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Author SHA1 Message Date
priseborough
36b3cbc365 AP_NavEKF : Relax aliasing check limits 
This reduces the chance of noisy data inhibiting GPS glitch protection
 2014-04-04 21:01:15 +11:00
priseborough
0ae736c3a0 AP_NavEKF : clean up convoluted logic used in sensor health checks 
This doesn't change the behavior, but does make the code easier to
understand
 2014-04-04 21:01:13 +11:00
Andrew Tridgell
013aaf4d3e GCS_MAVLink: moved comms functions to not be inline 
saves a bit of flash space
 2014-04-04 13:19:15 +11:00
Andrew Tridgell
d9d038345a AP_GPS: save 800 bytes of code space on APM2 
we can assume a single GPS
 2014-04-04 10:08:28 +11:00
Andrew Tridgell
9f857529ca AP_GPS: auto-switch primary GPS based on status and number of satellites 2014-04-04 08:32:34 +11:00
Andrew Tridgell
5a84fb96ed Plane: build fix 2014-04-03 20:54:50 +11:00
Andrew Tridgell
1efadb7a05 Plane: fixed some warnings 2014-04-03 12:48:06 +11:00
Andrew Tridgell
27ad8c39d6 Copter: enable passthrough auxillary channels 2014-04-03 12:19:44 +11:00
Andrew Tridgell
c6f9627782 Rover: use new channel output API 2014-04-03 12:19:25 +11:00
Andrew Tridgell
3c33eb3f09 Plane: use new channel output API 2014-04-03 12:19:11 +11:00
Andrew Tridgell
11f196318e RC_Channel: added static functions to simplify operations on all channels 
this avoids vehicle code having to loop over all channels for common
operations
 2014-04-03 12:18:56 +11:00
Andrew Tridgell
21c205a57e AP_GPS: cope with different MON-HW message size in u-Blox Neo7 2014-04-03 10:55:05 +11:00
Andrew Tridgell
cd3038fabd AP_NavEKF: fixed return of offset in getVariances() 2014-04-03 07:49:06 +11:00
Andrew Tridgell
dcb42af3e9 AP_BattMonitor: fixed example build 2014-04-03 07:49:06 +11:00
Andrew Tridgell
eaf746b7fd Replay: fixed velocity vector 2014-04-02 19:08:45 +11:00
Craig Elder
3a92d75936 Ublox: Enable 1Hz Lock LED by default 2014-04-01 20:57:18 -07:00
Andrew Tridgell
7bf12cfd8a Copter: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
337ca31b79 Rover: update for gps.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
88693796ef Plane: update for GPS.setHIL() API 2014-04-02 07:55:28 +11:00
Andrew Tridgell
ec04eba61c Replay: handle multiple GPS sensors 2014-04-02 07:55:28 +11:00
Andrew Tridgell
067bbf5b5c DataFlash: hdop is unsigned 2014-04-02 07:55:28 +11:00
Andrew Tridgell
e40a048009 AP_GPS: handle multiple GPS in GPS setHIL() 2014-04-02 07:55:28 +11:00
Andrew Tridgell
79f5618f6f AP_GPS: zero state structure on driver release 
this ensures no values are left from the previous driver
 2014-04-02 07:55:28 +11:00
Randy Mackay
2ddc414f4d InertialNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:53 +09:00
Randy Mackay
90e205c905 AC_PosControl: replace safe_sqrt with pythagorous2 2014-04-01 20:43:51 +09:00
Randy Mackay
15da01cf3a AC_WPNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:45 +09:00
Andrew Tridgell
b8e4e35a0d AP_Airspeed: use pythagorous3() 2014-04-01 22:15:12 +11:00
Andrew Tridgell
a7f213a5c5 AP_NavEKF: use pythagorous2() 2014-04-01 22:13:03 +11:00
Andrew Tridgell
9ab1a79b5a AP_Airspeed: changed sqrt() to sqrtf() 2014-04-01 22:09:21 +11:00
priseborough
4f2a390dfa Replay : Incorporate EKF4 flash logging updates 2014-04-01 21:27:09 +11:00
priseborough
09c5ba1aed Dataflash : Improved logging of EKF sensor health checks 
This changes the definition sof the messages in the EKF4 message to make it more useful
The values shown now relate directly to how much margin there is before a measurement
is rejected, enabling better tuning of error trap parameters
 2014-04-01 21:27:07 +11:00
priseborough
04036d7777 AP_NavEKF : Updated GPS glitch protection logic 
This adds new functionality to the detection and compensation of GPS
glitches:

1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
 2014-04-01 21:22:14 +11:00
Andrew Tridgell
7e2ef0cfc0 AP_GPS: fixed GPS for Replay 2014-04-01 17:25:15 +11:00
Andrew Tridgell
9278685cdf AP_Math: fixed location build on SITL 2014-04-01 14:20:10 +11:00
Andrew Tridgell
b8f9b5ad91 Rover: added GPS parameters 2014-04-01 06:38:26 +11:00
Andrew Tridgell
852cdbaa7c Copter: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
d395f50521 AntennaTracker: added GPS parameters 2014-04-01 06:38:25 +11:00
Andrew Tridgell
77e2f48581 AP_GPS: fixed notify updates for new API 2014-04-01 06:38:25 +11:00
Andrew Tridgell
9781175bf5 AP_GPS: fixed handling of driver destruction 
this allows for more complex destructors, and ensures we don't have
multiple backends allocated at once per instance
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
7ceba8dce4 AP_GPS: prevent double allocation of GPS drivers 2014-04-01 06:38:25 +11:00
Andrew Tridgell
8779ffe088 AP_GPS: flush pending config strings when uBlox starts 2014-04-01 06:38:25 +11:00
Andrew Tridgell
0191355488 AP_GPS: fixed init strings to all be in progmem 
and sent async ...
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
bc0c9ad6d5 AP_InertialNav: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell
35c111a63a AP_AHRS: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell
7b2d56a8cb AC_Fence: disable example build 
fails to build with compiler error
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
3b8c6e629d AC_AttitudeControl: updated example for new GPS API 2014-04-01 06:38:25 +11:00
Andrew Tridgell
c2486d8d6e AP_GPS: updated examples for new API 
removed old per-driver examples, and updates AUTO example
 2014-04-01 06:38:25 +11:00
Andrew Tridgell
60ad429d13 Replay: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
c51212da53 AntennaTracker: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
bc1ebcadf5 VARTest: converted to new GPS API 2014-04-01 06:38:24 +11:00