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13706 Commits

Author SHA1 Message Date
Randy Mackay b82098ca44 AP_GPS: fix blended ground course 
Thanks to jyl58 for finding this
 2017-03-13 11:21:47 +09:00
Randy Mackay 3e628f30ff AP_GPS: fix blending when accuracy reported as 1mm 
Thanks to Michael DuBreuil for suggesting the fix
 2017-03-13 11:31:51 +11:00
Randy Mackay f340c118d4 AP_Arming: GPS blending health check renamed 2017-03-13 11:31:51 +11:00
Randy Mackay 2002827de3 AP_GPS: rename pre-arm blending health check 2017-03-13 11:31:51 +11:00
Randy Mackay e9c881c668 AP_GPS: stop blending if too many blending failures 2017-03-13 11:31:51 +11:00
Randy Mackay b7ad8da9b9 AP_GPS: minor bracketing fix 
This silences a warning from eclipse
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay 5de64273ec AP_GPS: more efficient initialisation of blending arrays 2017-03-13 11:31:51 +11:00
Randy Mackay 81b20e971b AP_GPS_UBLOX: use get_rate_ms accessor 2017-03-13 11:31:51 +11:00
Randy Mackay ef1399a52f AP_GPS: fixups after peer review 
This includes these changes:
RATE_MS, RATE_MS2 parameter description Range minimum reduced to 50
_blend_health_counter is reset to 0 if blending is disabled
GPS_MAX_RECEIVERS is replaced with GPS_BLENDED_INSTANCE where appropriate
simplify all_consistent functions check of number of receivers
calc_blended_weights fix for initial check of how many receivers we have
remove unnecessary setting of GPS last time when blending fails
remove RebootRequired from AUTO_SWITCH param description
 2017-03-13 11:31:51 +11:00
Randy Mackay 2f21e3b40c DataFlash: rename GPS3/GPA3 to GPSB/GPAB 2017-03-13 11:31:51 +11:00
Randy Mackay 4f0333892d AP_Arming: clarify GPS inconsistency message 2017-03-13 11:31:51 +11:00
Randy Mackay e398bb5c68 AP_Arming: make gps-checks virtual 
Copter's GPS checks will override this
 2017-03-13 11:31:51 +11:00
Randy Mackay 9f21649dc0 AP_Arming: add gps consistency and blend health check 2017-03-13 11:31:51 +11:00
Randy Mackay 729ce34ce3 AP_GPS: add all_consistent and blend health for use as pre-arm check 2017-03-13 11:31:51 +11:00
Randy Mackay 72dfe1127f AP_GPS: protect parameters from being accessed externally 
backends become friends so they can continue to access parameters held in frontend
get_rate_ms made private because only used by frontend
Also moved static arrays higher in cpp file
 2017-03-13 11:31:51 +11:00
Randy Mackay 3172657f26 AP_GPS: move constructor and complex accessors to cpp file 
These functions are slightly long and make the .h file hard to read.  Also saves a small amount of flash space.
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay 0066022a7f AP_GPS: check for valid instance in highest_supported_status 
highest_supported_status will always return FIX_3D for blended or invalid instance
setHIL_Accuracy checks instance is 2 or less
send_mavlink_gps2_raw uses num_instances variable directly to avoid confusion with num_sensors
 2017-03-13 11:31:51 +11:00
Randy Mackay e764f0d5d0 AP_GPS: sanity check update rate 
Also minor spelling and parameter documentation fix
 2017-03-13 11:31:51 +11:00
priseborough 6b26bdd454 AP_GPS: Add option to blend multiple GPS receivers 
Fix pre-existing bug in hard switch logic
Update GPS_AUTO_SWITCH description
protect against zero accuracy estimates returned by GPS drivers
 2017-03-13 11:31:51 +11:00
Randy Mackay cd379b0e86 AP_GPS: move time_epoch calcs into proper file 
The frontend implementation was in the backend file
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay a79474dcbc AP_GPS: minor comment fix 
No functional change
 2017-03-13 11:31:51 +11:00
Randy Mackay 201504dbae AP_GPS: remove unused get_antenna_offsets() 
callers always specify an instance
 2017-03-13 11:31:51 +11:00
Randy Mackay 2d0258b6a2 AP_GPS: remove unused highest_supported_status(void) 2017-03-13 11:31:51 +11:00
Randy Mackay ac86c7999b AP_GPS_MAV: set have_accuracy as boolean 2017-03-13 11:31:51 +11:00
priseborough a82b6929f1 DataFlash: Allow logging of blended GPS instance 
Add GPS and GPA reporting for blended solution
Allow GPS library to manage reporting for the blended solution
 2017-03-13 11:31:51 +11:00
priseborough 56a9e2c462 AP_NavEKF3: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough 44fa82d58c AP_NavEKF2: Reference correct derivation 2017-03-13 11:31:51 +11:00
priseborough 18927395d7 AP_NavEKF3: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough 407a60e599 AP_NavEKF2: log correct GPS for replay 2017-03-13 11:31:51 +11:00
priseborough 01551a4423 AP_NavEKF3: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
priseborough 8c46d4316b AP_NavEKF2: handle position jump caused by change in GPS receiver 
If the GPS receiver selection changes and we are using GPS for height, the
vertical position will be reset to the new GPS height measurement.
correct output observer history when doing a GPS height reset
 2017-03-13 11:31:51 +11:00
Randy Mackay 341b926a43 AP_HAL_SITL: add glitch for 2nd ublox 2017-03-13 11:31:51 +11:00
Randy Mackay 07ce7b8bd6 SITL: add GPS2_GLITCH parameter 2017-03-13 11:31:51 +11:00
Michael Oborne e4ff445ea7 AP_GPS_GSOF-NOVA: fix last_gps_time_ms 2017-03-09 10:41:48 -08:00
mirkix 9e1345453f AP_HAL_Linux: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
mirkix ac60ddfdde AP_OpticalFlow: allow to search on I2C bus 2 2017-03-07 22:48:48 -08:00
mirkix ad208cab56 AP_OpticalFlow: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
mirkix 81da61a68d AP_HAL: BBBmini remove onboard OpticalFlow 2017-03-07 22:48:48 -08:00
Michael du Breuil be1fd147fc Arming: Remove the SITL protection around GPS configuration, and rely upon the GPS library instead 2017-03-07 12:43:30 +11:00
Michael du Breuil 398ff823c0 AP_GPS: Always consider ublox as configured in sitl 2017-03-07 12:43:30 +11:00
Francisco Ferreira f6687a2d6c AP_Baro: fix example output 
PX4 boards can only start console after USB is connected so we need to
check it is available
 2017-03-07 09:37:14 +11:00
jaxxzer b98573d55f SITL: Improved Sub simulation 
-Constrain z axis movement between -100m (seafloor) and 0m (water
surface)
-More accurate thruster modelling
 2017-03-07 09:35:41 +11:00
Michael du Breuil 44bcd74a57 AP_GPS: Remove dead SBF code 
CID 125035
 2017-03-06 15:24:22 +00:00
Randy Mackay 7a7f8eb7c1 AC_Avoidance: only stop below alt-fence if fence is enabled 2017-03-06 18:02:03 +09:00
Randy Mackay 3e039a6ba4 AP_NavEKF3: minor formatting fixes 
No functional change
 2017-03-06 18:40:18 +11:00
Randy Mackay a80c0a231d AP_NavEKF3: attempt to set-up every core 
previously we would only call setup_core for the 2nd core if the first had been setup successfully
 2017-03-06 18:40:18 +11:00
priseborough 7a8783f35e AP_NavEKF3: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
priseborough b7c4945000 AP_NavEKF2: Fix bug preventing reset to GPS 
This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
 2017-03-06 17:11:39 +11:00
Michael du Breuil 7f11cf3ca6 AP_Mount: Remove solo gimbal from the minimal build support 2017-03-06 11:53:08 +11:00
Randy Mackay 67097c8d59 AC_AttitudeControl: use gyro_latest 
This allows moving the attitude control before the ahrs/ekf update

We continue to use ahrs.get_gyro for the non-time-critical heli
passthrough functions.  We should avoid using get_gyro_latest() unless we know there is a direct benefit because it could lead to inconsistent gyro values vs what the EKF is using.
 2017-03-03 13:14:28 +11:00