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22,344 Commits 70 Branches 507 Tags 662 MiB
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22344 Commits

Author SHA1 Message Date
Andrew Tridgell f6511e8337 build: added mavlink2 build option 2016-05-21 15:25:11 +10:00
Andrew Tridgell 31f8d26784 HAL_Linux: support mavlink2 build 2016-05-21 15:25:11 +10:00
Andrew Tridgell 511ca6d764 autotest: support -P2 option for SITL with MAVLink2 2016-05-21 15:25:11 +10:00
Paul Riseborough 74121fdaeb AP_NavEKF2: fix bug preventing in-flight alignment 2016-05-21 15:13:53 +10:00
Paul Riseborough 16cb7078cd AP_NavEKF2: Fix misleading pre-flight status reporting 2016-05-21 15:13:53 +10:00
Paul Riseborough 38d61f5281 AP_NavEKF2: Update status reporting to handle no-magnetometer startup 2016-05-21 15:13:53 +10:00
Paul Riseborough 9aa3cdfaae AP_NavEKF2: Update GPS yaw re-alignment function 
Updates to support initial alignment without magnetometer
 2016-05-21 15:13:53 +10:00
Paul Riseborough e3c966661b AP_NavEKF2: Remove unnecessary variance reset 
This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
 2016-05-21 15:13:53 +10:00
Paul Riseborough 1179c08473 AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw 
This happens if planes are flown without a compass
 2016-05-21 15:13:53 +10:00
Paul Riseborough 581c1aa0d4 AP_NavEKF2: Adjust attitude variance values used after a heading reset 
Because these errors are in body frame, a spherical error should be used to accommodate different orientations
 2016-05-21 15:13:53 +10:00
Paul Riseborough 5ec8d523f6 AP_NavEKF: remove unwanted co-variance reset 
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
 2016-05-21 15:13:53 +10:00
Paul Riseborough 66e4d9d6e8 AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset 
Ensures consistent behaviour after resets and reduces attitude disturbances
 2016-05-21 15:13:52 +10:00
Paul Riseborough cf8175a073 AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass 
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
 2016-05-21 15:13:52 +10:00
Paul Riseborough 08de4e6d95 AP_NavEKF: Do not perform start-up yaw alignment if no compass 
Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
 2016-05-21 15:13:52 +10:00
Paul Riseborough d2694fe5dc AP_NavEKF2: Remove duplicate transition into GPS aiding 
This decision is made in one place in setAidingMode()
 2016-05-21 15:13:52 +10:00
Paul Riseborough 7201f7d2fd AP_NavEKF2: fix comment 2016-05-21 15:13:52 +10:00
Paul Riseborough 64a8153b68 AP_NavEKF2: update function name 
The primary purpose of this function is re-alignment
 2016-05-21 15:13:52 +10:00
Paul Riseborough addd213af0 AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude 2016-05-21 15:13:52 +10:00
Paul Riseborough d33bbf8cc7 AP_NavEKF: remove debug code 2016-05-21 15:13:52 +10:00
Paul Riseborough 54213ad871 DataFlash: Improve reporting of normalised ekf2 magnetometer innovations 
Report the maximum of the x,y,z axis
 2016-05-21 15:13:52 +10:00
Paul Riseborough a3b78e6231 AP_NavEKF2: update tuning defaults 2016-05-21 15:13:51 +10:00
Paul Riseborough 65f63341d7 AP_NavEKF2: Improve numerical error protection in optical flow fusion 
Abort fusion of data if variances will become negative and publish the fault
 2016-05-21 15:13:51 +10:00
Paul Riseborough 42da33593d AP_NavEKF2: fix yaw fusion numerical health reporting 2016-05-21 15:13:51 +10:00
Paul Riseborough 6eb9d43507 AP_NavEKF2: add numerical error checking and isolation to mag decl fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough b325c5faeb AP_NavEKF2: add error checking and isolation to mag heading fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough a0b1dc5325 AP_NavEKF2: add error checking and isolation to 3D amg fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough 51a3df0319 AP_NavEKF2: Add error checking and isolation to pos vel fusion 2016-05-21 15:13:51 +10:00
Paul Riseborough b1e9207c0f Replay: extend ekf fault status reporting coverage 2016-05-21 15:13:51 +10:00
Paul Riseborough fcee82f9b2 DataFlash: extend ekf fault status reporting coverage 2016-05-21 15:13:51 +10:00
Paul Riseborough 597ec61673 AP_AHRS: extend ekf fault status reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough d59d8cc6e3 AP_NavEKF: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough 71b589c89c AP_NavEKF2: extend fusion fault reporting coverage 2016-05-21 15:13:50 +10:00
Paul Riseborough 0982bd0b2b AP_NavEKF2: update parameter documentation 2016-05-21 15:13:50 +10:00
Paul Riseborough 46a2993a0d AP_NavEKF: use intuitive units for imu bias process noise parameters 2016-05-21 15:13:50 +10:00
Paul Riseborough 8c374fd679 AP_NavEKF2: correct comments 2016-05-21 15:13:50 +10:00
Paul Riseborough 6be9eaa524 AP_NavEKF2: use receiver estimated accuracy 
Adjust the GPS observation noise based on receiver accuracy output if available.
 2016-05-21 15:13:50 +10:00
Paul Riseborough dddc213836 AP_NavEKF2: Open up tuning limits 
Done to assist tuning assessments
 2016-05-21 15:13:50 +10:00
Paul Riseborough cf05e110fc AP_NavEKF2: fix scaling error in use of IMU noise parameters 
Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
 2016-05-21 15:13:50 +10:00
Randy Mackay 5461002eea Copter: read rangefinder at 20hz 2016-05-21 10:36:53 +09:00
Randy Mackay e6b3638d84 Copter: minor change to land mode's logic to use rangefinder 
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay 8171532dc5 Copter: allow rangefinder to be disabled from definition 2016-05-21 10:36:53 +09:00
Randy Mackay e489c3184c Copter: rangefinder.enabled false if no range finders are configured 2016-05-21 10:36:53 +09:00
Randy Mackay 00445ce7bd SITL: parameter file to enable rangefinder in copter 2016-05-21 10:36:53 +09:00
Randy Mackay 59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay 2bafc36ded AC_WPNav: support rangefinder for terrain following 2016-05-21 10:36:53 +09:00
Randy Mackay e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay 5ac13c0355 Copter: move rangefinder variables into structure 
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
 2016-05-21 10:36:53 +09:00
Randy Mackay 70463dc572 Copter: auto_spline_start handles triggers terrain failsafe 
Also immediately exit auto_wp_start on terrain failsafe
 2016-05-21 10:36:53 +09:00
Randy Mackay 3688636736 Copter: RTL ignores terrain during terrain failsafe 2016-05-21 10:36:53 +09:00
Randy Mackay 273b9acad8 Copter: prearm check that RTL_ALT is below rangefinder max alt 
Only applies where terrain following is enabled and a range finder is connected
 2016-05-21 10:36:53 +09:00