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Author SHA1 Message Date
Paul Riseborough
8526a8ba7e AP_NavEKF2: Level processor loading between frames 
Don't fuse other measurements on the same frame that magnetometer measurements arrive if running at a high frame rate as there will be insufficient time to complete other operations.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
225b81baf4 AP_NavEKF2: Prevent users breaking filter by setting excessive time delays 
If time deelays greater than the IMU buffer length are used, then it is possible for measurements to be dropped.
 2015-10-20 15:21:39 +11:00
Paul Riseborough
a1d6c7ae1e AP_NavEKF2: Improve timing accuracy 
This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
 2015-10-20 15:21:39 +11:00
Paul Riseborough
e0ed2dab63 AP_NavEKF2: Adjust IMU FIFO buffer for different IMU data rates 
The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
 2015-10-20 15:21:39 +11:00
Paul Riseborough
baa8692960 AP_NavEKF2: Allow use of magnetometer learning during optical flow nav 
Adds fusion of the declination when there are no earth relative measurements so that the declination angle and therefore the copters yaw angle have an absolute reference.
This enables the length (but not the declination) of the earth field North/East states to change along with the magnetometer offsets.
 2015-10-20 15:21:38 +11:00
Paul Riseborough
1b8a93ef0c AP_NavEKF2: Update function header comments 2015-10-20 15:21:38 +11:00
Paul Riseborough
6899767d28 AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference 2015-10-20 15:21:38 +11:00
Paul Riseborough
75a61df627 Copter: Enable access to EKF2 height tuning 2015-10-20 15:21:38 +11:00
Paul Riseborough
d0aba09503 Copter: Access EKF healthy through AHRS object 
Enables EKF2 use
 2015-10-20 15:21:38 +11:00
Paul Riseborough
19785c1033 Copter: Access EKF origin through AHRS object 
Enables EKF2 use
 2015-10-20 15:21:38 +11:00
Paul Riseborough
7c6b31b585 Copter: Access EKF variance checks through AHRS object 
Supports flight using EKF2
 2015-10-20 15:21:38 +11:00
Paul Riseborough
0722ebe8a0 AP_AHRS: Add EKF variance checks 2015-10-20 15:21:38 +11:00
Paul Riseborough
242b9641c8 AP_NavEKF2: Fix in-air logic bug 2015-10-20 15:21:38 +11:00
Paul Riseborough
e7de2d3ea3 AP_NavEKF: Update magnetic field learning options 
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
 2015-10-20 15:21:38 +11:00
Paul Riseborough
495809f211 AP_NavEKF2: Allow magnetic field learning to be faster 2015-10-20 15:21:38 +11:00
Paul Riseborough
84a02efd52 AP_NavEKF2: Improve efficiency of Z magnetometer fusion 2015-10-20 15:21:37 +11:00
Paul Riseborough
35b08849f7 AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
Paul Riseborough
4e928bf294 AP_NavEKF2: Fix bug preventing pre-takeoff reference measurements 2015-10-20 15:21:37 +11:00
Paul Riseborough
71c399674a AP_NavEKF2: Delay use of magnetic field states until off-ground 
Magnetic interference whilst on the ground can adversely affect filter states. This patch ensures that the simpler and more robust magnetic heading observation method is used until the vehicle has cleared the ground.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
99c2dc41e0 AP_NavEKF2: Miscellaneous tuning changes 2015-10-20 15:21:37 +11:00
Paul Riseborough
2d44441d6b DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
ae830b44c4 AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
840f307d58 AP_NavEKF: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
1323db10e8 DataFlash: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
e8037f94ad AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review
 2015-10-20 15:21:37 +11:00
Paul Riseborough
47ae0f35f6 AP_NavEKF2: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough
f63c32531c AP_InertialNav: Address peer review comments 
The decision to set the origin to zero has been moved out of the AHRS library and into the inertial nav library as this is consumer specific.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
58d57994f4 AP_AHRS: Rectify coding errors found during peer review 
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
 2015-10-20 15:21:36 +11:00
Paul Riseborough
27393855f1 AP_NavEKF2: Change assumed gyro calibration accuracy 
If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
67a669fcdc AP_NavEKF2: Correct comments for height measurement 2015-10-20 15:21:36 +11:00
Paul Riseborough
0dc570b5a5 AP_NavEKF2: Improve optical flow takeoff detection logic 
Ensure takeoff detect status goes to false when on ground
 2015-10-20 15:21:36 +11:00
Paul Riseborough
d3a6690e4f AP_NavEKF2: Fix bugs preventing use of optical flow navigation 2015-10-20 15:21:36 +11:00
Paul Riseborough
24c0309e85 AP_InertialNav: Enable flight using EKF2 
All EKF functions are accessed via the AHRS library enabling AHRS_EKF_TYPE to determine which EKF is being used by the control loops
 2015-10-20 15:21:36 +11:00
Paul Riseborough
e65ae51564 AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS 
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
 2015-10-20 15:21:36 +11:00
Paul Riseborough
f062ed4180 AP_InertialNav: Add output method for rate of change of vertical position 2015-10-20 15:21:36 +11:00
Paul Riseborough
dab658f6ed AP_NavEKF: Add methods to output and calculate vertical position derivative 2015-10-20 15:21:36 +11:00
Paul Riseborough
9e3d9d15fc DataFlash: Log vertical position derivative output 2015-10-20 15:21:35 +11:00
Paul Riseborough
52fd369b2f AP_NavEKF2: Add methods to output and calculate vertical position derivative 
This patch calculates a derivative of the vertical position (positive down).
The derivative is exposed via a public function.
 2015-10-20 15:21:35 +11:00
Andrew Tridgell
a39b341308 PX4: clean out .d dependency files from uavcan on px4-cleandep 2015-10-20 15:09:28 +11:00
Andrew Tridgell
f5b5a3b0f8 AP_NavEKF: added EKF_DISABLE_INTERRUPTS 
this helps with performance tuning
 2015-10-20 14:37:41 +11:00
Andrew Tridgell
7ae5d3220a PX4: allow up to 1300 bytes frame size 
needed for optimised EKF code
 2015-10-20 14:36:58 +11:00
Andrew Tridgell
10fddf4c7e AP_NavEKF: enable optimisation level 3 for the EKF 2015-10-20 14:36:56 +11:00
Andrew Tridgell
c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Andrew Tridgell
2ae0811458 AP_NavEK2: fixed perf counter names for EKF2 2015-10-20 14:36:49 +11:00
Randy Mackay
756d564b7c Mission: sanity check command altitudes 2015-10-19 16:15:08 +09:00
Randy Mackay
acd8252e4b Common: add location alt max definition 2015-10-19 16:15:05 +09:00
Randy Mackay
d03489263d Copter: remove gyro cal on first arming 2015-10-19 12:00:41 +09:00
Randy Mackay
b751d2bb18 InertialSensor: remove gyro cal on first arming 2015-10-19 12:00:38 +09:00
Andrew Tridgell
2ea23d66b0 PX4: use -fsingle-precision-constant for PX4 APM build 
this will prevent us having to chase cases where developers forget to
add the f to a floating point constant in APM code
 2015-10-19 12:12:20 +11:00
Jonathan Challinger
598925f8d2 Copter: EKF failsafe action always Land if RC failsafe active 2015-10-18 10:06:05 +09:00