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18976 Commits

Author SHA1 Message Date
Paul Riseborough 1323db10e8 DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough e8037f94ad AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review
 2015-10-20 15:21:37 +11:00
Paul Riseborough 47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough f63c32531c AP_InertialNav: Address peer review comments 
The decision to set the origin to zero has been moved out of the AHRS library and into the inertial nav library as this is consumer specific.
 2015-10-20 15:21:36 +11:00
Paul Riseborough 58d57994f4 AP_AHRS: Rectify coding errors found during peer review 
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
 2015-10-20 15:21:36 +11:00
Paul Riseborough 27393855f1 AP_NavEKF2: Change assumed gyro calibration accuracy 
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
 2015-10-20 15:21:36 +11:00
Paul Riseborough 67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough 0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic 
Ensure takeoff detect status goes to false when on ground
 2015-10-20 15:21:36 +11:00
Paul Riseborough d3a6690e4f AP_NavEKF2: Fix bugs preventing use of optical flow navigation 2015-10-20 15:21:36 +11:00
Paul Riseborough 24c0309e85 AP_InertialNav: Enable flight using EKF2 
All EKF functions are accessed via the AHRS library enabling AHRS_EKF_TYPE to determine which EKF is being used by the control loops
 2015-10-20 15:21:36 +11:00
Paul Riseborough e65ae51564 AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS 
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
 2015-10-20 15:21:36 +11:00
Paul Riseborough f062ed4180 AP_InertialNav: Add output method for rate of change of vertical position 2015-10-20 15:21:36 +11:00
Paul Riseborough dab658f6ed AP_NavEKF: Add methods to output and calculate vertical position derivative 2015-10-20 15:21:36 +11:00
Paul Riseborough 9e3d9d15fc DataFlash: Log vertical position derivative output 2015-10-20 15:21:35 +11:00
Paul Riseborough 52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Andrew Tridgell a39b341308 PX4: clean out .d dependency files from uavcan on px4-cleandep 2015-10-20 15:09:28 +11:00
Andrew Tridgell f5b5a3b0f8 AP_NavEKF: added EKF_DISABLE_INTERRUPTS 
this helps with performance tuning
 2015-10-20 14:37:41 +11:00
Andrew Tridgell 7ae5d3220a PX4: allow up to 1300 bytes frame size 
needed for optimised EKF code
 2015-10-20 14:36:58 +11:00
Andrew Tridgell 10fddf4c7e AP_NavEKF: enable optimisation level 3 for the EKF 2015-10-20 14:36:56 +11:00
Andrew Tridgell c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Andrew Tridgell 2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay 756d564b7c Mission: sanity check command altitudes 2015-10-19 16:15:08 +09:00
Randy Mackay acd8252e4b Common: add location alt max definition 2015-10-19 16:15:05 +09:00
Randy Mackay d03489263d Copter: remove gyro cal on first arming 2015-10-19 12:00:41 +09:00
Randy Mackay b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
Andrew Tridgell 2ea23d66b0 PX4: use -fsingle-precision-constant for PX4 APM build 
this will prevent us having to chase cases where developers forget to
add the f to a floating point constant in APM code
 2015-10-19 12:12:20 +11:00
Jonathan Challinger 598925f8d2 Copter: EKF failsafe action always Land if RC failsafe active 2015-10-18 10:06:05 +09:00
orlando3d 6d266d2063 Update 3DR_X8-M_RTF.param 2015-10-18 09:27:54 +09:00
orlando3d 7c0239e59c Update 3DR_X8+_RTF.param 2015-10-18 09:27:51 +09:00
orlando3d 11ae5a64d0 Update 3DR_Iris+.param 2015-10-18 09:27:49 +09:00
Andrew Tridgell 4e220284e0 PX4: allow I2C airspeed sensor on either bus 2015-10-16 18:38:40 +11:00
Randy Mackay 073828a764 Plane: add ahrs health pre-arm check 2015-10-16 13:50:59 +09:00
Randy Mackay 09aef3a3b8 AP_Arming: remove ahrs check from ins 2015-10-16 13:50:58 +09:00
Randy Mackay 53b39b201b AP_Arming: make ins check virtual 2015-10-16 13:50:57 +09:00
Randy Mackay 304a23923a AP_Arming: add Bitmask parameter description 
Also moved ARMING_CHECK to standard category
 2015-10-16 13:50:56 +09:00
Randy Mackay 0cc4b6977e AP_Arming: add compass consistency check 
Also moved the offsets and mag field limits into definitions at top of
.cpp file
 2015-10-16 13:50:55 +09:00
Randy Mackay 342651cc9b AP_Arming: add board voltage checks 2015-10-16 13:50:54 +09:00
Randy Mackay f5f31e4b31 AP_Arming: move ahrs health check after Accel/Gyro checks 
If the AHRS is unhealthy because of accel or gyro problems we want those underlying problem reported first
 2015-10-16 13:50:53 +09:00
Randy Mackay 0a21fe65e9 AP_Arming: do not report prearm_failure_reason when ahrs unhealthy 
The EKF's prearm failiure message is more related to the position estimate rather than the ahrs's health
 2015-10-16 13:50:52 +09:00
Randy Mackay 78c6287f95 AP_Arming: check health of all barometers 2015-10-16 13:50:50 +09:00
Randy Mackay c716bfce88 AP_Arming: remove most exclamation marks 2015-10-16 13:50:49 +09:00
Randy Mackay 6b91beb3ff AP_Arming: formatting changes 2015-10-16 13:50:48 +09:00
Andrew Tridgell 6f36267a66 AP_NavEKF: fixed EKF error message during 10 second warmup 2015-10-16 14:58:46 +11:00
José Roberto de Souza 9889f826b3 AP_HAL_Linux: RCInput_UDP: Fix compiling warning 
This warning happens because of the difference of datatypes between
32 and 64 bits processors.

%% libraries/AP_HAL_Linux/RCInput_UDP.o
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp: In member function 'virtual void Linux::LinuxRCInput_UDP::_timer_tick()':
/home/zehortigoza/dev/ardupilot/libraries/AP_HAL_Linux/RCInput_UDP.cpp:42:72: warning: format '%llu' expects argument of type 'long long unsigned int', but argument 3 has type 'uint64_t {aka long unsigned int}' [-Wformat=]
             hal.console->printf("no rc cmds received for %llu\n", delay);
 2015-10-16 10:28:07 +11:00
José Roberto de Souza e6f0ba6c8b AP_HAL_Linux: Compile RCInput_UDP in all Linux boards 
This RCInput is generic enough to be used on every Linux board.
 2015-10-16 10:28:06 +11:00
teddytrowbridge a4690a7b0a SITL_State: fixed _set_param_default 
Fixed _set_param_default() so that it finds the parameter using it's
NAME rather than the entire NAME=VALUE string
 2015-10-16 10:20:31 +11:00
José Roberto de Souza c581a702a0 ArduCopter: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00
José Roberto de Souza 30610fb17d AP_InertialSensor: Remove misspelled and unused method 2015-10-16 10:16:24 +11:00
José Roberto de Souza 3888579c07 AP_Compass: HMC5843: Use the correctly spelled method 2015-10-16 10:16:24 +11:00
José Roberto de Souza daa32725ac AP_InertialSensor: Fix typo: auxiliar to auxiliary 2015-10-16 10:16:24 +11:00