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7048 Commits

Author SHA1 Message Date
Paul Riseborough
5f24603ceb AP_NavEKF: Publish small EKF quaternion and gyro bias outputs 2015-02-03 09:49:16 +11:00
Paul Riseborough
17445d03f0 AP_Math: Add quaternion division 2015-02-03 09:49:16 +11:00
Andrew Tridgell
79017096e2 AP_Mount: prototype code to send biases 2015-02-03 09:49:16 +11:00
Andrew Tridgell
da27a8696d AP_Mount: added initial ekf estimation of gimbal bias 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
ee9c778834 AP_AHRS: added a get_NavEKF_const() function 
needed for AP_Mount_MAVLink

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
4c8b663200 AP_NavEKF: added initial version of SmallEKF 
This will be used for gimbal bias estimations. 

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
1bbe633691 GCS_MAVLink: re-generate headers 2015-02-03 09:49:15 +11:00
Andrew Tridgell
b81cdf9250 GCS_MAVLink: change to delta_time in GIMBAL_REPORT 2015-02-03 09:49:15 +11:00
Andrew Tridgell
01b264951a AP_Mount: added handling of GIMBAL_REPORT messages 2015-02-03 09:49:15 +11:00
Andrew Tridgell
35c14c787e GCS_MAVLink: added handle_gimbal_report() function 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-02-03 09:49:15 +11:00
Andrew Tridgell
a1536d575b GCS_MAVLink: added GIMBAL msgs to routing 2015-02-03 09:49:14 +11:00
Andrew Tridgell
01325b701a GCS_MAVLink: re-generate headers 2015-02-03 09:49:14 +11:00
Andrew Tridgell
3b2332a0c7 GCS_MAVLink: added target_system/component to GIMBAL_REPORT 2015-02-03 09:49:14 +11:00
Andrew Tridgell
51ce4d3217 GCS_MAVLink: re-generate 2015-02-03 09:49:14 +11:00
Andrew Tridgell
df735e2ddb GCS_MAVLink: change euler312 order conventions 2015-02-03 09:49:13 +11:00
Andrew Tridgell
53adcc9a25 GCS_MAVLink: regenerate MAVLink headers 2015-02-03 09:49:13 +11:00
Andrew Tridgell
73670edda6 GCS_MAVLink: added GIMBAL messages, mavlink ID and type 2015-02-03 09:49:13 +11:00
Randy Mackay
6cfd48d0c6 Buzzer: handle arming_failed as event 2015-02-03 06:14:55 +09:00
Randy Mackay
a991b4a823 Linux: handle arming_failed as event 2015-02-03 06:14:54 +09:00
Randy Mackay
3361002379 ToneAlarm: handle arming_failed as event 2015-02-03 06:14:53 +09:00
Randy Mackay
bd1ae13fdb Notify: arming_failed flag moved to events 2015-02-03 06:14:53 +09:00
Randy Mackay
6a827459ad Notify: increase size of flags type 2015-02-03 06:14:52 +09:00
Randy Mackay
0a68d4ef39 Notify: clear all flags and events during init 2015-02-03 06:14:44 +09:00
Randy Mackay
272768bc0f Notify: init RGBLed members 2015-02-03 06:14:35 +09:00
Randy Mackay
3550e52560 MotorsTri: add 80% throttle limit 
This limit was moved from the main copter flight code to the motors
library in order that the throttle_upper flag could be set properly.
 2015-02-02 22:31:06 +09:00
Emile Castelnuovo
c044901f9f AP_Notify: added missing VRBRAIN led files 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
ebc3dcd142 DataFlash: Clean up, VRBRAIN deleted unused boards. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
90663664f3 AP_BattMonitor: VRBRAIN deleted unused boards, corrected default batt volt divider. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
a863f0bca8 AP_Airspeed: VRBRAIN code clean up. Deleted unused boards. 2015-02-02 08:44:01 +11:00
Emile Castelnuovo
d78ff43971 AP_HAL_VRBRAIN: code clean up. Deleted unused boards. 2015-02-02 08:44:00 +11:00
Emile Castelnuovo
5e8c1b61b5 AP_Compass: AP_Compass_VRBRAIN.cpp added _is_external overwrite to deal with external compass attached to internal I2C BUS 2015-02-02 08:44:00 +11:00
LukeMike
61f4239e47 AP_Airspeed: enabled PX4 library for VR boards 2015-02-02 08:44:00 +11:00
LukeMike
6473ae2c37 Storage: updated to the PX4 library 2015-02-02 08:44:00 +11:00
Emile Castelnuovo
26432d6064 AP_Notify: use RGB driver for board led in VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
3e97592e5c AP_Rangefinder: added #if for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
c38b11eec8 AP_RangeFinder: added VRBRAIN to use PX4 libraries 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
dae32984f1 AP_InertialSensor: use PX4 library for VRBRAIN boards. 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
25818f08a3 AP_Airspeed: added VRBRAIN board type 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
ffd26e59cd DataFlash: added new VRBRAIN boards 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
b0b892e578 AP_Rangefinder: added support for VRBRAIN boards 2015-02-02 08:43:59 +11:00
Emile Castelnuovo
731329fc55 AP_InertialSensor: correction to AP_InertialSensor_VRBRAIN 2015-02-02 08:43:58 +11:00
Emile Castelnuovo
92e0bc3a2f AP_HAL_VRBRAIN: updates to libraries for new boards 2015-02-02 08:43:58 +11:00
Emile Castelnuovo
a0673b56f9 AP_HAL: added new VRBRAIN boards and new subtypes 2015-02-02 08:43:58 +11:00
Emile Castelnuovo
de8a0ebc08 AP_Airspeed: added #defines for new VR boards. 2015-02-02 08:43:58 +11:00
LukeMike
edd0f13845 AP_HAL: mapped the different sizes of storage for all VR boards 2015-02-02 08:43:58 +11:00
LukeMike
6a93148b92 AP_InertialSensor: added library for VRBRAIN Inertial Sensor 2015-02-02 08:43:58 +11:00
LukeMike
b29f50ba9b AP_Airspeed: Defined AirSpeed analog inputs for ArduPlane on VR Micro Brain 5 2015-02-02 08:43:57 +11:00
LukeMike
7dc5541484 AP_HAL_VRBRAIN: Added analog inputs for ArduPlane on VR Micro Brain 5 2015-02-02 08:43:57 +11:00
Andrew Tridgell
a2adb9b1b0 AP_Arming: check for AHRS health and calibration for arming 2015-02-01 14:13:57 +11:00
Andrew Tridgell
6e62e1ca7b AP_InertialSensor: make calibrated() const 2015-02-01 14:13:54 +11:00
Andrew Tridgell
68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Andrew Tridgell
850af14949 AP_NavEKF: raise EKF_POS_GATE and EKF_GLITCH_RAD for planes 
This weights GPS position more heavily for planes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-01-31 21:49:20 +11:00
Holger Steinhaus
8911dfd791 DataFlash: fix out-of-bounds read when logging 
Checked in my rmackay9
 2015-01-31 13:24:34 +09:00
Randy Mackay
0d94d5441f SerialManager: correct protocol comments 
Correct value for 2nd MAVLink protocol
 2015-01-31 12:18:47 +09:00
Matthias Badaire
b5b67cf68a SerialManager: Fix SERIALX_PROTOCOL comments 
Fix SERIALX_PROTOCOL to have a proper documentation of the protocol types available
 2015-01-31 12:18:36 +09:00
Randy Mackay
07a0388f25 AC_PosControl: move alt limit to set_alt_target_from_climb_rate 
The alt limit is instead enforced when the target is set using the
set_alt_target_from_climb_rate function
Also updated comments
 2015-01-30 14:13:52 +09:00
Robert Lefebvre
02f3f96310 AC_PosControl: Enable altitude limit checking. 2015-01-30 14:13:45 +09:00
Andrew Tridgell
79cad28a25 AP_Mount: simplify some uses of frontend 2015-01-29 17:23:33 +11:00
Andrew Tridgell
c05f36d29b AP_SerialManager: make the state structure private 2015-01-29 16:02:24 +11:00
Andrew Tridgell
1d272e5a32 AP_Frsky_Telem: don't use flow control for FrSky 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:53:41 +11:00
Andrew Tridgell
362b53e1da AP_GPS: force flow control off on GPS serial ports 2015-01-29 15:53:20 +11:00
Andrew Tridgell
5980ff8e1c AP_Common: removed map_baudrate() 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:47:48 +11:00
Andrew Tridgell
d6ab4722cd AP_SerialManager: moved map_baudrate() into class 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:47:36 +11:00
Andrew Tridgell
085a926e61 AP_Frsky_telem: update for find_serial() change 2015-01-29 15:37:18 +11:00
Andrew Tridgell
9ba2fefde3 AP_GPS: update for find_serial() change 2015-01-29 15:37:08 +11:00
Andrew Tridgell
60f266da19 AP_Mount: update for new find_serial() interface 2015-01-29 15:36:38 +11:00
Andrew Tridgell
59d5351dab GCS_MAVLink: update for new find_serial() 2015-01-29 15:36:19 +11:00
Andrew Tridgell
e28deacc4c AP_SerialManager: simplify interface, returning direct uart 
added find_baudrate() for getting baudrate

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2015-01-29 15:35:42 +11:00
Randy Mackay
0a195671b3 SerialManager: set_console_baud uses first matching protocol 
This ensures we set the baud to the first serial port with the specified
protocol instead of the last.
 2015-01-29 14:05:15 +11:00
Matthias Badaire
5f432eaa2d AP_Mount_Alexmos : take into account available negative numbers 
uartdriver->available () function brings back a signed int, we should be carefull to avoid an endless loop if that happens.
 2015-01-29 14:05:15 +11:00
Randy Mackay
4a4387530a Mount: remove unused num_instances 2015-01-29 14:05:14 +11:00
Randy Mackay
d6433266d2 Mount_MAVLink: use SerialManager for init 
use serial_manager's get_mavlink_channel
 2015-01-29 14:05:14 +11:00
Randy Mackay
4848b03ac6 Mount_AlexMos: use SerialManager for init 2015-01-29 14:05:14 +11:00
Randy Mackay
56f872b38c Mount_Servo: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay
886cc9aa46 Mount: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay
19aa8939de FrSky_Telem: init uart when protocol is S-Port 2015-01-29 14:05:13 +11:00
Randy Mackay
5c086acc15 FrSky_Telem: comments, formatting and reordering 
No functional change
Added comments and moved main functions to the top
Removed spaces between function name and brackets
 2015-01-29 14:05:13 +11:00
Randy Mackay
6ef996d553 FrSky_Telem: init all members to zero and move to cpp 2015-01-29 14:05:13 +11:00
Randy Mackay
d16f787bd0 Frsky_Telem: use SerialManager for init 2015-01-29 14:05:12 +11:00
Randy Mackay
ebf5f98dbd GPS: detect_instance does not set uart rx, tx size 2015-01-29 14:05:12 +11:00
Randy Mackay
2eddecb10d GPS: use SerialManager for init 2015-01-29 14:05:12 +11:00
Randy Mackay
0c3a8f585a GCS_MAVLink: add get_uart accessor 
use by flight code to print messages during startup
 2015-01-29 14:05:12 +11:00
Randy Mackay
1275ff7d40 GCS_MAVLink: have_flow_control uses mavlink_comm 2015-01-29 14:05:12 +11:00
Randy Mackay
1157c13eb6 GCS_MAVLink: mavlink_comm_x become UARTDrivers 2015-01-29 14:05:12 +11:00
Randy Mackay
febda988af GCS_MAVLink: mavlink_channel from SerialManager 2015-01-29 14:05:11 +11:00
Randy Mackay
c6326fc9b7 GCS_MAVLink: use SerialManager for setup_uart 2015-01-29 14:05:11 +11:00
Randy Mackay
0fe4436c72 SerialManager: do not init uart for FrSky S-Port 2015-01-29 14:05:11 +11:00
Randy Mackay
cc71db1e2f SerialManager: lib to configure UART protocol 2015-01-29 14:05:11 +11:00
Randy Mackay
ee369f8a0d Mount_AlexMos: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay
b083c99966 Mount_MAVLink: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay
32ea258594 Mount_Servo: use reference to state 2015-01-29 14:05:10 +11:00
Randy Mackay
acbcf3c54e Mount: backends use reference to their state 2015-01-29 14:05:10 +11:00
Randy Mackay
bf82e82282 Mount_MAVLink: remove unused _enable and find_mount 2015-01-29 14:05:10 +11:00
Randy Mackay
b5127b680f Mount: set primary to first instance 2015-01-29 14:05:10 +11:00
Matthias Badaire
24af65a41a AP_Mount_Alexmos: critical fix to avoid endless loop if byte arrive to fast in serial buffer 
This fix reads the number of bytes available and iterates on it instead of looking for new bytes in the serial buffer (potentially forever)
 2015-01-29 14:05:10 +11:00
Matthias Badaire
46e92f99fe AP_Mount_Alexmos: use struct for CMD_CONTROL command 
new struct created in header and used in control_axis function
 2015-01-29 14:05:09 +11:00
Matthias Badaire
81d60af4a8 AP_Mount_Alexmos : cleanup initialization of class fields 2015-01-29 14:05:09 +11:00
Randy Mackay
c5ef5d21d3 Mount: add Alexmos to MNT2_TYPE param description 2015-01-29 14:05:09 +11:00
Randy Mackay
93323e2136 Mount_Alexmos: comments and formatting 
No functional change
 2015-01-29 14:05:09 +11:00
Matthias Badaire
1e5ddf3ce7 AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal 
get_angles calls the Alexmos API to get the current angles. It was not being called before.
 2015-01-29 14:05:09 +11:00
Matthias Badaire
0b88f15a37 AP_Mount: fix Backend enum for AP_Mount_Alexmos and add comments 
fix Backend enum for AP_Mount_Alexmos and add comments
 2015-01-29 14:05:09 +11:00
Matthias Badaire
cdeb1fb8f3 AP_Mount_Alexmos : changes some define to avoid conflicting 
change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well
 2015-01-29 14:05:08 +11:00
Matthias Badaire
6e5e438b0f AP_Mount: Make use of the new AP_Mount_Alexmos backend 
This is adding AP_Mount_Alexmos as one of the available backend
 2015-01-29 14:05:08 +11:00
Matthias Badaire
dfc086f9e9 AP_Mount_Alexmos : Add Alexmos Serial support for 8bit cards 
This is the initial implementation of Alemox gimbal protocol. the uart output is for the moment hard coded but should become a parameter.
 2015-01-29 14:05:08 +11:00
Randy Mackay
66ad56161b Mount_MAVLink: fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay
f509dad991 Mount_Servo: bug fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay
a78309734d Mount_MAVLink: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay
99c35d5cf7 Mount_Servo: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay
72fec52f0f Mount_Backend: move set_roi_target, configure to backend 2015-01-29 14:05:07 +11:00
Randy Mackay
efeb05876e AP_Mount: initialise mode to default 2015-01-29 14:05:07 +11:00
Randy Mackay
ace1fd8740 Mount_MAVLink: handle RC and GPS targeting in lib 
Previously we expected the mount to do this but it is likely that the
first versions of MAVLink enable mounts will only be capable of pointing
at a particular angle
 2015-01-29 14:05:07 +11:00
Randy Mackay
9d4210b82a Mount_Backend: move RC target handling to backend 2015-01-29 14:05:07 +11:00
Randy Mackay
b3044ced1f Mount_Backend: move calc_angle_to_lcoation to backend 2015-01-29 14:05:07 +11:00
Randy Mackay
8fabacf5ff Mount_MAVLink: use sysid from vehicle, compid of 10 2015-01-29 14:05:06 +11:00
Randy Mackay
6af5a6687f Mount: add params for second mount 2015-01-29 13:57:19 +11:00
Randy Mackay
5d30af233a Mount: move param underscore to lib 2015-01-29 13:57:18 +11:00
Randy Mackay
2ed4ca409c Mount_Servo: check_servo_map every 3sec 2015-01-29 13:57:18 +11:00
Randy Mackay
cb5a122dab Mount_Servo: add set_mode 2015-01-29 13:57:17 +11:00
Randy Mackay
a41ff2375b Mount_Backend: add set_mode virtual method 2015-01-29 13:57:17 +11:00
Randy Mackay
ef719b145b Mount: rename MODE to DFLT_MODE, move set_mode to backend 2015-01-29 13:57:17 +11:00
Randy Mackay
6c766051e8 Mount_MAVLink: minimalist mavlink backend 
We assume MAVLink enabled mount will do all the hard work of support all modes
 2015-01-29 13:57:17 +11:00
Randy Mackay
8a9df1c894 Mount_Servo: Servo functions moved to backend 2015-01-29 13:57:17 +11:00
Randy Mackay
7df2892b8d Mount_Backend: add backend class 2015-01-29 13:57:17 +11:00
Randy Mackay
88db50c3a7 Mount: parent class becomes front-end 2015-01-29 13:57:17 +11:00
Randy Mackay
12bd5cd6b1 AP_HAL_PX4: fix example sketch 2015-01-28 21:00:30 +09:00
Randy Mackay
aa7f946e04 GCS_MAVLink: fix example sketch 2015-01-28 17:15:52 +09:00
Randy Mackay
857c3ef0e9 Scheduler: fix example sketch 2015-01-28 17:15:51 +09:00
Randy Mackay
d5f02ec0df RangeFinder: fix example sketch 2015-01-28 17:15:50 +09:00
Randy Mackay
6e482d5c56 PerfMon: fix example sketch 2015-01-28 17:15:49 +09:00
Randy Mackay
52ca06fc22 Parachute: fix example sketch 2015-01-28 17:15:48 +09:00
Randy Mackay
f48a71f30a OptFlow: fix example sketch 2015-01-28 17:15:47 +09:00
Randy Mackay
775cbfba38 Notify: fix example sketch 2015-01-28 17:15:47 +09:00
Randy Mackay
314eb2536f Mount: fix example sketch 2015-01-28 17:15:46 +09:00
Randy Mackay
38702a7e23 Motors: fix example sketch 2015-01-28 17:15:45 +09:00
Randy Mackay
355a92aff4 Mission: fix example sketch 2015-01-28 17:15:44 +09:00
Randy Mackay
689cc9e298 AP_Math: fix example sketch 2015-01-28 17:15:43 +09:00
Randy Mackay
b43dc3bdfb INS: fix example sketch 2015-01-28 17:15:42 +09:00
Randy Mackay
7c293f01d9 HAL_AVR: fix example sketch 2015-01-28 17:15:41 +09:00
Randy Mackay
f84d31b838 HAL: fix example sketch 2015-01-28 17:15:40 +09:00
Randy Mackay
1141363868 GPS: fix example sketches 2015-01-28 17:15:39 +09:00
Randy Mackay
635ff92d6b Compass: fix example sketch 2015-01-28 17:15:39 +09:00
Randy Mackay
1475cf27ac AP_Common: fix example sketch 2015-01-28 17:15:38 +09:00
Randy Mackay
bb4204c045 Baro: fix example sketch 2015-01-28 17:15:37 +09:00
Randy Mackay
293eb74a37 AirSpeed: fix example sketch 2015-01-28 17:15:36 +09:00
Randy Mackay
d8664d15d6 AHRS: fix example sketch 2015-01-28 17:15:35 +09:00
Randy Mackay
d0d1254f03 AC_WPNav: fix example sketch 2015-01-28 17:15:34 +09:00
Randy Mackay
a5ec3e3ec1 AC_Sprayer: fix example sketch 2015-01-28 17:15:33 +09:00
Randy Mackay
99046ebda6 AC_Fence: fix example sketch 2015-01-28 17:15:32 +09:00
Randy Mackay
d7f7af8c13 AC_AttControl: fix example sketch 2015-01-28 17:15:32 +09:00
Randy Mackay
51cb7185f2 InertialNav: fix example sketch 2015-01-28 17:15:27 +09:00
Randy Mackay
0480828350 Dataflash: fix example sketch 2015-01-28 16:31:50 +09:00
Andrew Tridgell
3d433d2106 AP_Mission: loop check is only needed in one place 2015-01-23 13:48:45 +11:00
Andrew Tridgell
540cadc086 AP_Mission: prevent infinite loop with linked jump commands 
this prevents a "jump loop" from causing a firmware lockup. Thanks to
dellarb for reporting this!
 2015-01-23 13:14:27 +11:00
Andrew Tridgell
4ee9575e6d AP_Frsky_Telem: fixed code formatting 
match ArduPilot coding standards
 2015-01-22 16:49:39 +11:00
Matthias Badaire
f59f85d4a4 AP_Frsky_Telem: add SBUS support 
add sbus support using a timer on a thread
 2015-01-22 16:49:39 +11:00
priseborough
5df733a883 AP_NavEKF: Allow flight transition to optical flow mode if GPS is lost 2015-01-22 14:41:04 +09:00
priseborough
04810c012d AP_NavEKF: Increase flow data valid timeout to handle arming delays 
When Copter arms, the AHRS/EKF may not be run for a few hundred msec depending on conditions. This can cause the arming check to fail the optical flow sensor and place the EKF in a constant position mode.
 2015-01-22 14:41:01 +09:00
priseborough
073b8e7c43 AP_NavEKF: Always explicitly set required const pos or vel mode when arming 
This additional explicit setting of the constPosMode and constVelMode reduces the likelihood of logic errors being introduced in the future as it places the intended setting of these parameters at arming in the one place. the constVelmode and constPosMode only have one set of conditions each that can trigger these modes in flight, so if these modes are true after arming it will be clear that it was the in-flight condition that triggered.
 2015-01-22 14:40:59 +09:00
priseborough
9c6dabe1cc AP_NavEKF: Add separate flow default parameters for platform types 
Also reduces flow measurement noise default for copter only and increases gate to compensate.
 2015-01-22 14:40:57 +09:00
priseborough
d2da16e652 AP_NavEKF: Consistently set timeout flags whenever aiding is inhibited 
This ensures the position and velocity measurement status will be set as timed out immediately after use of those measurements is inhibited. This will improve the timeliness of filter status reporting.
 2015-01-22 14:40:55 +09:00
priseborough
824425625c AP_NavEKF: Update public method used to inhibit GPS use 
This method is not currently used by any of our vehicle types, but will be required to enable a user selectable 'indoor mode'.
 2015-01-22 14:40:52 +09:00
priseborough
1033f5fc1e AP_NavEKF: Apply flow nav vehicle limits regardless of sensor health 
It does not make sense to relax the limits on vehicle speed and nav gains just because we have received some invalid flow data. This could make the situation worse if the invalid data was being caused by too much speed.
If we are relying on flow data the vehicle limits should always be applied.
 2015-01-22 14:40:50 +09:00
priseborough
14b51f6d74 AP_NavEKF: Unconditionally fuse velocity in constant velocity mode 
The zero velocity measurements in this mode are by definition always correct and should never be rejected
 2015-01-22 14:40:48 +09:00
priseborough
6663d80176 AP_NavEKF: Simplify nested logic - functionally equivalent 
Additional if else statement was unnecessary
 2015-01-22 14:40:45 +09:00
priseborough
12c3368c4d AP_NavEKF: Bypass GPS glitch logic when not aiding 
When we are not using GPS measurements, we should not be allowing the GPS glitch logic to reset position states as this can interfere with operation of non GPS modes.
 2015-01-22 14:40:43 +09:00
priseborough
5c8e71a8d1 AP_NavEKF: Don't reset the position measurement timeout if not aiding 
When PV aiding is disabled, then the timeout time reference should not be reset becasue we want the position measurement timeout status to remain true the whole time the measurement is not being used.
 2015-01-22 14:40:41 +09:00
priseborough
c505a458de AP_NavEKF: Always declare a position measurement timeout if aiding not used 
If position and velocity aiding is turned off, then the position measurement should always be reported as timed out.
 2015-01-22 14:40:39 +09:00
priseborough
3b166372cc AP_NavEKF: Always declare a velocity measurement timeout if velocity not used 
If position and velocity aiding is turned off, then the velocity measurement should always be reported as timed out.
 2015-01-22 14:40:36 +09:00
priseborough
95c3197170 AP_NavEKF: Ensure velocity will not be reset unless needed for aiding 2015-01-22 14:40:34 +09:00
priseborough
8aeec82846 AP_NavEKF: Continually turn off aiding whilst the vehicle is disarmed 
This prevents the possibility of any logic errors turning aiding back on.

AP_NavEKF: Fix bug in logic
 2015-01-22 14:40:31 +09:00
priseborough
81ee339e25 AP_NavEKF: Synchronise non-aiding mode state corrections 
Synchronise with covariance prediction to improve numerical stability and accuracy of angle corrections. The 'noise' this produces in the position and velocity estimate is irrelevantbecause these are not used by the control loops during this mode of operation (they are nominally zero anyway).
 2015-01-22 14:40:29 +09:00
priseborough
ae6b85e63d AP_NavEKF: Explicitly set aiding to off when disarmed 
This fixes a bug that could cause the AHRS to drift whilst the vehicle was disarmed depending sensor combinations at startup.
 2015-01-22 14:40:27 +09:00
priseborough
fb1962b111 AP_NavEKF: Let reported position whilst disarmed show inertial errors 
Showing the positon states (which are nominally zero) in addition to the last known offset can provide useful log information.
 2015-01-22 14:40:25 +09:00
Randy Mackay
01c669ee15 RangeFinder: minor param description update 
Also initialise primary instance to 0.
No functional change.
 2015-01-22 14:40:16 +09:00
Randy Mackay
c24e997fb2 AC_Fence: use inertial nav's get_filter_status 2015-01-22 14:39:40 +09:00
Randy Mackay
f35efc56e0 InertialNav_EKF: get_filter_status replaces position_ok 2015-01-22 14:39:37 +09:00
Randy Mackay
5d80481723 InertialNav: get_filter_status replaces position_ok 
altitude_ok also replaced.
 2015-01-22 14:39:35 +09:00
Andrew Tridgell
61be4ce2d2 HAL_Linux: fixed #if for linux builds 2015-01-22 15:58:20 +11:00
Víctor Mayoral Vilches
2b74d018fe HAL_Linux: Adjust set_system_clock 
Do nothing for HAL_BOARD_SUBTYPE_NONE.
 2015-01-22 15:43:16 +11:00
Víctor Mayoral Vilches
974f243c7e HAL_Linux: Add set_system_clock 2015-01-22 15:43:16 +11:00
Jonathan Challinger
d679831c75 GCS_MAVLink: run generate.sh 2015-01-22 15:28:44 +11:00
Jonathan Challinger
0997ab23a4 GCS_MAVLink: merge upstream changes to common.xml 2015-01-22 15:19:47 +11:00
Grant Morphett
236efad159 AP_HAL_AVR: Increased number of AVR input channels from 8 to 11 2015-01-22 14:48:15 +11:00
mirkix
d11c5286c3 AP_HAL: HAL_COMPASS_AK8963 used but not defined anywhere 2015-01-22 14:35:51 +11:00
mirkix
9a65a8c8fb AP_Compass: add AK8963 to auto-detect in test suite 2015-01-22 14:34:23 +11:00
mirkix
e9d4165a8d AP_Compass: add AK8963 support to test suite 2015-01-22 14:34:17 +11:00
mirkix
7ceb93befa AP_HAL: make the examples usable with Linux 2015-01-22 14:30:47 +11:00
Andrew Tridgell
5512a6f8a0 SITL: lower the default noise in SITL 
the noise levels were well above realistic levels, especially for gyro
noise, and were causing EKF issues
 2015-01-22 11:33:09 +11:00
Randy Mackay
842efe71be DataFlash: move COMPASS2,3 formats to extra structures 2015-01-21 14:38:13 +09:00
Randy Mackay
e7471c5fe5 DataFlash: fix message id and CURR formatting 2015-01-21 14:38:03 +09:00
Randy Mackay
09e3dcd821 DataFlash: pass ahrs, batt, targets by reference 2015-01-21 14:38:01 +09:00
Randy Mackay
f23959b5fa DataFlash: fix missing slash lost in merge 2015-01-21 14:37:59 +09:00
Robert Lefebvre
80929c389e DataFlash: Handle multiple compass instances natively inside the Library. 2015-01-21 14:37:50 +09:00
Robert Lefebvre
5b70550b73 DataFlash: Fix potentially uninitialized variable compiler warning. 2015-01-21 14:37:27 +09:00
Robert Lefebvre
be803f4f39 DataFlash: Minor whitespace changes/cleanup. No effect. 2015-01-21 14:37:25 +09:00
Robert Lefebvre
2657610373 DataFlash: Add common-vehicle Mode logging method. 
Conflicts:
	libraries/DataFlash/DataFlash.h
 2015-01-21 14:37:18 +09:00
Robert Lefebvre
12c3593bc3 DataFlash: Add common-vehicle Compass logging method. 2015-01-21 14:37:14 +09:00
Robert Lefebvre
2fdcd99db2 Arducopter: Move Attitude Message structure definition to the Base Structures section. 
Conflicts:
	libraries/DataFlash/DataFlash.h
 2015-01-21 14:37:12 +09:00
Robert Lefebvre
d2adf2cdd7 DataFlash.h: Move format characters string to a more convenient location. 2015-01-21 14:37:10 +09:00
Robert Lefebvre
392e5257cc DataFlash: Add voltage2 data to Current log, to be used by plane. 2015-01-21 14:37:07 +09:00