Randy Mackay
76a28a962c
BattMon: remove #defines for monitor type
2014-12-31 15:22:47 +09:00
Randy Mackay
f077ecd338
BattMon_PX4: class to read from PX4Firmware via orb
2014-12-31 15:22:46 +09:00
Randy Mackay
3f35dc54fe
BattMon_I2C: smart battery class for APM
2014-12-31 15:22:45 +09:00
Randy Mackay
314db1403d
BattMon_SMBus: smart battery monitor driver
2014-12-31 15:22:45 +09:00
Randy Mackay
4d7df9ed26
BattMon_Analog: move analog features to new class
2014-12-31 15:22:44 +09:00
Randy Mackay
39dbf05c8f
BattMon_Backend: create backend class
2014-12-31 15:22:43 +09:00
Randy Mackay
eec66d8451
BattMon: parent class becomes frontend class
2014-12-31 15:22:42 +09:00
Randy Mackay
9be53502df
Plane: remove logging dependecy on optflow
2014-12-31 15:22:41 +09:00
Randy Mackay
d46ceac1f8
Git: ignore autotest.lck and index.html
2014-12-31 14:05:14 +09:00
Randy Mackay
c36253b9b2
AC_PosControl: add comments
...
No functional change
2014-12-31 14:03:22 +09:00
Jonathan Challinger
6eab698e85
AC_WPNav: remove various timing hacks
2014-12-31 14:03:20 +09:00
Jonathan Challinger
557d339cf1
AC_PosControl: remove various unnecessary timing hacks
2014-12-31 14:03:18 +09:00
Jonathan Challinger
5438d38df5
AC_WPNav: provide reset_I to init_xy_controller
2014-12-31 14:03:16 +09:00
Jonathan Challinger
d6e455417f
AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller
2014-12-31 14:03:13 +09:00
Randy Mackay
8960766900
Rover: remove logging dependency on optflow
2014-12-31 13:16:18 +09:00
Randy Mackay
2e7435df52
Copter: remove unused OF_LOITER pid defines
2014-12-31 13:16:18 +09:00
Randy Mackay
3e34e7ed7e
Copter: remove logging dependency on optflow
2014-12-31 13:16:17 +09:00
priseborough
b016bae445
AP_NavEKF: Clean up reset of constant velocity mode
...
Move velocity store out of optical flow to velocity and position fusion control as it is a velocity fusion function.
Always clear the previous mode status
2014-12-31 13:16:16 +09:00
priseborough
3d207c316a
AP_NavEKF: Change names for position and velocity hold modes
...
Name change done to avoid confusion with flight modes. modes are now referred to as constant position and constant velocity mode.
2014-12-31 13:16:15 +09:00
priseborough
b650ee51a9
AP_NavEKF: Consolidate arming checks
2014-12-31 13:16:15 +09:00
priseborough
48cae0df15
AP_NavEKF: Fall back to attitude and hgt estimation for copter if GPS lost
2014-12-31 13:16:14 +09:00
priseborough
b21f9daa90
AP_NavEKF: Update solution status reporting
...
This patch makes the reporting of an absolute position solution less abbiguaous and ensures that relative position is always true if absolute position is true
2014-12-31 13:16:13 +09:00
priseborough
ee75f26edb
Rover: Don't log EKF optical flow data if not required
2014-12-31 13:16:12 +09:00
priseborough
695f12bec0
Copter: Don't log EKF optical flow data if not required
2014-12-31 13:16:12 +09:00
priseborough
195cdb6fd6
Plane: Don't log EKF optical flow data if not required
2014-12-31 13:16:11 +09:00
priseborough
9c8406998b
Replay: Don't log EKF optical flow data if not required
2014-12-31 13:16:10 +09:00
priseborough
b99b3c7b9d
DataFlash: Don't log EKF optical flow data if not required
2014-12-31 13:16:09 +09:00
priseborough
b6d300db19
AP_NavEKF: clean up determination of GPS availability
2014-12-31 13:14:22 +09:00
priseborough
40b02fc19a
AP_NavEKF: Ensure filter doesn't try to use GPS after initialisation
2014-12-31 13:14:20 +09:00
priseborough
bab1a69f1c
AP_NavEKF: make position and velocity resets consistent with GPS usage
2014-12-31 13:14:18 +09:00
priseborough
0dc2356175
AP_NavEKF: Ensure initialisation methods read required sensor data
2014-12-31 13:14:16 +09:00
priseborough
5d1de79f08
AP_NavEKF: Modify initial values to make startup behaviour more consistent
2014-12-31 13:14:14 +09:00
priseborough
a63af34d8f
AP_NavEKF: Allow 10 seconds for the filter to settle after initialisation
...
Filter is declared unhealthy and will not arm for first 10 seconds after initialisation
2014-12-31 13:14:12 +09:00
priseborough
0a5de21dc7
AP_NavEKF: Fix bug in reporting of solution status
...
Because synthetic position measurements at 0,0 are fused during position hold mode, a position timeout cannot be used as the only means of detecting position solution status.
2014-12-31 13:14:09 +09:00
priseborough
92c3026072
AP_NavEKF: Link process noise to arm status, not pos hold mode
2014-12-31 13:14:07 +09:00
priseborough
a535b73a6d
AP_NavEKF: Initialise timeout status to true
...
This status will be cleared when data arrives and is fused successfully
2014-12-31 13:14:04 +09:00
priseborough
363c1e393d
AP_NavEKF: Latch use of position hold mode for duration of flight
...
Required to prevent acquisition of GPS mid flight causing unwanted change in position and velocity
A distinction has been mad between the arm and disarm transition and the decision to use position hold mode (formerly static mode)
2014-12-31 13:14:02 +09:00
priseborough
a0a6c0362f
AP_NavEKF: Relax timeout check applied to optical flow data
...
200 msec was too short and could lead to false positives. 5000 msec is the largest time we can go free inertial.
2014-12-31 13:14:00 +09:00
priseborough
5bd4ee9715
AP_NavEKF: Use compensation for baro delay in position hold mode
2014-12-31 13:13:58 +09:00
priseborough
4dc1ee2d66
AP_NavEKF: Rename static mode to avoid confusion with other non-GPS modes
...
This renames static mode as posHoldMode to make it clearer what this and the other non-GPS modes do
2014-12-31 13:13:54 +09:00
priseborough
b160f4c03b
AP_NavEKF: Compensate optical flow fusion for GPS glitch recovery offset
2014-12-31 13:13:52 +09:00
priseborough
e4c969084d
AP_NavEKF: Improve behaviour recovering from a GPS timeout
...
When regaining GPS after a timeout, an offset is applied when fusing GPS velocity so that GPS velocity and position data as fused by the EKF is kinematically consistent.
This velocity offset is also accounted for when fusing air data so that wind estimates are not corrupted when the GPS position offset is being pulle back to zero.
The intended behaviour is that the EKF position will be pulled back to the GPS position at a rate of 5m/s for planes and 1 m/s for copters. This avoids large deviations in trajectory when GPS is regained.
2014-12-31 13:13:50 +09:00
priseborough
6eb533121c
AP_NavEKF: Add static mode to solution status message
2014-12-31 13:13:48 +09:00
priseborough
5c3a56a087
AP_NavEKF: Fix error in comments
2014-12-31 13:13:46 +09:00
priseborough
3891dada78
AP_NavEKF: remove unnecessary function
2014-12-31 13:13:44 +09:00
priseborough
a16253796f
AP_NavEKF: Fix bug preventing the non-GPS mode being selected externally
...
When on the ground it is likely the flow sensor will be returning data that does not meet the minimum quality requirements selected.
The previous check was for the presence of valid data. This has been loosened to look for the presence of data.
When the vehicle becomes airborne, the quality of flow data normally improves as the image comes into focus.
2014-12-31 13:13:42 +09:00
priseborough
a42100e4c5
AP_NavEKF: Improved handling of no GPS
...
This patch enables indoor operation of the EKF by putting it into static mode if optical flow operation is not enabled and no GPS is available
2014-12-31 13:13:40 +09:00
priseborough
73a06cd0c1
AP_NavEKF: Fix bug causing magnetic field state learning to be forgotten
2014-12-31 13:13:37 +09:00
priseborough
bf89c56e54
AP_NavEKF: Fix comments error in description of flow sensor sign conventions
2014-12-31 13:13:35 +09:00
priseborough
685fa383e4
DataFlash: Log EKF solution status message
...
This message is a bitmasked integer that will be used by control software to determine what data is available from the EKF and decide what control modes are available.
Duplicate static mode message removed. Static mode is now contained in the bitmasked solution status message
2014-12-31 13:13:33 +09:00
