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Author SHA1 Message Date
Tom Pittenger
e3930b45df Plane: force the safety_state immediately because we want it to be in effect while we make mixer changes 2016-05-27 21:34:40 +10:00
Tom Pittenger
4785650c95 Plane: remove redundant calls to safety_state 2016-05-27 21:34:40 +10:00
Tom Pittenger
d3ac1dc161 AP_HAL: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Tom Pittenger
67aaf7e226 AP_HAL_PX4: defer calls to safety_state switch to queue an async attempt. 
- this allows for auto-retries if the state does not set correctly
 2016-05-27 21:34:40 +10:00
Andrew Tridgell
97e2203e70 AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core 
this reduces the risk that mag fusion errors will badly affect
attitude estimation.
 2016-05-27 21:27:06 +10:00
Andrew Tridgell
084a37d4fa autotest: enable LOG_REPLAY and LOG_DISARMED in autotest 
this will give us the ability to analyse any EKF errors
 2016-05-27 21:23:39 +10:00
Peter Barker
480e142cfb autotest.py: remove TARGET no longer required 2016-05-27 08:07:07 -03:00
Peter Barker
3548f90d3a autotest: create SIL object to hold valgrind logpath 2016-05-27 08:07:07 -03:00
Peter Barker
ced07906ad Tools: correct valgrind run in autotest.py 2016-05-27 08:07:07 -03:00
Peter Barker
7b86a05722 Tools: convert autotest build.X and fly.X to use waf build system 2016-05-27 08:07:07 -03:00
Andrew Tridgell
9933069679 Plane: fixed motor test by percentage in quadplane 2016-05-27 11:53:20 +10:00
Andrew Tridgell
d17e3b17bf AP_AHRS: special handling for flying fixed wing with no compass 
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
 2016-05-27 10:18:53 +10:00
Paul Riseborough
de15928921 AP_NavEKF2: prevent potential arithmetic error in declination fusion 2016-05-27 09:00:41 +10:00
Paul Riseborough
722eb0d706 AP_NavEKF2: Fix bug for start of wind speed estimation 
The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
 2016-05-27 09:00:41 +10:00
Paul Riseborough
ac329ec31c AP_NavEKF2: use observation noise to set initial magnetic field variances 2016-05-27 09:00:41 +10:00
Paul Riseborough
830751c0ae AP_NavEKF2: remove un-wanted functionality from mag and yaw reset 
The function used to reset magnetic field states and yaw angle should not be used when there is no magnetometer. If it is incorrectly called without a magnetometer it should not change the attitude or field states.
 2016-05-27 09:00:41 +10:00
Paul Riseborough
11c6ea7ef6 AP_NavEKF2: attitude co-variance reset for all post alignment yaw resets 
Whenever the yaw angle is changed, the correlation with other state errors will be incorrect and the terms should be zeroed.
 2016-05-27 09:00:41 +10:00
Paul Riseborough
cdd09df9ac AP_NavEKF: Add function to zero attitude state co-variances 
When changing the vehicle yaw angle, the correlation between the attitude errors and errors in other states is invalid so the corresponding co-variance terms need to be zeroed.
This needs to be done in more than one place.
 2016-05-27 09:00:41 +10:00
Paul Riseborough
6d34ac5ceb AP_NavEKF2: improve switch-over to use of mag field states 
Set initial variances to measurement uncertainties
Always perform a field  and yaw reset
 2016-05-27 09:00:40 +10:00
Paul Riseborough
fe9ddfdfeb AP_NavEKF2: remove code that prevents attitude updates after mag reset 
This code assumes a vehicle is close to level and will not work for all vehicle types. It will be replaced by a different method.
 2016-05-27 09:00:40 +10:00
Paul Riseborough
fe85c68344 AP_NavEKF2: move yaw reset for no compass case 
Should not be in a function that performs reset on magnetic field states
 2016-05-27 09:00:40 +10:00
Paul Riseborough
da0622827d AP_NavEKF: update tuning defaults 
Increase speed of scale factor learning
 2016-05-27 09:00:40 +10:00
Andrew Tridgell
4c66e14563 SITL: fixed air resistance bug for heli, balloon and singlecopter 2016-05-26 20:38:20 +10:00
Randy Mackay
d26a9d4a22 SITL: fix compiler warning by defaulting frame_type 2016-05-26 17:03:28 +09:00
Andrew Tridgell
b76a993f7e autotest: support coaxcopter 2016-05-26 17:09:31 +10:00
Andrew Tridgell
969b6ebea9 HAL_SITL: support coaxcopter in SITL 2016-05-26 17:09:22 +10:00
Andrew Tridgell
a2ed8fb313 AP_Motors: prevent negative thrust 
this prevents a sqrt of a negative number
 2016-05-26 17:09:11 +10:00
Andrew Tridgell
9f33ece3ef SITL: support coax copter 2016-05-26 17:08:27 +10:00
Andrew Tridgell
6855899cbf AP_Motors: fixed servo constructor for coax 2016-05-26 16:41:16 +10:00
Andrew Tridgell
4e5e301c4e AP_Motors: fixed servo constructor for heli 2016-05-26 16:41:06 +10:00
Andrew Tridgell
ba3703303a autotest: added SingleCopter 2016-05-26 16:37:58 +10:00
Andrew Tridgell
a80e233836 HAL_SITL: added SingleCopter 2016-05-26 16:30:39 +10:00
Andrew Tridgell
8944d298ed SITL: added SingleCopter simulator 2016-05-26 16:30:39 +10:00
Andrew Tridgell
f9fb098222 AP_Motors: fixed channel output for SingleCopter 2016-05-26 16:26:43 +10:00
Andrew Tridgell
163783fefd AP_HAL: define CH_NONE 
for servos not connected to a channel
 2016-05-26 16:26:30 +10:00
Andrew Tridgell
53fc095d4c Copter: fixed motor test build on heli 
pwm percent makes no sense
 2016-05-26 15:05:52 +10:00
Andrew Tridgell
c605f09859 Copter: fixed motor test with percentage 
use motors min/max pwm, not throttle channel range
 2016-05-26 14:34:27 +10:00
Andrew Tridgell
65eb9ceb32 AP_Motors: expose min/max pwm 2016-05-26 14:33:57 +10:00
Andrew Tridgell
3ad0190693 PX4Firmware: submodule update 2016-05-26 14:27:29 +10:00
Andrew Tridgell
dda35a366c HAL_PX4: prevent rate changes once oneshot is setup 
this fixes a problem with small motor outputs at the start of a motor
test.

Thanks to Luis for reporting this.
 2016-05-26 12:18:49 +10:00
Andrew Tridgell
a44b0e0011 AP_Motors: don't setup oneshot for a zero output mask 2016-05-26 12:18:49 +10:00
Francisco Ferreira
ec0a80b6f4 ci: increase ccache size 
make based builds require more space
insert exception for sitltest
 2016-05-25 22:14:47 -03:00
Andrew Tridgell
1e44251d35 Replay: include a minimal set of FMT messages at start of log 2016-05-26 10:10:27 +10:00
Andrew Tridgell
366d95f45e Replay: fixed FMT messages in replay output 2016-05-26 09:40:21 +10:00
Gustavo Jose de Sousa
8e9752c3d3 waf: px4: setup build summary 
- Pass the correct nodes as the binaries for the programs task generators.
- Print extra information specific to PX4 build.
 2016-05-25 17:47:00 -03:00
Gustavo Jose de Sousa
d65a7897e4 waf: px4: keep ELF files around 
Including px4io. We need them for the build summary. Also, that makes it easier
to use gdb on them.
 2016-05-25 17:47:00 -03:00
Gustavo Jose de Sousa
260de62f94 waf: print build summary 2016-05-25 17:47:00 -03:00
Gustavo Jose de Sousa
4f3af94c57 waf: build_summary: add Waf tool 2016-05-25 17:47:00 -03:00
Gustavo Jose de Sousa
afcabda21c waf: use better style for add_option() calls 
Setting the "help" keyword argument may not fit in one line sometimes. This
patch adds the following convention to calls to add_option() in order to
address that issue in a better way:

    1) The "help" keyword must always be the last argument to be passed.

    2) If the help string is a literal string or a literal string with some
    operation (e.g. "%" operator) and setting the "help" keyword in the code
    doesn't fit a line (considering the limit of characters in a line), then
    the help string must be a triple-quoted string. That has the advantage of
    not having to have several "+" operations for long help strings. In that
    case, the help message must start on the next line and the closing
    triple-quotes must be on a separate line together with the closing
    parenthesis.

The requirement (1) makes it easier to make the style exception in (2)
acceptable.
 2016-05-25 17:47:00 -03:00
Gustavo Jose de Sousa
64b8ec61c7 waf: set lib as output dir for static libraries 2016-05-25 17:47:00 -03:00