Andrew Tridgell
ce0a863d01
AP_NavEKF: allow for optimisation of the EKF
...
disable optimisation when debugging needed
2015-05-05 09:45:53 +10:00
Andrew Tridgell
25de563687
HAL_SITL: support direct RC input
2015-05-05 09:45:52 +10:00
Andrew Tridgell
77f007ab27
SITL: support speedup setting on the command line
2015-05-05 09:45:52 +10:00
Andrew Tridgell
a6f41b3ca6
HAL_SITL: removed the need for the FDM thread
...
this also removes the need for the barriers
2015-05-05 09:45:52 +10:00
Andrew Tridgell
19147a05f6
SITL: support functions for new simulators
2015-05-05 09:45:52 +10:00
Andrew Tridgell
437e1bdba0
SITL: added fill_fdm() for FDM output from simulator
2015-05-05 09:45:52 +10:00
Andrew Tridgell
ab2d4349b4
HAL_SITL: initial support for internal simulators
2015-05-05 09:45:52 +10:00
Andrew Tridgell
24b051565b
AP_Math: added normalize() method to Matrix3f
2015-05-05 09:45:52 +10:00
Andrew Tridgell
914b91af9e
SITL: initial conversion of multicopter sim to C++
2015-05-05 07:12:36 +10:00
Randy Mackay
2a6421d1bf
Airspeed: fix example sketch
2015-05-02 20:53:49 +09:00
Randy Mackay
55298a4c73
Baro: fix example sketch
2015-05-02 17:25:44 +09:00
Paul Riseborough
be04be9b43
AP_NavEKF: Fix bug preventing home position being set by copter
...
The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
2015-05-02 17:20:21 +09:00
Randy Mackay
75e2498da2
Scheduler: fix example sketch
2015-05-02 11:55:50 +09:00
Randy Mackay
c78068b8b8
StorageManager: fix example sketch
2015-05-01 21:03:13 +09:00
Randy Mackay
5b15c07d47
RC_Channel: fix example sketch
2015-05-01 21:02:57 +09:00
Randy Mackay
240a845206
Notify: fix example sketches
2015-05-01 20:58:34 +09:00
Randy Mackay
b223e90ef6
AP_Motors: fix example sketches
2015-05-01 20:58:20 +09:00
Randy Mackay
ed61d961c3
Mission: fix example sketch
2015-05-01 20:58:06 +09:00
Randy Mackay
fecbf06008
AP_Math: fix example sketches
2015-05-01 20:57:38 +09:00
Jonathan Challinger
2b29060a4e
AC_WPNav: remove unused set_loiter_velocity
2015-05-01 16:46:53 +09:00
Randy Mackay
187dd0dccd
HAL_PX4: fix example sketch
2015-05-01 16:44:10 +09:00
Randy Mackay
fb7e75594f
AP_NavEKF: replace memset with quaternion.initialise
2015-05-01 16:37:35 +09:00
Randy Mackay
eaedeeb7bf
AP_Math: add quaternion.initialise
2015-05-01 16:37:34 +09:00
Randy Mackay
c366fbbc96
AP_NavEKF: remove unused haveDeltaAngles
2015-05-01 16:37:33 +09:00
Randy Mackay
6773c0b232
AP_InertialSensor: default primary accel and gyro
2015-05-01 16:37:33 +09:00
Paul Riseborough
b71b8f4bda
AP_NavEKF: Always return a NED relative position if possible
...
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
2015-05-01 16:37:32 +09:00
Paul Riseborough
20ba1e6b1b
AP_NavEKF: Always return a WGS-84 location if possible
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If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
2015-05-01 16:37:31 +09:00
Paul Riseborough
dd1e0b2f0b
AP_NavEKF: Add missing function to return the NED to XYZ quaternion
2015-05-01 16:37:30 +09:00
Paul Riseborough
2c4572eb50
AP_NavEKF: Make ground effect variable names more descriptive
2015-05-01 16:37:29 +09:00
Paul Riseborough
3986851c51
AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff
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The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
2015-05-01 16:37:28 +09:00
Paul Riseborough
2cba60c731
AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion
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Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
2015-05-01 16:37:27 +09:00
Paul Riseborough
c4c0f819b5
AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step
2015-05-01 16:37:26 +09:00
Paul Riseborough
5dc29699ab
AP_NavEKF: Publish the INS delta quaternion
2015-05-01 16:37:25 +09:00
Paul Riseborough
d273302ce7
AP_NavEKF: Improve rate of accel bias learning before flight
2015-05-01 16:37:24 +09:00
Paul Riseborough
8dc6354a54
AP_NavEKF: Prevent touchdown baro errors tripping height innovation check
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Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
2015-05-01 16:37:23 +09:00
Jonathan Challinger
2f38dd1b67
AP_NavEKF: use quaternion functions to apply IMU delta angles
2015-05-01 16:37:22 +09:00
Jonathan Challinger
9c374eb4a8
AP_NavEKF: apply constrained floor to barometer innovation while landing
2015-05-01 16:37:21 +09:00
Jonathan Challinger
3c6446fadd
AP_NavEKF: refactor meaHgtAtTakeOff filter
2015-05-01 16:37:20 +09:00
Paul Riseborough
744de74c16
AP_NavEKF: Reduce ground effect baro induced height errors during takeoff
2015-05-01 16:37:19 +09:00
Paul Riseborough
13616d6436
AP_NavEKF: Add takeoff and touchdown expected to reported filter status
2015-05-01 16:37:19 +09:00
Jonathan Challinger
8c92524b8a
AP_NavEKF: add takeoffExpected and touchdownExpected
2015-05-01 16:37:18 +09:00
Jonathan Challinger
b6b55bf6f2
AP_NavEKF: integrate gravity over correct time period
2015-05-01 16:37:17 +09:00
Jonathan Challinger
cb0c424da1
AP_NavEKF: rewrite readIMUData
2015-05-01 16:37:16 +09:00
Jonathan Challinger
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
2015-05-01 16:37:15 +09:00
Jonathan Challinger
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
2015-05-01 16:37:14 +09:00
Randy Mackay
0acc06d713
AP_Motors: minor comment for interlock
2015-05-01 14:30:45 +09:00
Robert Lefebvre
1a482de5e2
AP_MotorsHeli: Overload output_armed_zero_throttle
2015-05-01 14:30:25 +09:00
Robert Lefebvre
6bdace30d2
AP_Motors: Add throttle interlock functionality
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AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
2015-05-01 14:30:24 +09:00
Randy Mackay
31edd6a72b
AC_PosControl: add_takeoff_climb_rate method
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This function simply increments the current altitude target given a
climb rate and dt
2015-05-01 12:56:30 +09:00
Jonathan Challinger
348001e786
AP_Motors: add get_throttle_warn function
2015-05-01 12:56:11 +09:00
