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5243 Commits

Author SHA1 Message Date
priseborough
d150904dc6 AP_NavEKF: Increase gyro bias process noise 
This is required to stop the bias estimate from becoming too static
towards the end of longer flights.
 2014-05-16 21:24:04 +10:00
Andrew Tridgell
49e7ee9ba7 GCS_MAVLink: added setup_uart() method 
this provides a common way of dealing with UART setup for a GCS
instance. It includes code to cope with SiK radios stuck in bootloader
mode.
 2014-05-16 11:44:33 +10:00
Andrew Tridgell
b3c1e515dc AP_AHRS: when no accel info available in buffer use current value 
this prevents an initialisation error, and is reasonable in flight too

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 22:19:54 +10:00
Andrew Tridgell
315290029a AP_AHRS: fixed check of accel sensor health 
we need to check health of each accelerometer separately
 2014-05-15 22:18:56 +10:00
Andrew Tridgell
5edf4ba596 AP_NavEKF: fixed up handling of bitfields in faultStatus 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 21:42:39 +10:00
Andrew Tridgell
79edc4b467 GCS_MAVLink: re-generate with addition of MAV_SYS_STATUS_AHRS 2014-05-15 21:14:21 +10:00
Andrew Tridgell
ccebeba5a5 GCS_MAVLink: added MAV_SYS_STATUS_AHRS 
will be used to indicate AHRS health
 2014-05-15 21:14:21 +10:00
priseborough
f01cc78d37 DataFlash: Add EKF fault status logging 2014-05-15 21:14:21 +10:00
priseborough
ce8e1daa16 AP_NavEKF: Improved divergence detection and reset 
Divergence is now detected by looking for very large changes in the gyro
bias. This will cause the filter to be reset and declared unhealthy for
10 seconds.

Don't reset filterDiverged status immediately during reset

Set filterDiverged true if covariance blows up

Add fault status reporting
 2014-05-15 21:14:21 +10:00
Andrew Tridgell
5d2d6e0063 GCS_MAVLink: regenerated MAVLink headers 2014-05-15 21:14:21 +10:00
Andrew Tridgell
983ac9cbf4 GCS_MAVLink: merge in latest upstream XML changes 2014-05-15 21:14:21 +10:00
Andrew Tridgell
1a05c27bbb AP_AHRS: added healthy() function 
this will be used to report when the AHRS subsystem becomes unhealthy
 2014-05-15 21:14:21 +10:00
Andrew Tridgell
086142580a AP_InertialSensor: added VibTest sketch 
logs all accel data at high rate to SD card
 2014-05-15 21:14:21 +10:00
Jonathan Challinger
e883b889b6 SITL: Add compassmot interference 2014-05-15 21:14:20 +10:00
Randy Mackay
4ebde25a26 AP_Relay: add -1:Disabled to list of param values 2014-05-15 17:13:37 +09:00
Randy Mackay
5d20594fa4 AC_WPNav: bug fix for loiter and waypoint update rate 
Thanks to EmileC for spotting this
 2014-05-12 20:13:46 +09:00
Andrew Tridgell
85ebe81ed3 AP_NavEKF: fixed logic for divergence test 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-11 18:00:38 +10:00
priseborough
40dc0e56fe AP_NavEKF: Add protection for badly conditioned innovation variances 2014-05-11 18:00:38 +10:00
priseborough
925c5751bd AP_NavEKF: Add ability to inhibit in-flight mag cal and clean up moding 
This will enable in-flight magnetometer calibration to be inhibited unconditionally,
This is required for long balloon carriage flights where ground speed can be high
enough to put it into in-air state, but with very poor observability of magnetic field
states causing bad state estimates and heading offsets to develop over time.

The covariance matrix no longer has rows and columns artificially zeroed when in static
mode. Instead booleans indicating whether wind or magentic field state estimation is
active are used to:

a) Set the process noise on these states to zero to stop their variances from increasing
unchecked when not being updated, and
b) Turn off updates for these states when measurement fusion is being performed.

This reduces the likelihood of a badly conditioned covariance matrix forming
during static mode operation.

A filter divergence check has also been added that will declare the filter unhealthy if
position, velocity and magnetic field observations are all failing their innovation
consistency checks. This unhealthy status will persist for 10 seconds after the
condition clears.

AP_NavEKF: Remove unnecessary zeroing of wind covariances
 2014-05-11 18:00:38 +10:00
priseborough
3026ccee13 AP_NavEKF: Use baro data during launch transients whilst in static mode 
Baro data can be used as it will still be valid during the launch and
is not a synthesised measurement.
 2014-05-11 18:00:38 +10:00
Randy Mackay
05f5164dfa Mission: rename AUTORESET to RESTART 2014-05-09 11:31:37 +09:00
Hug0
6b0d5f9770 AP_InertialNav: fix pos error degradation rate 
degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
 2014-05-08 23:09:39 +09:00
Randy Mackay
badc127c34 AC_WPNav: fix example sketch 2014-05-08 16:25:13 +09:00
Randy Mackay
9b6a4e0fc7 AC_Sprayer: fix example sketch 2014-05-08 16:25:11 +09:00
lthall
9ab9eaec25 AC_WPNav: Loiter jerk default to 10m/s/s/s 
Pair programmed with Randy
 2014-05-08 16:16:05 +09:00
Randy Mackay
1cb297580f Copter: reduce Circle init twitch by using stopping point 2014-05-08 16:15:57 +09:00
Randy Mackay
091ff91a70 WPNav: add wp_and_spline_init to set speeds an init pos controller 2014-05-08 16:15:50 +09:00
Randy Mackay
c13db680b7 AC_PosControl: remove reset_I_xy 
lean_angles_to_accel is now used to load the position rate I terms based
on vehicle's initial roll and pitch angle
 2014-05-08 16:15:48 +09:00
Randy Mackay
cd8b1f278c AC_PosControl: remove unused _cos_yaw variable 
Also removed _sin_yaw, _cos_pitch, _step saving a total of 17bytes of
RAM
Also made get_speed_up, get_speed_down, lean_angles_to_accel functions
const
 2014-05-08 16:15:46 +09:00
Randy Mackay
48ec0caf75 AC_WPNav: run navigation at 10hz in SITL 2014-05-08 16:15:44 +09:00
Randy Mackay
0819e05896 AC_PosControl: lean_angles_to_accel added for smooth initialisation 
init_xy_controller also added to capture initialisation all in one place
 2014-05-08 16:15:41 +09:00
lthall
b38c484874 AC_WPNav: add LOIT_JERK parameter 
Limit accel output from loiter controller.
Call new pos_control.init_xy_controller when loiter starts
Remove sudden stop when pilot requested acceleration is zero

Pair programmed with Randy
 2014-05-08 16:15:38 +09:00
Randy Mackay
71fae1e6f2 AC_AttControl: lean_angle_max accessor fn const 2014-05-08 16:15:36 +09:00
Randy Mackay
fd9f8f571f AC_WPNav: replace inav, ahrs pointers with references 2014-05-08 16:15:26 +09:00
lthall
21c93e48ab AC_PosControl: include vel error when get_stopping_point_z 
Pair programmed with Randy
 2014-05-08 16:15:24 +09:00
Randy Mackay
a1f1dd8059 AC_PosControl: add is_active_z method 
Consolidated z-axis timeout checks to save 4bytes of RAM
Added POS_CONTROL_ACTIVE_TIMEOUT_MS to make timeout consistent
 2014-05-08 16:15:22 +09:00
Andrew Tridgell
74227cd7f0 AP_HAL: prevent some FastDelegate warnings 2014-05-08 11:11:03 +10:00
Andrew Tridgell
a295760e56 AP_Rally: fixed indentation 
previous indentation confused emacs24
 2014-05-08 11:01:52 +10:00
Andrew Tridgell
4efcae46ab SITL: cope with more rubbish startup values from JSBSim 2014-05-04 17:30:10 +10:00
Andrew Tridgell
320834a5e7 HAL_PX4: read from FRAM in 128 byte chunks (2nd try) 
this time without the amazingly silly bug
 2014-05-02 22:12:45 +10:00
Andrew Tridgell
db6b96caa0 Revert "HAL_PX4: read from FRAM in 128 byte chunks" 
This reverts commit a92366c455.

This commit may be associated with FRAM corruption on Pixhawk. Revert
until we understand why
 2014-05-02 21:52:26 +10:00
Andrew Tridgell
a92366c455 HAL_PX4: read from FRAM in 128 byte chunks 
this fixes FRAM read on Roberts Pixhawk. We don't know why yet.
 2014-05-02 12:24:54 +10:00
Randy Mackay
937e9ea687 AC_PosControl: add set_target_to_stopping_point_xy method 
Fixed bug in get_stopping_point_xy in which it would update Z-axis
target if vehicle was moving less than 10cm/s horizontally
 2014-04-30 21:46:20 +09:00
Randy Mackay
7dd366d84e AC_WPNav: init_loiter sets speed, accel before calcing stopping distance 
The stopping distance depends upon the speed and acceleration so these
must be updated first
 2014-04-30 21:46:18 +09:00
Randy Mackay
0103ae2eb0 AC_WPNav: add WPNAV_ACCEL_Z 
Allows configurable z-axis acceleration during missions
 2014-04-30 21:46:12 +09:00
Randy Mackay
9f63de9b59 AC_PosControl: set_speed_z accepts positive descent speeds 2014-04-30 21:46:09 +09:00
Randy Mackay
510c9920a6 AC_WPNav: rename get_horizontal_velocity to get_speed_xy 
This new method name is consistent with the equivalent in the
AC_PosControl class
 2014-04-30 21:46:06 +09:00
Andrew Tridgell
eb1fb63e57 APM_Control: added logging of parameter changes in AUTOTUNE 
this will make it easier to analyse logs
 2014-04-30 22:22:13 +10:00
Andrew Tridgell
871d0c0e44 APM_Control: moved the log structure to ArduPlane core 
this allows it to work with old style .log files
 2014-04-30 21:22:28 +10:00
Andrew Tridgell
4f250579db DataFlash: added LOG_ATRP_MSG define 2014-04-30 21:22:28 +10:00