Randy Mackay
f4d8ccc128
Mission: add mavlink to cmd conversion methods
2014-03-19 12:10:17 +09:00
Randy Mackay
87c7d19f83
AP_Mission: special handling for cmd
2014-03-19 12:10:14 +09:00
Randy Mackay
e8db57ced3
AP_Mission: replace block read/write for eeprom
...
Also reserve command #0 for home position
2014-03-19 12:10:00 +09:00
Randy Mackay
fd009d0704
AP_Mission: tests added to example sketch
2014-03-19 12:09:59 +09:00
Randy Mackay
84b3497a82
AP_Mission: fixes to protect against endless loops
2014-03-19 12:09:57 +09:00
Randy Mackay
6086bc14be
AP_Mission: mostly working draft
2014-03-19 12:09:56 +09:00
Randy Mackay
4285eba297
AP_Mission: initial draft library
2014-03-19 12:09:54 +09:00
Randy Mackay
dd45647626
AC_PosControl: update some comments re leash lengths
2014-03-17 10:13:02 +09:00
Holger Steinhaus
345115fddd
AC_PosControl: fixed leash length calc for descent speed
2014-03-17 10:12:47 +09:00
Andrew Tridgell
6b5d27efbb
AP_GPS: fixed example builds with change to init()
2014-03-16 06:44:50 +11:00
Andrew Tridgell
68462025ba
RC_Channel: constrain norm_input() to -1 to 1
...
if RC is not properly calibrated we could get a value beyond 1, which
could cause some flight modes to exceed the roll/pitch limits of the
aircraft
2014-03-15 20:43:13 +11:00
Andrew Tridgell
9cf1fd46c8
AP_GPS: removed nav_setting default
...
not needed, and apparently caused issue with xcode 5.1
2014-03-14 07:49:56 +11:00
Paul Riseborough
dacba5d911
AP_NavEKF : Update default tuning parameters (for plane use)
2014-03-14 06:07:58 +11:00
Paul Riseborough
d0828d9c15
AP_NavEKF : Prevent bad user parameter causing incorrect GPS fusion
2014-03-14 06:07:58 +11:00
Paul Riseborough
a24bfc1b8a
AP_NavEKF : Use synthetic sideslip fusion during GPS denied operation with airspeed
2014-03-14 06:07:57 +11:00
Paul Riseborough
35811758d7
AP_NavEKF : Update comments and remove un-used function declarations
2014-03-14 06:07:57 +11:00
Andrew Tridgell
db48ed9218
AP_Compass: fixed showing of is_external for 2nd compass
2014-03-13 16:26:43 +11:00
Andrew Tridgell
beb6123576
GCS_MAVLink: send a "zero logs" message when no logs available
2014-03-11 17:12:22 +11:00
Andrew Tridgell
ecdd74d580
DataFlash: return number of logs as zero correctly
...
when we have no file based logs, report no logs :)
2014-03-11 17:11:58 +11:00
Andrew Tridgell
d9e8c34a89
GCS_MAVLink: allow for proxying of larger MAVLink messages on PX4
...
this makes it possible to deal with large MAVLink messages
2014-03-11 13:48:25 +11:00
Paul Riseborough
784034170d
AP_NavEKF : increased useage of helper functions
2014-03-10 21:54:03 +11:00
Paul Riseborough
7b3130cfcc
AP_NaVEKF : Enable operation without airspeed and compass
2014-03-10 21:53:09 +11:00
Paul Riseborough
3a5acb9cea
AP_NavEKF : improved on-ground, in-air check and GPS yaw alignment
2014-03-10 14:07:34 +11:00
Paul Riseborough
b47a11edf6
AP_NavEKF : improved static and on-ground mode selection logic
2014-03-10 04:39:59 +11:00
Paul Riseborough
15a44571c2
AP_NavEKF : enable operation without a compass for planes
2014-03-09 20:01:45 +11:00
Paul Riseborough
2019708056
AP_NavEKF : Make all compass use autodetect
2014-03-09 19:59:19 +11:00
Paul Riseborough
e485b246e7
AP_NavEKF : update comments
2014-03-09 19:59:18 +11:00
Paul Riseborough
c8bd415b00
AP_NavEKF : Add sideslip constraint to allow plane flight without magnetometer
2014-03-09 19:59:17 +11:00
Paul Riseborough
52fabc822f
AP_NavEKF : Add low speed magnetometer calibration option
2014-03-09 19:59:16 +11:00
Paul Riseborough
88b0364fcd
AP_TECS : Add protection for airspeed runaway due to pitch errors
2014-03-09 19:59:16 +11:00
priseborough
6ace31b6c1
AP_NavEKF : Fix bug that leaves height unconstrained in static mode
2014-03-09 19:27:21 +11:00
Mike McCauley
c90d3ff59e
Flymaple: RCOUtput disable_ch() now supports disabling outputs
2014-03-08 21:55:57 +11:00
Andrew Tridgell
794cc33e6a
GPS: added set_secondary() function
...
for preventing notify updates for 2nd GPS
2014-03-08 21:47:49 +11:00
Paul Riseborough
94ff7522fc
AP_NavEKF : Fix bug in initial East mag field state variance
2014-03-08 07:44:34 +11:00
Andrew Tridgell
63234d4c22
AP_Baro: fixed linux build of BMP085 driver
2014-03-07 09:33:43 +11:00
Randy Mackay
4cfe50b70c
Notify: brighter RGB LED when on battery power
2014-03-05 21:38:29 +09:00
Randy Mackay
1c457d8448
Mount: add get_mode and set_mode_to_default methods
2014-03-05 16:01:11 +09:00
Andrew Tridgell
dd502e98b4
RC_Channel: added support for separate wheel steering channels on planes
2014-03-05 12:57:50 +11:00
Andrew Tridgell
a788405c8b
RC_Channel: added percent_input() function
...
useful for plane flaps
2014-03-05 09:17:50 +11:00
Randy Mackay
25ee5d5dc8
AC_AttControl: smoothing_gain to angle_ef_roll_pitch_rate_ef_yaw_smooth
...
pair-programmed with lthall
2014-03-04 22:23:14 +09:00
lthall
15f88c2a2b
AC_AttControl: Stabilize input shaping
2014-03-04 21:52:18 +09:00
Andrew Tridgell
5f85e7af6a
HAL_PX4: switch to new serial port for 2nd GPS
2014-03-04 20:34:44 +11:00
Andrew Tridgell
af2f72acb0
HAL_SITL: honor SIM_GPS2_ENABLE option
2014-03-03 07:07:29 +11:00
Andrew Tridgell
7a52938f68
SITL: added SIM_GPS2_ENABLE option
2014-03-03 07:07:09 +11:00
Mike McCauley
be34e0358a
RC_Channel: Removed duplicate defines from RC_Channel.h
2014-03-03 06:34:34 +11:00
Andrew Tridgell
449d09051e
AP_NavEKF: cope with compass going offline while in flight
2014-03-02 14:32:10 +11:00
Andrew Tridgell
77f91e6250
AP_NavEKF: don't assume the number of gyros == number of accels
2014-03-02 13:53:19 +11:00
Paul Riseborough
ebb3cc3348
AP_NavEKF : Use average of dual IMU gyro data when available
2014-03-02 13:28:44 +11:00
Paul Riseborough
a39d00fc13
AP_NavEKF : Fix bug that prevents Zacc bias state variance being updated
2014-03-02 13:27:22 +11:00
Paul Riseborough
573b3210dd
AP_NavEKF : Add div0 protection to the IMU1_weighting calc
2014-03-02 08:10:06 +11:00
Paul Riseborough
bd152d332c
AP_NavEKF : Add accel aliasing protection
2014-03-02 08:10:04 +11:00
Andrew Tridgell
853271dd37
Replay: moved replay tool into Tools/Replay
2014-03-01 14:30:55 +11:00
Andrew Tridgell
295cd9adba
AP_NavEKF: give a sensible error for no such file on replay
2014-03-01 14:24:51 +11:00
Paul Riseborough
854f013146
AP_NavEKF : Fixes zero compass offsets on initialisation
2014-02-28 19:43:12 +11:00
Andrew Tridgell
cc4c443b32
SITL: simulate dual accel/gyro
2014-02-28 17:30:38 +11:00
Jonathan Challinger
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
2014-02-28 17:25:54 +11:00
Andrew Tridgell
736201689b
AP_NavEKF: only use the active accel from DCM if fly_forward is set
2014-02-27 17:40:13 +11:00
Andrew Tridgell
aaaae9a222
AP_AHRS: added get_fly_forward() method
...
will be used to detect a copter
2014-02-27 17:39:49 +11:00
Paul Riseborough
62eff63267
AP_NavEKF : Increase the tuning range for magnetometer measurement noise
2014-02-27 17:20:38 +11:00
Andrew Tridgell
9a5ecc9541
AP_AHRS: use primary accel for accel_ef
...
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
2014-02-27 16:28:37 +11:00
Andrew Tridgell
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
2014-02-27 16:27:46 +11:00
Andrew Tridgell
cf148fa76c
AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk
2014-02-27 12:46:27 +11:00
Andrew Tridgell
a9e683dada
AP_NavEKF: use the accelerometer chosen by DCM for each step
2014-02-27 09:41:48 +11:00
Andrew Tridgell
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
...
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
2014-02-27 09:41:28 +11:00
Andrew Tridgell
0b45d2bc06
AP_AHRS: removed the AHRS_GPS_DELAY parameter
...
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
2014-02-27 08:57:44 +11:00
Paul Riseborough
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
2014-02-27 08:12:10 +11:00
Paul Riseborough
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
2014-02-27 08:12:03 +11:00
Andrew Tridgell
8b59e564ba
AP_NavEKF: improved replay timing
2014-02-27 08:11:04 +11:00
Andrew Tridgell
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
2014-02-27 08:10:42 +11:00
Andrew Tridgell
66f238c0da
AP_NavEKF: support 400Hz replay from 50Hz logs
2014-02-26 19:34:01 +11:00
Andrew Tridgell
3fa2207a2d
AP_HAL: allow for microsecond resolution in scheduler->stop_clock()
...
this makes 400Hz in the replay code possible
2014-02-26 19:33:39 +11:00
Andrew Tridgell
6fc5c12f1d
AP_AHRS: remove unused variable
2014-02-26 10:28:12 +11:00
Andrew Tridgell
866e32f059
AP_Motors: removed unused variable
2014-02-26 09:40:39 +11:00
Andrew Tridgell
e410733682
DataFlash: added GPS2 logging
2014-02-26 09:19:00 +11:00
Andrew Tridgell
0115b9fa07
HAL_SITL: support a 2nd GPS
2014-02-26 08:19:47 +11:00
Andrew Tridgell
836f473db2
HAL_FLYMAPLE: no uartE
2014-02-26 08:19:20 +11:00
Andrew Tridgell
58d5454d65
HAL_Empty: no uartE
2014-02-26 08:19:18 +11:00
Andrew Tridgell
6c74ca58c3
HAL_AVR: no uartE
2014-02-26 08:19:15 +11:00
Andrew Tridgell
4cb61f1f08
AP_HAL: support uartE
2014-02-26 08:18:20 +11:00
Andrew Tridgell
bf2dd141e9
HAL_PX4: support uartE for 2nd GPS
2014-02-26 08:18:11 +11:00
Andrew Tridgell
63874dfffd
AP_NavEKF: set fix type in GPS replay
2014-02-25 21:10:49 +11:00
Andrew Tridgell
d7b2a09919
AP_GPS: added fix type to setHIL
2014-02-25 21:10:30 +11:00
Andrew Tridgell
09cce5d24e
AP_NavEKF: fixed replay with current copter logs
2014-02-25 20:56:53 +11:00
Jonathan Challinger
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
...
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
2014-02-25 18:49:16 +11:00
Paul Riseborough
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
2014-02-25 15:55:44 +11:00
Andrew Tridgell
7a6f671659
AP_GPS: added have_vertical_velocity() function
...
for use by EKF
2014-02-24 18:24:10 +11:00
Andrew Tridgell
a273951f70
HAL_Linux: added missing Util.cpp
2014-02-24 11:59:24 +11:00
Paul Riseborough
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
2014-02-23 19:50:37 +11:00
Paul Riseborough
01c84c3f47
AP_NavEKF : fixed bug in height limit range
2014-02-23 19:50:36 +11:00
Paul Riseborough
36d619ec3a
AP_NavEKF : Changed default IMU bias process noise to use smallest value
2014-02-23 19:50:36 +11:00
Paul Riseborough
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
2014-02-23 19:50:35 +11:00
Paul Riseborough
939a32a7bb
AP_NavEKF : Improved stability of Z accel bias
2014-02-23 19:50:34 +11:00
Paul Riseborough
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
2014-02-23 19:50:34 +11:00
Andrew Tridgell
6732d6c79b
AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL
2014-02-23 19:10:07 +11:00
Andrew Tridgell
5d7346b5c2
HAL_SITL: fixed build with new HIL INS API
2014-02-23 19:09:41 +11:00
Andrew Tridgell
ffbd655ba0
AP_NavEKF: support dual sensors in log replay, and fix flight altitude
2014-02-23 08:17:55 +11:00
Andrew Tridgell
707cc2b532
AP_NavEKF: allow log filename to be specified in replay
2014-02-23 08:17:01 +11:00
Andrew Tridgell
0e18079c47
AP_InertialSensor: allow HIL sensors to support multiple instances
...
this allows log replay to test both sets of sensors on a Pixhawk log
2014-02-23 08:16:33 +11:00
Andrew Tridgell
735c6449a1
AP_HAL: added support for commandline arguments
...
useful for log replay, specifying log file
2014-02-23 08:15:39 +11:00
Andrew Tridgell
4e56196655
AP_NavEKF: allow states to be accessed using names as well as a Vector22
2014-02-21 20:24:47 +11:00
Andrew Tridgell
009913ec60
AP_Math: make is_nan const for quaternion and add .zero() for vector2
2014-02-21 20:24:47 +11:00
Randy Mackay
33fe778cdd
InertialSensor_PX4: resolve compiler warning
2014-02-21 13:53:34 +09:00
Randy Mackay
98bdbb7fed
AC_WPNav: set loiter accel to 1/2 of speed
...
Bug fix from Leonard.
Also fixed some formatting.
2014-02-20 21:37:45 +09:00
Andrew Tridgell
f222f2ef1e
DataFlash: fixed logging on PX4v1
...
large writes break IO, a NuttX bug
2014-02-20 06:55:35 +11:00
Andrew Tridgell
20b0444c15
AP_NavEKF: remove sleep on init of EKF
...
this prevents HIL from locking up, and also prevents a possible 1s
delay in flight on EKF init
2014-02-19 22:04:12 +11:00
Andrew Tridgell
b434c11215
AP_AHRS: removed empty file
2014-02-19 22:00:25 +11:00
Randy Mackay
aa5ea23245
GCS_MAVLink: regenerate for COMPASSMOT_STATUS msg
2014-02-19 16:04:08 +11:00
Randy Mackay
a7c25ec649
GCS_MALink: improved generate.sh failure msg
2014-02-19 16:04:05 +11:00
Andrew Tridgell
50cbc661ef
GCS_MAVLink: added new COMPASSMOT_STATUS message
2014-02-19 16:03:57 +11:00
Andrew Tridgell
c9d0c1face
AP_NavEKF: use ahrs->get_armed() for static mode demanded
2014-02-19 10:52:57 +11:00
Andrew Tridgell
3b1f9a4bbf
AP_AHRS: added get_armed() and set_armed() calls
...
will be used by NavEKF to determine static mode
2014-02-19 10:52:24 +11:00
Andrew Tridgell
fe0cb23733
AP_InertialSensor: fixed HIL for 400Hz INS
2014-02-19 10:29:00 +11:00
Andrew Tridgell
536160a3fb
AP_NavEKF: use AHRS get_correct_centrifugal()
2014-02-19 10:28:45 +11:00
Andrew Tridgell
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
...
used by NavEKF to force static mode
2014-02-19 10:28:14 +11:00
Andrew Tridgell
599c3a8abf
AP_Math: added more operators to VectorN
2014-02-19 10:14:58 +11:00
Andrew Tridgell
869e41fd03
AP_NavEKF: fixed detection of airspeed sensor
...
the get_airspeed() AHRS call can change as the user enables/disables
the airspeed sensor, plus it only gets enabled after the NavEKF
constructor runs.
2014-02-19 09:22:45 +11:00
Paul Riseborough
1ade39977a
AP_NavEKF : covariance prediction cleanup
2014-02-19 09:22:45 +11:00
Paul Riseborough
8daca145d0
AP_NavEKF : useAirspeed set automatically
2014-02-19 09:22:45 +11:00
Paul Riseborough
6fbada26d3
AP_NavEKF : Improvements to staticMode robustness
2014-02-19 09:22:45 +11:00
Mike McCauley
bd768a0c0c
AP_HAL_FLYMAPLE RCOutput.cpp: enable_ch no longer resets servo
...
FLYMAPLERCOutput::enable_ch incorrectly reset the servo to 0, which caused
servo twitching once per second when RC_Channel_aux::enable_aux_servos
enabled each channel.
2014-02-18 09:25:08 +11:00
Andrew Tridgell
ad4db4de6c
AP_Airspeed: added setHIL() method
...
useful for log playback
2014-02-18 09:25:08 +11:00
Andrew Tridgell
e11ada7bf0
RC_Channel: fixed comment on enable_aux_servos()
...
thanks to Mike McCauley for spotting
2014-02-18 09:25:07 +11:00
Andrew Tridgell
b2bd81f262
AP_Baro: added alternative setHIL interface
...
uses pressure and temperature for better log replay
2014-02-18 09:25:07 +11:00
Andrew Tridgell
5bf170c440
AP_NavEKF: fixed log replay code
...
also added BARO and ARSP messages
2014-02-18 09:25:07 +11:00
jschall
024855014f
AC_PosControl: update _pos_error if it is being limited
...
This fixes a bug that causes 10hz throttle noise.
2014-02-17 22:33:06 +09:00
Andrew Tridgell
9cf70fe3f7
AP_HAL: another broken example build
...
this one an internal compiler error
2014-02-17 12:42:13 +11:00
Mike McCauley
4f9f87a8c6
AP_HAL_FLYMAPLE: Add notes to FlymaplePortingNotes.txt re GPS selection.
2014-02-17 05:56:37 +11:00
Mike McCauley
54a0b04c12
AP_HAL_FLYMAPLE: RCInput detects stale input readings better. Update test
...
code.
2014-02-17 05:56:37 +11:00
Mike McCauley
f1533aa350
AP_HAL_FLYAPLE: update documentation in FlymaplePortingNotes.txt
2014-02-17 05:56:37 +11:00
Mike McCauley
81791bdc43
AP_HAL_FLYMAPLE: Added documentation about alternative orientations to FlymaplePortingNotes.txt
2014-02-17 05:56:37 +11:00
Mike McCauley
95bea052d2
AP_HAL_FLYMAPLE: update documentation in FlymaplePortingNotes.txt
2014-02-17 05:56:37 +11:00
Mike McCauley
2c94a40310
AP_InertialSensor: AP_InertialSensor_Flymaple Remove unnecessary
...
comment
2014-02-17 05:56:37 +11:00
Mike McCauley
dd6abb49a9
AP_InertialSensor: AP_InertialSensor_Flymaple::healthy() was required after
...
all.
2014-02-17 05:56:37 +11:00
Mike McCauley
0a43cf8c5c
AP_InertialSensor: AP_InertialSensor_Flymaple removed redundant definition of
...
healthy().
2014-02-17 05:56:37 +11:00
Mike McCauley
f7279aa13f
AP_InertialSensor: AP_InertialSensor_Flymaple implement get_gyro_health
...
and get_accel_health.
2014-02-17 05:56:37 +11:00
Mike McCauley
4dc33c8de8
AP_HAL_FLYMAPLE: updated FlymaplePortingNotes.txt
2014-02-17 05:56:37 +11:00
Randy Mackay
d277b6cabd
AC_AttControl: fix @Units parameter descriptions
2014-02-16 22:36:59 +09:00
Paul Riseborough
7a82746fcc
AP_NavEKF : fixed bug in pos and vel reset when in static mode
2014-02-16 22:35:19 +11:00
Paul Riseborough
275ef86f86
AP_NavEKF : Position and Velocity reset bugfix
2014-02-16 21:05:37 +11:00
Paul Riseborough
b22dc706b2
AP_NavEKF : staticMode bugfix and robustness improvements
2014-02-16 21:04:55 +11:00
Paul Riseborough
2926602718
AP_NavEKF : Cleaned up InitialiseFilterDynamic
2014-02-16 21:04:51 +11:00
Paul Riseborough
404fbafe26
AP_NavEKF : Changed timout behaviour to only reset PosVel states
2014-02-16 21:04:46 +11:00
Andrew Tridgell
856dfd0ee6
AC_AttitudeControl: fixed example build
2014-02-16 18:43:15 +11:00
Andrew Tridgell
ee37bc3d27
AP_AHRS: ensure we have HAL_CPU_CLASS available
2014-02-16 17:57:09 +11:00
Randy Mackay
6af705d455
AC_Circle: bug fix for pos target when radius is zero
2014-02-16 13:46:38 +11:00
Randy Mackay
9130c88f15
AC_PosControl: throttle rate to simple P controller
2014-02-16 13:35:44 +11:00
Randy Mackay
a021d0ca31
AHRS: fix compiler warning
2014-02-16 13:35:37 +11:00
Randy Mackay
34b62fc078
AC_AttControlHeli: add ACCEL_RP_MAX, ACCEL_Y_MAX
2014-02-16 13:35:26 +11:00
lthall
b8d9bdb794
AC_AttControl: accel limit for roll, pitch yaw rates
2014-02-16 13:35:23 +11:00
Andrew Tridgell
189d635493
AP_Compass: constrain compass offsets to +/- 2000
...
this is prompted by a user log showing NaN compass offsets, resulting
in a crash. The patch ensures we never end up with NaN offsets, and
also constrains the offsets to a reasonable limit
2014-02-16 13:33:41 +11:00