Commit Graph

6752 Commits

Author SHA1 Message Date
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