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8613 Commits

Author SHA1 Message Date
Randy Mackay ec2bc5e41d NavEKF: use maxf when retrieving vibration levels 
This reduces the performance hit that was caused by multiple calls to get_vibration_levels
 2015-08-19 16:44:36 +09:00
Randy Mackay 46c652e42f Math: maxf and minf functions 2015-08-19 16:44:34 +09:00
Randy Mackay 629a5fd714 NavEKF: IMUSwitchState enum 2015-08-19 16:44:31 +09:00
Randy Mackay c179ed5253 NavEKF: IMU ratio set to primary accel when neither IMU is used 
This forces the EKF IMU ratio to indicate which IMU is used except that it will be "0" in the unlikely case that the third IMU is used
 2015-08-19 16:44:28 +09:00
Paul Riseborough 559cc29635 AP_NavEKF: Add hysteresis to IMU switching logic 2015-08-19 16:44:26 +09:00
Paul Riseborough 12e884ba6b AP_NavEKF: Modify method used to check for vibration errors 
This method checks for consistency between accelerometer readings and switches to the unit with the lowest vibration of the difference exceeds 0.3g
The threshold of 1.7 m/s/s corresponds to a maximum tilt error of 10 deg assuming one IMU is good, one is bad and the EKF is using the bad IMU.
 2015-08-19 16:44:24 +09:00
Randy Mackay a7569e3a61 AHRS_NavEKF: integrate INS use_accel 2015-08-19 16:44:22 +09:00
Randy Mackay 7f46cc9059 AHRS_DCM: integrate INS use_accel 2015-08-19 16:44:19 +09:00
Randy Mackay 0b981d38e8 NavEKF: incorporate use_gyro and use_accel 2015-08-19 16:44:17 +09:00
Randy Mackay e5615ec349 INS: add USE parameters 2015-08-19 16:44:15 +09:00
Randy Mackay affbd67c43 InertialSensor: add vibration monitoring of 2nd IMU 2015-08-19 16:44:12 +09:00
Tom Pittenger 1dd8b9d363 GCS_MAVLink: add support for try send mission_item_reached 
also moved most of send_item_reached into common library
 2015-08-19 15:26:32 +10:00
Brad Bosch 3ad0188488 HAL_VRBrain: Rework of support for FLOW_CONTROL_AUTO from PX4 HAL 2015-08-19 15:21:19 +10:00
Brad Bosch 6e9756ff79 HAL_PX4: Rework support for FLOW_CONTROL_AUTO. 
Now instead of requiring the buffer to fill completely before we can
detect it is not draining, we use a time based mechanism to detect
when none of the first few bytes are transmitted after sitting in our
buffer a half second or more after flow control is enabled.  This
huristic is reliable only for the first several chracters because we
believe that the radio must still have plenty of room in it's own
buffers at that time even if it is not able to transmit them to the
other radio yet.  Note that the original algorithm made the same
assumption.

The new algorithm is especially helpful for cases where only keepalive
messages are transmitted before other packets can be requested by the
GCS.  In this situation, the original code required almost 2 minutes
to disable flow control and allow communication with the GCS.
 2015-08-19 15:21:10 +10:00
Brad Bosch c87a7c7df9 GCS_MAVLink: Pause to allow serial port to drain. 
This avoids a race between the UART and the auto flow control code.
 2015-08-19 15:20:58 +10:00
Lucas De Marchi fa060a6124 AP_Param: add missing header StorageManager.h 2015-08-18 17:19:14 +10:00
Lucas De Marchi 29740ccb8a AP_HAL_AVR: standardize inclusion of libaries headers 
It was not only standardized, but actually fixed since ".." would not
move to the libraries/ directory (and hence the include location was
actually wrong).
 2015-08-18 17:12:52 +10:00
Lucas De Marchi 42fadb1845 GCS_MAVLink: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi 327a3a4298 DataFlash: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi d446381623 AP_HAL_Notify: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi 2011c4d988 AP_HAL_Mount: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi 2c44f3e313 AP_HAL_InertialSensor: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi c007720fb7 AP_HAL_InertialNav: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi c47df44f44 AP_HAL_VRBRAIN: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi ffa37e6de2 AP_HAL_SITL: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Lucas De Marchi 83cfaf4a59 AP_HAL_PX4: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Lucas De Marchi dabfeff440 AP_HAL_Linux: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Lucas De Marchi ca17b6155e AP_HAL: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Lucas De Marchi 55beb6bc0f AP_GPS: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Lucas De Marchi 7e997564bf AP_Compass: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Lucas De Marchi b43bddc0af AP_AHRS: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
Andrew Tridgell 85ab1c3444 SITL: added ignition control for gas heli 2015-08-18 13:07:19 +10:00
squilter 5cd78e722e GCS_MAVLink: version update after generate 2015-08-17 17:15:48 +09:00
squilter a77329e855 GCS_MAVLink: generate after flight_termination change 2015-08-17 17:15:45 +09:00
squilter 91479aa39f GCS_MAVLink: rename flighttermination capability enum 2015-08-17 17:15:42 +09:00
Andrew Tridgell e73ac418df HAL_PX4: prevent error on GPIO line on change of pinMode 
thanks to Michael for noticing this
 2015-08-17 12:02:03 +10:00
Andrew Tridgell dc455a5fd6 AP_InertialSensor: setup for MPU9250 support on PX4 2015-08-17 09:33:15 +10:00
Andrew Tridgell c2e68eaf79 SITL: tidy up frame handling a bit 2015-08-13 18:44:35 +10:00
Fredrik Hedberg e2027a8414 SITL: Add HELI_DUAL_FRAME and HELI_COMPOUND_FRAME. 2015-08-13 18:23:30 +10:00
Michael du Breuil 4f9fbc5aa7 AP_GPS: Fix a bound error when calculating GNSS minimum channels. 
This is really just calculating the hamming weight of the GNSS_MODE bitmask, but I don't know if the APM compiler could handle the GCC intrinsic that could calculate it faster, and this is done so rarely there isn't a significant penalty to using the for loop.
 2015-08-13 15:15:20 +10:00
Randy Mackay 8b17d32994 NavEKF: check baro health before consuming 2015-08-12 16:32:48 -07:00
Andrew Tridgell fdb104b5b6 AP_RPM: fixed build error 2015-08-12 20:50:09 +10:00
Andrew Tridgell 129f33c26d AP_RPM: define a minimum acceptable period for PWM input 
this will reject very short periods as invalid. This helps somewhat
with noise on the line
 2015-08-12 15:03:51 +10:00
Andrew Tridgell ab7e400a89 DataFlash: added RPM logging 2015-08-12 15:03:50 +10:00
Andrew Tridgell 0fdeb276e3 GCS_MAVLink: regenerate headers 2015-08-12 15:03:50 +10:00
Andrew Tridgell 8f1e1a1b4a GCS_MAVLink: added RPM MAVLink message 2015-08-12 15:03:49 +10:00
Andrew Tridgell 39c219d452 AP_RPM: first version of RPM sensor driver 2015-08-12 15:03:49 +10:00
squilter 64a013071a GCS_MAVLink: update common.h enum 2015-08-11 17:17:44 +10:00
squilter 4cdc87fa62 Common: add 21196 for emergency disarm 2015-08-11 17:17:43 +10:00
squilter acb33cacac Common: add two new capabilities 2015-08-11 17:17:43 +10:00