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dcb252cc05
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6373 Commits

Author SHA1 Message Date
priseborough
dcb252cc05 AP_NavEKF : Fix bug in reset of position and velocity states 
If the inertial solution velocity or position needs to be reset to the GPS, the stored state history for the corresponding states should also be reset.
Otherwise the next GPS measurement will be compared to an invalid previous state and will be rejected.
The position state should be reset to a GPS position corrected for velocity and measurement latency. This will make a noticeable difference for high speed flight vehicles, eg 11m at 50m/s
 2014-12-06 18:16:43 +11:00
priseborough
cb4d5986e0 AP_OpticalFlow : Update PX4Flow interface 
Interface now uses the integral of flow and body rates
 2014-12-06 18:16:43 +11:00
priseborough
0d774d301d AP_OpticalFlow : Remove support for ADNS3080 sensor 
It is not compatible with the new interface and data fusion requirements
 2014-12-06 18:16:43 +11:00
Randy Mackay
4452aa8448 AP_AHRS_DCM: compile error fix for low speed CPUs 
Also correct initialisatoin order to remove compiler warning
 2014-12-05 19:43:05 +09:00
Jonathan Challinger
bfe71fea82 AC_PosControl: Use blended accelerometer measurement in altitude control 2014-12-05 19:40:10 +09:00
Jonathan Challinger
9261dfdefb AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions 2014-12-05 19:40:08 +09:00
Jonathan Challinger
4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
Jonathan Challinger
033ee3c900 AP_AHRS: Add get_accel_ef_blended function 2014-12-05 19:40:04 +09:00
Jonathan Challinger
7692761f34 AP_NavEKF: Added getAccelNED function 2014-12-05 19:40:01 +09:00
priseborough
874d0780aa AP_NavEKF: Reduce vulnerability to ground fixed magnetic interference 
Re-initialisation of the magnetic field states and yaw angle is now only performed a maximum of two times after start-up.

Once when coming out of static modefor the first time (first arm event)
Again (for copter only) when the altitude gain above the arming altitude exceeds 1.5m

this prevents magnetic interference present at arming (eg arming on a metal roof)from corrupting the magnetic field states enough to cause bad heading errors and toilet bowling on copter
 2014-12-05 14:33:04 +11:00
Andrew Tridgell
ede920f293 AP_Mission: ensure location options are zero at start of mavlink conversion 2014-12-03 18:29:43 +11:00
Andrew Tridgell
f98e283091 GCS_MAVLink: re-generate with updated upstream mavlink 2014-12-03 10:08:36 +11:00
Andrew Tridgell
940966f3e3 DataFlash: fixed example sketch build 2014-12-03 08:39:36 +11:00
Andrew Tridgell
86bf02d64c RC_Channel: update example sketch to copy input to output 2014-12-02 16:27:33 +11:00
Andrew Tridgell
5aabfd4dc4 AP_HAL: added RCInput example sketch 2014-12-02 15:49:50 +11:00
Andrew Tridgell
8e36c1cd60 AP_HAL: fixed RCOutput example 2014-12-02 15:03:59 +11:00
Andrew Tridgell
4ec6a74829 AP_HAL: addex UART_test example sketch 2014-12-02 13:14:03 +11:00
Andrew Tridgell
9e0a7e6631 AP_HAL: fixed printf example build 2014-12-02 13:14:03 +11:00
Andrew Tridgell
c5e4e8f035 SITL: fixed SITL for example sketches 
cope with no SITL object
 2014-12-02 13:14:03 +11:00
Randy Mackay
9e731550fd AHRS: default EKF on for copter 2014-12-01 17:29:39 +09:00
priseborough
053c5054f3 AP_TECS: Change default landing damp gain to 0.5 2014-11-29 20:03:49 +11:00
priseborough
0912f05e7c AP_TECS: Add parameter to adjust height rate gain during flare 2014-11-29 20:03:41 +11:00
priseborough
11aefa6858 AP_TECS: Fix bug in parameter label 2014-11-29 20:03:37 +11:00
priseborough
bd97f15d06 AP_TECS: make flare height demand consistent with height rate demand 2014-11-29 20:03:34 +11:00
Holger Steinhaus
ebed80cd2a AP_GPS: work-around for invalid time reported by PX4 GPS 2014-11-28 13:30:21 +01:00
Holger Steinhaus
df7c4baed9 AP_GPS: check lock type before accepting position and speed information 2014-11-28 13:26:51 +01:00
Andrew Tridgell
38c1b622f3 AP_AHRS: fixed example build on APM2 2014-11-28 17:59:18 +11:00
Andrew Tridgell
48abfcede7 AP_Scheduler: added example sketch 2014-11-28 12:59:47 +11:00
Andrew Tridgell
89cdae62b4 AP_AHRS: fixed example build 2014-11-28 10:40:52 +11:00
Andrew Tridgell
e45522f51d AP_Baro: fixed example build 2014-11-28 10:40:43 +11:00
Andrew Tridgell
a686494127 AP_Compass: fixed example build 2014-11-28 10:40:34 +11:00
Andrew Tridgell
908ad46e8e AP_GPS: fixed example build 2014-11-28 10:40:26 +11:00
Andrew Tridgell
7bb56e50aa AP_InertialSensor: fixed example build 2014-11-28 10:40:19 +11:00
Andrew Tridgell
0811f9c175 AP_Notify: fixed example build 2014-11-27 17:27:56 +11:00
John Williams
d0e467aea0 AP_HAL_Linux: Bypass manual CS assertion for SPI_CS_KERNEL mode 
Missed from initial patch series

Signed-off-by: John Williams <john@whelanwilliams.net>
 2014-11-27 15:57:12 +11:00
Andrew Tridgell
eb22815668 AP_TECS: fixed range values 2014-11-26 19:02:51 +11:00
Staroselskii Georgii
d40011acf3 AP_Notify: added abstract Led and RGBLed classes 2014-11-26 11:16:27 +11:00
Mikhail Avkhimenia
955753f3f0 HAL_Linux: Optimize bandwidth for RCOutput_Navio 
40% less bytes in I2C transactions for PCA9685.
 2014-11-26 11:14:44 +11:00
Mikhail Avkhimenia
50459bdca0 HAL_Linux: Enable external clk for RCOutput_Navio 
That should fix PWM value drifts.
 2014-11-26 11:14:44 +11:00
Andrew Tridgell
d0087c91e9 DataFlash: prevent build errors on non-PX4 targets 2014-11-26 11:14:44 +11:00
Andrew Tridgell
1d0122e6c2 DataFlash: log each ESC separately 
this saves log space for ESCs that are not initialised (eg. only 3rd
ESC on fixed wing) and is a bit easier to deal with as a user
 2014-11-26 11:14:44 +11:00
Holger Steinhaus
294d944cbd DataFlash: added logging of ESC feedback (currently only available with UAVCAN ESCs) 2014-11-26 11:14:44 +11:00
Andrew Tridgell
4132b53541 HAL_PX4: publish actuator values for UAVCAN ESCs 
this publishes scaled actuator values so that the uavcan module can
drive ESCs
 2014-11-26 11:14:44 +11:00
Andrew Tridgell
e89d380b73 AP_HAL: added set_esc_scaling() RCOutput function 
this will be used to scale outputs for uavcan ESCs based on throttle
range
 2014-11-26 11:14:44 +11:00
Andrew Tridgell
22cb1c8525 HAL_Linux: tidy up SPI debugging a bit 2014-11-26 10:16:39 +11:00
John Williams
0fe3959d7e AP_HAL_Linux: Add support for in-kernel SPI CS handling 
Add support for /dev/spidev<bus>.<cs> in-kernel SPI CS handling, and convert
existing SPI devices over.

 * Add a new member _subdev to the LinuxSPIDeviceDriver class, and initialiser
   in LinuxSPIDevice constructor.  Use subdev 0 for GPIO-managed CS
 * Extend the _cs_pin to signed 16 bits and define SPI_CS_KERNEL (-1) for
   kernel-managed CS
 * Move to per-device file descriptors (required for in-kernel CS)
 * Extend spidev filenames to include bus and subdevice numbers, possibly
   longer than 1 digit each
 * Allow support for platforms enumerating /dev/spidevNNN from non-zero bases
 * Convert existing users over to the new API

Signed-off-by: John Williams <john@whelanwilliams.net>
 2014-11-26 09:55:09 +11:00
Andrew Tridgell
38c5f25c70 AP_Math: fixed example build 2014-11-25 13:22:17 +11:00
Michael Day
b3e693daa4 AP_Mission: Support MAV_CMD_DO_FENCE_ENABLE as a mission item. 2014-11-25 13:02:47 +11:00
Michael Day
b36c1b2c3d AP_Mission: support for MAV_CMD_CONTINUE_AND_CHANGE_ALT 2014-11-25 10:43:15 +11:00
Michael Day
dca99a9643 GCS_MAVLink: code generation from XML for MAV_CMD_CONTINUE_AND_CHANGE_ALT. 2014-11-25 10:43:15 +11:00