priseborough
bf963f8b65
AP_NavEKF3: Raise lower limit on del vel bias state variances
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This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
2017-06-14 12:44:41 +01:00
priseborough
628d140319
AP_NavEKF3: Make target covariance time step larger
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The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
2017-06-14 12:44:41 +01:00
priseborough
4c08622a7c
DataFlash: Add logging for EKF3 state variances
2017-06-14 12:44:41 +01:00
priseborough
2b97d0f5c9
AP_NavEKF3: Add public accessor for state variances
2017-06-14 12:44:41 +01:00
priseborough
9f97cbfc3b
AP_NavEKF3: Revert auto-code to original form and remove micro optimisations
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To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.
Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
2017-06-14 12:44:41 +01:00
priseborough
f38fccd57c
AP_NavEKF3: Prevent possible race condition re-zeroing state variances
2017-06-14 12:44:41 +01:00
priseborough
7adaea6019
AP_NavEKF3: Improve partitioning and efficiency of the covariance prediction
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This patch ensures that covariance matrix entries for inactive states are always set to zero.
It also halves the number of copy operations from the updated to stored matrix.
2017-06-14 12:44:41 +01:00
priseborough
a1c117360c
AP_NavEKF3: Ensure Kalman gain calculatons respect deactivated states
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All Kalman gain calculations now explicity set gains for deactivated states to zero.
Previous use of loops to set gains to zero have been replaced with more efficient memset operations.
2017-06-14 12:44:41 +01:00
priseborough
5058405f8c
AP_NavEKF3: add gyro bias state inhibit and rework index limit calculation
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Inhibiting gyro bias estimation during the initial tilt alignment speeds alignment.
The calculation of the maxmum state index required has been modified so that it can handle all combinations of inhibited states.
Limiting the maximum state index accessed by all EKF operations result in significant processing reductions when higher index states are not being used.
2017-06-14 12:44:41 +01:00
priseborough
0cba133a1e
AP_NavEKF3: Fix initialisation of state inhibit flags
2017-06-14 12:44:41 +01:00
priseborough
36e7dfb5f6
AP_NavEKF2: Improve GPS reference height estimator
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Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
priseborough
9da3caca47
AP_NavEKF3: Improve GPS reference height estimator
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Fix rounding error bug preventing state from updating after initial convergence.
Decouple GPS reference height from published EKf origin height.
Add bitmask parameter to control update and publishing of GPS reference height.
2017-06-14 12:44:41 +01:00
Pierre Kancir
e7a5dd6a69
AP_Marvelmind: fix warning in example
2017-06-14 12:40:47 +01:00
Pierre Kancir
5d0972f589
Arduplane: fix implicit cast to double warning in quadplane
2017-06-14 12:40:47 +01:00
Pierre Kancir
914bc53100
Dataflash: fix shadowing of logstructure in SITL
2017-06-14 12:40:47 +01:00
Peter Barker
af6eb4e41d
DataFlash: remove unused NeedPrep function
2017-06-14 12:20:29 +01:00
Peter Barker
9fb4ac2143
DataFlash: update examples for init simplification
2017-06-14 12:20:29 +01:00
Peter Barker
91b62abfe5
DataFlash: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Peter Barker
5a0cb40c47
Sub: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Peter Barker
c6beb3a867
Plane: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Peter Barker
019dd02569
Copter: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Peter Barker
c1e07255b4
Tracker: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Peter Barker
8c074c7b73
Rover: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Peter Barker
6f7954298c
Sub: do not reset LOG_BITMASK when no CardInserted
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This really just confuses everyone
2017-06-14 12:20:29 +01:00
Randy Mackay
3bcc410048
AP_Beacon: fix pozyx west-east processing
2017-06-14 16:07:32 +09:00
Randy Mackay
af7f4fef0a
DataFlash: protect against large testRatio from EKF
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This should be resolved in the EKF but for now this stops the floating point exception
2017-06-14 16:07:32 +09:00
Shingo Matsuura
0800c6be52
Copter: add beacon object to avoidance object
2017-06-14 16:07:32 +09:00
Shingo Matsuura
7b0f6edf31
AC_Avoidance: add adjust velocity by beacon fence
2017-06-14 16:07:32 +09:00
Randy Mackay
cded78022c
AP_Beacon: update_boundary_points calculates outer perimeter around beacons
2017-06-14 16:07:32 +09:00
Shingo Matsuura
c9475c2747
AP_Beacon: add get_boundary_points
2017-06-14 16:07:32 +09:00
kmine
b3bf72020f
Tools: added my name to GitSuccess
2017-06-14 16:00:46 +09:00
Paulo Neves
3158cafefd
AP_Beacon: Added Marvelmind beacon example.
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This commit includes an example program to
run the code of AP_Marvelmind class.
It also includes a dump from the marvelmind
serial as well as a script that injects
this dump into the example for demonstration.
2017-06-14 09:33:23 +09:00
Randy Mackay
3e130273a9
AP_AHRS: do not fallback to DCM if EKF can provide relative position
2017-06-14 09:12:20 +09:00
Randy Mackay
a07920c5b2
Rover: add init_compass method
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no functional change
2017-06-14 09:12:20 +09:00
Randy Mackay
eb2aa80fca
Rover: compass set-initial-location uses ahrs location
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Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
2017-06-14 09:12:20 +09:00
Randy Mackay
584974fd74
Rover: set home from ekf position
2017-06-14 09:12:20 +09:00
Randy Mackay
0da6e73d76
Rover: add support for visual odometry
2017-06-14 09:12:20 +09:00
Randy Mackay
b56e246da6
Rover: add visual odometry to build
2017-06-14 09:12:20 +09:00
Michael du Breuil
3534d0a0eb
AP_Landing: Fix missing doc for LAND_TYPE
2017-06-13 20:06:41 +09:00
Randy Mackay
a5ea9420c0
Copter: landing gear position set less often
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This change means no pwm output is sent to the landing gear servos until the pilot has moved the switch
2017-06-13 13:56:07 +09:00
Randy Mackay
c9cc0de83d
AP_LandingGear: set pwm only when set_position called
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Also simplify interface and internal state
2017-06-13 13:56:07 +09:00
Randy Mackay
32cb3f8764
Tools: add e-flight convergence parameter file
2017-06-12 09:41:33 +09:00
Michael du Breuil
6c3db3939e
AP_GPS: Update comment on get_rate_ms()
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AP_GPS::get_rate_ms() is only meant to help the GPS backends
2017-06-12 01:06:38 +01:00
Peter Barker
b5029aad4f
DataFlash: correct dataflash examples
2017-06-11 20:34:12 +01:00
Peter Barker
6d1f42d1c5
Tracker: unconditionally start unstarted logging
2017-06-11 20:34:12 +01:00
Peter Barker
10b69b46e1
Replay: StartUnstartedLogging replaces logging_started/start_logging
2017-06-11 20:34:12 +01:00
Peter Barker
cdd0397bbf
DataFlash: check all backends for sensor health
2017-06-11 20:34:12 +01:00
Peter Barker
c1583da7d5
Sub: StartUnstartedLogging replaces logging_started/start_logging
2017-06-11 20:34:12 +01:00
Peter Barker
76f7ad1252
Tracker: StartUnstartedLogging replaces logging_started/start_logging
2017-06-11 20:34:12 +01:00
Peter Barker
4dc241fd22
Plane: StartUnstartedLogging replaces logging_started/start_logging
2017-06-11 20:34:12 +01:00
