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7353 Commits

Author SHA1 Message Date
Paul Riseborough
586e4a7d2b AP_NavEKF: Add Matlab derivations and simulations behind small EKF 2015-04-10 11:07:21 +09:00
Jonathan Challinger
dc5bdd5ad8 AP_AHRS: use filtered INS output to compute _accel_ef_blended 2015-04-09 20:19:56 +09:00
Randy Mackay
a095a8c3a1 AC_PID: more protection against NaN and Inf 2015-04-09 20:19:55 +09:00
Randy Mackay
bdfe8bbc54 AC_AttControl_Heli: remove RATE_RP_MAX, RATE_Y_MAX 2015-04-09 20:19:54 +09:00
Leonard Hall
afcd1c6ec3 AC_AttitudeControl: sqrt controller on Stab 2015-04-09 20:19:43 +09:00
Leonard Hall
ae77c18a19 AC_PID: Protect against NaN and INF 2015-04-09 18:30:12 +09:00
Andrzej Zaborowski
132cdc4916 Motors: Use _motor_to_channel_map in tricopter consistently. 
In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
 2015-04-09 11:43:22 +09:00
Randy Mackay
558018d839 InertialNav: add get_location method 2015-04-09 10:56:57 +09:00
Tom Pittenger
9ecbd0e30f AP_L1_Control: fixed uTurn-wobble 
When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.
 2015-04-08 15:21:02 -07:00
Jonathan Challinger
6e8008ab69 AP_SerialManager: use protocol_match in find_baudrate 2015-04-08 09:14:31 -07:00
Randy Mackay
f260536373 AC_PID: fix example sketch compile error 2015-04-08 15:05:29 +09:00
Jonathan Challinger
6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger
a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger
07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Paul Riseborough
c57e25142c AP_NavEKF: Update optical flow fusion maths to reduce height errors 2015-04-07 20:51:18 -07:00
Andrew Tridgell
35bac3ab4f GCS_MAVLink: regenerate without mavlink_frame_char changes 2015-04-06 16:43:02 -07:00
Andrew Tridgell
df948e7358 AP_Mount: fixed for new GIMBAL_REPORT message 2015-04-06 16:42:23 -07:00
Andrew Tridgell
33824e0b2f GCS_MAVLink: re-ran generate.sh 2015-04-06 16:30:16 -07:00
Jonathan Challinger
73b8890bd3 GCS_MAVLink: move GIMBAL_REPORT and GIMBAL_CONTROL and reserve messages 2015-04-06 16:29:02 -07:00
myly10
55befdc345 AP_NavEKF: Typo correction for EAS_NOISE description 2015-04-06 15:52:29 -07:00
mirkix
445f358839 AP_HAL_Linux: Fix compiler warning of MAX_PWMS redefinition (previously defined) 2015-04-06 15:34:50 -07:00
Andrew Tridgell
5284211c96 AP_SerialManager: fixed matching bug in protocol_match() 
thanks to Mike Clement for noticing this
 2015-04-06 15:28:03 -07:00
Mike Clement
c5c40adb76 GCS_MAVLink: use instance in find_baudrate 2015-04-06 14:47:51 -07:00
Mike Clement
89a50b99bb SerialManager: use instance in find_baudrate 2015-04-06 14:47:11 -07:00
Paul Riseborough
9b3656e77c AP_NavEKF: Fix bug introduced in Y axis flow fusion 2015-04-05 21:17:20 -07:00
Andrew Tridgell
6e52ef2a74 GCS_MAVLink: added send_local_position() 2015-04-05 09:16:41 -07:00
Andrew Tridgell
baf292def1 AP_NavEKF: prevent float exception on startup 2015-04-05 09:16:14 -07:00
Paul Riseborough
7fc0f026d2 AP_NavEKF: Fix bug in optical flow innovation variance integrity check 
The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.
 2015-04-04 17:03:06 -07:00
Andrew Tridgell
389148ac54 AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C 2015-04-04 17:03:00 -07:00
Andrew Tridgell
55019abd71 AP_HAL: allow for default parameter override for PX4 and SITL 2015-04-04 09:01:40 -07:00
Andrew Tridgell
5a755c0400 AP_Param: allow a HAL_PARAM_DEFAULTS_PATH to override defaults 
this allows a HAL_PARAM_DEFAULTS_PATH to be specified for a build to
override the default parameters for a build. This is useful to build a
firmware that has different default parameters
 2015-04-04 09:01:40 -07:00
Andrew Tridgell
82a51e8791 GCS_MAVLink: use AP_Param::set_param_by_name() 2015-04-04 09:01:40 -07:00
Andrew Tridgell
5ca38e3d75 AP_Param: added set_param_by_name() 
this simplifies the GCS_MAVLink code
 2015-04-04 09:01:39 -07:00
Andrew Tridgell
c1a0375562 AP_NavEKF: prevent divide by zero in EKF logging 2015-04-04 07:09:02 -07:00
Paul Riseborough
d44cf14178 AP_AHRS : Publish EKF learned compass offsets 2015-04-03 15:24:47 -07:00
Paul Riseborough
10f050c53b AP_NavEKF: Prevent baro drift causing toilet bowling 
The magnetic field states are reset once at 1.5 metres and again at 5 metres. This height check was using the height at the first arm event as the reference. In the situation where there is baro drift and extgended time between the first arm event and flight, this can cause the magnetic field state to be reset when on the ground. If this happens when flying off a metallic surface, the resultant heading errors can cause sever toilet bowling.
 2015-04-03 15:18:42 -07:00
Paul Riseborough
d4c60ca956 AP_NavEKF: Fix bug preventing reset of velocity after OF fusion timeout 2015-04-03 15:18:39 -07:00
Jonathan Challinger
95cd3480ec AP_NavEKF: review all uses of dtIMU and use dtIMUactual where necessary 
pair-programmed-with: Paul Riseborough <p_riseborough@live.com.au>
 2015-04-03 15:18:09 -07:00
Andrew Tridgell
79b44d3988 AP_NavEKF: initialise gndEffectMode 2015-04-03 15:15:11 -07:00
Andrew Tridgell
3165c43dfe AP_NavEKF: initialise gpsSpdAccuracy 2015-04-03 15:15:11 -07:00
Paul Riseborough
98c32012fa AP_NavEKF: remove accel bias rate limit when disarmed 2015-04-03 15:15:11 -07:00
Paul Riseborough
fe76cb4c0b AP_NavEKF : Make initial height variance consistent with baro noise 
This makes sense to do because we initialise the state to the instantaneous baro reading
 2015-04-03 15:15:11 -07:00
Paul Riseborough
a976e9dad2 AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance 2015-04-03 15:15:11 -07:00
Paul Riseborough
92df3adb5e AP_NavEKF : Fix bug in Z accel bias update for IMU1 2015-04-03 15:15:10 -07:00
Paul Riseborough
5d0952ba23 AP_NavEKF: eliminate onGndBaroNoise 2015-04-03 15:15:10 -07:00
Paul Riseborough
fafb898341 AP_NavEKF: tuning change to accel bias learning 2015-04-03 15:15:10 -07:00
Paul Riseborough
398accd151 AP_NavEKF: Improve pre-flight ready checking 2015-04-03 15:15:10 -07:00
Paul Riseborough
5c1a226bef AP_NavEKF : Improvements to pre-arm IMU bias estimation 2015-04-03 15:15:10 -07:00
Jonathan Challinger
a5924acb3d AP_NavEKF: set dtIMU from ins expected sample rate 2015-04-03 15:15:10 -07:00
Paul Riseborough
a1351e73ab AP_NavEKF : Compensate mag bias states for external copass offset changes 2015-04-03 15:15:09 -07:00
Paul Riseborough
14795719f6 AP_NavEKF: Add public function for estimated magnetometer offsets 2015-04-03 15:15:09 -07:00
Paul Riseborough
1c244af3d8 AP_NavEKF: Fix bug affecting in-flight GPS acquisition 
This bug caused velocities to be reset to zero
 2015-04-03 15:15:09 -07:00
Paul Riseborough
b9b6938b1d AP_NavEKF: Add ability to start using GPS in-flight 
Improve the quality of the GPS required to set an EKF  origin
Eliminate repeated update of origin height - origin height updates once when EKF origin is set.
Operation in GPS mode is linked to setting of origin
 2015-04-03 15:15:09 -07:00
Paul Riseborough
98fa918b84 AP_NavEKF: Add new compass learning option 
Enables compass learning to be on continuously for non-position hold operation
 2015-04-03 15:15:09 -07:00
Paul Riseborough
961faa59d9 AP_NavEKF: Don't let reported GPS accuracy modify horiz vel data checks 2015-04-03 15:15:08 -07:00
Paul Riseborough
a607eb8469 AP_NavEKF: Reduce the GPS glitch tether length from 100 to 50m 2015-04-03 15:15:08 -07:00
Paul Riseborough
496d31ab83 AP_NavEKF: Reduce max time Copters can reject GPS 
The maximum time copters can reject GPS has been reduced from 10 to 7 seconds as flight logs have show that inertial dead reckoning with vibration and calibration errors is not good enough to support 10 seconds without aiding.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
8c2029d896 AP_NavEKF: Accel bias learning improvements 
Speed up pre-flight learning
Smoothen in-flight learning
 2015-04-03 15:15:08 -07:00
Paul Riseborough
19d1b3b813 AP_NavEKF: Update EKF origin height whilst disarmed 
This patch causes the EKF to update the height of its origin each time it receives a valid GPs message whislt disarmed.
The resultant EKF origin height represents the height of the zero baro alt datum relative to the GPS height datum.
 2015-04-03 15:15:08 -07:00
Paul Riseborough
70afcd7e70 AP_NavEKF: Add second stage alignment of yaw and earth field states 
Flight tests have shown that the magnetic field distortion associated with flight from steel structures can extend 3m or higher. To counteract this, a second and final yaw and magnetic field alignment has been added which is activated when the height exceeds 5m for the first time.
 2015-04-03 15:15:08 -07:00
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 
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 
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 
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
728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -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
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
5acc4c333b AP_Arming: accept accel/gyro if OK in last 10 seconds 
this should prevent short periods of movement from triggering arming
status change alarms
 2015-03-31 15:37:24 -07:00
Randy Mackay
3f3e622be5 AC_PID: fix example sketch 2015-03-30 16:07:56 -07:00
Andrew Tridgell
8ba043e593 AP_AHRS: fixed EKF startup bug 
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 
we need to know if it has initialised successfully
 2015-03-28 10:51:38 -07:00
Andrew Tridgell
7cd7ff89fd HAL_PX4: recover 12k of ram from USB buffers 
faster NuttX means we don't need such larger buffers
 2015-03-27 15:08:52 -07:00
Andrew Tridgell
10ec1b8290 DataFlash: example no longer builds with APM2 2015-03-26 06:32:00 -07:00
Andrew Tridgell
5cbfe4fd11 HAL_SITL: fixed copter interactive SITL 2015-03-25 12:27:27 -07:00
Andrew Tridgell
0c2232a4be HAL_SITL: don't sync clocks during system initialisation 2015-03-24 08:06:50 -07:00
Jonathan Challinger
127791127c AC_PosControl: fix double literals 2015-03-24 06:29:04 -07:00
Leonard Hall
09aa2f8114 AC_AttitudeControl: Fix function discription 2015-03-23 07:40:04 -07:00
Leonard Hall
6b104c0529 AC_AttitudeControl: No Overshoot limit for Stab 
This maybe done in a more obvious way using a switch rather than just
making the overshoot larger than 180 degrees.
 2015-03-23 07:40:02 -07:00
Andrew Tridgell
9748cb1e3e HAL_SITL: use a synthetic clock when possible 
this decouples wall clock time from simulation time if the FDM
supports it
 2015-03-22 18:57:30 -07:00
Randy Mackay
8a3a7bdcd1 Mount: add set_angle_target method 2015-03-21 21:52:22 +09:00
Randy Mackay
f6021010c5 Mission: support do-mount-control 2015-03-21 21:52:19 +09:00
Randy Mackay
2189b16165 Mount_SToRM: remove message throttling 
recent versions of gimbal firmware can handle 50hz update rate
 2015-03-21 05:56:18 +09:00
Randy Mackay
b3362d5829 Mount: calc_angle_to_location returns vehicle relative yaw 2015-03-21 05:56:16 +09:00