Sensor bias corrections were being applied to the incoming IMU data using the wrong delta time.
This was what was driving the different tuning between plane and copter for gyro bias process noise so the same gyro bias process noise default tuning value can now be used for all platform types.
Sensor bias corrections were being applied a a second time to the output observer inertial data.
Eliminate the use of horizontal position states during non-aiding operation to make it easier to tune.
Explicitly set the horizontal position associated Kalman gains to zero and the coresponding covariance entries to zero after avery fusion operation.
Make the horizontal velocity observation noise used during non-aiding operation adjustable.
Use a fixed value of velocity noise during initial alignment so that the flight peformance can be tuned without affecting the initial alignment.
There is an issue with gbenchmark and waf on Ubuntu (15.04 and 15.10, ). Waf doesn't link pthread to gbenchmark and linking failed :
````
[1652/1652] Linking build/linux/libraries/AP_Math/benchmarks/benchmark_matrix.linux
/home/khancyr/Workspace/APM/ardupilot/build/linux/gbenchmark/lib/libbenchmark.a(benchmark.cc.o): dans la fonction « benchmark::RunSpecifiedBenchmarks(benchmark::BenchmarkReporter*) »:
benchmark.cc:(.text+0x2e21): référence indéfinie vers « pthread_create »
/usr/bin/ld generated: référence indéfinie vers « pthread_create »
collect2: error: ld returned 1 exit status
Waf: Leaving directory `/home/khancyr/Workspace/APM/ardupilot/build/linux'
Build failed
-> task in 'benchmark_matrix.linux' failed (exit status 1):
{task 139784788162576: cxxprogram benchmark_matrix.cpp.1.o -> benchmark_matrix.linux}
['/usr/lib/ccache/g++', '-Wl,--gc-sections', 'libraries/AP_Math/benchmarks/benchmark_matrix.cpp.1.o', '-o', '/home/khancyr/Workspace/APM/ardupilot/build/linux/libraries/AP_Math/benchmarks/benchmark_matrix.linux', '-Wl,-Bstatic', '-L.', '-lap', '-Wl,-Bdynamic', '-L/home/khancyr/Workspace/APM/ardupilot/build/linux/gbenchmark/lib', '-lm', '-lpthread', '-lrt', '-lbenchmark']
`````
Adding 'pthread' to env.LIB_GBENCHMARK solve the issue
see https://github.com/diydrones/ardupilot/pull/3460 and https://github.com/diydrones/ardupilot/issues/3461
Some platforms (e.g. bebop) might need to create fully statically linked
binaries. This serves to force a program to be statically linked. It has only
been tested on GNU compilers, other compilers may have unexpected behavior.
Several boards require cross compilation. The objective of this change is to
allow to specify the target architecture in the board definition, so that the
correct toolchain is selected. The cross compilation mechanism will be
implemented in the next commits.
The cmake checks for gbenchmark need to run some code. Calling
_configure_cmake() only during build can potentially fail build. That would
happen in some cross-compilations for example.
Those environment variables are set by default by Travis. That fails cross
compilation with waf. There is a GitHub issue open related to that behavior at
https://github.com/travis-ci/travis-ci/issues/4682 . This change can be
reverted if eventually that is fixed.
We are not doing any dma here, it's just an SPI transaction. Name them
only rx/tx (although io_packet_tx/io_packet_rx could be another option).
This also zero-initialize the struct to keep valgrind happy about not
calling ioctl() with uninitialized variables.
This disables FRAM usage in PXF and erleboard. The reason is it's
failing and not being used. Right now we get this on startup:
root@beaglebone:~# ./ArduCopter.elf
FRAM: Online
Storage: FRAM is getting reset to default values
Failed to read FRAM
Testing with valgrind also reveals some invalid memory reads. Let's
disable it for now to be common with other boards.
This commit adds support for OpticalFlow to MinnowBoardMax trying to
leave the OpticalFlow implementation as generic as it already is.
We had to add some format conversion and software crop to the cameras that
do not have this features.
Most cameras do not support NV12 or GREY formats, we are adding in this commit
a conversion from YUYV format, that seems pretty common in cameras, to GREY
format (since we do not use Cb and Cr data on OpticalFlow).
Also we are adding a software crop for 8bpp images, such as GREY format. For
the same reason, most cameras do not have support for overlaying (crop, resize
and so on).
These functions are being added in order to be used in the next commits,
where we will add support for OpticalFlow on MinnowBoardMax.
Paul Riseborough
khancyr
Linus
Randy Mackay
Jonathan Challinger
squilter
Gustavo Jose de Sousa
Lucas De Marchi
Pritam Ghanghas
Víctor Mayoral Vilches
Víctor Mayoral Vilches
pkancir
Ricardo de Almeida Gonzaga
Julien BERAUD
Peter Barker
Andrew Tridgell