Andrew Tridgell
168f4e52cf
autotest: try to fix build of binaries
2016-05-28 07:29:23 +10:00
Andrew Tridgell
20cf326093
Plane: lower throttle threshold for quadplane is_flying
2016-05-28 07:10:13 +10:00
Paul Riseborough
a94a19bd09
AP_NavEKF2: Fix bug causing continual yaw resets
2016-05-28 06:52:11 +10:00
Tom Pittenger
57d6ccc0dd
AP_HAL_PX4: skip the 100ms delay on first px4io safety_state async attempt
2016-05-27 11:30:50 -07:00
Tom Pittenger
e3930b45df
Plane: force the safety_state immediately because we want it to be in effect while we make mixer changes
2016-05-27 21:34:40 +10:00
Tom Pittenger
4785650c95
Plane: remove redundant calls to safety_state
2016-05-27 21:34:40 +10:00
Tom Pittenger
d3ac1dc161
AP_HAL: defer calls to safety_state switch to queue an async attempt.
...
- this allows for auto-retries if the state does not set correctly
2016-05-27 21:34:40 +10:00
Tom Pittenger
67aaf7e226
AP_HAL_PX4: defer calls to safety_state switch to queue an async attempt.
...
- this allows for auto-retries if the state does not set correctly
2016-05-27 21:34:40 +10:00
Andrew Tridgell
97e2203e70
AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core
...
this reduces the risk that mag fusion errors will badly affect
attitude estimation.
2016-05-27 21:27:06 +10:00
Andrew Tridgell
084a37d4fa
autotest: enable LOG_REPLAY and LOG_DISARMED in autotest
...
this will give us the ability to analyse any EKF errors
2016-05-27 21:23:39 +10:00
Peter Barker
480e142cfb
autotest.py: remove TARGET no longer required
2016-05-27 08:07:07 -03:00
Peter Barker
3548f90d3a
autotest: create SIL object to hold valgrind logpath
2016-05-27 08:07:07 -03:00
Peter Barker
ced07906ad
Tools: correct valgrind run in autotest.py
2016-05-27 08:07:07 -03:00
Peter Barker
7b86a05722
Tools: convert autotest build.X and fly.X to use waf build system
2016-05-27 08:07:07 -03:00
Andrew Tridgell
9933069679
Plane: fixed motor test by percentage in quadplane
2016-05-27 11:53:20 +10:00
Andrew Tridgell
d17e3b17bf
AP_AHRS: special handling for flying fixed wing with no compass
...
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
2016-05-27 10:18:53 +10:00
Paul Riseborough
de15928921
AP_NavEKF2: prevent potential arithmetic error in declination fusion
2016-05-27 09:00:41 +10:00
Paul Riseborough
722eb0d706
AP_NavEKF2: Fix bug for start of wind speed estimation
...
The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
2016-05-27 09:00:41 +10:00
Paul Riseborough
ac329ec31c
AP_NavEKF2: use observation noise to set initial magnetic field variances
2016-05-27 09:00:41 +10:00
Paul Riseborough
830751c0ae
AP_NavEKF2: remove un-wanted functionality from mag and yaw reset
...
The function used to reset magnetic field states and yaw angle should not be used when there is no magnetometer. If it is incorrectly called without a magnetometer it should not change the attitude or field states.
2016-05-27 09:00:41 +10:00
Paul Riseborough
11c6ea7ef6
AP_NavEKF2: attitude co-variance reset for all post alignment yaw resets
...
Whenever the yaw angle is changed, the correlation with other state errors will be incorrect and the terms should be zeroed.
2016-05-27 09:00:41 +10:00
Paul Riseborough
cdd09df9ac
AP_NavEKF: Add function to zero attitude state co-variances
...
When changing the vehicle yaw angle, the correlation between the attitude errors and errors in other states is invalid so the corresponding co-variance terms need to be zeroed.
This needs to be done in more than one place.
2016-05-27 09:00:41 +10:00
Paul Riseborough
6d34ac5ceb
AP_NavEKF2: improve switch-over to use of mag field states
...
Set initial variances to measurement uncertainties
Always perform a field and yaw reset
2016-05-27 09:00:40 +10:00
Paul Riseborough
fe9ddfdfeb
AP_NavEKF2: remove code that prevents attitude updates after mag reset
...
This code assumes a vehicle is close to level and will not work for all vehicle types. It will be replaced by a different method.
2016-05-27 09:00:40 +10:00
Paul Riseborough
fe85c68344
AP_NavEKF2: move yaw reset for no compass case
...
Should not be in a function that performs reset on magnetic field states
2016-05-27 09:00:40 +10:00
Paul Riseborough
da0622827d
AP_NavEKF: update tuning defaults
...
Increase speed of scale factor learning
2016-05-27 09:00:40 +10:00
Andrew Tridgell
4c66e14563
SITL: fixed air resistance bug for heli, balloon and singlecopter
2016-05-26 20:38:20 +10:00
Randy Mackay
d26a9d4a22
SITL: fix compiler warning by defaulting frame_type
2016-05-26 17:03:28 +09:00
Andrew Tridgell
b76a993f7e
autotest: support coaxcopter
2016-05-26 17:09:31 +10:00
Andrew Tridgell
969b6ebea9
HAL_SITL: support coaxcopter in SITL
2016-05-26 17:09:22 +10:00
Andrew Tridgell
a2ed8fb313
AP_Motors: prevent negative thrust
...
this prevents a sqrt of a negative number
2016-05-26 17:09:11 +10:00
Andrew Tridgell
9f33ece3ef
SITL: support coax copter
2016-05-26 17:08:27 +10:00
Andrew Tridgell
6855899cbf
AP_Motors: fixed servo constructor for coax
2016-05-26 16:41:16 +10:00
Andrew Tridgell
4e5e301c4e
AP_Motors: fixed servo constructor for heli
2016-05-26 16:41:06 +10:00
Andrew Tridgell
ba3703303a
autotest: added SingleCopter
2016-05-26 16:37:58 +10:00
Andrew Tridgell
a80e233836
HAL_SITL: added SingleCopter
2016-05-26 16:30:39 +10:00
Andrew Tridgell
8944d298ed
SITL: added SingleCopter simulator
2016-05-26 16:30:39 +10:00
Andrew Tridgell
f9fb098222
AP_Motors: fixed channel output for SingleCopter
2016-05-26 16:26:43 +10:00
Andrew Tridgell
163783fefd
AP_HAL: define CH_NONE
...
for servos not connected to a channel
2016-05-26 16:26:30 +10:00
Andrew Tridgell
53fc095d4c
Copter: fixed motor test build on heli
...
pwm percent makes no sense
2016-05-26 15:05:52 +10:00
Andrew Tridgell
c605f09859
Copter: fixed motor test with percentage
...
use motors min/max pwm, not throttle channel range
2016-05-26 14:34:27 +10:00
Andrew Tridgell
65eb9ceb32
AP_Motors: expose min/max pwm
2016-05-26 14:33:57 +10:00
Andrew Tridgell
3ad0190693
PX4Firmware: submodule update
2016-05-26 14:27:29 +10:00
Andrew Tridgell
dda35a366c
HAL_PX4: prevent rate changes once oneshot is setup
...
this fixes a problem with small motor outputs at the start of a motor
test.
Thanks to Luis for reporting this.
2016-05-26 12:18:49 +10:00
Andrew Tridgell
a44b0e0011
AP_Motors: don't setup oneshot for a zero output mask
2016-05-26 12:18:49 +10:00
Francisco Ferreira
ec0a80b6f4
ci: increase ccache size
...
make based builds require more space
insert exception for sitltest
2016-05-25 22:14:47 -03:00
Andrew Tridgell
1e44251d35
Replay: include a minimal set of FMT messages at start of log
2016-05-26 10:10:27 +10:00
Andrew Tridgell
366d95f45e
Replay: fixed FMT messages in replay output
2016-05-26 09:40:21 +10:00
Gustavo Jose de Sousa
8e9752c3d3
waf: px4: setup build summary
...
- Pass the correct nodes as the binaries for the programs task generators.
- Print extra information specific to PX4 build.
2016-05-25 17:47:00 -03:00
Gustavo Jose de Sousa
d65a7897e4
waf: px4: keep ELF files around
...
Including px4io. We need them for the build summary. Also, that makes it easier
to use gdb on them.
2016-05-25 17:47:00 -03:00