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7607 Commits

Author SHA1 Message Date
Andrew Tridgell ab2d4349b4 HAL_SITL: initial support for internal simulators 2015-05-05 09:45:52 +10:00
Andrew Tridgell 24b051565b AP_Math: added normalize() method to Matrix3f 2015-05-05 09:45:52 +10:00
Andrew Tridgell 914b91af9e SITL: initial conversion of multicopter sim to C++ 2015-05-05 07:12:36 +10:00
Randy Mackay 2a6421d1bf Airspeed: fix example sketch 2015-05-02 20:53:49 +09:00
Randy Mackay 55298a4c73 Baro: fix example sketch 2015-05-02 17:25:44 +09:00
Paul Riseborough be04be9b43 AP_NavEKF: Fix bug preventing home position being set by copter 
The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
 2015-05-02 17:20:21 +09:00
Randy Mackay 75e2498da2 Scheduler: fix example sketch 2015-05-02 11:55:50 +09:00
Randy Mackay c78068b8b8 StorageManager: fix example sketch 2015-05-01 21:03:13 +09:00
Randy Mackay 5b15c07d47 RC_Channel: fix example sketch 2015-05-01 21:02:57 +09:00
Randy Mackay 240a845206 Notify: fix example sketches 2015-05-01 20:58:34 +09:00
Randy Mackay b223e90ef6 AP_Motors: fix example sketches 2015-05-01 20:58:20 +09:00
Randy Mackay ed61d961c3 Mission: fix example sketch 2015-05-01 20:58:06 +09:00
Randy Mackay fecbf06008 AP_Math: fix example sketches 2015-05-01 20:57:38 +09:00
Jonathan Challinger 2b29060a4e AC_WPNav: remove unused set_loiter_velocity 2015-05-01 16:46:53 +09:00
Randy Mackay 187dd0dccd HAL_PX4: fix example sketch 2015-05-01 16:44:10 +09:00
Randy Mackay fb7e75594f AP_NavEKF: replace memset with quaternion.initialise 2015-05-01 16:37:35 +09:00
Randy Mackay eaedeeb7bf AP_Math: add quaternion.initialise 2015-05-01 16:37:34 +09:00
Randy Mackay c366fbbc96 AP_NavEKF: remove unused haveDeltaAngles 2015-05-01 16:37:33 +09:00
Randy Mackay 6773c0b232 AP_InertialSensor: default primary accel and gyro 2015-05-01 16:37:33 +09:00
Paul Riseborough b71b8f4bda AP_NavEKF: Always return a NED relative position if possible 
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
 2015-05-01 16:37:32 +09:00
Paul Riseborough 20ba1e6b1b AP_NavEKF: Always return a WGS-84 location if possible 
If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
 2015-05-01 16:37:31 +09:00
Paul Riseborough dd1e0b2f0b AP_NavEKF: Add missing function to return the NED to XYZ quaternion 2015-05-01 16:37:30 +09:00
Paul Riseborough 2c4572eb50 AP_NavEKF: Make ground effect variable names more descriptive 2015-05-01 16:37:29 +09:00
Paul Riseborough 3986851c51 AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff 
The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
 2015-05-01 16:37:28 +09:00
Paul Riseborough 2cba60c731 AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion 
Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
 2015-05-01 16:37:27 +09:00
Paul Riseborough c4c0f819b5 AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step 2015-05-01 16:37:26 +09:00
Paul Riseborough 5dc29699ab AP_NavEKF: Publish the INS delta quaternion 2015-05-01 16:37:25 +09:00
Paul Riseborough d273302ce7 AP_NavEKF: Improve rate of accel bias learning before flight 2015-05-01 16:37:24 +09:00
Paul Riseborough 8dc6354a54 AP_NavEKF: Prevent touchdown baro errors tripping height innovation check 
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
 2015-05-01 16:37:23 +09:00
Jonathan Challinger 2f38dd1b67 AP_NavEKF: use quaternion functions to apply IMU delta angles 2015-05-01 16:37:22 +09:00
Jonathan Challinger 9c374eb4a8 AP_NavEKF: apply constrained floor to barometer innovation while landing 2015-05-01 16:37:21 +09:00
Jonathan Challinger 3c6446fadd AP_NavEKF: refactor meaHgtAtTakeOff filter 2015-05-01 16:37:20 +09:00
Paul Riseborough 744de74c16 AP_NavEKF: Reduce ground effect baro induced height errors during takeoff 2015-05-01 16:37:19 +09:00
Paul Riseborough 13616d6436 AP_NavEKF: Add takeoff and touchdown expected to reported filter status 2015-05-01 16:37:19 +09:00
Jonathan Challinger 8c92524b8a AP_NavEKF: add takeoffExpected and touchdownExpected 2015-05-01 16:37:18 +09:00
Jonathan Challinger b6b55bf6f2 AP_NavEKF: integrate gravity over correct time period 2015-05-01 16:37:17 +09:00
Jonathan Challinger cb0c424da1 AP_NavEKF: rewrite readIMUData 2015-05-01 16:37:16 +09:00
Jonathan Challinger bb88a4f8fe AP_InertialSensor: healthy() checks bounds 2015-05-01 16:37:15 +09:00
Jonathan Challinger af80f20a51 AP_InertialSensor: add get_primary_gyro, fix get_primary_accel 2015-05-01 16:37:14 +09:00
Randy Mackay 0acc06d713 AP_Motors: minor comment for interlock 2015-05-01 14:30:45 +09:00
Robert Lefebvre 1a482de5e2 AP_MotorsHeli: Overload output_armed_zero_throttle 2015-05-01 14:30:25 +09:00
Robert Lefebvre 6bdace30d2 AP_Motors: Add throttle interlock functionality 
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
 2015-05-01 14:30:24 +09:00
Randy Mackay 31edd6a72b AC_PosControl: add_takeoff_climb_rate method 
This function simply increments the current altitude target given a
climb rate and dt
 2015-05-01 12:56:30 +09:00
Jonathan Challinger 348001e786 AP_Motors: add get_throttle_warn function 2015-05-01 12:56:11 +09:00
Andrew Tridgell 74581a55bc HAL_SITL: fixed startup of SITL in synthetic clock mode 2015-04-30 17:19:56 +10:00
Andrew Tridgell df21c6c68d AP_HAL: support micros64() and millis64() on all platforms 
this will allow for 64 bit timestamps in DF logs (Peter is working on
that)
 2015-04-30 12:17:34 +10:00
Andrew Tridgell 4c4a4f9ea5 AP_RangeFinder: fixed cm to meter comparison 
thanks to EShamaev for this fix (see PR #1352)
 2015-04-30 11:26:36 +10:00
Randy Mackay dfadcad69d Mission: allow zoom_step to be negative 2015-04-29 14:36:25 +09:00
Randy Mackay bae1722946 AP_Motors: get_compensation_gain gets div-by-zero check 2015-04-29 14:36:22 +09:00
Randy Mackay 1b381b5675 Baro: get_air_density_ratio gets div-by-zero check 2015-04-29 14:36:20 +09:00