c373ce34d1
AP_Baro: MS56XX: Some minor fixes
2015-10-16 10:05:03 +11:00
d9931b5f34
AP_Baro: Add support to MS5637
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As AVR2560 is not supported anymore and do integer operations is
usually faster than float-point the _calculate() implementation was
done using only integer operations and as more close to what
datasheet says.
2015-10-16 10:05:03 +11:00
6bdeae97b6
Compass: update param descriptions
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offset parameter units are milligauss
User settable parameters should have a User category defined. Those that should never be set by a user should not have this.
2015-10-15 20:52:38 +09:00
131536a3a7
Compass: resolve compiler warning
2015-10-15 20:33:25 +09:00
35769035d4
AP_NavEKF2: resolve compiler warning related to init order
2015-10-15 20:03:05 +09:00
0caaef7394
AP_Compass: mention mag field unit in existing documentation
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We are now always using milligauss for mag field unit, so let's update
documentation accordingly.
2015-10-15 19:56:15 +09:00
9927cf066f
AP_Compass: remove use of milligauss_ratio
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Now, we have all current compasses publishing their values already in
milligauss, so there's no need for that variable anymore.
2015-10-15 19:56:14 +09:00
b603641d7c
AP_Compass: AK8963: fix where to apply sensitivity adjustments
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The function rotate_field() can change the values axes and the function
correct_field() applies offsets (which are already in milligauss). Thus any
sensitivity adjustment must be done for two reasons:
(1) The offsets must be applied to the values already in milligauss;
(2) The factory sensitivity adjustment values are per axis, if any rotation
that switches axes is applied, that'll mess with the adjustment.
Experiments showed that before this patch the length of the mag field reported
quite different from the expected. After this patch, the same experiments
showed reasonable values.
2015-10-15 19:56:13 +09:00
6198e81bb3
AP_Compass: AK8963: scale mag field internally
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This is part of the transition to make all mag field values be used in
milligauss.
2015-10-15 19:56:12 +09:00
256c9c06c9
AP_Compass: HMC5843: scale mag field internally
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This is part of the transition to make all mag field values be used in
milligauss. Additionally the value of _gain_multiple is adapted to the new way
we're using it and corrected accordingly to the datasheets.
2015-10-15 19:56:11 +09:00
814442563e
AP_Compass: HMC5843: fix _calibrate()
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The use of _gain_multiple is not necessary because the values of
expected_{x,yz} and _mag_{x,y,z} are both in sensor raw unit (i.e., lsbs).
That wasn't fixed before in order not to make APM users to recalibrate their
compasses.
2015-10-15 19:56:10 +09:00
88a1a928e9
AP_Compass: remove get_{field,offsets}_milligauss() functions
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Those functions are not being used anymore.
2015-10-15 19:56:09 +09:00
f0dee75ab3
GCS_MAVLink: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:08 +09:00
363f9cf82a
DataFlash: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:07 +09:00
2cc07d2899
ArduPlane: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:06 +09:00
fb5320bb25
ArduCopter: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:05 +09:00
7c725bb59e
APMrover2: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:04 +09:00
afccf615d5
AP_NavEKF: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:03 +09:00
99a55f9379
AP_Compass: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:02 +09:00
9a2808a593
AP_Arming: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:01 +09:00
84f811fe76
AP_AHRS: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:00 +09:00
4375606eeb
AP_Compass: make get_field() and get_offsets() return milligauss
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This is part of a transition to make AP_Compass always use a single unit for
magnetic field values, namely milligauss.
2015-10-15 19:55:59 +09:00
e357be3d85
LogAnalyzer: adjust for change in vehicle definition MSG string
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We changed from ArduCopter to APM:Copter, breaking parts of the LogAnalyzer
This change has LogAnalyzer canonicalise its output to Ardu{Plane,Rover,Copter}
Also account for change in MODE message - ThrCrs has gone away
2015-10-15 09:40:25 +09:00
0c61e09b70
AP_NavEKF2: Critical big fix - states not initialised
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The failure to initialise the magnetometer bias states to zero can result in a large jump in yaw gyro bias and heading when a heading reset is performed.
2015-10-15 09:52:55 +11:00
e3013b493b
AP_NavEKF2: Critical bug fix - perf counter not initialised
2015-10-15 09:48:13 +11:00
9b80ab18ae
Copter: position_ok when optical flow ok
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Previously the GPS based absolute position was required
This allows using optical flow in all flight modes
2015-10-14 12:01:41 +09:00
b068f51c45
SITL: update copter_optflow params
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Allow sonar to become healthy even if reported alt is zero
switch off EKF's use of GPS
2015-10-14 12:01:38 +09:00
82d36520ad
LogAnalyzer: fix for 64-bit ints
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Also, sqrt must come from math
Also, d indicates a double (a Python float)
2015-10-14 08:50:38 +09:00
4f01aaf5e3
AP_Arming: fixing up some ARMING_CHECK param doco
2015-10-13 19:53:55 +09:00
f49aedb639
LogAnalyzer: turn times from strings to ints before doing maths
2015-10-13 19:39:02 +09:00
3479a0e209
AP_NavEKF: Prevent blocking of synthetic position fusion
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Fixes a potential error where changes to timing and arrival rate of magnetometer and baro data could block the fusion of synthetic position and velocity measurements, allowing unrestrained tilt errors during operation without GPS or optical flow.
Fusion of synthetic position or velocity measurements is now timed to coincide with fusion of barometer observations.
If a new barometer observation has not arrived after 200 msec then the synthetic position or velocity is fused anyway so that fusion of synthetic position or velocity observations cannot occur any slower than 5 Hz
2015-10-13 14:05:36 +09:00
a895b16fa6
AP_NavEKF: Prevent GPS glitch activating EKF failsafe
2015-10-12 16:29:21 +09:00
fd0a442c92
autotest: added a timeout check
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There was 1 while loop in the arducopter.py autotest that didn't have
a timeout check and of course we tripped over it.
2015-10-12 14:20:52 +09:00
461eff25d5
Rover: Fixed a build issue on Windows with the new RPM library
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The AP_RPM library needed to be added to make.inc for the sitl build
to work correctly on Windows. Thanks to Zach for solving the issue
in this discussion
http://diydrones.com/group/ardurover-user-group/forum/topics/rover-sitl-build-failed?commentId=705844%3AComment%3A2109049&xg_source=msg_com_gr_forum
2015-10-11 16:00:58 +09:00
f3cbbef418
Copter: fix guided attitude type_mask check
2015-10-10 22:04:51 +09:00
a142688fea
Copter: guided attitude timeout to 1sec
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Also add set-attitude-target capabilities flag
Thanks to Fredia and Sebastian for noticing these issues!
2015-10-10 22:04:48 +09:00
a82c8b241f
DataFlash: Update NKF4 data logging
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Add roll/pitch error metric
Reduce normalised magnetometer vector with a vector length
2015-10-10 21:22:57 +09:00
20a3f9782e
AP_NavEKF2: Add full set of selectable pre-flight GPS checks
2015-10-10 21:22:53 +09:00
f451a81ef9
AP_NavEKF: Add missing GPs check report
2015-10-10 21:22:49 +09:00
a3a1dabb94
AP_NavEKF: Update GPS check description and default setting
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Previous check default only checked the number of satellites and horizontal position accuracy.
Updated default value also checks HDoP and speed accuracy.
2015-10-10 21:21:25 +09:00
db4dfce7b1
AP_NavEKF2: Add fix status to GPS check report message
2015-10-10 14:49:07 +09:00
ef5049862a
AP_NavEKF: Add fix status to GPS check report message
2015-10-10 14:49:05 +09:00
ba6387f206
DataFlash: Add logging of EKF GPS check status
2015-10-10 14:49:03 +09:00
5177746c00
AP_NavEKF: Add reporting of GPS check status
2015-10-10 14:49:01 +09:00
22920aafad
AP_NavEKF2: Improve GPS status reporting
2015-10-10 14:48:59 +09:00
d0080b66cd
AP_NavEKF: Define a structure for reporting of GPS checks
2015-10-10 14:48:56 +09:00
1cb2220107
AP_NavEKF2: Critical Bugfix
2015-10-10 14:48:54 +09:00
f467a89fa3
AP_NavEKF2: Update comments for filter status output function
2015-10-10 14:48:52 +09:00
b142cc7fd2
AP_NavEKF2: Rename files and re-distribute content
2015-10-10 14:48:50 +09:00
1ce3276d74
AP_NavEKF2: split EKF control and output get functions from state specific libs
2015-10-10 14:48:48 +09:00
José Roberto de Souza
Randy Mackay
Gustavo Jose de Sousa
Peter Barker
Paul Riseborough
Grant Morphett
vooon
Siddharth Bharat Purohit