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14,308 Commits 71 Branches 510 Tags 770 MiB
f73816dbb5
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6495 Commits

Author SHA1 Message Date
priseborough
f73816dbb5 AP_NavEKF: Improve robustness to long periods without GPS 2014-12-18 21:07:45 +11:00
Randy Mackay
a44b4b5e87 Mission: allow 15 do-jump commands on Pixhawk 2014-12-18 17:02:48 +09:00
priseborough
3afde0061f AP_NavEKF: Use named states for velocity reset 
Readibility improvement
 2014-12-18 17:29:50 +11:00
priseborough
f6ce25df2a AP_NavEKF: Do not reset vertical velocity state from GPS 
Doing this can cause large height and height rate errors if large GPS velocity errors cause the GPS tn be rejected for long enough to cause a timeout and reset of states.
 2014-12-18 17:29:47 +11:00
Andrew Tridgell
597273cfff AP_TECS: remove lag from height demand in landing 
this predicts ahead the height demand for landing, where we have a
continuous demanded descent. This removes the effect of the lag
introduced by the height demand filters
 2014-12-18 09:58:12 +11:00
Andrew Tridgell
b5a5b71512 GCS_MAVLink: reverse sense of check_and_forward() 
also increase number of routes on larger systems and improved route
learning logic
 2014-12-17 10:32:28 +11:00
Andrew Tridgell
a967a682a4 GCS_MAVLink: added routing test sketch 2014-12-17 10:32:28 +11:00
Andrew Tridgell
7f817502c4 GCS_MAVLINK: implement new routing rules 
see description in coments
 2014-12-17 10:32:28 +11:00
Andrew Tridgell
70f5ec60e8 AP_TECS: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Andrew Tridgell
8c1cab84c7 AP_SpdHgtControl: added get_land_sinkrate() 2014-12-15 21:51:07 +11:00
Randy Mackay
21beb26484 Notify: minor event reordering 
No functional change
 2014-12-15 14:10:26 +09:00
Randy Mackay
e68a69e139 ToneAlarm_PX4: remove user_mode_init flag 
Replaced by an initialised check in the main ArduCopter flight code
 2014-12-15 14:10:21 +09:00
Randy Mackay
1c8ab375e2 Notify: rename failsafe_action event 2014-12-15 14:10:15 +09:00
Randy Mackay
972c8e47d2 Notify: rename notify_types to notify_flags_type 2014-12-15 14:10:10 +09:00
Randy Mackay
bfc86ac7c0 ToneAlarm_PX4: add comments 2014-12-15 14:10:06 +09:00
Randy Mackay
c75ab8f3e5 Notify: add comments re events 2014-12-15 14:09:15 +09:00
Jonathan Challinger
3dfcdde6be AP_Notify: Rework ToneAlarm_PX4 to play tones from local array 2014-12-15 14:09:04 +09:00
priseborough
e2d47f836e AP_TECS: Fix bug causing plane to fly high on landing approach 
The introduction of the height rate flare logic caused the demanded height rate to be zero except when a flare manouevre was being performed. This caused the plane to lag behind height changes if the D gain was non-zero, which caused it to fly high during landing approach.
 2014-12-14 09:43:46 +11:00
Randy Mackay
b54b7b7448 GCS_MAVLink: fix compiler error 2014-12-11 16:26:26 +09:00
Randy Mackay
e581e81da5 AP_NavEKF: reorder declation to fix compiler warning 
No functional change
 2014-12-11 15:37:56 +09:00
Randy Mackay
ddda0d52ce Baro: reorder declaration to fix compiler warning 
No functional change
 2014-12-11 13:06:24 +09:00
Andrew Tridgell
ade7f9e1a9 GCS_MAVLink: fixed forwarding of non-targetted messages 2014-12-11 12:32:50 +09:00
Andrew Tridgell
fcf17829cc GCS_MAVLink: fixed addition to routing table 2014-12-11 12:32:48 +09:00
Andrew Tridgell
079158d4b8 GCS_MAVLink: strip out the old GCS_Class class 
this is not longer needed as we don't support multiple protocol
classes
 2014-12-11 12:32:45 +09:00
Andrew Tridgell
f198cdcf20 GCS_MAVLink: added support for a MAVLink snoop function 
this can be used to watch messages for different targets
 2014-12-11 12:32:32 +09:00
Andrew Tridgell
34be7f808e GCS_MAVLink: only try to fwd packets to active channels 2014-12-11 12:32:30 +09:00
Andrew Tridgell
411766f45a AP_Mount: removed use of mavlink_check_target() 2014-12-11 12:32:27 +09:00
Andrew Tridgell
4a9331c505 AP_Camera: removed use of mavlink_check_target() 2014-12-11 12:32:24 +09:00
Andrew Tridgell
f1edd1bafb GCS_MAVLink: removed use of mavlink_check_target() 
not needed now we do routing properly, as messages will only be
processed if they are for us
 2014-12-11 12:31:06 +09:00
Andrew Tridgell
aa88ba4158 GCS_MAVLink: only call message handler for our own messages 2014-12-11 12:30:59 +09:00
Andrew Tridgell
11f88f0f5d GCS_MAVLink: added routing object to GCS_MAVLink 2014-12-11 12:30:55 +09:00
Andrew Tridgell
b91529622b GCS_MAVLink: initial implementation of MAVLink routing object 
will be used to auto-route packets over all available links
 2014-12-11 12:30:50 +09:00
Andrew Tridgell
76c710f596 GCS_MAVLink: removed obsolete headers 2014-12-11 12:30:46 +09:00
Andrew Tridgell
3354cb37d0 AP_GPS: fixed vertical velocity in Replay 
fixed NavEKF use of velocity velocity
 2014-12-09 18:57:17 +11:00
Andrew Tridgell
4a91546ced HAL_PX4: FRAM does not support fsync 
the fsync just wastes time reopening /fs/mtd
 2014-12-09 14:35:36 +11:00
Randy Mackay
da247bacf8 GCS_MAVLink: add OPTICAL_FLOW to ap_message enum 2014-12-08 14:58:30 +09:00
Randy Mackay
3c23f00e81 OptFlow: remove ADNS3080 image grabber example 2014-12-08 14:58:24 +09:00
Andrew Tridgell
193bda068c HAL_Linux: run IO processes when we do a stop_clock() 
this has the effect of allowing logging to progress in Replay where we
are running at much more than realtime speeds
 2014-12-08 11:24:39 +11:00
Andrew Tridgell
cb9c518ab8 Revert "AP_NavEKF : Reduce ripple in estimates that can cause copter motor 'pulsing'" 
This reverts commit 13df6fb1c9.

This patch was a result of an incorrect merge of the optflow branch
into master. It reintroduced the bug fixed by this commit:

  AP_NavEKF : Fix bug in reset of GPS glitch offset
  8aa267f75f
 2014-12-08 07:53:47 +11:00
Andrew Tridgell
22a7b69260 AP_OpticalFlow: don't build optical flow example 
broken by library changes
 2014-12-06 22:05:42 +11:00
Andrew Tridgell
ed510d4f87 AP_OpticalFlow: run PX4 flow sensor at 10Hz 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-12-06 18:16:51 +11:00
priseborough
a2bd3b4a42 AP_NavEKF: Add public method returning height above ground level 2014-12-06 18:16:51 +11:00
priseborough
d701cfcb75 AP_NavEKF: Output terrain relative PosD when relying on Optical Flow 2014-12-06 18:16:51 +11:00
priseborough
0156d846f1 AP_NavEKF: Increase height at which nav gain reduction starts 
Compensates for optical flow induced noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
12ea1d6e85 AC_AttitudeControl: Scale angle demand noise filter 
Scales filter frequency using EKF nav gain scaler to take advantage of the reduced nav frequency whichcan tolerate a slower angle response.
This is required to reduce the effect of EKF optical flow noise increase with height.
 2014-12-06 18:16:51 +11:00
priseborough
a905432ffe AP_NavEKF: reduce height at which nav gain reduction starts 2014-12-06 18:16:51 +11:00
priseborough
5785272933 AP_NavEKF: Improve robustness to corrupted flow sensor data 2014-12-06 18:16:51 +11:00
priseborough
b1d44d4dde AP_NavEKF: Add protection for negative height above ground 2014-12-06 18:16:50 +11:00
priseborough
e80b1c67cd AC_AttitudeControl: Add EKF optical flow noise gain scaler 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00
priseborough
11fb51ceba AC_WPNav: Add nav velocity gain scaler to interfaces 
Allows gains to be adjusted to compensate for optical flow noise
 2014-12-06 18:16:50 +11:00