04-06 15:52:29 -07:00
mirkix	445f358839	AP_HAL_Linux: Fix compiler warning of MAX_PWMS redefinition (previously defined)	2015-04-06 15:34:50 -07:00
Andrew Tridgell	5284211c96	AP_SerialManager: fixed matching bug in protocol_match() thanks to Mike Clement for noticing this	2015-04-06 15:28:03 -07:00
Mike Clement	c5c40adb76	GCS_MAVLink: use instance in find_baudrate	2015-04-06 14:47:51 -07:00
Mike Clement	89a50b99bb	SerialManager: use instance in find_baudrate	2015-04-06 14:47:11 -07:00
Paul Riseborough	9b3656e77c	AP_NavEKF: Fix bug introduced in Y axis flow fusion	2015-04-05 21:17:20 -07:00
Andrew Tridgell	6e52ef2a74	GCS_MAVLink: added send_local_position()	2015-04-05 09:16:41 -07:00
Andrew Tridgell	baf292def1	AP_NavEKF: prevent float exception on startup	2015-04-05 09:16:14 -07:00
Paul Riseborough	7fc0f026d2	AP_NavEKF: Fix bug in optical flow innovation variance integrity check The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.	2015-04-04 17:03:06 -07:00
Andrew Tridgell	389148ac54	AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C	2015-04-04 17:03:00 -07:00
Andrew Tridgell	55019abd71	AP_HAL: allow for default parameter override for PX4 and SITL	2015-04-04 09:01:40 -07:00
Andrew Tridgell	5a755c0400	AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to override the default parameters for a build. This is useful to build a firmware that has different default parameters	2015-04-04 09:01:40 -07:00
Andrew Tridgell	82a51e8791	GCS_MAVLink: use AP_Param::set_param_by_name()	2015-04-04 09:01:40 -07:00
Andrew Tridgell	5ca38e3d75	AP_Param: added set_param_by_name() this simplifies the GCS_MAVLink code	2015-04-04 09:01:39 -07:00
Andrew Tridgell	c1a0375562	AP_NavEKF: prevent divide by zero in EKF logging	2015-04-04 07:09:02 -07:00
Paul Riseborough	d44cf14178	AP_AHRS : Publish EKF learned compass offsets	2015-04-03 15:24:47 -07:00
Paul Riseborough	10f050c53b	AP_NavEKF: Prevent baro drift causing toilet bowling The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.	2015-04-03 15:18:42 -07:00
Paul Riseborough	d4c60ca956	AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout	2015-04-03 15:18:39 -07:00
Jonathan Challinger	95cd3480ec	AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>	2015-04-03 15:18:09 -07:00
Andrew Tridgell	79b44d3988	AP_NavEKF: initialise gndEffectMode	2015-04-03 15:15:11 -07:00
Andrew Tridgell	3165c43dfe	AP_NavEKF: initialise gpsSpdAccuracy	2015-04-03 15:15:11 -07:00
Paul Riseborough	98c32012fa	AP_NavEKF: remove accel bias rate limit when disarmed	2015-04-03 15:15:11 -07:00
Paul Riseborough	fe76cb4c0b	AP_NavEKF : Make initial height variance consistent with baro noise This makes sense to do because we initialise the state to the instantaneous baro reading	2015-04-03 15:15:11 -07:00
Paul Riseborough	a976e9dad2	AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance	2015-04-03 15:15:11 -07:00
Paul Riseborough	92df3adb5e	AP_NavEKF : Fix bug in Z accel bias update for IMU1	2015-04-03 15:15:10 -07:00
Paul Riseborough	5d0952ba23	AP_NavEKF: eliminate onGndBaroNoise	2015-04-03 15:15:10 -07:00
Paul Riseborough	fafb898341	AP_NavEKF: tuning change to accel bias learning	2015-04-03 15:15:10 -07:00
Paul Riseborough	398accd151	AP_NavEKF: Improve pre-flight ready checking	2015-04-03 15:15:10 -07:00
Paul Riseborough	5c1a226bef	AP_NavEKF : Improvements to pre-arm IMU bias estimation	2015-04-03 15:15:10 -07:00
Jonathan Challinger	a5924acb3d	AP_NavEKF: set dtIMU from ins expected sample rate	2015-04-03 15:15:10 -07:00
Paul Riseborough	a1351e73ab	AP_NavEKF : Compensate mag bias states for external copass offset changes	2015-04-03 15:15:09 -07:00
Paul Riseborough	14795719f6	AP_NavEKF: Add public function for estimated magnetometer offsets	2015-04-03 15:15:09 -07:00
Paul Riseborough	1c244af3d8	AP_NavEKF: Fix bug affecting in-flight GPS acquisition This bug caused velocities to be reset to zero	2015-04-03 15:15:09 -07:00
Paul Riseborough	b9b6938b1d	AP_NavEKF: Add ability to start using GPS in-flight Improve the quality of the GPS required to set an EKF origin Eliminate repeated update of origin height - origin height updates once when EKF origin is set. Operation in GPS mode is linked to setting of origin	2015-04-03 15:15:09 -07:00
Paul Riseborough	98fa918b84	AP_NavEKF: Add new compass learning option Enables compass learning to be on continuously for non-position hold operation	2015-04-03 15:15:09 -07:00
Paul Riseborough	961faa59d9	AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks	2015-04-03 15:15:08 -07:00
Paul Riseborough	a607eb8469	AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m	2015-04-03 15:15:08 -07:00
Paul Riseborough	496d31ab83	AP_NavEKF: Reduce max time Copters can reject GPS The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.	2015-04-03 15:15:08 -07:00
Paul Riseborough	8c2029d896	AP_NavEKF: Accel bias learning improvements Speed up pre-flight learning Smoothen in-flight learning	2015-04-03 15:15:08 -07:00
Paul Riseborough	19d1b3b813	AP_NavEKF: Update EKF origin height whilst disarmed This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed. The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.	2015-04-03 15:15:08 -07:00
Paul Riseborough	70afcd7e70	AP_NavEKF: Add second stage alignment of yaw and earth field states Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.	2015-04-03 15:15:08 -07:00
Paul Riseborough	ed9c05cf2a	AP_NavEKF: Remove logic used to delay fusion for load levelling Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.	2015-04-03 15:15:07 -07:00
Paul Riseborough	c0d23ffc30	AP_NavEKF: Filter accuracy and stability improvements Improvements in PX4 firmware have reduced the computational load and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch: 1) Ensures that a covariance prediction is always performed prior to fusion of any observation 2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step 3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step	2015-04-03 15:15:07 -07:00
Jonathan Challinger	de1f7f5e63	AP_NavEKF: use published delta velocities and delta angles if available	2015-04-03 15:15:07 -07:00
priseborough	3421a320b5	AP_NavEKF: Compensate for ground effect when takeoff or landing expected	2015-04-03 15:15:07 -07:00
Jonathan Challinger	20d92f5f9d	AP_NavEKF: floor GPS velocity noise at parameter value for conservatism	2015-04-03 15:15:07 -07:00
priseborough	9a797a5d49	AP_NavEKF: Use GPS reported speed accuracy if available UBlox receivers report an estimate of the speed accuracy that tests show correlates well to speed glitches. Using this to scale the GPS velocity observation noise will reduce the effect of bad GPS velocity data.	2015-04-03 15:15:06 -07:00
Andrew Tridgell	45e016ea5b	AP_InertialSensor: check for zero delta_velocity dt	2015-04-03 15:10:47 -07:00
Jonathan Challinger	b306d7a356	AP_InertialSensor: accel cal sample for 400ms instead of 1s	2015-04-03 14:54:19 -07:00
Jonathan Challinger	1e1d8efa22	AP_InertialSensor: use expected update rate for accel cal sampling	2015-04-03 14:54:17 -07:00
Jonathan Challinger	bd84328440	AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample	2015-04-03 14:54:15 -07:00
Jonathan Challinger	b2b42e081a	AP_InertialSensor: use delta_velocity/dt for calibration if available	2015-04-03 14:54:10 -07:00
Jonathan Challinger	423160eaf8	AP_InertialSensor: publish delta_velocity_dt	2015-04-03 14:54:06 -07:00
Andrew Tridgell	4147825b87	AP_InertialSensor: fixed gyro calibration bug we must not update _gyro_offset[] until we have completed calibration of that gyro, or we will end up using the new offsets when asking for the raw gyro vector	2015-04-03 06:57:30 -07:00
Andrew Tridgell	728dbf24db	AP_Math: fixed vector inequality test many thanks to cat888 fixes issue #2039	2015-04-01 20:40:37 -07:00
Randy Mackay	d738eda59d	GCS_MAVLink: integrate Serial Manager instance	2015-04-01 14:59:23 -07:00
Randy Mackay	1ed7737669	Mount: integrate Serial Manager instance	2015-04-01 14:59:21 -07:00
Randy Mackay	cbcd32d698	GPS: integrate Serial Manager instance	2015-04-01 14:59:20 -07:00
Randy Mackay	c148330c2b	FrSkyTelem: integrate Serial Manager instance	2015-04-01 14:59:18 -07:00
Randy Mackay	aef16160dc	SerialManager: consolidate MAVLink1 and 2	2015-04-01 14:59:17 -07:00
Randy Mackay	ca92821445	Filter: LowPassFilter gets another div-by-zero check	2015-04-01 10:34:28 -07:00
Jonathan Challinger	57f8a4d29d	Filter: add get_cutoff_frequency	2015-04-01 10:15:07 -07:00
Jonathan Challinger	1828515b3b	AP_Motors: bug fix to _batt_voltage_filt	2015-04-01 10:15:06 -07:00
Jonathan Challinger	89cdd02f58	AP_Motors: remove duplicate get_throttle function	2015-04-01 10:15:05 -07:00
Jonathan Challinger	0e53c0a892	AP_Motors: make output_armed() and output_disarmed() pure virtual	2015-04-01 10:14:38 -07:00
Andrew Tridgell	5acc4c333b	AP_Arming: accept accel/gyro if OK in last 10 seconds this should prevent short periods of movement from triggering arming status change alarms	2015-03-31 15:37:24 -07:00
Randy Mackay	3f3e622be5	AC_PID: fix example sketch	2015-03-30 16:07:56 -07:00
Andrew Tridgell	8ba043e593	AP_AHRS: fixed EKF startup bug This fixes the EKF for when GPS lock takes more than 10 seconds fixes issue #2010	2015-03-28 10:52:22 -07:00
Andrew Tridgell	3289d38339	AP_NavEKF: make the init functions return bool we need to know if it has initialised successfully	2015-03-28 10:51:38 -07:00
Andrew Tridgell	7cd7ff89fd	HAL_PX4: recover 12k of ram from USB buffers faster NuttX means we don't need such larger buffers	2015-03-27 15:08:52 -07:00
Andrew Tridgell	10ec1b8290	DataFlash: example no longer builds with APM2	2015-03-26 06:32:00 -07:00
Andrew Tridgell	5cbfe4fd11	HAL_SITL: fixed copter interactive SITL	2015-03-25 12:27:27 -07:00
Andrew Tridgell	0c2232a4be	HAL_SITL: don't sync clocks during system initialisation	2015-03-24 08:06:50 -07:00
Jonathan Challinger	127791127c	AC_PosControl: fix double literals	2015-03-24 06:29:04 -07:00
Leonard Hall	09aa2f8114	AC_AttitudeControl: Fix function discription	2015-03-23 07:40:04 -07:00
Leonard Hall	6b104c0529	AC_AttitudeControl: No Overshoot limit for Stab This maybe done in a more obvious way using a switch rather than just making the overshoot larger than 180 degrees.	2015-03-23 07:40:02 -07:00
Andrew Tridgell	9748cb1e3e	HAL_SITL: use a synthetic clock when possible this decouples wall clock time from simulation time if the FDM supports it	2015-03-22 18:57:30 -07:00
Randy Mackay	8a3a7bdcd1	Mount: add set_angle_target method	2015-03-21 21:52:22 +09:00
Randy Mackay	f6021010c5	Mission: support do-mount-control	2015-03-21 21:52:19 +09:00
Randy Mackay	2189b16165	Mount_SToRM: remove message throttling recent versions of gimbal firmware can handle 50hz update rate	2015-03-21 05:56:18 +09:00
Randy Mackay	b3362d5829	Mount: calc_angle_to_location returns vehicle relative yaw	2015-03-21 05:56:16 +09:00
Randy Mackay	d2739c5ce5	Mount_SToRM: slow updates to 10hz, reverse yaw, pitch	2015-03-20 20:46:45 +09:00
Randy Mackay	c7dd6ae816	BattMon: SMBus becomes unhealthy after 5sec timeout Also remove unused internal variable	2015-03-20 11:05:30 +09:00
Randy Mackay	c44f304253	BattMon: analog monitor always healthy	2015-03-20 11:05:27 +09:00
Randy Mackay	98efcd5f03	AHRS: always use EKF for copter	2015-03-19 15:15:51 +09:00
Andrew Tridgell	5a4ed85588	AP_TECS: added TECS_LAND_PMAX this limits maximum pitch during the flare, which both reduces integrator windup and prevents too high pitch which can cause a stall	2015-03-19 14:46:41 +11:00
Randy Mackay	9aba885231	AC_Fence: fix prearm check before arming the EKF's pred_horiz_pos_abs flag should be used	2015-03-18 21:25:47 +09:00
Andrew Tridgell	ecd2a6f515	DataFlash: log temperature of IMUs this is the first step towards supporting temperature calibration of IMUs	2015-03-17 13:33:26 +11:00
Andrew Tridgell	23272e4013	AP_InertialSensor: added get_temperature() interface this will allow logging of individual temperature sensors	2015-03-17 13:32:54 +11:00
Randy Mackay	7f25938834	AHRS: fix example sketch	2015-03-16 20:29:19 +09:00
Randy Mackay	b01f9505b1	Mission: fix example sketch Also replace printf with print where possible	2015-03-16 20:29:05 +09:00
Randy Mackay	385b3744ea	MotorTri: check servo_out above min_throttle	2015-03-16 14:49:38 +09:00
Randy Mackay	f9e29a7f77	MotorSingle: check servo_out above min_throttle We need to recalc radio_out or the motors could fall below min throttle	2015-03-16 14:49:37 +09:00
Randy Mackay	8de5d16f96	MotorCoax: check servo_out above min_throttle We need to recalc radio_out or the motors could fall below min throttle	2015-03-16 14:49:35 +09:00
Leonard Hall	9a3f48cc1f	AC_PosControl: ensure throttle output above zero	2015-03-16 14:49:33 +09:00
Leonard Hall	31a55b2bd6	MotorsMatrix: fix div by zero by ensuring throttle is above min	2015-03-16 14:49:31 +09:00
Paul Riseborough	9c2f1ce869	AP_Mount: Fix bug in mavlink gimbal attitude control	2015-03-16 09:54:43 +11:00
ahcorde	103bb2a08d	AP_InertialSensor: Fix orientation MPU6000 PXF	2015-03-16 09:50:51 +11:00
mirkix	d4d42599b0	AP_HAL_Linux: Add RcInput and RcOutput with only one PRU when using a BBB. BBBMINI use the RC AIO PRU firmware already	2015-03-16 09:33:54 +11:00
mirkix	a6b018eab9	AP_HAL_Linux: BBBMINI use kernel CS now	2015-03-16 09:15:06 +11:00
Jonathan Challinger	dff899647f	AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT	2015-03-16 09:14:03 +11:00
Jonathan Challinger	f92c711d14	AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use	2015-03-16 09:14:03 +11:00
Andrew Tridgell	569626ac1a	AP_TECS: fixed APM2 build	2015-03-16 08:40:18 +11:00
Andrew Tridgell	cf2445dc97	AP_InertialSensor: prevent nested accelerometer calibration	2015-03-15 15:22:59 +11:00
Andrew Tridgell	8fc58d1cbe	AP_Vehicle: expose LAND_FLARE_SEC in vehicle parameters for fixed wing	2015-03-15 13:52:34 +11:00
Andrew Tridgell	060f553097	AP_TECS: provide a much smoother transition before flare this moves the pitch constraint smoothly between unconstrained and fully constrained over two time constants before the flare. This greatly reduces the sudden pitch changes at flare	2015-03-15 13:52:17 +11:00
Andrew Tridgell	9c0614c7bb	AP_RangeFinder: default test to I2C Lidar	2015-03-15 13:50:59 +11:00
Andrew Tridgell	c8b0970e61	AP_Compass: show compass count in example	2015-03-14 20:00:29 +11:00
Andrew Tridgell	c565d3b805	AP_Airspeed: fixed example build	2015-03-14 20:00:15 +11:00
Andrew Tridgell	f4455d063e	AP_Compass: fixed example	2015-03-14 17:07:39 +11:00
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
Randy Mackay	7675160e33	Notify: add firmware update flag and implement for OreoLED	2015-03-06 17:26:51 +09:00
Jace A Mogill	442d07a6c9	Notify: OreoLED fast startup with solid green For manual flight modes: Solid white in front, red in rear For automatic flight modes: Breathing white in front, red in rear Loss of RC: Alternating red/black in front and rear merge with fast green	2015-03-06 17:26:45 +09:00
Jonathan Challinger	e2383581cc	AC_AttitudeControl: relax_bf_rate_controller resets rate integrators	2015-03-06 14:02:57 +09:00
Leonard Hall	3ad9b1a06b	AP_MotorsMatrix: remove incorrect throttle limit flag	2015-03-06 14:02:55 +09:00
Leonard Hall	20de383084	AC_AttControl: accel limiting for angular control only if feed forward enabled	2015-03-06 14:02:52 +09:00
Jonathan Challinger	d148039f65	AP_Motors: stricter batt_voltage misconfiguration check	2015-03-06 14:02:49 +09:00
Leonard Hall	7de5bccc93	AC_PosControl: remove THR_HOVER parameter Parameter is set by main code so no need to store to eeprom	2015-03-06 14:02:46 +09:00
Leonard Hall	9866eaded1	AC_PosControl: rename p_alt_pos to p_pos_z Also pid_alt_accel to pid_accel_z	2015-03-06 14:02:44 +09:00
Leonard Hall	349f1aeceb	AC_PosControl: use 2-axis PI controller	2015-03-06 14:02:42 +09:00
Leonard Hall	8d4f0ec80c	AC_PosControl: integrate PID input filter	2015-03-06 14:02:39 +09:00
Randy Mackay	e4d48fdc92	AC_AttControlHeli: separate accel max for roll, pitch renamed _accel_y_max to _accel_yaw_max	2015-03-06 14:02:36 +09:00
Leonard Hall	51455af51a	AC_AttConHeli: integrate PID input filter	2015-03-06 14:02:35 +09:00
Leonard Hall	792b2a2eb3	AC_AttControl: separate accel max for roll, pitch, yaw Also add: Rate filters rename rate filter defines d-term only filter for roll, pitch rate control accessors to save max accel for roll, pitch, yaw fix for duplicate ACCEL_Y_MAX param	2015-03-06 14:02:33 +09:00
Leonard Hall	9833c91b2b	AC_AttControl: get_max_rate_step_bf_roll, pitch and yaw	2015-03-06 14:02:30 +09:00
Leonard Hall	f00025e5c9	AC_AttControl: accessor for rate feedforward	2015-03-06 14:02:27 +09:00
Leonard Hall	691fb8947e	AC_AttControl: accessor for rate_bf_targets	2015-03-06 14:02:25 +09:00
Leonard Hall	784a4ce51a	AC_AttControl: increase max angle overshoot to 30deg	2015-03-06 14:02:23 +09:00
Leonard Hall	eb084f7c58	AC_AttControl: bf yaw control uses input filtered PID	2015-03-06 14:02:21 +09:00
Leonard Hall	11a19803e0	Motors: add accessors for motor logging accessor include get_roll, get_pitch, get_yaw, throttle input	2015-03-06 14:01:58 +09:00
Leonard Hall	34a5bc8b33	AC_PI_2D: 2-axis PI controller	2015-03-06 14:01:56 +09:00
Leonard Hall	046949ea8a	AC_HELI_PID: add input filter and restructure Also removed unused initial_ff from construtor	2015-03-06 14:01:54 +09:00
Leonard Hall	517448e536	AC_PID: add input filtering and restructure	2015-03-06 14:01:52 +09:00
Andrew Tridgell	2aae594371	GCS_MAVLink: handle serial loopback in routing	2015-03-04 20:24:11 +11:00
Andrew Tridgell	086f878bdc	HAL_PX4: split IO thread into separate IO and storage threads this prevents a blocked microSD card from blocking IO to the FRAM, causing parameter changes not to be sticky	2015-03-04 20:18:17 +11:00
Andrew Tridgell	58c92b0158	GCS_MAVLink: added SCALED_IMU3 logging	2015-03-04 19:30:08 +11:00
Andrew Tridgell	79be500e04	GCS_MAVLink: re-generate headers	2015-03-04 19:29:28 +11:00
Andrew Tridgell	eeacbe518b	GCS_MAVLink: update from upstream XML	2015-03-04 19:21:24 +11:00
Randy Mackay	f5f7cd540f	Motors: fix example sketches	2015-03-03 21:39:24 +09:00
Leonard Hall	cf8c211c35	Motors: fix thrust curve and add constraint	2015-03-03 15:49:07 +09:00
Leonard Hall	3e960dfc3b	Motors: add get_voltage_comp_gain This clarifies that lift_max is the inverse of the battery voltage gain compensation	2015-03-03 15:49:04 +09:00
Leonard Hall	997c6f0868	Motors: move battery resistance calcs to parent Moving from MotorsMatrix to parent Motors class allows these to be used from other frame types Also initialise battery resistance	2015-03-03 15:49:02 +09:00
Randy Mackay	09d7cdbc23	Motors: batt_voltage_filt becomes filter object	2015-03-03 15:49:00 +09:00
Randy Mackay	4b78b2ce80	Filter: add get method to LowPassFilter	2015-03-03 15:48:58 +09:00
Leonard Hall	529c6fed3a	Motors: move over current throttle limiting to parent Moving from MotorsMatrix to parent Motors class allows this to be used from other frame types	2015-03-03 15:48:54 +09:00
Randy Mackay	812473fd9a	MotorsMatrix: use get_hover_throttle_as_pwm	2015-03-03 15:48:52 +09:00
Randy Mackay	1a9d3125ef	Motors: _hover_out to pct * 10 instead of pwm	2015-03-03 15:48:50 +09:00
Leonard Hall	6b7bdf64bd	Motors: move batt voltage lift_max calcs to parent Moving from MotorsMatrix to parent Motors class allows them to be used by other frame types Also added sanity check of batt_voltage_min	2015-03-03 15:48:48 +09:00
Randy Mackay	c549b58eb7	MotorsMatrix: remove check of throttle_curve_enabled	2015-03-03 15:48:46 +09:00
Randy Mackay	5fb3de48ee	MotorsTri, Single, Coax: use new thrust curve	2015-03-03 15:48:44 +09:00
Randy Mackay	2eaa4a8445	Motors: remove old throttle curve	2015-03-03 15:48:42 +09:00
Leonard Hall	751dbb7df7	Motors: move thrust curve and volt scaling to parent Moving from MotorsMatrix to Motors allows it to be used from other frames	2015-03-03 15:48:41 +09:00
Randy Mackay	80b498f598	Motors: add loop_rate to test sketch	2015-03-03 15:48:39 +09:00
Randy Mackay	7ab76dbd0e	Motors: add loop_rate to constructor for all frames	2015-03-03 15:48:34 +09:00
Randy Mackay	77d4b3a2ae	Motors: add loop_rate to constructor	2015-03-03 15:48:32 +09:00
Leonard Hall	ec9d7dd99e	Motors: minor comment fixes	2015-03-03 15:48:30 +09:00
Leonard Hall	1d0ee68116	Motors: over current throttle limiting	2015-03-03 15:48:28 +09:00
Randy Mackay	1217ab9579	BattMon: add get_type method	2015-03-03 15:48:24 +09:00
Randy Mackay	f6523c0997	Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control	2015-03-03 15:48:21 +09:00
Leonard Hall	83e3e2fec2	Motors: thrust curve and voltage scaling for matrix supported frames	2015-03-03 15:48:19 +09:00
Leonard Hall	5b0bd49ff2	Motors: configurable yaw headroom for matrix frames	2015-03-03 15:48:15 +09:00
Randy Mackay	51213235b4	OreoLED_PX4: available only on PX4	2015-03-02 16:58:17 +09:00
Randy Mackay	f1ce70e748	Notify: disable oreoled by default	2015-03-02 16:58:14 +09:00
Randy Mackay	89cd74c35f	Notify: OreoLED supports handle_led_control includes support for send bytes ioctl	2015-03-02 16:58:12 +09:00
Randy Mackay	90cac02bd7	Notify: OreoLED fix to fade-in when armed	2015-03-02 16:58:10 +09:00
Randy Mackay	35a3a52f29	Notify: add support for handle_led_control	2015-03-02 16:58:06 +09:00
Randy Mackay	9159c7107d	GCS_MAVLink: version update after LED_CONTROL added	2015-03-02 16:58:03 +09:00
Randy Mackay	26d54398e2	GCS_MAVlink: generate after LED_CONTROL added	2015-03-02 16:58:01 +09:00
Randy Mackay	3fdabb3667	GCS_MAVlink: define LED_CONTROL in ardupilotmega.xml	2015-03-02 16:57:59 +09:00
Randy Mackay	b8ef765b3e	Notify: add OreoLED to PX4	2015-03-02 16:57:56 +09:00
Randy Mackay	0a33a7c15a	Notify: OreoLED_PX4 driver	2015-03-02 16:57:50 +09:00
Jonathan Challinger	e9bbe062f3	AC_PosControl: modify accel_to_lean_angles to apply filters before yaw rotation	2015-02-24 16:41:03 +09:00
Andrew Tridgell	1f417dce86	AP_SerialManager: added note on external converter requirement for Frsky thanks to Luis for the suggestion	2015-02-24 10:19:42 +11:00
Andrew Tridgell	a6d76b4e03	AP_RangeFinder: added PX4-PWM rangefinder uses PWM input driver to read a rangefinder	2015-02-23 14:15:14 +11:00
Randy Mackay	b650d39786	InertialSensor: remove product_id set to zero	2015-02-21 09:14:33 +09:00
Jonathan Challinger	7b0e806db1	AP_Mount: correct status_msg to conform to MAVLink specification	2015-02-21 08:33:50 +09:00
Andrew Tridgell	3a51bac0d0	AP_Arming: use new enum for home_is_set	2015-02-21 10:13:43 +11:00
Andrew Tridgell	a53395cdb8	AP_Common: added HomeState enum from copter	2015-02-21 10:13:17 +11:00
Andrew Tridgell	6781a8d329	AP_AHRS: fixed get_position for EKF to use correct relative altitude we need to use the EKF relative height plus the current AHRS home	2015-02-21 10:12:53 +11:00
Andrew Tridgell	869fb23062	HAL_SITL: implement SIM_GPSDRIFTALT	2015-02-21 08:33:01 +11:00
Andrew Tridgell	63c792bc1c	SITL: added SIM_GPSDRIFTALT simulation control	2015-02-21 08:32:49 +11:00
Randy Mackay	73e00108e4	Mount: SToRM32 remove unnecessary include	2015-02-20 11:27:15 +09:00
Randy Mackay	23f0bab5d6	Mount: integrate SToRM32 backend	2015-02-20 11:05:40 +09:00
Randy Mackay	92c7949355	Mount: SToRM32 mount backend	2015-02-20 11:05:31 +09:00
Andrew Tridgell	b21c00fcf9	AP_L1_Control: changed default L1 tuning to 20 this is more appropriate for most aircraft	2015-02-19 16:19:33 +11:00
Andrew Tridgell	ec70042d25	APM_Control: raise default IMAX to 3000 on the first flight users often need more I gain to overcome poor choices for the P gain	2015-02-19 16:15:33 +11:00
Andrew Tridgell	6959cdbf15	RC_Channel: fixed usage of _reverse to be consistent users could set RCn_REV to 0 and get very confusing results	2015-02-18 12:47:56 +11:00
Andrew Tridgell	26ac29840c	AP_Common: added UNUSED_FUNCTION macro useful for functions that are only in some builds	2015-02-18 11:12:43 +11:00
Andrew Tridgell	50a11c7d5a	AP_Mount: added an alternative tilt-only gimbal control method this adds some nice control characteristics based on work by Paul and Arthur, but is tilt only	2015-02-16 16:48:55 +11:00
Andrew Tridgell	9b2d44d6ed	AP_InertialSensor: use delay_microseconds_boost() this gives much more consistent timing for PX4	2015-02-16 12:19:13 +11:00
Andrew Tridgell	18131eae13	HAL_PX4: added delay_microseconds_boost() implemented using hrt callback with sem_post wrapper	2015-02-16 12:19:13 +11:00
Andrew Tridgell	c63540f7b1	AP_HAL: added delay_microseconds_boost() this will be used by wait_for_sample() to boost priority for a short period at the end of each delay_microseconds()	2015-02-16 11:52:37 +11:00
Andrew Tridgell	f54d799bff	AP_InertialSensor: added TIMING_DEBUG code for finding loop timing issues	2015-02-16 10:12:10 +11:00
Randy Mackay	8e75c9580c	InertialNav: get_origin returns zero when no origin If the EKF has not yet set the origin return location of all zeros instead of uninitialised location	2015-02-15 11:17:37 +09:00
Andrew Tridgell	04bef5ccf3	AP_InertialSensor: don't skip delay if we are a bit early this produces a bit more even timing	2015-02-14 12:25:44 +11:00
Andrew Tridgell	619196b6b3	HAL_PX4: fixes for new PX4 device paths	2015-02-14 12:25:44 +11:00
Andrew Tridgell	38d63d51a5	AP_RangeFinder: change for new PX4 device paths	2015-02-14 12:25:44 +11:00
Andrew Tridgell	995311f807	AP_OpticalFlow: change for new PX4 device paths	2015-02-14 12:25:44 +11:00
Andrew Tridgell	9f7e20090c	AP_Notify: change for new PX4 device paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	4537acb898	AP_InertialSensor: change for new PX4 device paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	99ed508903	AP_Compass: change for new PX4 paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	beeb9173ea	AP_Baro: change for new PX4 paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	26a77dc502	AP_Airspeed: change for new PX4 paths	2015-02-14 12:25:43 +11:00
Andrew Tridgell	001643d5a3	HAL_PX4: always use the hrt semaphore based delay the up_udelay() could cause too much timing jitter	2015-02-14 12:25:43 +11:00
Andrew Tridgell	7f0060b881	HAL_PX4: reduce the amount of time between loop() calls 500usec is too long for 400Hz copter	2015-02-14 12:25:43 +11:00
myly10	7bb079b348	AP_Parachute.cpp: Typo correction.	2015-02-13 16:16:10 +09:00
Staroselskii Georgii	75cd41a7c1	AP_HAL_Linux: added NavioAnalogIn	2015-02-12 12:57:45 +11:00
Staroselskii Georgii	b5aef01f72	AP_ADC: added ADS1115 support	2015-02-12 12:57:45 +11:00
Staroselskii Georgii	195aa5fc6b	AP_HAL_Linux: take the semaphore in SPIUARTDriver for shorter periods of time	2015-02-12 12:52:56 +11:00
Staroselskii Georgii	64da7f0360	AP_HAL_Linux: fix macro that defines number of I/O callbacks	2015-02-12 12:52:56 +11:00
Staroselskii Georgii	5b21bd2f1d	AP_HAL_Linux: make Ublox transactions shorter	2015-02-12 12:52:56 +11:00
Staroselskii Georgii	4034004194	AP_HAL_Linux: switch NavIO to kernel CS handling	2015-02-12 12:52:56 +11:00
Paul Riseborough	9f552eaa4b	AP_NavEKF: Fix bug that resets position to origin when vehicle arms	2015-02-12 12:40:55 +11:00
Paul Riseborough	b8d3da3846	AP_NavEKF: Report last known position when vehicle is disarmed	2015-02-12 12:40:55 +11:00
Andrew Tridgell	4aa8a012de	GCS_MAVLink: re-generate headers (updated stdint.h usage)	2015-02-12 09:13:17 +11:00
Andrew Tridgell	991afa9999	GCS_MAVLink: re-generate headers	2015-02-12 09:03:34 +11:00
Andrew Tridgell	7a6d91035e	GCS_MAVLink: merge upstream changes	2015-02-12 09:03:22 +11:00
Andrew Tridgell	55041c7a7a	AP_NavEKF: prevent division by zero in SmallEKF	2015-02-12 09:02:59 +11:00
Andrew Tridgell	db9c8548a5	HAL_VRBrain: call parent Util constructor	2015-02-11 20:57:28 +11:00
Andrew Tridgell	ebacb2b496	HAL_PX4: call parent Util constructor	2015-02-11 20:57:28 +11:00
Jonathan Challinger	59cf1c29ff	AP_HAL_VRBRAIN: attempt to initialize USB while soft-disarmed	2015-02-11 20:57:28 +11:00
Jonathan Challinger	e908fcafb1	AP_HAL_PX4: attempt to initialize USB while soft-disarmed	2015-02-11 20:57:27 +11:00
Jonathan Challinger	50466848f7	AP_NavEKF: use hal.util soft_armed state	2015-02-11 20:25:11 +11:00
Jonathan Challinger	180c85817d	AP_AHRS: remove armed state, use hal.util soft_armed state	2015-02-11 20:25:11 +11:00
Jonathan Challinger	aa7776ea59	AP_HAL: add soft_armed state to hal.util	2015-02-11 20:25:10 +11:00
Andrew Tridgell	fdcd5ca1a1	GCS_MAVLink: re-generate headers	2015-02-11 20:14:08 +11:00
Andrew Tridgell	b227f8463f	GCS_MAVLink: merge upstream mavlink changes	2015-02-11 20:13:27 +11:00
Andrew Tridgell	8cfe8c5823	GCS_MAVLink: moved send_autopilot_version() to common code	2015-02-11 19:50:40 +11:00
Andrew Tridgell	8e35baaef8	GCS_MAVLink: re-generate headers	2015-02-11 19:13:31 +11:00
Jonathan Challinger	0d1f0f4eb0	GCS_MAVLink: add AUTOPILOT_VERSION_REQUEST	2015-02-11 19:11:30 +11:00
Andrew Tridgell	e43fe520e8	AP_BoardConfig: added BRD_SBUS_OUT parameter when this is set to 1 it enables SBUS servo output on the SBUS connector.	2015-02-11 18:35:34 +11:00
mirkix	460b434708	AP_InertialSensor: add apm1 oilpan support	2015-02-11 18:22:44 +11:00
mirkix	98b78e61c2	AP_InertialNav: fix apm1 oilpan support	2015-02-11 18:22:42 +11:00
mirkix	49d81a9c99	AP_AHRS: fix apm1 oilpan support	2015-02-11 18:22:39 +11:00
Grant Morphett	3a5eb33d86	GCS_MAVLink: Bug - CLI_ENABLED check should be in vehicle code only. Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:46 +11:00
Grant Morphett	4860c84dff	AP_NavEKF: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:46 +11:00
Grant Morphett	300a02f4e4	AP_Math: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:46 +11:00
Grant Morphett	b511410b48	AP_InertialSensor: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	525787078f	AP_HAL: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	e7e9e1adf0	AP_GPS: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	52c5db8440	AP_Compass: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Grant Morphett	0b4ac5d256	AP_Common: Changes to fix the warnings in rover sitl build. We are starting the process of resolving all the warnings in the ardupilot builds of all vehicles and platforms.	2015-02-11 18:16:45 +11:00
Andrew Tridgell	ac3dd87790	AP_Baro: added hil_mode support	2015-02-10 09:53:30 +11:00
Jonathan Challinger	5f7480b740	AP_Math: change fast_atan2 to use atan2f on fast CPUs	2015-02-09 22:24:09 +09:00
Andrew Tridgell	b64077ac2e	GCS_MAVLink: fixed example build	2015-02-09 13:09:29 +11:00
Andrew Tridgell	af5f84f4e4	DataFlash: fixed example builds	2015-02-09 13:09:16 +11:00
Andrew Tridgell	d5e129457e	AP_InertialNav: fixed example builds	2015-02-09 13:09:02 +11:00
Andrew Tridgell	84cda98bec	HAL_AVR: fixed example build	2015-02-09 13:08:45 +11:00
Andrew Tridgell	78dadcb5c6	AC_AttitudeControl: fixed example build	2015-02-09 13:08:34 +11:00
Andrew Tridgell	dd0e45db41	GCS_MAVLink: fixed build of example sketches	2015-02-09 11:49:25 +11:00
Andrew Tridgell	2f3b5006e7	AP_Mount: fixed build of example sketches	2015-02-09 11:49:10 +11:00
Andrew Tridgell	a8c1d3a134	AP_GPS: fixed SerialManager for test sketches	2015-02-09 11:47:31 +11:00
Andrew Tridgell	9eb07ffde2	HAL_VRBRAIN: implement updated new_input() semantics	2015-02-09 10:39:14 +11:00
Andrew Tridgell	f548d48fdc	HAL_PX4: implement updated new_input() semantics	2015-02-09 10:39:12 +11:00
Andrew Tridgell	7275d2b804	HAL_SITL: implement updated new_input() semantics	2015-02-09 10:39:10 +11:00
Andrew Tridgell	5d6f883887	HAL_AVR: implement updated new_input() semantics	2015-02-09 10:39:07 +11:00
Andrew Tridgell	3075cb058d	AP_HAL: changed semantics of RCInput.new_input() this makes calling new_input() in RCInput clear the new input flag. This fixes an issue with calls to read() for auxillary channels clearing the new_input flag, which could cause brief failsafe conditions.	2015-02-09 10:39:05 +11:00
Andrew Tridgell	7a5ec6d75b	GCS_MAVLink: allow use of RC_CHANNELS message on AVR too can have up to 11 channels	2015-02-08 21:47:31 +11:00
Andrew Tridgell	33a3254d8b	HAL_Linux: accept a smaller sync pulse width	2015-02-08 21:47:28 +11:00
Andrew Tridgell	7fb114752c	AP_HAL_AVR: accept a much shorted sync pulse width on RCInput this should fix issues with OpenLRSng default settings	2015-02-08 21:47:26 +11:00
Andrew Tridgell	f2a919c55e	AP_HAL_PX4: moved size of main thread stack to Scheduler.h make it more obvious	2015-02-07 08:06:53 +11:00
Andrew Tridgell	1c270d17a8	AP_Airspeed: ignore temperatures below -80 ETS driver on PX4 returns -1000	2015-02-06 21:41:15 +11:00
Andrew Tridgell	4ecd99eb76	AP_Arming: added check for logging available this is used for refusing to fly without microSD inserted	2015-02-06 19:05:02 +11:00
Randy Mackay	fc4442bf61	AC_WPNav: rename xy_mode	2015-02-06 17:00:57 +09:00
Randy Mackay	186337f18e	AC_PosControl: rename xy_mode enum values Also added a few comments and fixed formatting	2015-02-06 17:00:55 +09:00
Jonathan Challinger	626521c366	AC_WPNav: update usage of update_xy_controller	2015-02-06 17:00:53 +09:00
Jonathan Challinger	3faca88423	AC_PosControl: allow control of xy rate constraint behavior	2015-02-06 17:00:48 +09:00
Andrew Tridgell	cabf21194a	AP_Arming: improved docs	2015-02-06 08:40:59 +11:00
Emile Castelnuovo	5c68980f05	AP_Notify: removed unused VRBRAIN files	2015-02-05 14:22:08 +09:00
Randy Mackay	b66a1135d9	AHRS: fix example sketch compile error	2015-02-03 15:57:11 +09:00
Paul Riseborough	aa94ff629d	AP_NavEKF: Prevent bad GPS pre-arming casuing initial position errors If the vehicle moves significantly or the GPS changes position significantly pre-armed, then the GPS glitch logic was being invoked when the first GPs measurements were fused. This patch resets the position to the GPS when the vehicle arms.	2015-02-03 15:57:10 +09:00
priseborough	bc5581d634	AP_NavEKF: Prevent arming delays from failing GPS Due to the way that gyro calibration is done, the EKF could be effectively not run for up to 30 seconds in extreme cases, making it possible that the GPS would be failed on arming and the copter put into a non-GPS mode. the longer term solution is to update the gyro calibration so that it does not hold up other processing. the short tyermfix in thsi patch is to look for evidence of a 3D lock in the last received GPS message.	2015-02-03 15:57:09 +09:00
priseborough	2c012c2763	AP_NavEKF: Always check for new GPS data This fixes a bug that meant that once the EKF had started up in a non-GPS mode, it would no longer read the GPS and therefore would never be able to use GPS again until reset.	2015-02-03 15:57:08 +09:00
Robert Lefebvre	14d76d158a	AC_AttitudeControl: Correct comment.	2015-02-03 14:55:30 +09:00
Jonathan Challinger	baa3e802ee	AC_WPNav: clean up atan2	2015-02-03 14:48:04 +09:00
Randy Mackay	112f6a1854	AP_InertialNav: add comments No functional change	2015-02-03 12:05:24 +09:00
Jonathan Challinger	c95e7b2282	AP_InertialNav: add get_origin function	2015-02-03 11:38:21 +09:00
Andrew Tridgell	fa7c584733	AP_Mount: fixed build on non-EKF systems	2015-02-03 09:49:17 +11:00
Andrew Tridgell	f77f919588	AP_Mount: enable pan pointing in MAVLink backend	2015-02-03 09:49:17 +11:00
Andrew Tridgell	81f60bde06	AP_Mount: fill in all Location flags in ROI pointing	2015-02-03 09:49:17 +11:00
Andrew Tridgell	cf76dcfbf3	AP_Mount: fixed mount MAVLink backend to match SITL sim behaviour Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:17 +11:00
Andrew Tridgell	75b1330843	AP_Mount: fixed radians to degrees error	2015-02-03 09:49:17 +11:00
Andrew Tridgell	032dcc3660	AP_Mount: fixed references to state in backends	2015-02-03 09:49:17 +11:00
Paul Riseborough	925d625ed1	AP_NavEKF: fix bug in small EKF velocity fusion	2015-02-03 09:49:17 +11:00
Paul Riseborough	8d6f0d08c9	AP_Mount: Update attitude control calculations and debug printing	2015-02-03 09:49:17 +11:00
Paul Riseborough	255252f387	AP_Math: Fix bug in quaternion division	2015-02-03 09:49:16 +11:00
Paul Riseborough	1660aefc90	AP_Mount: Add a simple attitude control loop to the gimbal report handling	2015-02-03 09:49:16 +11:00
Paul Riseborough	5f24603ceb	AP_NavEKF: Publish small EKF quaternion and gyro bias outputs	2015-02-03 09:49:16 +11:00
Paul Riseborough	17445d03f0	AP_Math: Add quaternion division	2015-02-03 09:49:16 +11:00
Andrew Tridgell	79017096e2	AP_Mount: prototype code to send biases	2015-02-03 09:49:16 +11:00
Andrew Tridgell	da27a8696d	AP_Mount: added initial ekf estimation of gimbal bias Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:16 +11:00
Andrew Tridgell	ee9c778834	AP_AHRS: added a get_NavEKF_const() function needed for AP_Mount_MAVLink Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:16 +11:00
Andrew Tridgell	4c8b663200	AP_NavEKF: added initial version of SmallEKF This will be used for gimbal bias estimations. Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-02-03 09:49:16 +11:00
Andrew Tridgell	1bbe633691	GCS_MAVLink: re-generate headers	2015-02-03 09:49:15 +11:00
Andrew Tridgell	b81cdf9250	GCS_MAVLink: change to delta_time in GIMBAL_REPORT	2015-02-03 09:49:15 +11:00
Andrew Tridgell	01b264951a	AP_Mount: added handling of GIMBAL_REPORT messages	2015-02-03 09:49:15 +11:00
Andrew Tridgell	35c14c787e	GCS_MAVLink: added handle_gimbal_report() function Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-02-03 09:49:15 +11:00
Andrew Tridgell	a1536d575b	GCS_MAVLink: added GIMBAL msgs to routing	2015-02-03 09:49:14 +11:00
Andrew Tridgell	01325b701a	GCS_MAVLink: re-generate headers	2015-02-03 09:49:14 +11:00
Andrew Tridgell	3b2332a0c7	GCS_MAVLink: added target_system/component to GIMBAL_REPORT	2015-02-03 09:49:14 +11:00
Andrew Tridgell	51ce4d3217	GCS_MAVLink: re-generate	2015-02-03 09:49:14 +11:00
Andrew Tridgell	df735e2ddb	GCS_MAVLink: change euler312 order conventions	2015-02-03 09:49:13 +11:00
Andrew Tridgell	53adcc9a25	GCS_MAVLink: regenerate MAVLink headers	2015-02-03 09:49:13 +11:00
Andrew Tridgell	73670edda6	GCS_MAVLink: added GIMBAL messages, mavlink ID and type	2015-02-03 09:49:13 +11:00
Randy Mackay	6cfd48d0c6	Buzzer: handle arming_failed as event	2015-02-03 06:14:55 +09:00
Randy Mackay	a991b4a823	Linux: handle arming_failed as event	2015-02-03 06:14:54 +09:00
Randy Mackay	3361002379	ToneAlarm: handle arming_failed as event	2015-02-03 06:14:53 +09:00
Randy Mackay	bd1ae13fdb	Notify: arming_failed flag moved to events	2015-02-03 06:14:53 +09:00
Randy Mackay	6a827459ad	Notify: increase size of flags type	2015-02-03 06:14:52 +09:00
Randy Mackay	0a68d4ef39	Notify: clear all flags and events during init	2015-02-03 06:14:44 +09:00
Randy Mackay	272768bc0f	Notify: init RGBLed members	2015-02-03 06:14:35 +09:00
Randy Mackay	3550e52560	MotorsTri: add 80% throttle limit This limit was moved from the main copter flight code to the motors library in order that the throttle_upper flag could be set properly.	2015-02-02 22:31:06 +09:00
Emile Castelnuovo	c044901f9f	AP_Notify: added missing VRBRAIN led files	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	ebc3dcd142	DataFlash: Clean up, VRBRAIN deleted unused boards.	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	90663664f3	AP_BattMonitor: VRBRAIN deleted unused boards, corrected default batt volt divider.	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	a863f0bca8	AP_Airspeed: VRBRAIN code clean up. Deleted unused boards.	2015-02-02 08:44:01 +11:00
Emile Castelnuovo	d78ff43971	AP_HAL_VRBRAIN: code clean up. Deleted unused boards.	2015-02-02 08:44:00 +11:00
Emile Castelnuovo	5e8c1b61b5	AP_Compass: AP_Compass_VRBRAIN.cpp added _is_external overwrite to deal with external compass attached to internal I2C BUS	2015-02-02 08:44:00 +11:00
LukeMike	61f4239e47	AP_Airspeed: enabled PX4 library for VR boards	2015-02-02 08:44:00 +11:00
LukeMike	6473ae2c37	Storage: updated to the PX4 library	2015-02-02 08:44:00 +11:00
Emile Castelnuovo	26432d6064	AP_Notify: use RGB driver for board led in VRBRAIN boards.	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	3e97592e5c	AP_Rangefinder: added #if for VRBRAIN boards.	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	c38b11eec8	AP_RangeFinder: added VRBRAIN to use PX4 libraries	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	dae32984f1	AP_InertialSensor: use PX4 library for VRBRAIN boards.	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	25818f08a3	AP_Airspeed: added VRBRAIN board type	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	ffd26e59cd	DataFlash: added new VRBRAIN boards	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	b0b892e578	AP_Rangefinder: added support for VRBRAIN boards	2015-02-02 08:43:59 +11:00
Emile Castelnuovo	731329fc55	AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN	2015-02-02 08:43:58 +11:00
Emile Castelnuovo	92e0bc3a2f	AP_HAL_VRBRAIN: updates to libraries for new boards	2015-02-02 08:43:58 +11:00
Emile Castelnuovo	a0673b56f9	AP_HAL: added new VRBRAIN boards and new subtypes	2015-02-02 08:43:58 +11:00
Emile Castelnuovo	de8a0ebc08	AP_Airspeed: added #defines for new VR boards.	2015-02-02 08:43:58 +11:00
LukeMike	edd0f13845	AP_HAL: mapped the different sizes of storage for all VR boards	2015-02-02 08:43:58 +11:00
LukeMike	6a93148b92	AP_InertialSensor: added library for VRBRAIN Inertial Sensor	2015-02-02 08:43:58 +11:00
LukeMike	b29f50ba9b	AP_Airspeed: Defined AirSpeed analog inputs for ArduPlane on VR Micro Brain 5	2015-02-02 08:43:57 +11:00
LukeMike	7dc5541484	AP_HAL_VRBRAIN: Added analog inputs for ArduPlane on VR Micro Brain 5	2015-02-02 08:43:57 +11:00
Andrew Tridgell	a2adb9b1b0	AP_Arming: check for AHRS health and calibration for arming	2015-02-01 14:13:57 +11:00
Andrew Tridgell	6e62e1ca7b	AP_InertialSensor: make calibrated() const	2015-02-01 14:13:54 +11:00
Andrew Tridgell	68f64fa11c	AP_AHRS: make the healthy() method const	2015-02-01 14:13:52 +11:00
Andrew Tridgell	850af14949	AP_NavEKF: raise EKF_POS_GATE and EKF_GLITCH_RAD for planes This weights GPS position more heavily for planes Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	2015-01-31 21:49:20 +11:00
Holger Steinhaus	8911dfd791	DataFlash: fix out-of-bounds read when logging Checked in my rmackay9	2015-01-31 13:24:34 +09:00
Randy Mackay	0d94d5441f	SerialManager: correct protocol comments Correct value for 2nd MAVLink protocol	2015-01-31 12:18:47 +09:00
Matthias Badaire	b5b67cf68a	SerialManager: Fix SERIALX_PROTOCOL comments Fix SERIALX_PROTOCOL to have a proper documentation of the protocol types available	2015-01-31 12:18:36 +09:00
Randy Mackay	07a0388f25	AC_PosControl: move alt limit to set_alt_target_from_climb_rate The alt limit is instead enforced when the target is set using the set_alt_target_from_climb_rate function Also updated comments	2015-01-30 14:13:52 +09:00
Robert Lefebvre	02f3f96310	AC_PosControl: Enable altitude limit checking.	2015-01-30 14:13:45 +09:00
Andrew Tridgell	79cad28a25	AP_Mount: simplify some uses of frontend	2015-01-29 17:23:33 +11:00
Andrew Tridgell	c05f36d29b	AP_SerialManager: make the state structure private	2015-01-29 16:02:24 +11:00
Andrew Tridgell	1d272e5a32	AP_Frsky_Telem: don't use flow control for FrSky Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:53:41 +11:00
Andrew Tridgell	362b53e1da	AP_GPS: force flow control off on GPS serial ports	2015-01-29 15:53:20 +11:00
Andrew Tridgell	5980ff8e1c	AP_Common: removed map_baudrate() Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:47:48 +11:00
Andrew Tridgell	d6ab4722cd	AP_SerialManager: moved map_baudrate() into class Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:47:36 +11:00
Andrew Tridgell	085a926e61	AP_Frsky_telem: update for find_serial() change	2015-01-29 15:37:18 +11:00
Andrew Tridgell	9ba2fefde3	AP_GPS: update for find_serial() change	2015-01-29 15:37:08 +11:00
Andrew Tridgell	60f266da19	AP_Mount: update for new find_serial() interface	2015-01-29 15:36:38 +11:00
Andrew Tridgell	59d5351dab	GCS_MAVLink: update for new find_serial()	2015-01-29 15:36:19 +11:00
Andrew Tridgell	e28deacc4c	AP_SerialManager: simplify interface, returning direct uart added find_baudrate() for getting baudrate Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>	2015-01-29 15:35:42 +11:00
Randy Mackay	0a195671b3	SerialManager: set_console_baud uses first matching protocol This ensures we set the baud to the first serial port with the specified protocol instead of the last.	2015-01-29 14:05:15 +11:00
Matthias Badaire	5f432eaa2d	AP_Mount_Alexmos : take into account available negative numbers uartdriver->available () function brings back a signed int, we should be carefull to avoid an endless loop if that happens.	2015-01-29 14:05:15 +11:00
Randy Mackay	4a4387530a	Mount: remove unused num_instances	2015-01-29 14:05:14 +11:00
Randy Mackay	d6433266d2	Mount_MAVLink: use SerialManager for init use serial_manager's get_mavlink_channel	2015-01-29 14:05:14 +11:00
Randy Mackay	4848b03ac6	Mount_AlexMos: use SerialManager for init	2015-01-29 14:05:14 +11:00
Randy Mackay	56f872b38c	Mount_Servo: use SerialManager for init	2015-01-29 14:05:13 +11:00
Randy Mackay	886cc9aa46	Mount: use SerialManager for init	2015-01-29 14:05:13 +11:00
Randy Mackay	19aa8939de	FrSky_Telem: init uart when protocol is S-Port	2015-01-29 14:05:13 +11:00
Randy Mackay	5c086acc15	FrSky_Telem: comments, formatting and reordering No functional change Added comments and moved main functions to the top Removed spaces between function name and brackets	2015-01-29 14:05:13 +11:00
Randy Mackay	6ef996d553	FrSky_Telem: init all members to zero and move to cpp	2015-01-29 14:05:13 +11:00
Randy Mackay	d16f787bd0	Frsky_Telem: use SerialManager for init	2015-01-29 14:05:12 +11:00
Randy Mackay	ebf5f98dbd	GPS: detect_instance does not set uart rx, tx size	2015-01-29 14:05:12 +11:00
Randy Mackay	2eddecb10d	GPS: use SerialManager for init	2015-01-29 14:05:12 +11:00
Randy Mackay	0c3a8f585a	GCS_MAVLink: add get_uart accessor use by flight code to print messages during startup	2015-01-29 14:05:12 +11:00
Randy Mackay	1275ff7d40	GCS_MAVLink: have_flow_control uses mavlink_comm	2015-01-29 14:05:12 +11:00
Randy Mackay	1157c13eb6	GCS_MAVLink: mavlink_comm_x become UARTDrivers	2015-01-29 14:05:12 +11:00
Randy Mackay	febda988af	GCS_MAVLink: mavlink_channel from SerialManager	2015-01-29 14:05:11 +11:00
Randy Mackay	c6326fc9b7	GCS_MAVLink: use SerialManager for setup_uart	2015-01-29 14:05:11 +11:00
Randy Mackay	0fe4436c72	SerialManager: do not init uart for FrSky S-Port	2015-01-29 14:05:11 +11:00
Randy Mackay	cc71db1e2f	SerialManager: lib to configure UART protocol	2015-01-29 14:05:11 +11:00
Randy Mackay	ee369f8a0d	Mount_AlexMos: use reference to state	2015-01-29 14:05:11 +11:00
Randy Mackay	b083c99966	Mount_MAVLink: use reference to state	2015-01-29 14:05:11 +11:00
Randy Mackay	32ea258594	Mount_Servo: use reference to state	2015-01-29 14:05:10 +11:00
Randy Mackay	acbcf3c54e	Mount: backends use reference to their state	2015-01-29 14:05:10 +11:00
Randy Mackay	bf82e82282	Mount_MAVLink: remove unused _enable and find_mount	2015-01-29 14:05:10 +11:00
Randy Mackay	b5127b680f	Mount: set primary to first instance	2015-01-29 14:05:10 +11:00
Matthias Badaire	24af65a41a	AP_Mount_Alexmos: critical fix to avoid endless loop if byte arrive to fast in serial buffer This fix reads the number of bytes available and iterates on it instead of looking for new bytes in the serial buffer (potentially forever)	2015-01-29 14:05:10 +11:00
Matthias Badaire	46e92f99fe	AP_Mount_Alexmos: use struct for CMD_CONTROL command new struct created in header and used in control_axis function	2015-01-29 14:05:09 +11:00
Matthias Badaire	81d60af4a8	AP_Mount_Alexmos : cleanup initialization of class fields	2015-01-29 14:05:09 +11:00
Randy Mackay	c5ef5d21d3	Mount: add Alexmos to MNT2_TYPE param description	2015-01-29 14:05:09 +11:00
Randy Mackay	93323e2136	Mount_Alexmos: comments and formatting No functional change	2015-01-29 14:05:09 +11:00
Matthias Badaire	1e5ddf3ce7	AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal get_angles calls the Alexmos API to get the current angles. It was not being called before.	2015-01-29 14:05:09 +11:00
Matthias Badaire	0b88f15a37	AP_Mount: fix Backend enum for AP_Mount_Alexmos and add comments fix Backend enum for AP_Mount_Alexmos and add comments	2015-01-29 14:05:09 +11:00
Matthias Badaire	cdeb1fb8f3	AP_Mount_Alexmos : changes some define to avoid conflicting change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well	2015-01-29 14:05:08 +11:00
Matthias Badaire	6e5e438b0f	AP_Mount: Make use of the new AP_Mount_Alexmos backend This is adding AP_Mount_Alexmos as one of the available backend	2015-01-29 14:05:08 +11:00
Matthias Badaire	dfc086f9e9	AP_Mount_Alexmos : Add Alexmos Serial support for 8bit cards This is the initial implementation of Alemox gimbal protocol. the uart output is for the moment hard coded but should become a parameter.	2015-01-29 14:05:08 +11:00
Randy Mackay	66ad56161b	Mount_MAVLink: fix to calc_angle_to_location params	2015-01-29 14:05:08 +11:00
Randy Mackay	f509dad991	Mount_Servo: bug fix to calc_angle_to_location params	2015-01-29 14:05:08 +11:00
Randy Mackay	a78309734d	Mount_MAVLink: remove set_roi_target, configure These methods are now in the backend	2015-01-29 14:05:07 +11:00
Randy Mackay	99c35d5cf7	Mount_Servo: remove set_roi_target, configure These methods are now in the backend	2015-01-29 14:05:07 +11:00
Randy Mackay	72fec52f0f	Mount_Backend: move set_roi_target, configure to backend	2015-01-29 14:05:07 +11:00
Randy Mackay	efeb05876e	AP_Mount: initialise mode to default	2015-01-29 14:05:07 +11:00
Randy Mackay	ace1fd8740	Mount_MAVLink: handle RC and GPS targeting in lib Previously we expected the mount to do this but it is likely that the first versions of MAVLink enable mounts will only be capable of pointing at a particular angle	2015-01-29 14:05:07 +11:00
Randy Mackay	9d4210b82a	Mount_Backend: move RC target handling to backend	2015-01-29 14:05:07 +11:00
Randy Mackay	b3044ced1f	Mount_Backend: move calc_angle_to_lcoation to backend	2015-01-29 14:05:07 +11:00
Randy Mackay	8fabacf5ff	Mount_MAVLink: use sysid from vehicle, compid of 10	2015-01-29 14:05:06 +11:00
Randy Mackay	6af5a6687f	Mount: add params for second mount	2015-01-29 13:57:19 +11:00
Randy Mackay	5d30af233a	Mount: move param underscore to lib	2015-01-29 13:57:18 +11:00
Randy Mackay	2ed4ca409c	Mount_Servo: check_servo_map every 3sec	2015-01-29 13:57:18 +11:00
Randy Mackay	cb5a122dab	Mount_Servo: add set_mode	2015-01-29 13:57:17 +11:00
Randy Mackay	a41ff2375b	Mount_Backend: add set_mode virtual method	2015-01-29 13:57:17 +11:00
Randy Mackay	ef719b145b	Mount: rename MODE to DFLT_MODE, move set_mode to backend	2015-01-29 13:57:17 +11:00
Randy Mackay	6c766051e8	Mount_MAVLink: minimalist mavlink backend We assume MAVLink enabled mount will do all the hard work of support all modes	2015-01-29 13:57:17 +11:00
Randy Mackay	8a9df1c894	Mount_Servo: Servo functions moved to backend	2015-01-29 13:57:17 +11:00
Randy Mackay	7df2892b8d	Mount_Backend: add backend class	2015-01-29 13:57:17 +11:00
Randy Mackay	88db50c3a7	Mount: parent class becomes front-end	2015-01-29 13:57:17 +11:00
Randy Mackay	12bd5cd6b1	AP_HAL_PX4: fix example sketch	2015-01-28 21:00:30 +09:00
Randy Mackay	aa7f946e04	GCS_MAVLink: fix example sketch	2015-01-28 17:15:52 +09:00
Randy Mackay	857c3ef0e9	Scheduler: fix example sketch	2015-01-28 17:15:51 +09:00
Randy Mackay	d5f02ec0df	RangeFinder: fix example sketch	2015-01-28 17:15:50 +09:00
Randy Mackay	6e482d5c56	PerfMon: fix example sketch	2015-01-28 17:15:49 +09:00
Randy Mackay	52ca06fc22	Parachute: fix example sketch	2015-01-28 17:15:48 +09:00
Randy Mackay	f48a71f30a	OptFlow: fix example sketch	2015-01-28 17:15:47 +09:00
Randy Mackay	775cbfba38	Notify: fix example sketch	2015-01-28 17:15:47 +09:00
Randy Mackay	314eb2536f	Mount: fix example sketch	2015-01-28 17:15:46 +09:00
Randy Mackay	38702a7e23	Motors: fix example sketch	2015-01-28 17:15:45 +09:00
Randy Mackay	355a92aff4	Mission: fix example sketch	2015-01-28 17:15:44 +09:00
Randy Mackay	689cc9e298	AP_Math: fix example sketch	2015-01-28 17:15:43 +09:00
Randy Mackay	b43dc3bdfb	INS: fix example sketch	2015-01-28 17:15:42 +09:00
Randy Mackay	7c293f01d9	HAL_AVR: fix example sketch	2015-01-28 17:15:41 +09:00
Randy Mackay	f84d31b838	HAL: fix example sketch	2015-01-28 17:15:40 +09:00
Randy Mackay	1141363868	GPS: fix example sketches	2015-01-28 17:15:39 +09:00
Randy Mackay	635ff92d6b	Compass: fix example sketch	2015-01-28 17:15:39 +09:00
Randy Mackay	1475cf27ac	AP_Common: fix example sketch	2015-01-28 17:15:38 +09:00
Randy Mackay	bb4204c045	Baro: fix example sketch	2015-01-28 17:15:37 +09:00
Randy Mackay	293eb74a37	AirSpeed: fix example sketch	2015-01-28 17:15:36 +09:00
Randy Mackay	d8664d15d6	AHRS: fix example sketch	2015-01-28 17:15:35 +09:00
Randy Mackay	d0d1254f03	AC_WPNav: fix example sketch	2015-01-28 17:15:34 +09:00
Randy Mackay	a5ec3e3ec1	AC_Sprayer: fix example sketch	2015-01-28 17:15:33 +09:00
Randy Mackay	99046ebda6	AC_Fence: fix example sketch	2015-01-28 17:15:32 +09:00
Randy Mackay	d7f7af8c13	AC_AttControl: fix example sketch	2015-01-28 17:15:32 +09:00
Randy Mackay	51cb7185f2	InertialNav: fix example sketch	2015-01-28 17:15:27 +09:00
Randy Mackay	0480828350	Dataflash: fix example sketch	2015-01-28 16:31:50 +09:00
Andrew Tridgell	3d433d2106	AP_Mission: loop check is only needed in one place	2015-01-23 13:48:45 +11:00
Andrew Tridgell	540cadc086	AP_Mission: prevent infinite loop with linked jump commands this prevents a "jump loop" from causing a firmware lockup. Thanks to dellarb for reporting this!	2015-01-23 13:14:27 +11:00
Andrew Tridgell	4ee9575e6d	AP_Frsky_Telem: fixed code formatting match ArduPilot coding standards	2015-01-22 16:49:39 +11:00
Matthias Badaire	f59f85d4a4	AP_Frsky_Telem: add SBUS support add sbus support using a timer on a thread	2015-01-22 16:49:39 +11:00
priseborough	5df733a883	AP_NavEKF: Allow flight transition to optical flow mode if GPS is lost	2015-01-22 14:41:04 +09:00
priseborough	04810c012d	AP_NavEKF: Increase flow data valid timeout to handle arming delays When Copter arms, the AHRS/EKF may not be run for a few hundred msec depending on conditions. This can cause the arming check to fail the optical flow sensor and place the EKF in a constant position mode.	2015-01-22 14:41:01 +09:00
priseborough	073b8e7c43	AP_NavEKF: Always explicitly set required const pos or vel mode when arming This additional explicit setting of the constPosMode and constVelMode reduces the likelihood of logic errors being introduced in the future as it places the intended setting of these parameters at arming in the one place. the constVelmode and constPosMode only have one set of conditions each that can trigger these modes in flight, so if these modes are true after arming it will be clear that it was the in-flight condition that triggered.	2015-01-22 14:40:59 +09:00
priseborough	9c6dabe1cc	AP_NavEKF: Add separate flow default parameters for platform types Also reduces flow measurement noise default for copter only and increases gate to compensate.	2015-01-22 14:40:57 +09:00
priseborough	d2da16e652	AP_NavEKF: Consistently set timeout flags whenever aiding is inhibited This ensures the position and velocity measurement status will be set as timed out immediately after use of those measurements is inhibited. This will improve the timeliness of filter status reporting.	2015-01-22 14:40:55 +09:00
priseborough	824425625c	AP_NavEKF: Update public method used to inhibit GPS use This method is not currently used by any of our vehicle types, but will be required to enable a user selectable 'indoor mode'.	2015-01-22 14:40:52 +09:00
priseborough	1033f5fc1e	AP_NavEKF: Apply flow nav vehicle limits regardless of sensor health It does not make sense to relax the limits on vehicle speed and nav gains just because we have received some invalid flow data. This could make the situation worse if the invalid data was being caused by too much speed. If we are relying on flow data the vehicle limits should always be applied.	2015-01-22 14:40:50 +09:00
priseborough	14b51f6d74	AP_NavEKF: Unconditionally fuse velocity in constant velocity mode The zero velocity measurements in this mode are by definition always correct and should never be rejected	2015-01-22 14:40:48 +09:00
priseborough	6663d80176	AP_NavEKF: Simplify nested logic - functionally equivalent Additional if else statement was unnecessary	2015-01-22 14:40:45 +09:00
priseborough	12c3368c4d	AP_NavEKF: Bypass GPS glitch logic when not aiding When we are not using GPS measurements, we should not be allowing the GPS glitch logic to reset position states as this can interfere with operation of non GPS modes.	2015-01-22 14:40:43 +09:00
priseborough	5c8e71a8d1	AP_NavEKF: Don't reset the position measurement timeout if not aiding When PV aiding is disabled, then the timeout time reference should not be reset becasue we want the position measurement timeout status to remain true the whole time the measurement is not being used.	2015-01-22 14:40:41 +09:00
priseborough	c505a458de	AP_NavEKF: Always declare a position measurement timeout if aiding not used If position and velocity aiding is turned off, then the position measurement should always be reported as timed out.	2015-01-22 14:40:39 +09:00
priseborough	3b166372cc	AP_NavEKF: Always declare a velocity measurement timeout if velocity not used If position and velocity aiding is turned off, then the velocity measurement should always be reported as timed out.	2015-01-22 14:40:36 +09:00
priseborough	95c3197170	AP_NavEKF: Ensure velocity will not be reset unless needed for aiding	2015-01-22 14:40:34 +09:00
priseborough	8aeec82846	AP_NavEKF: Continually turn off aiding whilst the vehicle is disarmed This prevents the possibility of any logic errors turning aiding back on. AP_NavEKF: Fix bug in logic	2015-01-22 14:40:31 +09:00
priseborough	81ee339e25	AP_NavEKF: Synchronise non-aiding mode state corrections Synchronise with covariance prediction to improve numerical stability and accuracy of angle corrections. The 'noise' this produces in the position and velocity estimate is irrelevantbecause these are not used by the control loops during this mode of operation (they are nominally zero anyway).	2015-01-22 14:40:29 +09:00
priseborough	ae6b85e63d	AP_NavEKF: Explicitly set aiding to off when disarmed This fixes a bug that could cause the AHRS to drift whilst the vehicle was disarmed depending sensor combinations at startup.	2015-01-22 14:40:27 +09:00
priseborough	fb1962b111	AP_NavEKF: Let reported position whilst disarmed show inertial errors Showing the positon states (which are nominally zero) in addition to the last known offset can provide useful log information.	2015-01-22 14:40:25 +09:00
Randy Mackay	01c669ee15	RangeFinder: minor param description update Also initialise primary instance to 0. No functional change.	2015-01-22 14:40:16 +09:00
Randy Mackay	c24e997fb2	AC_Fence: use inertial nav's get_filter_status	2015-01-22 14:39:40 +09:00
Randy Mackay	f35efc56e0	InertialNav_EKF: get_filter_status replaces position_ok	2015-01-22 14:39:37 +09:00
Randy Mackay	5d80481723	InertialNav: get_filter_status replaces position_ok altitude_ok also replaced.	2015-01-22 14:39:35 +09:00
Andrew Tridgell	61be4ce2d2	HAL_Linux: fixed #if for linux builds	2015-01-22 15:58:20 +11:00
Víctor Mayoral Vilches	2b74d018fe	HAL_Linux: Adjust set_system_clock Do nothing for HAL_BOARD_SUBTYPE_NONE.	2015-01-22 15:43:16 +11:00
Víctor Mayoral Vilches	974f243c7e	HAL_Linux: Add set_system_clock	2015-01-22 15:43:16 +11:00
Jonathan Challinger	d679831c75	GCS_MAVLink: run generate.sh	2015-01-22 15:28:44 +11:00
Jonathan Challinger	0997ab23a4	GCS_MAVLink: merge upstream changes to common.xml	2015-01-22 15:19:47 +11:00
Grant Morphett	236efad159	AP_HAL_AVR: Increased number of AVR input channels from 8 to 11	2015-01-22 14:48:15 +11:00
mirkix	d11c5286c3	AP_HAL: HAL_COMPASS_AK8963 used but not defined anywhere	2015-01-22 14:35:51 +11:00
mirkix	9a65a8c8fb	AP_Compass: add AK8963 to auto-detect in test suite	2015-01-22 14:34:23 +11:00
mirkix	e9d4165a8d	AP_Compass: add AK8963 support to test suite	2015-01-22 14:34:17 +11:00
mirkix	7ceb93befa	AP_HAL: make the examples usable with Linux	2015-01-22 14:30:47 +11:00
Andrew Tridgell	5512a6f8a0	SITL: lower the default noise in SITL the noise levels were well above realistic levels, especially for gyro noise, and were causing EKF issues	2015-01-22 11:33:09 +11:00
Randy Mackay	842efe71be	DataFlash: move COMPASS2,3 formats to extra structures	2015-01-21 14:38:13 +09:00
Randy Mackay	e7471c5fe5	DataFlash: fix message id and CURR formatting	2015-01-21 14:38:03 +09:00
Randy Mackay	09e3dcd821	DataFlash: pass ahrs, batt, targets by reference	2015-01-21 14:38:01 +09:00
Randy Mackay	f23959b5fa	DataFlash: fix missing slash lost in merge	2015-01-21 14:37:59 +09:00
Robert Lefebvre	80929c389e	DataFlash: Handle multiple compass instances natively inside the Library.	2015-01-21 14:37:50 +09:00
Robert Lefebvre	5b70550b73	DataFlash: Fix potentially uninitialized variable compiler warning.	2015-01-21 14:37:27 +09:00
Robert Lefebvre	be803f4f39	DataFlash: Minor whitespace changes/cleanup. No effect.	2015-01-21 14:37:25 +09:00
Robert Lefebvre	2657610373	DataFlash: Add common-vehicle Mode logging method. Conflicts: libraries/DataFlash/DataFlash.h	2015-01-21 14:37:18 +09:00
Robert Lefebvre	12c3593bc3	DataFlash: Add common-vehicle Compass logging method.	2015-01-21 14:37:14 +09:00
Robert Lefebvre	2fdcd99db2	Arducopter: Move Attitude Message structure definition to the Base Structures section. Conflicts: libraries/DataFlash/DataFlash.h	2015-01-21 14:37:12 +09:00
Robert Lefebvre	d2adf2cdd7	DataFlash.h: Move format characters string to a more convenient location.	2015-01-21 14:37:10 +09:00
Robert Lefebvre	392e5257cc	DataFlash: Add voltage2 data to Current log, to be used by plane.	2015-01-21 14:37:07 +09:00
Robert Lefebvre	50b5376945	DataFlash: Add common-vehicle Current logging message.	2015-01-21 14:37:01 +09:00
Robert Lefebvre	db1a066f43	DataFlash: Add common-vehicle Attitude logging message.	2015-01-21 14:36:56 +09:00
Robert Lefebvre	743c5e4fde	AC_AttitudeControl: Remove un-needed #include	2015-01-21 14:36:54 +09:00
Andrew Tridgell	8b59c72eb9	AP_InertialSensor: cope with 2 IMUs in SITL	2015-01-20 19:47:45 +11:00
Andrew Tridgell	a37f3680e4	AP_Arming: support skip_gyro_cal also break up arming INS reports, to be clearer for users	2015-01-20 19:47:15 +11:00
Andrew Tridgell	765d833efa	AP_Arming: check compass.use_for_yaw()	2015-01-20 11:33:39 +11:00
Andrew Tridgell	e8017a5079	AP_NavEKF: cope with the changed semantics of airspeed.use()	2015-01-20 11:28:14 +11:00
Andrew Tridgell	ed0a56cc3c	AP_AHRS: cope with the changed semantics of airspeed.use()	2015-01-20 11:27:58 +11:00
Andrew Tridgell	850b3b89ea	AP_Arming: added INS checks and airspeed checks this also displays all failing arming checks, not just the first one. That is more useful for the user	2015-01-20 11:27:13 +11:00
Andrew Tridgell	2235d18d67	AP_Airspeed: make it possible to tell if a airspeed sensor is unhealthy we need use() to reflect if the user wants to use the sensor, so the arming checks can tell if it is not working as expected	2015-01-20 11:26:20 +11:00
Andrew Tridgell	b3ce56d34d	AP_InertialSensor: fixed 2nd IMU in Replay this makes for much more accurate replay runs	2015-01-20 09:20:47 +11:00
Andrew Tridgell	5d83124675	DataFlash: moved airspeed msg to DataFlash so it can be used by Replay	2015-01-20 09:10:33 +11:00
Andrew Tridgell	62e7778ba8	AP_GPS: fixed build warning	2015-01-19 11:22:10 +11:00
Randy Mackay	aeecc46f7b	AC_PosControl: remove unnecessary set of desired_accel The desired_accel is set again 11 lines lower so this line did nothing.	2015-01-14 16:23:26 +09:00
Jonathan Challinger	9ebd0e9960	AC_PosControl: reincarnate dead block of code	2015-01-14 16:20:17 +09:00
Jonathan Challinger	a580cd83e8	AC_PosControl: Fill _vel_desired.z for reporting	2015-01-14 16:08:48 +09:00
priseborough	c40c3632bb	AP_NavEKF: Critical Bug Fix Prevents possible loss of attitude reference for flights without optical flow and GPS. The optical flow measurement timeout can reset the velocity states which decouples the position states from IMU errors and therefore significantly reduces the amount of attitude error correction.	2015-01-13 16:05:31 +13:00

... 13 14 15 16 17 ...

8131 Commits