Paul Riseborough
c1c5e3598a
AP_NavEKF: Enforce alignment of realigned earth mag field with declination
...
This prevents bad inertial or GPS data combined with the post takeoff heading alignment check used by plane from resulting in earth field states that have an incorrect declination
2015-05-19 20:35:52 +10:00
Paul Riseborough
b1d8805114
AP_NavEKF: Reduce takeoff detection sensitivity
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This patch reworks the in-air transition criteria to reduce the likelihood of false positives and to ensure that there will be enough ground speed to make the heading check work reliably.
2015-05-19 20:35:52 +10:00
Randy Mackay
d1808c645d
AC_PosControl: recalc leash length on speed or accel change
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This resolves an issue in which do-set-speed would not take effect until
one waypoint too late in a mission.
2015-05-19 18:16:39 +09:00
Andrew Tridgell
5514a9f690
AP_NavEKF: base EKF decisions on vehicle class
...
using the vehicle class rather than the build macros allows this to
work correctly in replay
2015-05-19 15:21:22 +10:00
Andrew Tridgell
92daa15ccc
AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised
...
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
2015-05-19 15:21:21 +10:00
Andy Piper
c600c1a746
DataFlash: log Gyro and Accel Health for IMUs.
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Log the health of the various IMUs under GyHlt and AcHlt.
(Names are shortened to get inside the string array limit).
2015-05-19 13:13:35 +09:00
Andrew Tridgell
0619247992
HAL_Linux: don't advance time in delay() and delay_microseconds()
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this could cause time to go backwards in Replay. Thanks to Peter for
finding this
2015-05-19 13:17:15 +10:00
Andrew Tridgell
29f0561ce4
AP_AHRS: reject EKF for plane when we have GPS and aren't fusing
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plane users would prefer to use GPS in this case
2015-05-17 21:24:57 +10:00
Andrew Tridgell
6154db5cf8
AP_NavEKF: added using_gps status bit
2015-05-17 21:24:57 +10:00
Randy Mackay
0077cac1b7
AC_WPNav: rename stop to brake
2015-05-17 14:44:33 +09:00
Andrew Tridgell
80c20b5cf2
DataFlash: use L for latitude/longitude in DF messages
2015-05-16 14:04:31 +10:00
Tom Pittenger
e987173ffb
AP_NavEKF: float to double promotion via tan instead of tanf
2015-05-16 08:21:49 +10:00
Tom Pittenger
5f677c2b5b
AP_Math: float to double promotion via cos instead of cosf
2015-05-16 08:21:49 +10:00
Tom Pittenger
7b95241306
AP_HAL_SITL: float to double promotion via cos instead of cosf
2015-05-16 08:21:37 +10:00
Tom Pittenger
4f1dd2c8a4
AC_AttitudeControl: compiler warning stuff
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float to double promotion via cos & sin instead of cosf & sinf
(this code is commented out but in case it ever gets included it would be nice to be correct
2015-05-16 08:21:36 +10:00
Andrew Tridgell
aaa35bd1ec
AP_InertialSensor: using atan2f() gives more accurate euler corrections
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thanks to Jon and Paul!
2015-05-16 08:19:18 +10:00
Andrew Tridgell
9e723ef907
AP_InertialSensor: added calibrate_trim() function
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used for redoing trim calculation
2015-05-16 07:56:34 +10:00
Andrew Tridgell
b564ba0868
AP_InertialSensor: fixed AHRS_TRIM calculation again
2015-05-16 07:56:33 +10:00
Andrew Tridgell
2475ee9630
AP_Compass: setup HIL/SITL for two compasses
2015-05-16 07:06:04 +10:00
Andrew Tridgell
ab687ab0f5
DataFlash: added double to list of format strings
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thanks to Dario <proyectoire@gmail.com> for noticing this
2015-05-15 21:14:49 +10:00
Jonathan Challinger
159599879f
AP_InertialSensor: simplify and correct AHRS_TRIM computation
2015-05-15 21:03:03 +10:00
Andrew Tridgell
d7e4310df0
DataFlash: Lat can be negative in POS
2015-05-15 17:55:50 +10:00
Randy Mackay
559684b257
GCS_MAVLink: fix flow control check
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Thanks to Tridge for spotting is
2015-05-15 15:39:34 +09:00
Andrew Tridgell
b0a90df135
DataFlash: fixed double Init of DF object
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thanks to Michael De Breuil
2015-05-15 16:33:10 +10:00
Randy Mackay
763c671d0a
GCS_Console: fix example sketch after mavlink_comm_port to array
2015-05-15 15:07:32 +09:00
Randy Mackay
85eeba93c0
GCS_MAVLink: mavlink_comm_port to array
2015-05-15 15:07:31 +09:00
Randy Mackay
facbfaf31f
SerialManager: support for 4th mavlink channel
2015-05-15 15:07:24 +09:00
Randy Mackay
62e7e8cc7d
GCS_MAVLink: add support for 4th mavlink chan on PX4
2015-05-15 15:07:23 +09:00
Andrew Tridgell
74485c5754
DataFlash: added Log_Write_POS() call
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write AHRS position to DF log
2015-05-15 14:28:08 +10:00
Andrew Tridgell
3370ec62a1
HAL_SITL: fix for multi-compass SITL
2015-05-15 14:25:44 +10:00
Andrew Tridgell
91b4ba3588
AP_Compass: allow for more than one compass in HIL/SITL
2015-05-15 14:25:44 +10:00
Andrew Tridgell
11f70da8b4
DataFlash: fixed incorrect change to GPS message
2015-05-15 14:25:43 +10:00
Randy Mackay
ade4f81c77
Compass: fix example sketch
2015-05-15 11:53:28 +09:00
Paul Riseborough
bd91b9727f
AP_NavEKF: Add pre-arm check for horizontal inertial errors
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This check will declare the EKF as unhealthy if the horizontal position innovations exceed a threshold before motors are armed.
This will help to prevent a takeoff with bad inertial data caused by bad accel or gyro offsets.
2015-05-15 10:35:25 +09:00
Randy Mackay
1b13250fd8
RC_Channel: small parameter description change
2015-05-14 10:33:08 +09:00
Randy Mackay
61c851885f
AC_WPNav: remove unused set_spline_dest_and_vel
2015-05-13 22:40:08 +09:00
Randy Mackay
7056484ef0
Copter: fix spline overshoot
2015-05-13 22:40:06 +09:00
Randy Mackay
56b92e7d8c
AC_PID: fix example sketch
2015-05-13 17:55:39 +09:00
Paul Riseborough
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
2015-05-13 16:11:13 +09:00
Randy Mackay
3f8b832075
InertialSensor: fix example sketch
2015-05-13 10:13:51 +09:00
Randy Mackay
3bcd97fcd1
Parachute: increase deployment duration to 2sec
2015-05-12 22:08:20 +09:00
Randy Mackay
5560d3dba1
BattMonitor: fix example sketch
2015-05-12 21:34:24 +09:00
Randy Mackay
e080b2acce
AP_Arming: use accel_calibrated_ok_all
2015-05-12 16:32:22 +09:00
Randy Mackay
1f14eec4ea
InertialSensor: accel_calibrated_all_ok replaces calibrated
...
This checks that the current number of accelerometers matches the number
of calibrated accels in order to catch accel failures at boot
2015-05-12 16:32:16 +09:00
Randy Mackay
0d72f3ac29
AP_HAL: fix example sketches
2015-05-12 14:42:15 +09:00
Andrew Tridgell
8bf2baef70
AP_InertialSensor: fixed primary accel/gyro in replay
2015-05-11 11:19:11 +10:00
Andrew Tridgell
f40c96de9d
SITL: add 'quad' and 'copter' as aliases for quadcopter
2015-05-11 09:19:53 +10:00
Andrew Tridgell
2a47cc3c81
HAL_SITL: cleanup command line handling
2015-05-11 08:48:42 +10:00
Andrew Tridgell
bab94c8a04
SITL: close high fds before launching JSBSIM
2015-05-11 08:06:10 +10:00
Andrew Tridgell
414f4125de
AP_HAL: use FD_CLOEXEC to prevent sockets being inherited in SITL
2015-05-11 08:05:51 +10:00
