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16179 Commits

Author SHA1 Message Date
Tom Pittenger 2f9e0c1938 APM_PI: fix compile warnings re float constants 2015-04-24 12:24:02 +09:00
Tom Pittenger b9865c5f3e AC_Circle: fix compile warnings re float constants 2015-04-24 12:23:38 +09:00
Tom Pittenger 4b97cc1957 AC_PID: fix compile warnings re float constants 2015-04-24 12:22:43 +09:00
Tom Pittenger bd9b573969 Plane: Fix compile warnings 
- const values declared as default double
- This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f.
- Only except is in location.pde where some double stuff is happening
- I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit
 2015-04-24 12:20:53 +09:00
Randy Mackay 1f58cb9980 Replay: pass range finder into ahrs constructor 2015-04-24 11:27:27 +09:00
Randy Mackay d5934343d4 Rover: pass sonar into ahrs constructor 2015-04-24 11:22:16 +09:00
Randy Mackay 94dc973c29 Copter: update ARMING_CHECK parm description 2015-04-24 11:12:03 +09:00
Randy Mackay 6e623bce28 Copter: remove optical flow init failure message 
the sensor only becomes healthy once it has received data which will
take a few seconds after initialisation meaning this failure message
will always be displayed even when the sensor is fine.
 2015-04-24 10:58:07 +09:00
Randy Mackay b05bdd657d AP_NavEKF: getHeightControlLimit modifies height on success 2015-04-24 10:58:05 +09:00
Randy Mackay 37e8d1a338 Copter: PosController alt limit from fence and EKF 2015-04-24 10:58:03 +09:00
Randy Mackay ba94a993f5 AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success 2015-04-24 10:58:00 +09:00
Paul Riseborough 51624149e1 AP_InertialNav: Add function to return EKF height control limit 2015-04-24 10:57:58 +09:00
Paul Riseborough cf04600710 AP_NavEKF: Add public function to limit height control during OF nav 2015-04-24 10:57:56 +09:00
Paul Riseborough 68b225de4d AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height 2015-04-24 10:57:54 +09:00
Paul Riseborough c2e6fdb56c AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate 
This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.
 2015-04-24 10:57:51 +09:00
Paul Riseborough fd7fdc1ad9 AP_NavEKF: Remove unnecessary state resets on arm and disarm 
Resetting states unnecessarily creates transients due to presence of bias errors
 2015-04-24 10:57:49 +09:00
Paul Riseborough 3e67080002 AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias 2015-04-24 10:57:47 +09:00
Paul Riseborough e48171ab11 AP_NavEKF: Improve takeoff with optical flow and range data loss 
Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.
 2015-04-24 10:57:45 +09:00
Paul Riseborough 3e061b174e AP_NavEKF: Report unhealthy for all filter faults 2015-04-24 10:57:43 +09:00
Paul Riseborough 6c4c54c2ba AP_NavEKF: Use default on ground range parameter from range finder object 2015-04-24 10:57:41 +09:00
Jonathan Challinger 10476333d8 AP_NavEKF: don't run when previously disarmed and time has slipped 2015-04-24 10:57:39 +09:00
Jonathan Challinger 085faaac6a AP_NavEKF: fix delay detection so that filter properly resets after a delay 2015-04-24 10:57:36 +09:00
Randy Mackay 3719ea53e4 Copter: add range finder status to extended status msg 2015-04-24 10:57:34 +09:00
Randy Mackay 245e46205a Rover: replace range finder health with status 2015-04-24 10:57:32 +09:00
Randy Mackay 5e359c977f Copter: replace range finder health with status 2015-04-24 10:57:30 +09:00
Randy Mackay 0acc4af63c Plane: replace range finder health with status 2015-04-24 10:57:28 +09:00
Randy Mackay a01fb64f12 RangeFinder: fix example sketch 2015-04-24 10:57:25 +09:00
Randy Mackay 715da653c3 RangeFinder_Analog: set status 2015-04-24 10:57:23 +09:00
Randy Mackay fadfa70e99 RangeFinder_MaxSonar: set status 2015-04-24 10:57:21 +09:00
Randy Mackay e212ebb0d0 RangeFinder_PulsedLight: set status 2015-04-24 10:57:19 +09:00
Randy Mackay aa04bef5af RangeFinder_PX4: set status and consume out of range samples 2015-04-24 10:57:16 +09:00
Randy Mackay 71de0ab815 RangeFinder_PX4_PWM: set status and consume out of range samples 2015-04-24 10:57:12 +09:00
Randy Mackay 7663b8eade RangeFinder: replace healthy with status and no_data methods 2015-04-24 10:57:10 +09:00
Randy Mackay 1ff443d667 Copter: add rangefinder pre-arm check 2015-04-24 10:57:08 +09:00
Randy Mackay 8ed6207ca8 RangeFinder: add pre-arm checks 2015-04-24 10:57:05 +09:00
Randy Mackay f1cbd1f03b RangeFinder: add ground clearance parameter 2015-04-24 10:57:03 +09:00
Paul Riseborough 1c8e3f9444 AP_NavEKF: Allow EKF to pull data from range finder object 2015-04-24 10:57:01 +09:00
Paul Riseborough 7f1749dc1c AP_AHRS: Allow EKF to pull data from range finder object 2015-04-24 10:56:58 +09:00
Paul Riseborough 32f87d008a Plane: Allow EKF to pull data from range finder object 2015-04-24 10:56:56 +09:00
Paul Riseborough 133b8f5ad7 Copter: Allow EKF to pull data from range finder object 2015-04-24 10:56:53 +09:00
Andrew Tridgell f21aa17980 AP_GPS: fixed sending of GPS_RAW_INT with multiple links 
thanks to ziltoid2 for this fix! See PR #2132
 2015-04-24 08:21:00 +10:00
Niels Joubert eae9452cd1 AntennaTracker: Handle GPS Injection 2015-04-24 08:01:33 +10:00
Niels Joubert 6b7b3247ed Plane: Handle GPS Injection 2015-04-24 08:01:33 +10:00
Niels Joubert 60c247ed12 Rover: Handle GPS Data Injection 2015-04-24 08:01:32 +10:00
Niels Joubert a52d554a10 ArduCopter: Handle GPS Data Injection 2015-04-24 08:01:32 +10:00
Niels Joubert 2a5b25ddbf GCS_MAVLink: Re-enable GPS Injection Packets 2015-04-24 08:01:32 +10:00
Niels Joubert 704e75d140 ArduCopter: Remove kruft from old RTK driver 2015-04-24 08:01:32 +10:00
Niels Joubert a5beef00d1 GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS 
DRIVER FEATURES:
- All logic for RTK vs Normal now lives inside Piksi
- Supports observation uplink through telem radio
- Supports full SBP packet logging
- Reports high-rate green blinking to indicate RTK lock.
- Switchable to accept only Float or Integer RTK locks.

THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER
- Uses Piksi's new Pseudo-Absolute-Positioning mode
- Onboard Piksi must have Pseudo-Absolute mode enabled
- Ground Station Piksi must have a surveyed location in settings
- Ground Station Piksi must send its location to Onboard Piksi.

NEXT STEPS REQUIRED:
- EKF needs to take higher accuracy GPS into account
- EKF needs to take GPS RTK height into account
- GCS needs to support sending SBP observation packets
--- MAVProxy patch forthcoming
 2015-04-24 08:01:32 +10:00
Fergus Noble 0480867de2 SITL: Update SBP simulation functions for pseudo-absolute mode 2015-04-24 08:01:32 +10:00
Paul Riseborough 405862bd8f AP_AHRS: Reduce time delay for EKF initialisation 2015-04-23 20:35:52 +09:00