Paul Riseborough
ed9c05cf2a
AP_NavEKF: Remove logic used to delay fusion for load levelling
...
Logic used to delay optical flow and airspeed fusion to prevent it occurring on the same time step as magnetometer fusion has been removed. This is no longer required to efficiency improvements made at the firmware level.
2015-04-03 15:15:07 -07:00
Paul Riseborough
c0d23ffc30
AP_NavEKF: Filter accuracy and stability improvements
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Improvements in PX4 firmware have reduced the computational load and mkae the previous practicwe of splitting magnetometer and optical flow fusion across multiple time steps unnecessary and make it possible to perform a covariance prediction prior to fusing data on the same time step. This patch:
1) Ensures that a covariance prediction is always performed prior to fusion of any observation
2) Removes the splitting of magnetometer fusion so that fusion of the X,Y and Z components occurs on the same time time step
3) Removes the splitting of optical flow fusion so that fusion of X and Y components occurs on the same time step
2015-04-03 15:15:07 -07:00
Jonathan Challinger
de1f7f5e63
AP_NavEKF: use published delta velocities and delta angles if available
2015-04-03 15:15:07 -07:00
priseborough
3421a320b5
AP_NavEKF: Compensate for ground effect when takeoff or landing expected
2015-04-03 15:15:07 -07:00
Jonathan Challinger
20d92f5f9d
AP_NavEKF: floor GPS velocity noise at parameter value for conservatism
2015-04-03 15:15:07 -07:00
priseborough
9a797a5d49
AP_NavEKF: Use GPS reported speed accuracy if available
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UBlox receivers report an estimate of the speed accuracy that tests show correlates well to speed glitches. Using this to scale the GPS velocity observation noise will reduce the effect of bad GPS velocity data.
2015-04-03 15:15:06 -07:00
Andrew Tridgell
45e016ea5b
AP_InertialSensor: check for zero delta_velocity dt
2015-04-03 15:10:47 -07:00
Jonathan Challinger
b306d7a356
AP_InertialSensor: accel cal sample for 400ms instead of 1s
2015-04-03 14:54:19 -07:00
Jonathan Challinger
1e1d8efa22
AP_InertialSensor: use expected update rate for accel cal sampling
2015-04-03 14:54:17 -07:00
Jonathan Challinger
bd84328440
AP_InertialSensor: hack to "reset" the accel filter before taking a cal sample
2015-04-03 14:54:15 -07:00
Jonathan Challinger
b2b42e081a
AP_InertialSensor: use delta_velocity/dt for calibration if available
2015-04-03 14:54:10 -07:00
Jonathan Challinger
423160eaf8
AP_InertialSensor: publish delta_velocity_dt
2015-04-03 14:54:06 -07:00
Andrew Tridgell
4147825b87
AP_InertialSensor: fixed gyro calibration bug
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we must not update _gyro_offset[] until we have completed calibration
of that gyro, or we will end up using the new offsets when asking for
the raw gyro vector
2015-04-03 06:57:30 -07:00
Andrew Tridgell
2aa73c427b
PX4: enable temperature compensation in hmc5883 driver
2015-04-02 14:35:52 -07:00
Andrew Tridgell
728dbf24db
AP_Math: fixed vector inequality test
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many thanks to cat888
fixes issue #2039
2015-04-01 20:40:37 -07:00
Randy Mackay
912a5d80b1
Tracker: fix serial manager integration
2015-04-01 15:13:41 -07:00
Randy Mackay
8f49c96b1a
Rover: fix serial manager integration
2015-04-01 15:13:31 -07:00
Randy Mackay
7e4dd9666c
Plane: fix serial manager integration
2015-04-01 15:13:20 -07:00
Randy Mackay
a32220636a
Tracker: integrate Serial Manager instance
2015-04-01 14:59:30 -07:00
Randy Mackay
ff1d6dea61
APMRover: integrate Serial Manager instance
2015-04-01 14:59:28 -07:00
Randy Mackay
ab749f884f
Plane: integrate Serial Manager instance
2015-04-01 14:59:26 -07:00
Randy Mackay
24f24a7db7
Copter: integrate Serial Manager instance
2015-04-01 14:59:25 -07:00
Randy Mackay
d738eda59d
GCS_MAVLink: integrate Serial Manager instance
2015-04-01 14:59:23 -07:00
Randy Mackay
1ed7737669
Mount: integrate Serial Manager instance
2015-04-01 14:59:21 -07:00
Randy Mackay
cbcd32d698
GPS: integrate Serial Manager instance
2015-04-01 14:59:20 -07:00
Randy Mackay
c148330c2b
FrSkyTelem: integrate Serial Manager instance
2015-04-01 14:59:18 -07:00
Randy Mackay
aef16160dc
SerialManager: consolidate MAVLink1 and 2
2015-04-01 14:59:17 -07:00
Andrew Tridgell
a0028e3faf
autotest: fixed SITL without ROS installed
2015-04-01 12:28:41 -07:00
Randy Mackay
ca92821445
Filter: LowPassFilter gets another div-by-zero check
2015-04-01 10:34:28 -07:00
Jonathan Challinger
57f8a4d29d
Filter: add get_cutoff_frequency
2015-04-01 10:15:07 -07:00
Jonathan Challinger
1828515b3b
AP_Motors: bug fix to _batt_voltage_filt
2015-04-01 10:15:06 -07:00
Jonathan Challinger
89cdd02f58
AP_Motors: remove duplicate get_throttle function
2015-04-01 10:15:05 -07:00
Jonathan Challinger
0e53c0a892
AP_Motors: make output_armed() and output_disarmed() pure virtual
2015-04-01 10:14:38 -07:00
Andrew Tridgell
70855027f3
autotest: added Iris ROS simulator support
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use -f IrisRos
2015-04-01 09:14:03 -07:00
Andrew Tridgell
f82f0da2b3
autotest: support sims that do their own time control
2015-04-01 09:12:11 -07:00
Andrew Tridgell
5947160fd7
autotest: removed delta_time from update_position()
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not available in some backends, and not needed
2015-04-01 09:11:25 -07:00
Andrew Tridgell
5acc4c333b
AP_Arming: accept accel/gyro if OK in last 10 seconds
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this should prevent short periods of movement from triggering arming
status change alarms
2015-03-31 15:37:24 -07:00
Andrew Tridgell
6a33588f67
Plane: make LOG_BITMASK logging when disarmed clearer
2015-03-31 14:38:09 -07:00
Randy Mackay
e1900f646f
Copter: remove PREARM_MAX_VELOCITY definition
2015-03-30 18:08:34 -07:00
Jonathan Challinger
ffc445098b
Copter: remove velocity pre-arm check
2015-03-30 16:44:50 -07:00
Randy Mackay
3f3e622be5
AC_PID: fix example sketch
2015-03-30 16:07:56 -07:00
Andrew Tridgell
ea10877113
Replay: fix handling of old IMU messages
2015-03-28 10:52:37 -07:00
Andrew Tridgell
8ba043e593
AP_AHRS: fixed EKF startup bug
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This fixes the EKF for when GPS lock takes more than 10 seconds
fixes issue #2010
2015-03-28 10:52:22 -07:00
Andrew Tridgell
3289d38339
AP_NavEKF: make the init functions return bool
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we need to know if it has initialised successfully
2015-03-28 10:51:38 -07:00
Andrew Tridgell
cf15b4d4fc
autotest: removed use of --nowait option
2015-03-27 18:03:24 -07:00
Andrew Tridgell
7cd7ff89fd
HAL_PX4: recover 12k of ram from USB buffers
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faster NuttX means we don't need such larger buffers
2015-03-27 15:08:52 -07:00
Andrew Tridgell
16f09a6eae
autotest: added -S parameter for simulation speedup
2015-03-27 13:52:59 -07:00
Leonard Hall
cfe12f38a5
Copter: Adjust Autotune backoff of accel
2015-03-27 06:24:53 -07:00
Randy Mackay
765b8ded02
Copter: ekf check triggers if position bad
2015-03-27 00:04:41 -07:00
Randy Mackay
74b98b89d0
Copter: remove dcm check
2015-03-27 00:04:37 -07:00
