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27914 Commits

Author SHA1 Message Date
Andrew Tridgell abd0831239 AP_Motors: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 11396919c8 HAL_PX4: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell 1c741e78e6 AP_HAL: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Andrew Tridgell ba21c1e67d Copter: set RC_SPEED default to 16kHz for brushed 2017-06-17 17:37:45 +10:00
Andrew Tridgell 96627bc4e5 HAL_PX4: allow any pulse freq in brushed mode 2017-06-17 17:37:45 +10:00
Michael du Breuil 92cdb54176 Plane: Fix a fly away when aborting a landing 
DO_LAND_START -> LAND waypoints in sequence would cause a perpetual abort state
due to the sticky nature of the abort states. If we restart a landing on
purpose while doing an abort, then we can move onto trying to land again.
 2017-06-17 09:10:27 +10:00
Andrew Tridgell 97e88501c6 AP_OpticalFlow: support pixart 3901 2017-06-16 17:14:10 +01:00
Peter Barker 762d5a649d Tracker: tell dataflash we're arming or disarming 2017-06-16 17:07:48 +01:00
Peter Barker 75a89dbfeb Sub: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker 31ac03368d Tracker: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker 30dfd32b87 Plane: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker 4163455d97 Copter: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker aeacc11573 APMrover2: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker 6a03af8f3e DataFlash: make EnableWrites a frontend thing 2017-06-16 17:07:48 +01:00
Peter Barker b57a4e9685 Plane: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Peter Barker cb41f09d2e Copter: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Peter Barker bf510221e0 Tracker: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Peter Barker 0df30d03b1 Rover: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Peter Barker e0e78d83e5 Sub: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Peter Barker 07e37281ef DataFlash: add a should_log method 2017-06-16 17:07:48 +01:00
Peter Barker 001d3a7118 DataFlash: correct consts on CardInserted 2017-06-16 17:07:48 +01:00
Peter Barker 244365767d DataFlash: remove DataFlash_Block and DataFlash_SITL 2017-06-16 13:52:45 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 6a01c65197 AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC) 2017-06-16 12:05:20 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 7426bdb9b7 AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter 2017-06-16 12:05:20 +01:00
Michael du Breuil 1d03732ac5 Plane: Remove redundant status text on MAV_CMD_DO_GO_AROUND 2017-06-16 11:49:52 +09:00
Randy Mackay cb77c1acc9 Copter: 3.5.0-rc8 release notes 2017-06-15 13:48:44 +09:00
Randy Mackay a199604348 AP_Beacon: fix get_boundary_points num_points 
Thanks @OXINARF for finding this!
 2017-06-15 09:36:27 +09:00
Stephen Dade b6816285e5 Tools: APM source is not required to be in Cygwin dir 2017-06-14 18:03:25 +01:00
priseborough b42fb31d7d AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK 
Turn off by default.
Update parameter description
 2017-06-14 12:44:41 +01:00
priseborough 49ec2b4032 AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK 
Turn off by default.
Update parameter description.
 2017-06-14 12:44:41 +01:00
priseborough fd25450632 AP_NavEKF2: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough 6d14cf0ab8 AP_NavEKF3: Ensure reported local height = global height - origin height 2017-06-14 12:44:41 +01:00
priseborough 798d5f85a2 DataFlash: Log EKF origin height 2017-06-14 12:44:41 +01:00
priseborough a3483d0d34 AP_AHRS: Update for compatibility with EKF interface change 2017-06-14 12:44:41 +01:00
priseborough 3ae7998f51 AP_NavEKF3: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough 77d21f72d4 AP_NavEKF2: Allow reporting of origin height for specified instance 2017-06-14 12:44:41 +01:00
priseborough e58ba8044d AP_NavEKF3: Improve protection for badly conditioned dVel bias covariances 
If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
 2017-06-14 12:44:41 +01:00
priseborough bf963f8b65 AP_NavEKF3: Raise lower limit on del vel bias state variances 
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 
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 
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 
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 
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 
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 
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 
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