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13592 Commits

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Author SHA1 Message Date
Randy Mackay
7a06ed8a8a AntennaTracker: minor comment and format fix 2014-10-01 15:54:18 +09:00
Randy Mackay
72053a8a74 AntennaTracker: notify armed after receiving vehicle position 2014-10-01 15:54:16 +09:00
Randy Mackay
dbc1c03d49 Tracker: use handle_set_mode() 2014-10-01 15:54:13 +09:00
Andrew Tridgell
9453154b75 Rover: use handle_set_mode() 2014-10-01 14:19:42 +10:00
Andrew Tridgell
f2e6fa3fb0 Copter: use handle_set_mode() 2014-10-01 14:19:31 +10:00
Andrew Tridgell
c4b17b74e2 Plane: use handle_set_mode() 2014-10-01 14:19:20 +10:00
Andrew Tridgell
60aa017e11 GCS_MAVLink: added handle_set_mode() function 2014-10-01 14:19:04 +10:00
Randy Mackay
a860d91930 Rover: allow GCS to turn safety switch on/off 2014-10-01 13:12:08 +10:00
Randy Mackay
bab2c17e11 Rover: set sys_status motor outputs bit from safety switch 2014-10-01 13:11:50 +10:00
Randy Mackay
82225de6fa Plane: allow GCS to turn safety switch on/off 2014-10-01 13:11:50 +10:00
Randy Mackay
7a6b55368e Plane: set sys_status motor outputs bit from safety switch 2014-10-01 13:09:58 +10:00
Randy Mackay
7caa611eb1 Compass_HIL: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
86aac4f40c Compass_HMC5843: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
900896977c Compass_VRBrain: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
85e82a0399 Compass_PX4: use instance specific orient and external 2014-10-01 13:02:03 +10:00
Randy Mackay
023b6afe8b Compass: add ORIENT2 and EXTERNAL2 params 2014-10-01 13:02:03 +10:00
Randy Mackay
16058cb730 Compass_VRBrain: primary compass based on use_for_yaw 2014-10-01 13:02:02 +10:00
Randy Mackay
01fa4ba619 Compass_PX4: primary compass based on use_for_yaw 2014-10-01 13:02:02 +10:00
Randy Mackay
798cc36e64 Compass: use_for_yaw for each compass 2014-10-01 13:02:02 +10:00
Randy Mackay
84d792216e Compass: use_for_yaw to use primary compass health 
This allows the internal compass to be used if the external compass
fails.
 2014-10-01 13:02:02 +10:00
Andrew Tridgell
d6c56b8f7a AP_NavEKF: make it clear that all sat counts are covered 2014-10-01 12:55:29 +10:00
Andrew Tridgell
a1f5be5b9e AP_NavEKF: simplify variable handling in EKF 
use named state variables instead of states[] array where possible.
 2014-10-01 12:55:29 +10:00
priseborough
8223a0d193 AP_NavEKF : Explicitly initialise gpsNoiseScaler to default value 2014-10-01 12:55:29 +10:00
priseborough
b61a6c64d7 AP_NavEKF : Reduce weighting on GPS when not enough satellites 
GPS measurement variance is doubled if only 5 satellites, and quadrupled if 4 or less.
The GPS glitch rejection thresholds remain the same
This will reduce the impact of GPS glitches on attitude.
 2014-10-01 12:55:29 +10:00
priseborough
7370e07c8d AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS 2014-10-01 12:55:29 +10:00
priseborough
f99f5759f5 AP_NavEKF : Fix bug in GPS innovation variance growth calculation 
The uncertainty in acceleration is currently only scaled using horizontal accelerations, however during vertical plane aerobatics and high g pullups, misalignment in angles can cause significant horizontal acceleration error.
The scaling now uses the 3D acceleration vector length to better work during vertical plane high g maneouvres.
This error was found during flight testing with 8g pullups
 2014-10-01 12:55:29 +10:00
priseborough
f0ee11e951 AP_NavEKF : Fix bug in reset of position, height and velocity states 
If the inertial solution velocity or position needs to be reset to the GPS or baro, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS or baro measurement will be compared to an invalid previous state and will be rejected. This is particularly a problem if IMU saturation or timeout has occurred because the previous states could be out by a large amount
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s.
 2014-10-01 12:55:28 +10:00
Randy Mackay
e7b4a02d26 GPS: fix SIRF set-binary message 
This fixes an issue in which the the update rate for the mediatek, which
uses a similar protocol, was not being set correctly
 2014-10-01 11:42:31 +09:00
Andrew Tridgell
f6cc8ce5bc GCS_MAVLink: fixed log erase and log request end 2014-10-01 11:45:51 +10:00
Randy Mackay
2dbfc6158d Rover: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-30 15:19:28 +10:00
Randy Mackay
6d3acba04c Plane: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-30 15:19:25 +10:00
Randy Mackay
47c135c4e1 GCS_MAVLink: add comments around checking target 2014-09-30 15:18:35 +10:00
Randy Mackay
0322a876eb GCS_MAVLink: check target before erasing log 2014-09-30 15:18:31 +10:00
Randy Mackay
77e89214eb Copter: shift pos targets to current location before takeoff 2014-09-29 15:26:54 +09:00
Randy Mackay
dbe1c55666 AC_WPNav: add shift_wp_origin_to_current_pos for takeoff 
This shifts the origin to the vehicle's current position and should be
called just before take-off to ensure there are no sudden roll or pitch
moves on takeoff.
 2014-09-29 15:26:18 +09:00
Randy Mackay
41d7462eee LogAnalyzer: add POSHOLD to TestPitchRollCoupling 2014-09-29 11:46:02 +09:00
Randy Mackay
0803d79701 INS: param descriptions for ACC2, GYR2 2014-09-27 21:05:33 +09:00
Randy Mackay
e14ae0c0b1 Compass: param descriptions for OFS2, MOT2 2014-09-27 17:59:26 +09:00
Jonathan Challinger
73e1719ee1 Copter: print frame type in log headers 2014-09-27 16:11:21 +09:00
Randy Mackay
8aa5c10d53 Copter: remove unused AIRFRAME definition 2014-09-27 15:15:13 +09:00
Randy Mackay
1a249a8129 Copter: check target of set-mode request from GCS 
Issue discovered and fix contributed by Deadolous
 2014-09-27 12:22:12 +09:00
Randy Mackay
5ca3c4baf6 Mission: fix CHANGE_ALT to store climb rate in lat param 
The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
 2014-09-26 23:23:04 +09:00
Randy Mackay
ef0e37b478 Copter: bugfix to condition-yaw for relative angles 
Thanks to roque-canales for raising the issue and paradisephil for finding
the specific piece of code that went wrong and suggesting the fix.
 2014-09-26 12:22:58 +09:00
Randy Mackay
45bc9fd10c Copter: add AC3.2 default to LOG_BITMASK value 2014-09-25 15:32:21 +09:00
Randy Mackay
0d88b602ec Copter: fix RSSI_RANGE param values 
The extra .0 after the 5 was causing the mission planner to not display
5V in the dropdown even though the value was 5.
 2014-09-25 15:32:20 +09:00
Craig Elder
ab46f2d2fe Frame_params: 3DR_Iris+ reduced WP_NAV to 650 2014-09-24 13:43:52 -07:00
Jonathan Challinger
7c3e614c19 LogAnalyzer: Add IMU Mismatch check 2014-09-24 15:50:23 +09:00
Randy Mackay
ed566fa56c Copter: update AC3.2-rc10 release notes 2014-09-24 14:30:10 +09:00
Andrew Tridgell
4b01cee330 Plane: send heartbeat to AFS when calibrating sensors 2014-09-24 12:02:39 +10:00
Andrew Tridgell
5eee51b5a4 APM_OBC: added heartbeat() method 
this is used for when the plane is calibrating sensors, to ensure
heartbeat is continued to the failsafe board
 2014-09-24 12:02:38 +10:00