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15917 Commits

Author SHA1 Message Date
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
Paul Riseborough 4a5bf0a266 AP_NavEKF: Reduce EKF start time 
Makes EKF start conditional on DCM solution tilt error
 2015-04-23 20:35:48 +09:00
Paul Riseborough 5184bca87f AP_AHRS: Prevent DCM reporting good tilt error when inverted 2015-04-23 20:35:39 +09:00
Paul Riseborough ea8217bd3a AP_AHRS: Reduce time constant on filtering of DCM error reporting 
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
 2015-04-23 20:35:35 +09:00
Randy Mackay 7e43eaafab GPS: TYPE param description to PX4-UAVCAN 2015-04-23 20:17:26 +09:00
Randy Mackay 6e30093924 AP_AHRS: correct sanity checks on update_trig 2015-04-23 09:45:43 +09:00
Jonathan Challinger 6a6ccb4f32 AP_AHRS: add sanity checks 2015-04-22 21:50:51 +09:00
Randy Mackay c6f71ea2e0 AHRS: make get_error_rp and get_error_yaw const 2015-04-21 22:42:17 +09:00
Randy Mackay 18a73d8630 Camera: use camera feedback flag 2015-04-21 22:22:57 +09:00
Randy Mackay 26383183d2 GCS_MAVLink: version update after generate 2015-04-21 22:22:54 +09:00
Randy Mackay 48c6803717 GCS_MAVLink: generate after fixing camera feedback flags 2015-04-21 22:22:52 +09:00
Randy Mackay 8e2616ddcf GCS_MAVLink: prefix camera feedback flags 2015-04-21 22:22:49 +09:00
Dario Lindo Andres a21d328b93 GCS_Mavlink: Update ardupilotmega.xml 
Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.
 2015-04-21 22:22:47 +09:00