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14,169 Commits 70 Branches 507 Tags 662 MiB
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6404 Commits

Author SHA1 Message Date
priseborough 8faeb190de AP_NavEKF : Rework logic to cope with bad flow data 2014-12-06 18:16:46 +11:00
priseborough 44e1695d5a AP_AHRS : Enable EKF start without GPS 2014-12-06 18:16:46 +11:00
priseborough 41f0231cfb AP_NavEKF : improve logic dealing with lack of flow or range data 2014-12-06 18:16:46 +11:00
priseborough 9ba46ad795 AP_NavEKF : Improve handling of flow sensor failure 2014-12-06 18:16:46 +11:00
priseborough 2ee1c549be AP_NavEKF : improve criteria used to inhibit scale factor estimation 2014-12-06 18:16:46 +11:00
priseborough e09ff84218 AP_NavEKF : Don't estimate focal length scale factor without reliable velocity 2014-12-06 18:16:46 +11:00
priseborough 4c92a5f23f AP_NavEKF : Use GPS velocity if PX4Flow sensor fails 2014-12-06 18:16:46 +11:00
priseborough 283811edcb AP_NavEKF : stop velocity change when flow measurements drop out 2014-12-06 18:16:46 +11:00
priseborough 9132fcfe43 AP_NavEKF : Change mag fusion to use corrected compass values 
This enables compass units to be switched in-flight
 2014-12-06 18:16:46 +11:00
priseborough c3be486c29 AP_NavEKF : Enable inhibiting of GPS measurements 2014-12-06 18:16:45 +11:00
priseborough 79698f7742 AP_NavEKF : improvements to range finder fusion 2014-12-06 18:16:45 +11:00
priseborough 1222559da0 AP_NavEKF : Fix bug affecting sonar fusion 2014-12-06 18:16:45 +11:00
priseborough 117bd2a998 AP_NavEKF : Add time based noise to terrain offset state 2014-12-06 18:16:45 +11:00
priseborough b1d3d5d9a3 AP_NavEKF : Don't update focal length scale factor at low speeds 2014-12-06 18:16:45 +11:00
priseborough 8dd1081f54 AP_NavEKF : Add range measurement to EKF debug message 2014-12-06 18:16:45 +11:00
priseborough f358d5e20f DataFlash : Add range measurement to EKF debug message 2014-12-06 18:16:45 +11:00
priseborough 744c72d40b AP_NavEKF : Updates to range finder fusion 2014-12-06 18:16:45 +11:00
priseborough a07e402ebf DataFlash : Update names in EKF optical flow logging 2014-12-06 18:16:45 +11:00
priseborough a20729f60f AP_NavEKF : Update names in optical flow debug logging 2014-12-06 18:16:45 +11:00
priseborough 235b3bebda AP_NavEKF : Add range finder health and enable range finder fusion 
The 2-state auxiliary filter is also renamed.
 2014-12-06 18:16:45 +11:00
priseborough a4984a1e76 AP_AHRS : Add range finder health status to EKF optical flow data 2014-12-06 18:16:44 +11:00
priseborough 988de2a898 AP_NavEKF : Add smoothing to optical flow fusion 2014-12-06 18:16:44 +11:00
priseborough 70c779dbc2 AP_NavEKF : Optical flow numerical optimisations 2014-12-06 18:16:44 +11:00
priseborough 2a1420171a AP_NavEKF : reduce minimum accepted flow quality 2014-12-06 18:16:44 +11:00
priseborough 3fbedc9f98 AP_NAvEKF : update comments 2014-12-06 18:16:44 +11:00
priseborough 81b09c9361 AP_NavEKF : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough 12b012a00e AP_AHRS : temporary mods to test use of flow sensor internal gyro data 2014-12-06 18:16:44 +11:00
priseborough cd418c946c AP_NavEKF : preliminary implementation for optical flow and range finder fusion 
Range finder measurements are not input to EKF at this time, however the method for fusing them is
implemented.
 2014-12-06 18:16:44 +11:00
priseborough bc74abcd00 DataFlash : EKF optical flow fusion support preliminary changes 2014-12-06 18:16:44 +11:00
priseborough 7b76fc29fb AP_AHRS : EKF optical flow fusion support preliminary changes 2014-12-06 18:16:44 +11:00
priseborough 13df6fb1c9 AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing' 
This patch reduces the level of 5Hz and 10Hz 'pulsing' heard in motors due to GPS and altimeter fusion which cause a small 5Hz and 10Hz ripple on the output under some conditions. Attitude, velocity and position state corrections from GPS, altimeter and magnetometer measurements are applied incrementally in the interval from receiving the measurement to the predicted time of receipt of the next measurement. Averaging of attitude state corrections is not performed during periods of rapid rotation.

Time stamps are now explicitly initialised to the current IMU time to avoid unwanted activation of timeout logic on filter start and the various calls to the hal.scheduler->millis() object have been consolidated.

Unused variables have been removed
 2014-12-06 18:16:43 +11:00
priseborough dcb252cc05 AP_NavEKF : Fix bug in reset of position and velocity states 
If the inertial solution velocity or position needs to be reset to the GPS, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS measurement will be compared to an invalid previous state and will be rejected.
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s
 2014-12-06 18:16:43 +11:00
priseborough cb4d5986e0 AP_OpticalFlow : Update PX4Flow interface 
Interface now uses the integral of flow and body rates
 2014-12-06 18:16:43 +11:00
priseborough 0d774d301d AP_OpticalFlow : Remove support for ADNS3080 sensor 
It is not compatible with the new interface and data fusion requirements
 2014-12-06 18:16:43 +11:00
Randy Mackay 4452aa8448 AP_AHRS_DCM: compile error fix for low speed CPUs 
Also correct initialisatoin order to remove compiler warning
 2014-12-05 19:43:05 +09:00
Jonathan Challinger bfe71fea82 AC_PosControl: Use blended accelerometer measurement in altitude control 2014-12-05 19:40:10 +09:00
Jonathan Challinger 9261dfdefb AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions 2014-12-05 19:40:08 +09:00
Jonathan Challinger 4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
Jonathan Challinger 033ee3c900 AP_AHRS: Add get_accel_ef_blended function 2014-12-05 19:40:04 +09:00
Jonathan Challinger 7692761f34 AP_NavEKF: Added getAccelNED function 2014-12-05 19:40:01 +09:00
priseborough 874d0780aa AP_NavEKF: Reduce vulnerability to ground fixed magnetic interference 
Re-initialisation of the magnetic field states and yaw angle is now only performed a maximum of two times after start-up.

Once when coming out of static modefor the first time (first arm event)
Again (for copter only) when the altitude gain above the arming altitude exceeds 1.5m

this prevents magnetic interference present at arming (eg arming on a metal roof)from corrupting the magnetic field states enough to cause bad heading errors and toilet bowling on copter
 2014-12-05 14:33:04 +11:00
Andrew Tridgell ede920f293 AP_Mission: ensure location options are zero at start of mavlink conversion 2014-12-03 18:29:43 +11:00
Andrew Tridgell f98e283091 GCS_MAVLink: re-generate with updated upstream mavlink 2014-12-03 10:08:36 +11:00
Andrew Tridgell 940966f3e3 DataFlash: fixed example sketch build 2014-12-03 08:39:36 +11:00
Andrew Tridgell 86bf02d64c RC_Channel: update example sketch to copy input to output 2014-12-02 16:27:33 +11:00
Andrew Tridgell 5aabfd4dc4 AP_HAL: added RCInput example sketch 2014-12-02 15:49:50 +11:00
Andrew Tridgell 8e36c1cd60 AP_HAL: fixed RCOutput example 2014-12-02 15:03:59 +11:00
Andrew Tridgell 4ec6a74829 AP_HAL: addex UART_test example sketch 2014-12-02 13:14:03 +11:00
Andrew Tridgell 9e0a7e6631 AP_HAL: fixed printf example build 2014-12-02 13:14:03 +11:00
Andrew Tridgell c5e4e8f035 SITL: fixed SITL for example sketches 
cope with no SITL object
 2014-12-02 13:14:03 +11:00