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5052 Commits

Author SHA1 Message Date
Andrew Tridgell cc212be41e AP_Mission: added get_next_ground_course_cd() API 
this gives the ground course of the next navigation leg, which can be
used to calculate the amount of steering required
 2014-04-07 09:29:54 +10:00
Andrew Tridgell e566802bf3 AP_Math: fixed example build 2014-04-07 07:37:34 +10:00
Andrew Tridgell 6f55dc1686 APM_OBC: update for AP_Mission and AP_GPS changes 2014-04-07 07:28:21 +10:00
Andrew Tridgell 43ebd86bb1 AP_GPS: disable SBP driver on APM2 
the driver uses double precision floating point, which can't work on
8bit AVR with gcc
 2014-04-05 21:47:46 +11:00
Andrew Tridgell 5a585b90e8 AP_GPS: fixed some warnings in SBP driver 2014-04-05 14:18:01 +11:00
Niels Joubert 33576dfdd9 AP_GPS: Swift Binary Protocol SINGLE-POINT-POSITIONING Driver 
This is the SBP driver for Piksi, Lodestar and other forthcoming Swift Navigation GPSes.
This driver currently implements three things:
- Implements a lightweight SBP protocol detection system
- Implements Piksi as a single-point-positioning GPS (same as ublox/others)
- Implements hardware logging of GPS health and baseline messages

Forthcoming iin future updates:
- Need to implement the RTK functionality
 2014-04-05 13:42:23 +11:00
Niels Joubert e32b73f075 AP_HAL_AVR_SITL: Adding Swift Binary Protocol stand-alone simulator 2014-04-05 13:42:23 +11:00
Niels Joubert 00064ac883 SITL: Adding GPS types for Swift Binary Protocol 2014-04-05 13:42:23 +11:00
Niels Joubert 879eb5936b AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices 2014-04-05 13:42:23 +11:00
Niels Joubert 161b5f99b3 SITL: Adding Swift Binary Protocol GPS type 2014-04-05 13:42:23 +11:00
Niels Joubert 552f33b39e AP_GPS: Support fix types of DGPS and RTK 2014-04-05 13:42:23 +11:00
Niels Joubert 64d4a1236f AP_Notify: Support all GPS status flags, with status >= GPS_OK_FIX_3D notified as having a lock 2014-04-05 13:42:23 +11:00
Andrew Tridgell 67ed5b73ef AP_GPS: added lock_port() interface 
used by SERIAL_CONTROL message
 2014-04-05 07:34:33 +11:00
Andrew Tridgell b8675b9abc GCS_MAVLink: implement SERIAL_CONTROL MAVLink message 2014-04-05 07:34:33 +11:00
Andrew Tridgell 493c5dd63f GCS_MAVLink: rebuild MAVLink headers 2014-04-04 21:57:22 +11:00
Andrew Tridgell 14b3696959 GCS_MAVLink: added SERIAL_CONTROL message definition 
will be used for on-board radio and GPS firmware update and control
over USB
 2014-04-04 21:57:22 +11:00
Andrew Tridgell 07d621c4be AP_NavEKF: used state structure in more places 
makes the code a bit easier to read

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-04-04 21:30:16 +11:00
priseborough aa5335b16e AP_NavEKF : Improved GPS position glitch handling 
When using GPS after previously rejecting it, the GPS position will
always be offset if outside the specified glitch radius. This was the
original intent of the design and makes handling of glitches smoother.

It has been tested on replay using glitchy flight data
 2014-04-04 21:01:22 +11:00
priseborough b1786cf1e5 AP_NavEKF : Do not reset on GPS velocity timeout if good position data 2014-04-04 21:01:20 +11:00
priseborough d25883f712 AP_NavEKF : Limit rate of Z accel bias adaptation 
Aliasing can causes the bias estimate to fluctuate very rapidly as it tries
to keep up, which degrades the benefit of switching between
accelerometers to avoid aliasing.

This patch give a much more stable bias estimate during aliasing, and
allows the bias to adapt at a maximum rate of 1.0 m/s2 in 50 seconds
 2014-04-04 21:01:18 +11:00
priseborough 36b3cbc365 AP_NavEKF : Relax aliasing check limits 
This reduces the chance of noisy data inhibiting GPS glitch protection
 2014-04-04 21:01:15 +11:00
priseborough 0ae736c3a0 AP_NavEKF : clean up convoluted logic used in sensor health checks 
This doesn't change the behavior, but does make the code easier to
understand
 2014-04-04 21:01:13 +11:00
Andrew Tridgell 013aaf4d3e GCS_MAVLink: moved comms functions to not be inline 
saves a bit of flash space
 2014-04-04 13:19:15 +11:00
Andrew Tridgell d9d038345a AP_GPS: save 800 bytes of code space on APM2 
we can assume a single GPS
 2014-04-04 10:08:28 +11:00
Andrew Tridgell 9f857529ca AP_GPS: auto-switch primary GPS based on status and number of satellites 2014-04-04 08:32:34 +11:00
Andrew Tridgell 11f196318e RC_Channel: added static functions to simplify operations on all channels 
this avoids vehicle code having to loop over all channels for common
operations
 2014-04-03 12:18:56 +11:00
Andrew Tridgell 21c205a57e AP_GPS: cope with different MON-HW message size in u-Blox Neo7 2014-04-03 10:55:05 +11:00
Andrew Tridgell cd3038fabd AP_NavEKF: fixed return of offset in getVariances() 2014-04-03 07:49:06 +11:00
Andrew Tridgell dcb42af3e9 AP_BattMonitor: fixed example build 2014-04-03 07:49:06 +11:00
Craig Elder 3a92d75936 Ublox: Enable 1Hz Lock LED by default 2014-04-01 20:57:18 -07:00
Andrew Tridgell 067bbf5b5c DataFlash: hdop is unsigned 2014-04-02 07:55:28 +11:00
Andrew Tridgell e40a048009 AP_GPS: handle multiple GPS in GPS setHIL() 2014-04-02 07:55:28 +11:00
Andrew Tridgell 79f5618f6f AP_GPS: zero state structure on driver release 
this ensures no values are left from the previous driver
 2014-04-02 07:55:28 +11:00
Randy Mackay 2ddc414f4d InertialNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:53 +09:00
Randy Mackay 90e205c905 AC_PosControl: replace safe_sqrt with pythagorous2 2014-04-01 20:43:51 +09:00
Randy Mackay 15da01cf3a AC_WPNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:45 +09:00
Andrew Tridgell b8e4e35a0d AP_Airspeed: use pythagorous3() 2014-04-01 22:15:12 +11:00
Andrew Tridgell a7f213a5c5 AP_NavEKF: use pythagorous2() 2014-04-01 22:13:03 +11:00
Andrew Tridgell 9ab1a79b5a AP_Airspeed: changed sqrt() to sqrtf() 2014-04-01 22:09:21 +11:00
priseborough 09c5ba1aed Dataflash : Improved logging of EKF sensor health checks 
This changes the definition sof the messages in the EKF4 message to make it more useful
The values shown now relate directly to how much margin there is before a measurement
is rejected, enabling better tuning of error trap parameters
 2014-04-01 21:27:07 +11:00
priseborough 04036d7777 AP_NavEKF : Updated GPS glitch protection logic 
This adds new functionality to the detection and compensation of GPS
glitches:

1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
 2014-04-01 21:22:14 +11:00
Andrew Tridgell 7e2ef0cfc0 AP_GPS: fixed GPS for Replay 2014-04-01 17:25:15 +11:00
Andrew Tridgell 9278685cdf AP_Math: fixed location build on SITL 2014-04-01 14:20:10 +11:00
Andrew Tridgell 77e2f48581 AP_GPS: fixed notify updates for new API 2014-04-01 06:38:25 +11:00
Andrew Tridgell 9781175bf5 AP_GPS: fixed handling of driver destruction 
this allows for more complex destructors, and ensures we don't have
multiple backends allocated at once per instance
 2014-04-01 06:38:25 +11:00
Andrew Tridgell 7ceba8dce4 AP_GPS: prevent double allocation of GPS drivers 2014-04-01 06:38:25 +11:00
Andrew Tridgell 8779ffe088 AP_GPS: flush pending config strings when uBlox starts 2014-04-01 06:38:25 +11:00
Andrew Tridgell 0191355488 AP_GPS: fixed init strings to all be in progmem 
and sent async ...
 2014-04-01 06:38:25 +11:00
Andrew Tridgell bc0c9ad6d5 AP_InertialNav: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell 35c111a63a AP_AHRS: fixed example build 2014-04-01 06:38:25 +11:00