Andrew Tridgell
fc0d703b9b
Rover: much simpler SPEED_TURN_GAIN implementation
...
as soon as we hit the SPEED_TURN_DIST we lower target speed to the
specified gain
2014-05-18 21:15:07 +10:00
Andrew Tridgell
69b5f352f6
Plane: prevent a bad glide slope when first entering auto
...
we need to ensure that prev_WP_loc is not used as it could be
completely different from current_loc. As a precuation, this also sets
up next_WP_loc so that when the set_next_WP() is first called that
prev_WP_loc is set to current_loc
2014-05-18 16:14:11 +10:00
priseborough
5fe0d2c1b2
AP_NavEKF: Add protection for accel bias estimation errors
...
Don't do bias estimation if tilted by more than 60 degrees to prevent scale
factor errors affecting result unnecessarily.
Prevent Kalman gain from having the wrong sign due to numerical errors
associated with small process noise values.
Allow smaller Z accel bias process noise values to be set
2014-05-18 08:09:00 +10:00
priseborough
3222e8f7cb
AP_NavEKF: Default parameter adjustments
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Bring Plane glitch protection thresholds into alignment with copter and
rover
Slight increase in accelerometer bias process noise to prevent bias
estimate divergence into limits (Rover and Plane only as Copter does not
seem respond as well to this change)
effective increase in threshold on divergence test to allow increased
margin for bad GPS velocities
2014-05-18 08:08:49 +10:00
Andrew Tridgell
65fd25fb5a
AP_InertialSensor: fixed example build
2014-05-18 08:08:19 +10:00
Arthur Benemann
e1b7e53c04
Copter: only acceept Guided waypoints in Guided mode
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Fix #1068 . When receiving guided waypoints do not change to GUIDED mode. This serves as a safety precaution for GCS, since they must switch to guided mode before sending the waypoints.
2014-05-17 12:02:53 +09:00
Andrew Tridgell
b99ae63cbb
HAL_Linux: more generic fix for scheduler issues in example sketches
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this ensures drivers can run
2014-05-16 22:40:38 +10:00
Andrew Tridgell
30f5e2c37f
AP_GPS: work around scheduling issue in example code
2014-05-16 22:35:32 +10:00
priseborough
e40e50e2e1
AP_NavEKF: Prevent start-up transients re-tripping divergence test
2014-05-16 22:05:22 +10:00
Andrew Tridgell
73976e2ca4
AP_GPS: fixed example build
2014-05-16 22:05:04 +10:00
Andrew Tridgell
8533aecf18
AP_InertialSensor: fixed example build
2014-05-16 21:24:25 +10:00
priseborough
a19015ed61
AP_NavEKF: Scale divergence check with covariance
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This provides consistent behaviour for a range of gyro bias process
noise settings and automatically adjusts sensitivity as filter learns bias
2014-05-16 21:24:25 +10:00
priseborough
0337d44b2e
AP_NavEKF: Fix bug causing immediate clearing of diverged status on reset
2014-05-16 21:24:04 +10:00
priseborough
d150904dc6
AP_NavEKF: Increase gyro bias process noise
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This is required to stop the bias estimate from becoming too static
towards the end of longer flights.
2014-05-16 21:24:04 +10:00
Randy Mackay
481a55867e
Copter: only send sonar distance to GCS when sonar enabled
2014-05-16 14:46:56 +09:00
Ben Nizette
8c7b4feac1
Copter: send sonar distance to GCS via MAVLink
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At the moment, the copter sonar set up does not have access to the
raw sonar readings so this code sets the voltage field to zero.
2014-05-16 14:46:11 +09:00
Andrew Tridgell
9e7e2eb106
AntennaTracker: use setup_uart()
2014-05-16 11:46:10 +10:00
Andrew Tridgell
35e87fa2ea
Rover: use setup_uart()
2014-05-16 11:45:20 +10:00
Andrew Tridgell
836b365bc8
Copter: use setup_uart()
2014-05-16 11:45:11 +10:00
Andrew Tridgell
bd09d8551d
Plane: use setup_uart()
2014-05-16 11:44:53 +10:00
Andrew Tridgell
49e7ee9ba7
GCS_MAVLink: added setup_uart() method
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this provides a common way of dealing with UART setup for a GCS
instance. It includes code to cope with SiK radios stuck in bootloader
mode.
2014-05-16 11:44:33 +10:00
Andrew Tridgell
3a73878ca7
Plane: mark 3.0.3beta
2014-05-15 22:59:02 +10:00
Andrew Tridgell
b3c1e515dc
AP_AHRS: when no accel info available in buffer use current value
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this prevents an initialisation error, and is reasonable in flight too
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-05-15 22:19:54 +10:00
Andrew Tridgell
315290029a
AP_AHRS: fixed check of accel sensor health
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we need to check health of each accelerometer separately
2014-05-15 22:18:56 +10:00
Andrew Tridgell
5edf4ba596
AP_NavEKF: fixed up handling of bitfields in faultStatus
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Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-05-15 21:42:39 +10:00
Andrew Tridgell
182d0f9cb0
Plane: added reporting of AHRS health
2014-05-15 21:14:22 +10:00
Andrew Tridgell
427a638296
Copter: added reporting of AHRS health
2014-05-15 21:14:21 +10:00
Andrew Tridgell
482933acd7
Rover: added reporting of AHRS health
2014-05-15 21:14:21 +10:00
Andrew Tridgell
79edc4b467
GCS_MAVLink: re-generate with addition of MAV_SYS_STATUS_AHRS
2014-05-15 21:14:21 +10:00
Andrew Tridgell
ccebeba5a5
GCS_MAVLink: added MAV_SYS_STATUS_AHRS
...
will be used to indicate AHRS health
2014-05-15 21:14:21 +10:00
priseborough
deb16ac5bb
Replay: Add EKF fault status logging message to EKF4
2014-05-15 21:14:21 +10:00
priseborough
f01cc78d37
DataFlash: Add EKF fault status logging
2014-05-15 21:14:21 +10:00
priseborough
ce8e1daa16
AP_NavEKF: Improved divergence detection and reset
...
Divergence is now detected by looking for very large changes in the gyro
bias. This will cause the filter to be reset and declared unhealthy for
10 seconds.
Don't reset filterDiverged status immediately during reset
Set filterDiverged true if covariance blows up
Add fault status reporting
2014-05-15 21:14:21 +10:00
Andrew Tridgell
5d2d6e0063
GCS_MAVLink: regenerated MAVLink headers
2014-05-15 21:14:21 +10:00
Andrew Tridgell
983ac9cbf4
GCS_MAVLink: merge in latest upstream XML changes
2014-05-15 21:14:21 +10:00
Andrew Tridgell
1a05c27bbb
AP_AHRS: added healthy() function
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this will be used to report when the AHRS subsystem becomes unhealthy
2014-05-15 21:14:21 +10:00
Andrew Tridgell
086142580a
AP_InertialSensor: added VibTest sketch
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logs all accel data at high rate to SD card
2014-05-15 21:14:21 +10:00
Andrew Tridgell
47926dc6ea
Replay: fixed for changes to AP_Compass HIL API
2014-05-15 21:14:21 +10:00
Jonathan Challinger
e883b889b6
SITL: Add compassmot interference
2014-05-15 21:14:20 +10:00
Randy Mackay
409a593c1a
Plane: prepended APM to RSSI_PIN's @Values
...
This makes it consistent with rover and copter and clarifies where the
pin is on the Pixhawk
2014-05-15 17:13:48 +09:00
Randy Mackay
d7e015db89
Rover: add Pixhawk pin to RSSI_PIN's @Value
...
Also prepended APM2 to existing values. Added A2 to list to be
consistent with plane and copter
2014-05-15 17:13:46 +09:00
Randy Mackay
9f81e286d1
Copter: add Pixhawk pin to RSSI_PIN's @Value
...
Also prepend APM2 to existing definitions
2014-05-15 17:13:43 +09:00
Randy Mackay
8b92ff4695
Rover: remove unused RELAY_PIN definition
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This is now part of the AP_Relay library
2014-05-15 17:13:40 +09:00
Randy Mackay
4ebde25a26
AP_Relay: add -1:Disabled to list of param values
2014-05-15 17:13:37 +09:00
Randy Mackay
f7a9ee24ef
Copter: minor comment update
2014-05-15 16:21:35 +09:00
Randy Mackay
715e9c0474
Copter: reset mission when disarming
2014-05-15 16:21:32 +09:00
Randy Mackay
7d4c74c28e
Copter: when leaving AUTO only stop mission if running
...
This resolves an issue in which the mission would not automatically
start from the beginning if it had previously been run to completion
2014-05-15 16:21:30 +09:00
Randy Mackay
5d20594fa4
AC_WPNav: bug fix for loiter and waypoint update rate
...
Thanks to EmileC for spotting this
2014-05-12 20:13:46 +09:00
Andrew Tridgell
48919b6253
Rover: use EKF velocity for high rate ground_speed updates
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this may give smoother throttle response when the EKF is enabled
2014-05-11 21:39:06 +10:00
Andrew Tridgell
85ebe81ed3
AP_NavEKF: fixed logic for divergence test
...
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-05-11 18:00:38 +10:00