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13711 Commits

Author SHA1 Message Date
Andrew Tridgell eec5cd5add AP_AHRS: restore DCM attitude before update() 
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
 2014-10-15 11:15:33 +11:00
Andrew Tridgell 63c06ea2af AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 10:12:50 +11:00
Andrew Tridgell 6e0e56a6ef Replay: fixed loading of users parameters and parameter override 
use compass.set_offsets() to avoid trying to write to storage
 2014-10-15 09:17:22 +11:00
Andrew Tridgell b437977547 AP_Compass: added set_offsets() interface 
this will be used by Replay to prevent the need for saving parameters
 2014-10-15 09:16:31 +11:00
Randy Mackay 6690aff305 AC_Motors: param description addition 2014-10-14 12:43:22 +09:00
Randy Mackay d09faa0015 BattMon: minor param description additions 2014-10-14 12:42:57 +09:00
Randy Mackay 45e0e48e54 BattMon: minor param description update 2014-10-14 12:42:45 +09:00
Randy Mackay 3a81732721 Baro: minor param description updates 2014-10-14 12:42:27 +09:00
Randy Mackay 57229345e0 Copter: minor param description updates 2014-10-14 12:42:14 +09:00
Randy Mackay 6a225865ce Copter: accept velocity requests in Auto-Guided mode 2014-10-14 11:27:34 +09:00
Randy Mackay c636ea9101 Copter: support SET_POSITION_TARGET messages 2014-10-13 21:55:17 +09:00
Randy Mackay 992ce9b69c Copter: remove nav_guided structure 
This has been replaced by guided_limit structure
 2014-10-13 21:40:26 +09:00
Randy Mackay 6659473420 Copter: support GUIDED_ENABLE and GUIDED_LIMITS 
Split of NAV_GUIDED into these two command necessitated guided mode
store the limits
 2014-10-13 21:40:24 +09:00
Randy Mackay be1621877f Mission: support GUIDED_ENABLE and GUIDED_LIMITS 
This replaces the ardupilot only NAV_GUIDED command.
Also remove support for NAV_VELOCITY mission command which will be
replaced by SET_POSITION_TARGET non-mission command.
 2014-10-13 21:40:23 +09:00
Randy Mackay e5c3c306bd Copter: remove unused pilot_yaw_override flag 2014-10-13 21:40:21 +09:00
Randy Mackay 8997c224e2 Copter: enable Guided velocity controller for Pixhawk 2014-10-13 21:40:20 +09:00
Andrew Tridgell 3c7cc5f40c AP_RangeFinder: auto-update PX4 ll40ls max/min distance 
this allows the range of the Lidar to be set by the user using
RNGFND_MAX_CM and RNGFND_MIN_CM
 2014-10-13 19:07:38 +11:00
Andrew Tridgell b688577825 autotest: update compiler 2014-10-13 16:07:32 +11:00
Andrew Tridgell 4c984d9331 Plane: start preparing for 3.1.2 2014-10-13 10:25:53 +11:00
jschall c5e85956b1 Update CONTRIBUTING.md 2014-10-12 00:11:30 -07:00
jschall c3b695a336 Update CONTRIBUTING.md 2014-10-11 23:46:42 -07:00
Jonathan Challinger dd38ad6bbf Copter: Start logging on arming attempt, rather than on successful arm 2014-10-11 17:32:27 +09:00
Randy Mackay 67a38be7ce Tracker: update version to 0.2 2014-10-11 17:11:07 +09:00
Randy Mackay 32d8e5c8d4 Tracker: only run servo updates when safety is off 
Largely removes the sudden jerk that occurs when the user pushes the
safety switch
 2014-10-11 17:06:29 +09:00
Randy Mackay 9d4107f1fc Copter: allow arming in GUIDED only from GCS 
Also changed mode_allows_arming function to accept arming_from_gcs param
Also remove AUTOTUNE from arming list
 2014-10-11 16:05:32 +09:00
Jonathan Challinger 2b0cffda29 Copter: move all arm check logic into arm_checks 2014-10-11 15:34:12 +09:00
Jonathan Challinger cc56a972d0 Copter: add mode_allows_arming function 2014-10-11 15:34:10 +09:00
Jonathan Challinger 3e1bffe9ab Copter: auto-disarm if land complete regardless of mode 2014-10-11 15:32:29 +09:00
Jonathan Challinger d0d26b6878 Copter: use ap.throttle_zero instead of rc_3.control_in in auto_disarm_check 2014-10-11 15:30:57 +09:00
Jonathan Challinger a04ec79efa Copter: add land_complete to fence disarm check 2014-10-11 15:29:41 +09:00
Jonathan Challinger 450f988a21 Copter: remove DRIFT and SPORT from manual_flight_mode function 2014-10-11 15:27:45 +09:00
Michael Oborne e8303475e8 AntennaTracker: fix documentation 2014-10-11 15:25:06 +09:00
Jonathan Challinger 4a397a8d67 AC_PosControl: Protect from divide-by-zero in get_stopping_point_xy 2014-10-10 21:17:12 +09:00
Randy Mackay 5f55944e43 Copter: AC3.2-rc12 release notes 2014-10-10 14:53:25 +09:00
Randy Mackay d7cd745cf4 Copter: auto-trim start delays auto-disarm by 15sec 
Fixes issue in which user only had 5 seconds after starting auto-trim to
raise the throttle before the auto-disarm would kick-in.
 2014-10-09 22:43:44 +09:00
Randy Mackay 023b2c0d6b AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled 2014-10-09 16:43:24 +09:00
Andrew Tridgell 7b02d326f6 AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled 
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-10-09 18:30:20 +11:00
Andrew Tridgell 39fadad7d6 HAL_Linux: fixed build warnings 2014-10-09 16:49:23 +11:00
Andrew Tridgell b3894e8b10 HAL_VRBRAIN: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Andrew Tridgell 10b0ca7ea8 HAL_PX4: reduce the number of times we split up UART reads and writes 2014-10-09 12:29:25 +11:00
Andrew Tridgell c834589daa HAL_Linux: reduce the number of times we split up UART reads 2014-10-09 12:29:25 +11:00
Andrew Tridgell 076bb1294e HAL_Linux: improved UDP packetisation and add flow control reporting 
report we have flow control on UDP and TCP
 2014-10-09 12:29:25 +11:00
Randy Mackay 08f8fdfabd Rover: report gyro unhealthy if failed calibration 2014-10-09 10:00:19 +09:00
Randy Mackay 6d8e760582 Plane: report gyro unhealthy if failed calibration 2014-10-09 10:00:17 +09:00
Randy Mackay a8733ae8a8 Copter: support pre-flight calibration of gyro 2014-10-09 10:00:15 +09:00
Randy Mackay 9a0a83f404 Copter: report gyro unhealthy if failed calibration 2014-10-09 10:00:12 +09:00
Randy Mackay 128058362b Copter: pre-arm check that gyro cal succeeded 2014-10-09 10:00:09 +09:00
Randy Mackay 834f2bea07 INS: add gyro_calibrated_ok_all method 
This returns true if the gyros have been calibrated successfully
 2014-10-09 10:00:07 +09:00
Andrew Tridgell 70ca87c4e6 AP_RangeFinder: handle all I2C rangefinder types on PX4 in PX4Firmware 2014-10-09 11:06:16 +11:00
Andrew Tridgell 49fa887773 Rover: prepare 2.47beta1 2014-10-09 09:20:11 +11:00