Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
11,453 Commits 71 Branches 511 Tags 786 MiB
d24547b390
Commit Graph

4957 Commits

Author SHA1 Message Date
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
Andrew Tridgell
6618bdae67 DataFlash: periodically use lseek to avoid NuttX seek bug 2014-02-16 13:21:35 +11:00
Andrew Tridgell
9bb8f73d56 Compass: split compass learning out to its own C++ file 2014-02-16 13:21:06 +11:00
Andrew Tridgell
24e1070eb2 AP_NavEKF: initialise quaternion from rotation matrix 2014-02-15 12:21:11 +11:00
Andrew Tridgell
2df314799e AP_Math: added tests for quaternion to/from rotation matrix 2014-02-15 12:20:51 +11:00
Andrew Tridgell
689f230d40 AP_Math: added quaternion.from_rotation_matrix() 2014-02-15 12:20:31 +11:00
Andrew Tridgell
c6b24c521b AP_NavEKF: force healthy false when initialising 
this prevents us feeding off our own values when booting

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-02-15 09:25:40 +11:00
Andrew Tridgell
be33a9634e AP_AHRS: move using_EKF to .cpp to make it easier in gdb 2014-02-15 09:25:40 +11:00
Andrew Tridgell
eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Andrew Tridgell
4d3f714a5d AP_Notify: fixed example build 2014-02-15 06:40:39 +11:00
Andrew Tridgell
830afefcef AP_HAL: fixed example build 2014-02-15 06:40:29 +11:00
Andrew Tridgell
3af38a778d AP_Baro: fixed example build 2014-02-15 06:40:15 +11:00
Andrew Tridgell
8201f9c928 AP_NavEKF: don't build example 2014-02-15 06:40:06 +11:00
Andrew Tridgell
c1dff6aa65 AP_Math: fixed example build 2014-02-15 06:39:43 +11:00
Andrew Tridgell
f9d0747750 AP_InertialSensor: fixed example build 2014-02-15 06:39:35 +11:00
Randy Mackay
5bdc564191 AP_AHRS: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
c18b3f6094 AP_Airspeed: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
bb715424ee Baro: fix BMP085 example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
d761ddd4af AP_Motors: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
ae59bef6d1 AC_INav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
42d9225fbe HAL_AVR: ArduCopterLibs to use AC_P library 2014-02-15 06:09:08 +11:00
Randy Mackay
bf3effcd10 AC_WPNav: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
889ee1bfef AC_Sprayer: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
4484a4232a AC_Fence: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
c35bd84e21 AC_AttControl: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay
451910fc94 AC_AttControlHeli: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay
ff9f4fe6e7 AC_AttControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay
94fb9c4274 AC_PosControl: replace APM_PI with AC_P 2014-02-15 06:09:08 +11:00
Randy Mackay
fbf8106280 AC_Circle: remove AC_PID include 
This is no longer required with introduction of PosControl lib
 2014-02-15 06:09:08 +11:00
Randy Mackay
e86a21a254 AC_WPNav: remove AC_PID include 
This is no longer required with introduction of PosControl lib
 2014-02-15 06:09:08 +11:00
Randy Mackay
8fae75ee87 AC_PID: add AC_P controller 
Used for stabilize angle controllers, alt hold and loiter
 2014-02-15 06:09:08 +11:00
Randy Mackay
fbc5af2705 AC_PID: results returned as float 2014-02-15 06:09:08 +11:00
Randy Mackay
a6ad51b38f AC_AttControl: rename most methods 2014-02-15 06:09:08 +11:00
lthall
65c2fc0cc6 AC_AttControl: ACRO fixes 2014-02-15 06:09:08 +11:00
Andrew Tridgell
0bbe038587 GCS_MAVLink: re-generate MAVLink headers 2014-02-15 05:48:24 +11:00
Andrew Tridgell
801ceacaf2 AP_AHRS: re-run update_trig() after EKF AHRS update 2014-02-15 05:48:24 +11:00
Andrew Tridgell
a88212eb7a AP_InertialNav: fixed EKF version for new AHRS API 2014-02-15 05:48:24 +11:00
Andrew Tridgell
a7a44a9a5c AP_NavEKF: fixed init order warning 2014-02-15 05:48:24 +11:00
Andrew Tridgell
9b8311580b AP_TECS: update for AHRS API change 2014-02-15 05:48:24 +11:00
Andrew Tridgell
25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF 
this avoids some linking issues, plus the functions are inaccurate
without EKF
 2014-02-15 05:48:24 +11:00
Andrew Tridgell
6964529124 AP_Baro: _calculate can be private 2014-02-15 05:48:24 +11:00
Andrew Tridgell
c62ccce9d8 AP_AHRS: make estimate_wind() public 
this avoids it linking into copter
 2014-02-15 05:48:24 +11:00
Paul Riseborough
b56c8211c9 AP_NavEKF: Reduced number of Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough
c20fac1269 AP_NavEKF: Updated comments for private functions 2014-02-15 05:48:23 +11:00
Paul Riseborough
deb64c4cbd AP_NavEKF: Pos Vel reset after long GPS timeout 2014-02-15 05:48:23 +11:00
Paul Riseborough
7ac0172db1 AP_NavEKF: removed repeated intialisation 2014-02-15 05:48:23 +11:00
Paul Riseborough
28fb5e364b AP_NavEKF: Fixed bug in pos/vel/hgt reset on timout 2014-02-15 05:48:23 +11:00
Paul Riseborough
f74cce8b4e AP_NavEKF : Removed double to float conversions 2014-02-15 05:48:23 +11:00
Paul Riseborough
80f6dba694 AP_NavEKF: Improved control of fusion update intervals 2014-02-15 05:48:23 +11:00
Paul Riseborough
13b9daeff5 AP_NavEKF: Added constraints to Mavlink tuneable parameters 2014-02-15 05:48:23 +11:00
Paul Riseborough
b123e1bb16 AP_NavEKF: Improved in-air reset behaviour 2014-02-15 05:48:22 +11:00
Paul Riseborough
1651980b9f AP_NavEKF: Improved behaviour following loss and regaining of GPS 2014-02-15 05:48:22 +11:00
Paul Riseborough
14eb63e7c9 AP_NavEKF: Made most tuning parameters Mavlink adustable 2014-02-15 05:48:22 +11:00
Andrew Tridgell
f800f5592d AP_NavEKF: fixup parameter handling 2014-02-15 05:48:22 +11:00
Andrew Tridgell
f09ae0c2d0 AP_AHRS: expose get_NavEKF as non-const 
better than having two methods
 2014-02-15 05:48:22 +11:00
Paul Riseborough
f0f76920fa AP_NavEKF : Mavlink tunable parameter - first attempt 2014-02-15 05:48:22 +11:00
Paul Riseborough
128f71157d AP_NavEKF: Fixed bug in pre GPS fix updates 2014-02-15 05:48:22 +11:00
Paul Riseborough
08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +11:00
Paul Riseborough
357743ee2d AP_NavEKF: Adjusted tuning parameters for plane use 2014-02-15 05:48:22 +11:00
Paul Riseborough
b4171853b1 AP_NavEKF: allow initialisation before GPS lock to aid indoor testing 2014-02-15 05:48:21 +11:00
Paul Riseborough
7fb60812c2 AP_NavEKF: Added pitch and roll inertial sensor to body trim adjustment 2014-02-15 05:48:21 +11:00
Paul Riseborough
9d375da550 AP_NavEKF: changed sqrt to sqrtf 2014-02-15 05:48:21 +11:00
Paul Riseborough
1f0b4b02d0 AP_NavEKF: fixed merge error that inverted static mode 2014-02-15 05:48:21 +11:00
Paul Riseborough
17e24521e8 DataFlash : Added logging of NavEKF innovations and variances 2014-02-15 05:48:21 +11:00
Paul Riseborough
9bbddb2f66 AP_TECS : Use NavEKF height and height rate data if available 2014-02-15 05:48:21 +11:00
Paul Riseborough
0599817aa9 AP_AHRS : EKF initialisation changed to use bootstrap method 2014-02-15 05:48:21 +11:00
Paul Riseborough
401e3aee43 AP_NavEKF : Changes to test harness to support accel bias states 2014-02-15 05:48:21 +11:00
Paul Riseborough
5219869389 AP_NavEKF : Added Z accel bias state and bootstrap initialisation method 2014-02-15 05:48:21 +11:00
Randy Mackay
301a04b74a AP_NavEKF: update params for copter 2014-02-15 05:48:21 +11:00
Randy Mackay
f068d0ff7e AP_AHRS_NavEKF: expose non-const EKF for tuning 2014-02-15 05:48:20 +11:00
Randy Mackay
7c73020015 AP_NavEKF: make params public so they can be tuned 2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0 AP_AHRS_NavEKF: override set_correct_centrifugal 2014-02-15 05:48:20 +11:00
Randy Mackay
8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 2014-02-15 05:48:20 +11:00
Paul Riseborough
a87df0ad56 AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual 2014-02-15 05:48:20 +11:00
Paul Riseborough
5c3dea28dc AP_NavEKF : Enable staticMode to be set externally 2014-02-15 05:48:20 +11:00
Andrew Tridgell
3617c65af7 AP_InertialSensor: make HIL treat time like PX4 does 2014-02-15 05:48:20 +11:00
Andrew Tridgell
77c4968342 AP_NavEKF: enable plotting in plot2.dat too 2014-02-15 05:48:20 +11:00
Andrew Tridgell
ab2a5a0672 AP_NavEKF: enable some debug 2014-02-15 05:48:20 +11:00
Paul Riseborough
0d4d287215 AP_NavEKF: comment and parameter tweaks for ground testing 2014-02-15 05:48:20 +11:00
Paul Riseborough
b6b0c2a489 AP_NavEKF: fixed bug in flag reset for hgt fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough
2f3b2a7111 AP_NavEKF: second attempt at higher rate baro fusion 2014-02-15 05:48:19 +11:00
Paul Riseborough
cdbc5a3f35 AP_NavEKF: added position observations to static mode 2014-02-15 05:48:19 +11:00
Paul Riseborough
da2c341914 Revert "AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed" 
This reverts commit d1e1be192a0e7ab0771edc9f2c03547da25697cf.
 2014-02-15 05:48:19 +11:00
Paul Riseborough
32cc427ff4 AP_NavEKF: Modifed Vel Pos fusion to fuse height data whenever baro reading has changed 2014-02-15 05:48:19 +11:00
Paul Riseborough
2998aa1a6a AP_NavEKF: Amended tuning parameter list, and changed from variance to noise definitions 2014-02-15 05:48:19 +11:00
Paul Riseborough
f9aae1b90b AP_NavEKF: fixed bug in variance constraint code 2014-02-15 05:48:19 +11:00
Paul Riseborough
735c9684da AP_NavEKF: removed error in constructor comments 2014-02-15 05:48:19 +11:00
Paul Riseborough
8f999fe787 AP_NavEKF: Misc tuning adjustments for Plane testing 2014-02-15 05:48:19 +11:00
Paul Riseborough
c87a5aaf34 AP_NavEKF: added PositionReset public function to fix pre-arm loss of solution 2014-02-15 05:48:19 +11:00
Paul Riseborough
fec4fd463c AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler 2014-02-15 05:48:19 +11:00
Paul Riseborough
619fffec3e AP_NavEKF: added static mode for pre-arm and bench testing 2014-02-15 05:48:18 +11:00
Paul Riseborough
ab08a5c7d6 AP_AHRS : altered NavEKF set home to reset position instead of reset filter 2014-02-15 05:48:18 +11:00
Paul Riseborough
d0831c708d AP_NavEKF : Added position and height reset public method 2014-02-15 05:48:18 +11:00
Andrew Tridgell
1b1f9e41ab AP_NavEKF: improved playback initialisation 2014-02-15 05:48:18 +11:00
Andrew Tridgell
d9ef45234b AP_NavEKF: useful plotting function 2014-02-15 05:48:18 +11:00
Andrew Tridgell
0816642436 AP_NavEKF: handle intertial nav 2014-02-15 05:48:18 +11:00
Andrew Tridgell
77c6e3206a AP_NavEKF: some debug code 2014-02-15 05:48:18 +11:00
Andrew Tridgell
2cd781997f AP_Baro: changed HIL driver to use floats and better handle starup 2014-02-15 05:48:18 +11:00
Andrew Tridgell
c995f994c5 AP_InertialNav: make some functions protected 2014-02-15 05:48:18 +11:00
Andrew Tridgell
c33da7b3a2 AP_NavEKF: fixed log playback for copter 2014-02-15 05:48:18 +11:00
Andrew Tridgell
78ff078988 HAL_Linux: fixed stopped clock delay 2014-02-15 05:48:18 +11:00