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23,121 Commits 70 Branches 507 Tags 660 MiB
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23121 Commits

Author SHA1 Message Date
Lucas De Marchi ee62b61fc7 waf: use STDC format macros 2016-07-13 14:18:27 +10:00
Andrew Tridgell f3f34be9c4 SITL: added comment on heli interlock 2016-07-12 20:50:22 +10:00
Randy Mackay 8681911a0b Copter: small fix to precision land descent rate 2016-07-12 18:40:25 +09:00
Jonathan Challinger a4827aff53 Copter: slow down precision landing descent based on position error 2016-07-12 18:40:25 +09:00
Jonathan Challinger e22220ab62 Copter: refactor landing to reduce duplication, use vertical vel ff 2016-07-12 18:40:25 +09:00
Jonathan Challinger e311139a21 Copter: use terrain alt for precland if rangefinder is unavailable 2016-07-12 18:40:25 +09:00
Jonathan Challinger 0f4367744f Copter: update precland at 400hz, log at 25hz 2016-07-12 18:40:25 +09:00
Jonathan Challinger 630e5378da AC_PosControl: add get_horizontal_error 2016-07-12 18:40:25 +09:00
Jonathan Challinger 8fe0c1b05b AC_PrecLand: don't run if not enabled 2016-07-12 18:40:25 +09:00
Jonathan Challinger e84d1581ab AC_PrecLand: use new irlock interface, refactor backend interface 2016-07-12 18:40:25 +09:00
Jonathan Challinger 6254608c45 AP_IRLock: refactor interface 2016-07-12 18:40:25 +09:00
Jonathan Challinger d16e641709 PX4Firmware: include jshall's IRLock improvements 2016-07-12 18:40:25 +09:00
Andrew Tridgell 4f17093add SITL: give a bit more pitch on tail in XPlane heli 2016-07-12 19:08:50 +10:00
Andrew Tridgell fdd20830d6 SITL: use flaps for collective on helis in X-Plane 10 
works for more helis
 2016-07-12 19:08:50 +10:00
Randy Mackay 6e224158f1 AP_GPS_MAV: use GPS_INPUT_IGNORE_FLAGS 2016-07-12 15:44:46 +09:00
Randy Mackay e34aa0bc72 AP_GPS_MAV: minor formatting fixes 
No functional change
 2016-07-12 15:44:19 +09:00
Allan Matthew 1aaeceac2e Rover: support GPS_INPUT mavlink message 2016-07-12 15:35:23 +09:00
Allan Matthew c479fcab39 Plane: support GPS_INPUT mavlink message 2016-07-12 15:35:09 +09:00
Allan Matthew 860773260f Copter: support GPS_INPUT mavlink message 2016-07-12 15:34:51 +09:00
Allan Matthew 4249f7dbe6 AP_GPS: Add GPS_MAV type and accept GPS_INPUT message 2016-07-12 15:34:27 +09:00
Randy Mackay da71e7667f mavlink: submodule update to include GPS_INPUT 2016-07-12 15:11:24 +09:00
Tom Pittenger 84ce499a0d AP_Baro: remove zero-init in constructor 2016-07-11 22:11:34 -07:00
Tom Pittenger 1d81df8144 Revert "AP_Baro: coverity scan - variables not initialized in constructor" 
This reverts commit 8d2872d3ab.
 2016-07-11 22:02:41 -07:00
Tom Pittenger 7751bee3be Revert "Plane: coverity scan - variables not initialized in constructor" 
This reverts commit 9b807fa8a5.
 2016-07-11 22:02:30 -07:00
Tom Pittenger 9fb4a928e5 Revert "AP_Airspeed: coverity scan - variables not initialized in constructor" 
This reverts commit 93462d0fe3.
 2016-07-11 22:02:22 -07:00
Tom Pittenger fc02908c0d Revert "GCS_MAVLink: coverity scan - variables not initialized in constructor" 
This reverts commit bd8debdf8b.
 2016-07-11 22:01:50 -07:00
Tom Pittenger 773372d2f3 Revert "AP_TECS: coverity scan - variables not initialized in constructor" 
This reverts commit 753c0d47f0.
 2016-07-11 22:01:26 -07:00
Tom Pittenger c38c3ae7fe Revert "AP_TECS: coverity scan: init variable struct" 
This reverts commit 19713200e5.
 2016-07-11 22:01:02 -07:00
Tom Pittenger be752164f4 Revert "AP_L1_Control: coverity scan - variables not initialized in constructor" 
This reverts commit d558f32142.
 2016-07-11 21:59:12 -07:00
Andrew Tridgell 871219d199 SITL: support helicopters with X-Plane 10 
we get collective from "throttle2" and get interlock from generator1 on/off
 2016-07-12 14:40:08 +10:00
Andrew Tridgell e8976d3a89 Plane: check for optflow enable in more places 2016-07-12 09:05:52 +10:00
mirkix d018a32545 Plane: Only init optflow when enabled by parameter 2016-07-12 09:00:46 +10:00
priseborough 8793c75da0 AP_NavEKF2: clean up mag field learned logic 2016-07-11 00:44:33 +10:00
priseborough e6592186fc AP_NavEKF2: Tuning update 
Slow down magnetic field learning
 2016-07-10 08:21:18 +10:00
priseborough 10470b2dc1 AP_NavEKF2: fix bug in initialisation of declination co-variances 
Co-variances were being re-zeroed after being set. This meant that the initial declination learning was sensitive to measurement errors which could result in poor initial yaw accuracy.
 2016-07-10 08:21:18 +10:00
priseborough 6b04a81b8d AP_NavEKF2: Fix plane in-flight yaw reset bug 
Fixes bugs that prevented planes being able to reset yaw to GPS to recovery from takeoff with a bad magnetoemter.

1) If the velocity innovation check had not failed by the time the in-air transition occurred, then the yaw reset would not be performed
2) The velocity states were not being reset
3) The non fly-forward vehicle (copter) reset could occur first and effectively lock out the fly-forward vehicle (plane) yaw check.
 2016-07-10 08:21:18 +10:00
priseborough 51dbed2338 AP_NavEKF2: remember mag field states between flight on same power cycle 
Remember the mag bias and earth field states learned during flight when the vehicle  lands.
This improves performance for vehicles that do multiple flight on one power cycle
 2016-07-10 08:21:18 +10:00
priseborough 136df7cb5c AP_NavEKF2: reduce declination errors on start of 3-axis fusion 
Reset co-variances for NE field states.
 2016-07-10 08:21:18 +10:00
priseborough 744f19cd2d AP_NavEKF2: Improve scaling of output predictor I gain 
Provide consistent overshoot of 5% across a wider range of time constants and prevent selection of larger time constants causing 'ringing' in the position and velocity outputs.
 2016-07-09 15:57:36 +10:00
priseborough a49c16d63c AP_NavEKF2: Update output filter tuning 
Updated tuning to take advantage of corrected time delta dtEkfAvg
 2016-07-09 15:57:36 +10:00
priseborough 55dee347e0 AP_NavEKF2: Fix bug in averaged filter delta time 
Average EKF time delta was not being updated.
 2016-07-09 15:57:36 +10:00
priseborough cc7caa27bc DataFlash: Use a unique struct for EKF2 logging 2016-07-09 15:57:35 +10:00
priseborough 772c719df3 DataFlash: log tracking error for active instance of EKF2 2016-07-09 15:57:35 +10:00
priseborough 927186339c AP_NavEKF2: Improved output predictor tracking 
Implement a PI feedback controller for velocity and position state tracking
 2016-07-09 15:57:35 +10:00
priseborough 00b66ddc07 DataFlash: Log EKF2 output predictor tracking data 2016-07-09 15:57:35 +10:00
priseborough 253f744824 AP_NavEKF2: Collect output predictor tracking data 2016-07-09 15:57:35 +10:00
priseborough 14bb4f4574 AP_NavEKF2: Publish output observer tracking errors 2016-07-09 15:57:35 +10:00
priseborough fa435d0323 AP_NavEKF2: Allow for faster accel bias change in-flight 
Fixes a problem observed in a flight log where rapid temperature change caused the accel bias to change faster than the EKF could keep up.
This allows the bias to be learned faster but with acceptable level of noise in the estimate
 2016-07-09 15:57:35 +10:00
priseborough 191c34612d AP_NavEKF2: Fix bug in use of corrected IMU data 
IMU data was being corrected before being used by the co-variance prediction, whereas the delta angles and velocities in the derivation were supposed to be uncorrected.
This patch creates separate variable for the corrected data
 2016-07-09 15:57:35 +10:00
priseborough 118d5b88b2 AP_NavEKF2: Clean up output observer and reduce pos vel time constant 
Previous Time constant was too large leading to poor tracking of EKF states in the presence of bad quality IMU data.
 2016-07-09 15:57:35 +10:00