Paul Riseborough
1858da8307
AP_NavEKF2: Better switching in response to faults
...
Make selection sticky
If fault detected or unhealthy, then switch to healthy core with lowest fault score.
If no healthy core found, do not switch.
2015-11-08 15:37:27 +11:00
Paul Riseborough
5f6d1d8d25
AP_NavEKF2: Add fault score calculation
2015-11-08 15:37:27 +11:00
Paul Riseborough
4884b2d38a
DataFlash: Log the primary EKF2 index
2015-11-08 15:37:27 +11:00
Paul Riseborough
b24507d33c
AP_NavEKF2: Publish the primary EKF index
2015-11-08 15:37:27 +11:00
Paul Riseborough
04165a60a7
AP_NavEKF2: Reduce false positive on EKF health check
...
Apply filtering to baro innovation check and and don't apply innovation checks once aiding has commenced because GPS and baro disturbances on the ground and during launch could generate a false positive
2015-11-08 15:37:27 +11:00
Paul Riseborough
49f9ea317c
AP_NavEKF: Update console message and param descriptions for multiple EKF's
2015-11-08 15:37:26 +11:00
Paul Riseborough
2340e18fdc
AP_NavEKF2: Offset the fusion time horizon between multiple instances
...
Prevents frame over-runs due to simultaneous fusion of measurements on each instance.
The offset is only applied if less than 5msec available between frames
2015-11-08 15:37:26 +11:00
Paul Riseborough
3eeff8dbc6
AP_NavEKF2: Remove unused code
...
This method of correcting for the fusion time horizon delay was too computationally expensive for our application and did not smooth fusion noise.
2015-11-08 15:37:26 +11:00
Paul Riseborough
d48454ee2d
AP_NavEKF2: Use nominated IMU unless unavailable
...
We now run a separate instance of the EKF for each IMU, so input data fusion of IMU's is no longer required.
2015-11-08 15:37:26 +11:00
Siddharth Bharat Purohit
392fce76b2
AP_NavEKF: define getGpsGlitchStatus function
2015-11-08 12:55:58 +09:00
Andrew Tridgell
c823d64073
PX4: removed unused mixer files
...
reduce size of ROMFS
2015-11-07 16:37:51 +11:00
Jonathan Challinger
05e533e6fc
Copter: don't accept disarm commands in stabilize and acro unless also landed
2015-11-07 11:07:14 +09:00
Andrew Tridgell
2ffabe9e05
AP_BoardConfig: fixed PX4v1 build
2015-11-06 17:10:08 +11:00
Andrew Tridgell
d52279af27
AP_NavEKF2: don't try to allocate last bytes of memory to EKF2
2015-11-06 10:42:58 +11:00
Andrew Tridgell
ee78e2d618
AP_NavEKF2: set primary to first healthy core
2015-11-06 10:42:58 +11:00
Andrew Tridgell
2ab2afc86a
AP_NavEKF2: added EK2_IMU_MASK for multiple IMUs
...
no voting between multiple IMUs yet
2015-11-06 10:42:58 +11:00
Andrew Tridgell
56909ce973
AP_NavEKF: split EKF1 into frontend and backend
...
this allows the primary EKF to be allocated dynamically, allowing for
experiments with EKF2 with multi-IMU support
2015-11-06 10:42:57 +11:00
Andrew Tridgell
98ef21bc69
PX4: don't auto-start uavcan, use BRD_CAN_ENABLE instead
2015-11-06 10:23:54 +11:00
Andrew Tridgell
c334bd0ddf
AP_BoardConfig: added BRD_CAN_ENABLE option
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this allows uavcan to be enabled/disabled at boot. When it is disabled
we save about 25k of memory, allowing for more options for things like
multiple EKF
2015-11-06 10:23:37 +11:00
Lucas De Marchi
e9c6702269
AP_HAL_VRBRAIN: fix typo using comma operator
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We want to return mallinfo().fordblks, not the struct using the comma
operator with a non-existing fordblks variable.
2015-11-05 15:48:32 -02:00
Lucas De Marchi
0d95a9c41d
AP_OpticalFlow: reduce lock region
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Release the lock as soon as we can.
2015-11-05 16:12:03 +09:00
Lucas De Marchi
70edf31ca6
AP_OpticalFlow: make error path common
2015-11-05 16:12:00 +09:00
Lucas De Marchi
7b726d824d
AP_OpticalFlow: remove num_errors increment due to busy bus
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num_errors should be used to detect bad bus transfers, not if we
actually read something. Since we are using i2c_sem->take_nonblocking()
failing here is more likely if the bus is shared.
2015-11-05 16:11:58 +09:00
Lucas De Marchi
41ddb67712
AP_OpticalFlow: pack struct passed to I2C layer
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We pass "sizeof(i2c_integral_frame)" to hal.i2c->readRegisters(). Since
we have a padding in i2c_integral_frame we actually read 3 bytes more
than we should. Add PACKED to the struct so this is fixed.
i2c_frame doesn't have a padding (or hole) so there isn't this problem,
but since it's also used to calculate the frame size, use PACKED there
too.
2015-11-05 16:11:56 +09:00
Andrew Tridgell
6bad33c922
scripts: use px4-clean for all binaries targets
2015-11-05 16:38:48 +11:00
Andrew Tridgell
49799257ea
GCS_MAVLink: handle available memory of over 64k in mavlink
2015-11-05 16:09:00 +11:00
Andrew Tridgell
883ac59e4a
HAL_Linux: always report 256k of available memory
2015-11-05 16:09:00 +11:00
Andrew Tridgell
567ea0e420
HAL_VRBRAIN: make available_memory() uint32_t
2015-11-05 16:09:00 +11:00
Andrew Tridgell
81e34006a5
HAL_SITL: make available_memory() uint32_t
2015-11-05 16:09:00 +11:00
Andrew Tridgell
ac1c0bba15
HAL_PX4: make available_memory() uint32_t
2015-11-05 16:09:00 +11:00
Andrew Tridgell
8a4c0593f2
AP_HAL: make available_memory() uint32_t
2015-11-05 16:09:00 +11:00
Andrew Tridgell
a3ca732403
AP_Airspeed: show health status in examples
2015-11-05 16:09:00 +11:00
lvale
e7efaa45c5
Tracker: text message severity uniformization
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Continuing the uniformization, now for AntennaTracker
2015-11-05 12:33:59 +09:00
lvale
a64689600f
Rover: text message severity uniformization
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Global revision of message severity values.
Required also change to the low priority function gcs_send_text_fmt()
on GCS_Mavlink.cpp to disable the automatic setting of priority on
messages sent by this function
2015-11-05 12:33:56 +09:00
lvale
549695181c
Copter: revised and uniformization of severity messages
2015-11-05 12:20:49 +09:00
Randy Mackay
420b1ca715
Copter: minor comment and order change to takeoff
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No functional change
2015-11-04 20:49:25 +09:00
Jonathan Challinger
082c1f77fb
Copter: soften takeoff
2015-11-04 20:49:22 +09:00
Andrew Tridgell
75d2aed6e1
HAL_SITL: added help for uart command line checks
2015-11-04 14:26:55 +11:00
Andrew Tridgell
ad9d50a457
autotest: changed -A to be used for arbitrary command line options
2015-11-04 14:24:01 +11:00
Víctor Mayoral Vilches
d5d1bfae8c
AP_HAL_Linux: Adapt code to common RPI layer
2015-11-04 13:58:25 +11:00
Víctor Mayoral Vilches
b1a53c383c
AP_HAL_Linux: Add AnalogIn_ADS1115, common code
...
This commit provides a single abstraction for both
Erle-Brain 2 and Navio boards.
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
47d43c64ef
AP_HAL_Linux: Add RCInput_RPI, merge common code
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
112df0a0a6
mk: Add Erle-Brain 2 support
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
4a2fe12652
AP_Notify: Add support for Erle-Brain 2
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
b54b8aa8af
AP_HAL_Linux: AP_BoardLED add support for Erle-Brain 2
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
30faf7e92a
AP_InertialSensor: Add Erle-Brain 2 support
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
739fc0df35
AP_HAL_Linux: UtilRPI, add Erle-Brain 2
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
30153b6eac
AP_HAL_Linux: Scheduler, add Erle-Brain 2
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
8ae8f47538
AP_HAL_Linux: SPIDriver, add Erle-Brain 2
2015-11-04 13:58:24 +11:00
Víctor Mayoral Vilches
68c92eab25
AP_HAL_Linux: GPIO, add Erle-Brain 2
2015-11-04 13:58:24 +11:00