ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	e7ba2c8d93	AP_Mission: use APM_BUILD_DELEGATES	2015-05-21 07:48:51 +10:00
Andrew Tridgell	3a300575bc	AP_Menu: use APM_BUILD_DELEGATES	2015-05-21 07:48:51 +10:00
Andrew Tridgell	98d2b9b3aa	AP_Vehicle: added APM_BUILD_DELEGATES macro	2015-05-21 07:48:50 +10:00
Andrew Tridgell	c3aa8d67fa	AP_Arming: convert to delegates	2015-05-21 07:48:50 +10:00
Andrew Tridgell	71b550d7b5	GCS_MAVLink: support member functions for rover	2015-05-21 07:48:47 +10:00
Andrew Tridgell	b5d930be61	DataFlash: support member functions for rover	2015-05-21 07:48:47 +10:00
Andrew Tridgell	1237772479	AP_Scheduler: support member functions for rover	2015-05-21 07:48:46 +10:00
Andrew Tridgell	12cbf7888f	AP_Mission: support member functions for rover	2015-05-21 07:48:46 +10:00
Andrew Tridgell	db13f657a8	AP_Menu: support member functions for rover	2015-05-21 07:48:46 +10:00
Andrew Tridgell	e1e85ecc3d	AP_Progmem: simpler PROGMEM header	2015-05-21 07:48:46 +10:00
Andrew Tridgell	abfb601db6	AP_Progmem: added pgm_read_block()	2015-05-21 07:48:45 +10:00
Andrew Tridgell	d57fcf7e46	AP_HAL: added workaround for AVR delegates in PROGMEM	2015-05-21 07:48:45 +10:00
Andrew Tridgell	be587beedc	AP_HAL: disable nagle on sockets for faster local operation	2015-05-21 07:48:45 +10:00
Andrew Tridgell	b0932548d8	AP_GPS: enable NMEA GPS on AntennaTracker we have enough flash space for it	2015-05-21 07:30:21 +10:00
Andrew Tridgell	411a96b4b3	AP_NavEKF: take at most 30s to accept DCM attitude velocity noise on the GPS can cause DCM to take a long time to converge. If it takes longer than 30s then allow EKF to start	2015-05-20 15:22:15 +10:00
Andrew Tridgell	7a76f72bf5	AP_AHRS: added uptime_ms() interface	2015-05-20 15:22:14 +10:00
ziltoid2	23787cf695	AP_Baro: use ground_temperature instead of calibration_temperature for alt calculation	2015-05-20 11:42:21 +10:00
Andrew Tridgell	92c4c5cbcf	AP_NavEKF: change using_gps threshold to 4s this means plane will continue to use dead reckoning with GPS 3D lock for 4s	2015-05-19 20:52:39 +10:00
Paul Riseborough	69ca654194	AP_NavEKF: Update declination when we know our location This ensures that when we start using GPS, that the EKF will be using the correct declination for that location If declination is not known it defaults to zero	2015-05-19 20:35:52 +10:00
Paul Riseborough	c1c5e3598a	AP_NavEKF: Enforce alignment of realigned earth mag field with declination This prevents bad inertial or GPS data combined with the post takeoff heading alignment check used by plane from resulting in earth field states that have an incorrect declination	2015-05-19 20:35:52 +10:00
Paul Riseborough	b1d8805114	AP_NavEKF: Reduce takeoff detection sensitivity This patch reworks the in-air transition criteria to reduce the likelihood of false positives and to ensure that there will be enough ground speed to make the heading check work reliably.	2015-05-19 20:35:52 +10:00
Randy Mackay	d1808c645d	AC_PosControl: recalc leash length on speed or accel change This resolves an issue in which do-set-speed would not take effect until one waypoint too late in a mission.	2015-05-19 18:16:39 +09:00
Andrew Tridgell	5514a9f690	AP_NavEKF: base EKF decisions on vehicle class using the vehicle class rather than the build macros allows this to work correctly in replay	2015-05-19 15:21:22 +10:00
Andrew Tridgell	92daa15ccc	AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised planes and rovers need full absolute position from the EKF if the EKF is going to be used. We don't want users to arm without full capabilities	2015-05-19 15:21:21 +10:00
Andy Piper	c600c1a746	DataFlash: log Gyro and Accel Health for IMUs. Log the health of the various IMUs under GyHlt and AcHlt. (Names are shortened to get inside the string array limit).	2015-05-19 13:13:35 +09:00
Andrew Tridgell	0619247992	HAL_Linux: don't advance time in delay() and delay_microseconds() this could cause time to go backwards in Replay. Thanks to Peter for finding this	2015-05-19 13:17:15 +10:00
Andrew Tridgell	29f0561ce4	AP_AHRS: reject EKF for plane when we have GPS and aren't fusing plane users would prefer to use GPS in this case	2015-05-17 21:24:57 +10:00
Andrew Tridgell	6154db5cf8	AP_NavEKF: added using_gps status bit	2015-05-17 21:24:57 +10:00
Randy Mackay	0077cac1b7	AC_WPNav: rename stop to brake	2015-05-17 14:44:33 +09:00
Andrew Tridgell	80c20b5cf2	DataFlash: use L for latitude/longitude in DF messages	2015-05-16 14:04:31 +10:00
Tom Pittenger	e987173ffb	AP_NavEKF: float to double promotion via tan instead of tanf	2015-05-16 08:21:49 +10:00
Tom Pittenger	5f677c2b5b	AP_Math: float to double promotion via cos instead of cosf	2015-05-16 08:21:49 +10:00
Tom Pittenger	7b95241306	AP_HAL_SITL: float to double promotion via cos instead of cosf	2015-05-16 08:21:37 +10:00
Tom Pittenger	4f1dd2c8a4	AC_AttitudeControl: compiler warning stuff float to double promotion via cos & sin instead of cosf & sinf (this code is commented out but in case it ever gets included it would be nice to be correct	2015-05-16 08:21:36 +10:00
Andrew Tridgell	aaa35bd1ec	AP_InertialSensor: using atan2f() gives more accurate euler corrections thanks to Jon and Paul!	2015-05-16 08:19:18 +10:00
Andrew Tridgell	9e723ef907	AP_InertialSensor: added calibrate_trim() function used for redoing trim calculation	2015-05-16 07:56:34 +10:00
Andrew Tridgell	b564ba0868	AP_InertialSensor: fixed AHRS_TRIM calculation again	2015-05-16 07:56:33 +10:00
Andrew Tridgell	2475ee9630	AP_Compass: setup HIL/SITL for two compasses	2015-05-16 07:06:04 +10:00
Andrew Tridgell	ab687ab0f5	DataFlash: added double to list of format strings thanks to Dario <proyectoire@gmail.com> for noticing this	2015-05-15 21:14:49 +10:00
Jonathan Challinger	159599879f	AP_InertialSensor: simplify and correct AHRS_TRIM computation	2015-05-15 21:03:03 +10:00
Andrew Tridgell	d7e4310df0	DataFlash: Lat can be negative in POS	2015-05-15 17:55:50 +10:00
Randy Mackay	559684b257	GCS_MAVLink: fix flow control check Thanks to Tridge for spotting is	2015-05-15 15:39:34 +09:00
Andrew Tridgell	b0a90df135	DataFlash: fixed double Init of DF object thanks to Michael De Breuil	2015-05-15 16:33:10 +10:00
Randy Mackay	763c671d0a	GCS_Console: fix example sketch after mavlink_comm_port to array	2015-05-15 15:07:32 +09:00
Randy Mackay	85eeba93c0	GCS_MAVLink: mavlink_comm_port to array	2015-05-15 15:07:31 +09:00
Randy Mackay	facbfaf31f	SerialManager: support for 4th mavlink channel	2015-05-15 15:07:24 +09:00
Randy Mackay	62e7e8cc7d	GCS_MAVLink: add support for 4th mavlink chan on PX4	2015-05-15 15:07:23 +09:00
Andrew Tridgell	74485c5754	DataFlash: added Log_Write_POS() call write AHRS position to DF log	2015-05-15 14:28:08 +10:00
Andrew Tridgell	3370ec62a1	HAL_SITL: fix for multi-compass SITL	2015-05-15 14:25:44 +10:00
Andrew Tridgell	91b4ba3588	AP_Compass: allow for more than one compass in HIL/SITL	2015-05-15 14:25:44 +10:00
Andrew Tridgell	11f70da8b4	DataFlash: fixed incorrect change to GPS message	2015-05-15 14:25:43 +10:00
Randy Mackay	ade4f81c77	Compass: fix example sketch	2015-05-15 11:53:28 +09:00
Paul Riseborough	bd91b9727f	AP_NavEKF: Add pre-arm check for horizontal inertial errors This check will declare the EKF as unhealthy if the horizontal position innovations exceed a threshold before motors are armed. This will help to prevent a takeoff with bad inertial data caused by bad accel or gyro offsets.	2015-05-15 10:35:25 +09:00
Randy Mackay	1b13250fd8	RC_Channel: small parameter description change	2015-05-14 10:33:08 +09:00
Randy Mackay	61c851885f	AC_WPNav: remove unused set_spline_dest_and_vel	2015-05-13 22:40:08 +09:00
Randy Mackay	7056484ef0	Copter: fix spline overshoot	2015-05-13 22:40:06 +09:00
Randy Mackay	56b92e7d8c	AC_PID: fix example sketch	2015-05-13 17:55:39 +09:00
Paul Riseborough	c2ac80cc63	AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors	2015-05-13 16:11:13 +09:00
Randy Mackay	3f8b832075	InertialSensor: fix example sketch	2015-05-13 10:13:51 +09:00
Randy Mackay	3bcd97fcd1	Parachute: increase deployment duration to 2sec	2015-05-12 22:08:20 +09:00
Randy Mackay	5560d3dba1	BattMonitor: fix example sketch	2015-05-12 21:34:24 +09:00
Randy Mackay	e080b2acce	AP_Arming: use accel_calibrated_ok_all	2015-05-12 16:32:22 +09:00
Randy Mackay	1f14eec4ea	InertialSensor: accel_calibrated_all_ok replaces calibrated This checks that the current number of accelerometers matches the number of calibrated accels in order to catch accel failures at boot	2015-05-12 16:32:16 +09:00
Randy Mackay	0d72f3ac29	AP_HAL: fix example sketches	2015-05-12 14:42:15 +09:00
Andrew Tridgell	8bf2baef70	AP_InertialSensor: fixed primary accel/gyro in replay	2015-05-11 11:19:11 +10:00
Andrew Tridgell	f40c96de9d	SITL: add 'quad' and 'copter' as aliases for quadcopter	2015-05-11 09:19:53 +10:00
Andrew Tridgell	2a47cc3c81	HAL_SITL: cleanup command line handling	2015-05-11 08:48:42 +10:00
Andrew Tridgell	bab94c8a04	SITL: close high fds before launching JSBSIM	2015-05-11 08:06:10 +10:00
Andrew Tridgell	414f4125de	AP_HAL: use FD_CLOEXEC to prevent sockets being inherited in SITL	2015-05-11 08:05:51 +10:00
Andrew Tridgell	7692889248	SIM_JSBSim: added elevon and vtail support	2015-05-10 21:57:39 +10:00
Andrew Tridgell	aa9853179c	SITL: fixed startup yaw	2015-05-10 21:57:19 +10:00
Andrew Tridgell	5687adbdba	HAL_SITL: support JSBSim backend	2015-05-10 21:02:20 +10:00
Andrew Tridgell	692fc18698	AP_HAL: protect Socket.h from double include	2015-05-10 21:02:04 +10:00
Andrew Tridgell	c136d65c25	SITL: added initial JSBSim simulator backend	2015-05-10 21:01:49 +10:00
Andrew Tridgell	8ec98a5ec9	SITL: make it possible to connect two SITL instances together this adds --client to set uartC as a tcp client rather than a TCP server	2015-05-10 15:36:18 +10:00
Andrew Tridgell	3991e0c476	DataFlash: fixed sign of sv in GRAW message	2015-05-10 12:15:04 +10:00
Andrew Tridgell	3529e02675	AP_AHRS: if we have 3 gyros then only use first two the 3rd gyro on a PH2 has a lot more noise as it is not vibration isolated	2015-05-09 21:00:49 +10:00
Paul Riseborough	cb59570938	AP_NavEKF: Remove bug preventing external selection of optical flow mode	2015-05-09 18:31:18 +10:00
Randy Mackay	3390d9932e	AP_AHRS: fix example sketch	2015-05-09 12:23:05 +09:00
Tom Pittenger	2deb0e08ea	AP_NavEKF: replace fabs() with fabsf()	2015-05-09 09:57:27 +10:00
Tom Pittenger	79605de8f5	AP_Mission: replace fabs() with fabsf()	2015-05-09 09:57:27 +10:00
Tom Pittenger	e20ffa8c75	AP_Math: replace fabs() with fabsf()	2015-05-09 09:57:27 +10:00
Tom Pittenger	1c8efb25a8	AP_HAL_SITL: replace fabs() with fabsf()	2015-05-09 09:57:26 +10:00
Tom Pittenger	4b6d0d8e24	AP_HAL: replace fabs() with fabsf()	2015-05-09 09:57:26 +10:00
Tom Pittenger	9d74f57ed3	AP_PID: replace fabs() with fabsf()	2015-05-09 09:57:26 +10:00
Tom Pittenger	70bef20a29	AC_AttitudeControl: replace fabs() with fabsf()	2015-05-09 09:57:26 +10:00
Andrew Tridgell	1127b716c4	SITL: lower the default noise prevents problems calibrating the gyro	2015-05-09 07:22:37 +10:00
Andrew Tridgell	2552acbf12	AP_Arming: fixed accel cal test in arming use a per-imu time of last cal pass, and triple accel threshold for IMU3. Raise threshold to 0.5 for IMU1/IMU2	2015-05-08 21:01:52 +10:00
Tom Pittenger	d94c95a6ef	GCS_MAVLink: return true if mission recieve is complete when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission	2015-05-08 21:01:51 +10:00
Paul Riseborough	a232606fc9	AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail. This patch introduces the following protections: 1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet) 2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state 3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass	2015-05-08 16:47:31 +09:00
Paul Riseborough	08382373f1	AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift. Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle	2015-05-08 16:47:29 +09:00
Randy Mackay	3781f133d7	AC_AttControlHeli: remove unused definitions	2015-05-08 14:50:38 +09:00
Randy Mackay	bef5633ed5	AC_AttControlHeli: use params from parent class	2015-05-08 14:50:36 +09:00
Randy Mackay	7951346d72	AC_AttControl: bf_feedfoward_save made more concise	2015-05-08 14:29:49 +09:00
Randy Mackay	3d9a6a69e2	MotorsHeli: COLYAW to float	2015-05-08 14:14:36 +09:00
Randy Mackay	edfa206bb8	Motors_Heli: nest heli params	2015-05-08 14:14:35 +09:00
Randy Mackay	68b05a4ca2	AP_Motors: is_throttle_mix_min returns bol	2015-05-08 14:14:32 +09:00
Leonard Hall	cf45a1cf3a	AC_AttitudeControl: add get accel and save ff	2015-05-08 14:14:30 +09:00
Leonard Hall	1900cc7582	AC_AttitudeControl: Enable FF by default	2015-05-08 14:14:21 +09:00
Leonard Hall	0f894ac1a8	AP_Motors: Rename and move Throttle Mix / Comp	2015-05-08 14:14:17 +09:00
Jonathan Challinger	142e018a18	AP_NavEKF: fix bug causing takeoff to fail	2015-05-08 09:15:45 +09:00
Randy Mackay	fa4ba456b4	GPS: fix example sketches	2015-05-07 14:01:14 +09:00
Andrew Tridgell	afc9812d0b	AP_InertialSensor: update VibTest after moving messages info DataFlash	2015-05-07 13:25:37 +10:00
Andrew Tridgell	7d90033a36	AP_InertialSensor: support raw accel and gyro dataflash logging	2015-05-07 12:08:30 +10:00
Andrew Tridgell	21d805422d	DataFlash: added defines for raw accel and gyro logging	2015-05-07 12:08:04 +10:00
Andrew Tridgell	f5140e25b0	AP_InertialSensor: updated VibTest for latest PX4 interfaces	2015-05-07 10:51:52 +10:00
Andrew Tridgell	cbdc9f0706	SITL: fixed autotest SITL	2015-05-06 10:09:43 +10:00
Andrew Tridgell	2369e06815	AP_HAL: fixed SITL build on windows	2015-05-06 09:07:03 +10:00
Andrew Tridgell	b09fcfc20e	HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS such as my ubuntu 14.04 laptop :-)	2015-05-05 21:42:46 +10:00
Andrew Tridgell	6a8da06d19	HAL_SITL: hook in CRRCSim backend	2015-05-05 21:42:46 +10:00
Andrew Tridgell	93d5101bf9	SITL: added CRRCSim simulation connection	2015-05-05 21:42:45 +10:00
Andrew Tridgell	4c11002976	AP_HAL: added HAL_OS_SOCKETS define used for systems with BSD sockets	2015-05-05 21:34:19 +10:00
Andrew Tridgell	08b9ed3342	AP_HAL: added socket handling class	2015-05-05 21:34:19 +10:00
Randy Mackay	9dede2f0ec	Math: remove duplicate HALF_SQRT_2 definition	2015-05-05 14:23:14 +09:00
Randy Mackay	151707cb0a	Filter: replace 2*M_PI_F with M_2PI_F	2015-05-05 14:22:52 +09:00
Peter Barker	463270e0ee	AP_AHRS: avoid FPE when we don't have a compass reading	2015-05-05 15:02:35 +10:00
Andrew Tridgell	77a2b4acf6	AP_Math: removed fast_atan	2015-05-05 13:57:22 +10:00
Andrew Tridgell	872583f441	AC_AttitudeControl: removed fast_atan	2015-05-05 13:57:16 +10:00
Andrew Tridgell	8ba5272b0e	AP_Scheduler: fixed PSTR() usage	2015-05-05 13:54:27 +10:00
Andrew Tridgell	88fb7ddff8	AP_Param: fixed PSTR() usage	2015-05-05 13:54:15 +10:00
Andrew Tridgell	089e63f987	AP_InertialSensor: fixed PSTR handling must use PSTR on code compiled for AVR	2015-05-05 13:54:00 +10:00
Andrew Tridgell	31693e332e	AP_InertialSensor: use non-PSTR printf this is not built on AVR	2015-05-05 13:48:34 +10:00
Andrew Tridgell	730644eaeb	AP_Mount: use M_PI_F instead of (float)M_PI	2015-05-05 13:44:25 +10:00
Andrew Tridgell	84ac721340	AC_AttitudeControl: use M_PI_F instead of (float)M_PI	2015-05-05 13:44:19 +10:00
Andrew Tridgell	f9114f849b	Filter: revert AP_Math class change	2015-05-05 13:27:07 +10:00
Andrew Tridgell	bcc6c7d380	AP_Param: revert AP_Math class change	2015-05-05 13:27:07 +10:00
Andrew Tridgell	a140a5e77f	AP_NavEKF: revert AP_Math class change	2015-05-05 13:27:07 +10:00
Andrew Tridgell	7c9e3d4b58	AP_Mount: revert AP_Math class change	2015-05-05 13:27:06 +10:00
Andrew Tridgell	0b897e04bb	AP_Math: revert AP_Math class change	2015-05-05 13:27:06 +10:00
Andrew Tridgell	e6a8a6da07	AP_InertialSensor: revert AP_Math class change	2015-05-05 13:27:06 +10:00
Andrew Tridgell	015fce5183	AP_Compass: revert AP_Math class change	2015-05-05 13:27:06 +10:00
Andrew Tridgell	d2167633f0	AP_Camera: revert AP_Math class change	2015-05-05 13:27:06 +10:00
Andrew Tridgell	48fb7f8159	AP_BARO: revert AP_Math class change	2015-05-05 13:27:05 +10:00
Andrew Tridgell	4d4a607b80	AP_AHRS: revert AP_Math class change	2015-05-05 13:27:05 +10:00
Andrew Tridgell	c08b62f9e4	AC_WPNAV: revert AP_Math class change	2015-05-05 13:27:05 +10:00
Andrew Tridgell	33555b7f12	AC_PID: revert AP_Math class change	2015-05-05 13:27:05 +10:00
Andrew Tridgell	aa1bfb1ca7	AC_Fence: revert AP_Math class change	2015-05-05 13:27:04 +10:00
Andrew Tridgell	326b0b33ea	AC_AttitudeControl: revert AP_Math class change	2015-05-05 13:27:04 +10:00
Andrew Tridgell	936fbbb362	AP_Math: removed AP_Math class	2015-05-05 13:27:03 +10:00
Tom Pittenger	7fd285f483	AC_WPNav: Compiler warnings: nuke fast_atan2() per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM `ccd578664f (commitcomment-11025083)`	2015-05-05 13:27:03 +10:00
Tom Pittenger	4ec2fb3a9c	AP_Math: Compiler warnings: nuke fast_atan2() per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM `ccd578664f (commitcomment-11025083)`	2015-05-05 13:27:02 +10:00
Tom Pittenger	1b84bbc3e7	AC_WPNav: Compiler warnings: add in the appropriate whitrespace	2015-05-05 13:27:02 +10:00
Tom Pittenger	0e076d6dc8	AP_InertialSensor: compile warnings: format not a string literal, argument types not checked PSTR() goofs things up when using hal.console->printf_P()	2015-05-05 13:27:02 +10:00
Tom Pittenger	6acd92be1e	AP_RangeFinder: compiler warnings: compare signed to unsigned	2015-05-05 13:27:02 +10:00
Tom Pittenger	9e98c68099	AP_InertialSensor: compile warnings: format not a string literal, argument types not checked PSTR() goofs things up when using hal.console->printf_P()	2015-05-05 13:27:01 +10:00
Tom Pittenger	d823541eb1	AP_Scheduler: compile warnings: format not a string literal, argument types not checked PSTR() goofs things up when using hal.console->printf_P()	2015-05-05 13:27:01 +10:00
Tom Pittenger	bfd1b2b11a	AP_Param: compile warnings: format not a string literal, argument types not checked	2015-05-05 13:27:01 +10:00
Tom Pittenger	b9771ca37c	AP_Param: compile warnings: float to double. print statements require doubles	2015-05-05 13:27:00 +10:00
Tom Pittenger	330e4126bb	Ap_Math: compile warnings: float to double. use atan2f instead of atan2	2015-05-05 13:27:00 +10:00
Tom Pittenger	440438fdda	AP_Param: compiler warnings: apply is_zero(float) or is_equal(float) due to an include cross-dependency between ap_param and ap_math, I punted and reimplemented is_equal() for this one function in the header	2015-05-05 13:26:58 +10:00
Tom Pittenger	820f0bf02a	AP_Math: compiler warnings: float to double promotion cast as float because we're in magical template land where T minus T means promote to double	2015-05-05 13:26:58 +10:00
Tom Pittenger	1c3ad00aa7	AP_Math: compiler warnings: use double for the constant so the template can handle it	2015-05-05 13:26:57 +10:00
Tom Pittenger	6e6f481ecb	AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:56 +10:00
Tom Pittenger	98c5137107	AP_HAL_PX4: compiler warnings: float to doubles	2015-05-05 13:26:56 +10:00
Tom Pittenger	54f4d4b07c	AP_PID: compiler warnings: reordered constructor	2015-05-05 13:26:56 +10:00
Tom Pittenger	0b29848277	AP_Baro: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:56 +10:00
Tom Pittenger	d275e6711d	AP_HAL_VRBRAIN: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:55 +10:00
Tom Pittenger	20f47417d5	AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles	2015-05-05 13:26:55 +10:00
Tom Pittenger	94ffc9b942	AC_Fence: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:55 +10:00
Tom Pittenger	1bca81eaed	AC_AttitudeControl: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles	2015-05-05 13:26:55 +10:00
Tom Pittenger	6d1b517aae	Filter: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:55 +10:00
Tom Pittenger	913d00f525	AP_WPNav: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:54 +10:00
Tom Pittenger	98ca790cb9	AP_DataFlash: compiler warnings: float to double	2015-05-05 13:26:54 +10:00
Tom Pittenger	4ac1f8a2fa	AP_Mount: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:54 +10:00
Tom Pittenger	9b53961a7d	AP_NavEKF: compiler warnings: float to double	2015-05-05 13:26:52 +10:00
Tom Pittenger	3276eec30e	AP_NavEKF: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:52 +10:00
Tom Pittenger	35f7a466e5	AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:52 +10:00
Tom Pittenger	a5d2f3a82f	AP_Math: compiler warnings: float to double	2015-05-05 13:26:52 +10:00
Tom Pittenger	d09ef4783d	AP_Compass: compiler warnings: reorder constructors	2015-05-05 13:26:52 +10:00
Tom Pittenger	ad11a57f57	AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:51 +10:00
Tom Pittenger	820199635b	AP_InertialSensors: compiler warnings: apply is_zero(float) or is_equal(float)	2015-05-05 13:26:51 +10:00
Tom Pittenger	01180d52c4	AP_PID: compiler warnings: apply is_zero(float)	2015-05-05 13:26:51 +10:00
Tom Pittenger	ac4e7b2b03	AP_Math: compiler warnings: apply is_equal(float)	2015-05-05 13:26:51 +10:00
Tom Pittenger	c93c773de2	AP_Math: change is_equal and is_zero to static class for better visability	2015-05-05 13:26:50 +10:00
Tom Pittenger	3cb2221315	AP_IntertialSensor: double to float warning	2015-05-05 13:26:50 +10:00
Tom Pittenger	bdda11b327	AP_Math: compiler warning: is_zero special case for vector3.h in a template	2015-05-05 13:26:50 +10:00
Andrew Tridgell	878eb88c3a	AP_GPS: avoid expanding the ublox buffer on APM2	2015-05-05 13:25:34 +10:00
Micheal Knight	ee85d37ee2	AP_GPS: added logging of RXM_RAW messages for UBlox this will allow for post-flight RTK processing of DF logs	2015-05-05 13:25:34 +10:00
Andrew Tridgell	f8e09da50e	DataFlash: added GRAW raw GPS message for saving RXM_RAW for post flight RTK	2015-05-05 13:25:34 +10:00
Andrew Tridgell	42c6801d61	SITL: reformat SITL code with astyle	2015-05-05 11:49:54 +10:00
Andrew Tridgell	c81ad1d622	HAL_SITL: reformat HAL_SITL with astyle	2015-05-05 10:59:07 +10:00
Lucas De Marchi	d640bc8345	AP_HAL_Linux: use kernel's limit of msgs per I2C transaction Instead of hardcoding 8 as the limit for I2C msgs, use whatever the kernel exported to us. In upstream this is 42 so it means we can group together 21 addr/data pair instead of only 8.	2015-05-05 09:56:44 +10:00
Andrew Tridgell	d8791134f9	HAL_SITL: need to use fabs() for double checking	2015-05-05 09:45:59 +10:00
Andrew Tridgell	b9abf30785	HAL_SITL: removed unused cygwin code	2015-05-05 09:45:58 +10:00
Andrew Tridgell	5158f91263	HAL_SITL: converted command line code to getopt_cpp	2015-05-05 09:45:58 +10:00
Andrew Tridgell	a58a663085	SITL: fixed build on APM2	2015-05-05 09:45:58 +10:00
Andrew Tridgell	35d22b9d57	AP_HAL: added getopt_cpp class a simple port of getopt_long to C++	2015-05-05 09:45:58 +10:00
Andrew Tridgell	438f954379	DataFlash: fixed some build warnings	2015-05-05 09:45:58 +10:00
Andrew Tridgell	d8ca0658d7	AP_Mount: fixed some build warnings	2015-05-05 09:45:58 +10:00
Andrew Tridgell	b2b5c8cd18	HAL_SITL: fixed some build warnings	2015-05-05 09:45:58 +10:00
Andrew Tridgell	a7c3125bcc	AP_GPS: fixed warnings in SBP driver	2015-05-05 09:45:57 +10:00
Andrew Tridgell	212e0ec002	StorageManager: fix for HAL_SITL rename	2015-05-05 09:45:57 +10:00
Andrew Tridgell	fa688a7b14	RC_Channel: fix for HAL_SITL rename	2015-05-05 09:45:57 +10:00
Andrew Tridgell	f449b34fdd	PID: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	2d89b8b53d	GCS_MAVLink: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	69f9d25cd0	DataFlash: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	cf4602afc1	AP_TECS: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	a4e8d960d2	AP_Scheduler: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	c80a631813	AP_Relay: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	ac43972883	AP_RangeFinder: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	4ee54a8915	AP_OpticalFlow: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	9f10e2d26c	AP_Notify: fix for HAL_SITL rename	2015-05-05 09:45:56 +10:00
Andrew Tridgell	c4d6f9d040	AP_NavEKF: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	2e57c62ebb	AP_Motors: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	0c142bb25a	AP_Mission: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	eca675c556	AP_Math: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	ef527d9daa	AP_InertialSensor: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	2be45bc7e6	AP_GPS: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	dd94cc18a1	AP_Common: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	8055e5792d	AP_BattMonitor: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	7d9d594283	AP_Baro: fix for HAL_SITL rename	2015-05-05 09:45:55 +10:00
Andrew Tridgell	f23bc463cb	AP_Airspeed: fix for HAL_SITL rename	2015-05-05 09:45:54 +10:00
Andrew Tridgell	e597575747	AP_AHRS: fix for HAL_SITL rename	2015-05-05 09:45:54 +10:00
Andrew Tridgell	d8cd986696	APM_Control: fix for HAL_SITL rename	2015-05-05 09:45:54 +10:00
Andrew Tridgell	e789984c98	AC_WPNav: fix for HAL_SITL rename	2015-05-05 09:45:54 +10:00
Andrew Tridgell	777685ce1f	AC_PID: fix for HAL_SITL rename	2015-05-05 09:45:54 +10:00
Andrew Tridgell	40e3b422b5	HAL_SITL: rename HAL_AVR_SITL to HAL_SITL it is nothing to do with the original AVR emulation now	2015-05-05 09:45:54 +10:00
Andrew Tridgell	24fc1d8ebf	HAL_SITL: added -F option for FDM address	2015-05-05 09:45:54 +10:00
Andrew Tridgell	630cd14252	HAL_SITL: added rover simulator support	2015-05-05 09:45:53 +10:00
Andrew Tridgell	64fa219c05	SITL: converted rover simulator from python to C++	2015-05-05 09:45:53 +10:00
Andrew Tridgell	11df612c04	HAL_SITL: added a table of simulator constructors	2015-05-05 09:45:53 +10:00
Andrew Tridgell	6ec6158b8b	SITL: converted helicopter simulator from python	2015-05-05 09:45:53 +10:00
Andrew Tridgell	be3d6c924e	AP_Compass: rename enum values to avoid header conflicts for 'ERROR'	2015-05-05 09:45:53 +10:00
Andrew Tridgell	963e5c5977	HAL_SITL: removed pthread.h as no longer needed	2015-05-05 09:45:53 +10:00
Michael Oborne	c26f2c9b1c	SITL: add missing include 'select'	2015-05-05 09:45:53 +10:00
Andrew Tridgell	878549530d	HAL_SITL: g_state is not needed any more	2015-05-05 09:45:53 +10:00
Andrew Tridgell	a17fc9e5ab	SITL: fixed time handling type	2015-05-05 09:45:53 +10:00
Andrew Tridgell	ce0a863d01	AP_NavEKF: allow for optimisation of the EKF disable optimisation when debugging needed	2015-05-05 09:45:53 +10:00
Andrew Tridgell	25de563687	HAL_SITL: support direct RC input	2015-05-05 09:45:52 +10:00
Andrew Tridgell	77f007ab27	SITL: support speedup setting on the command line	2015-05-05 09:45:52 +10:00
Andrew Tridgell	a6f41b3ca6	HAL_SITL: removed the need for the FDM thread this also removes the need for the barriers	2015-05-05 09:45:52 +10:00
Andrew Tridgell	19147a05f6	SITL: support functions for new simulators	2015-05-05 09:45:52 +10:00
Andrew Tridgell	437e1bdba0	SITL: added fill_fdm() for FDM output from simulator	2015-05-05 09:45:52 +10:00
Andrew Tridgell	ab2d4349b4	HAL_SITL: initial support for internal simulators	2015-05-05 09:45:52 +10:00
Andrew Tridgell	24b051565b	AP_Math: added normalize() method to Matrix3f	2015-05-05 09:45:52 +10:00
Andrew Tridgell	914b91af9e	SITL: initial conversion of multicopter sim to C++	2015-05-05 07:12:36 +10:00
Randy Mackay	2a6421d1bf	Airspeed: fix example sketch	2015-05-02 20:53:49 +09:00
Randy Mackay	55298a4c73	Baro: fix example sketch	2015-05-02 17:25:44 +09:00
Paul Riseborough	be04be9b43	AP_NavEKF: Fix bug preventing home position being set by copter The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement. This enables this function to be used to set a home position before flight.	2015-05-02 17:20:21 +09:00
Randy Mackay	75e2498da2	Scheduler: fix example sketch	2015-05-02 11:55:50 +09:00
Randy Mackay	c78068b8b8	StorageManager: fix example sketch	2015-05-01 21:03:13 +09:00
Randy Mackay	5b15c07d47	RC_Channel: fix example sketch	2015-05-01 21:02:57 +09:00
Randy Mackay	240a845206	Notify: fix example sketches	2015-05-01 20:58:34 +09:00
Randy Mackay	b223e90ef6	AP_Motors: fix example sketches	2015-05-01 20:58:20 +09:00
Randy Mackay	ed61d961c3	Mission: fix example sketch	2015-05-01 20:58:06 +09:00
Randy Mackay	fecbf06008	AP_Math: fix example sketches	2015-05-01 20:57:38 +09:00
Jonathan Challinger	2b29060a4e	AC_WPNav: remove unused set_loiter_velocity	2015-05-01 16:46:53 +09:00
Randy Mackay	187dd0dccd	HAL_PX4: fix example sketch	2015-05-01 16:44:10 +09:00
Randy Mackay	fb7e75594f	AP_NavEKF: replace memset with quaternion.initialise	2015-05-01 16:37:35 +09:00
Randy Mackay	eaedeeb7bf	AP_Math: add quaternion.initialise	2015-05-01 16:37:34 +09:00
Randy Mackay	c366fbbc96	AP_NavEKF: remove unused haveDeltaAngles	2015-05-01 16:37:33 +09:00
Randy Mackay	6773c0b232	AP_InertialSensor: default primary accel and gyro	2015-05-01 16:37:33 +09:00
Paul Riseborough	b71b8f4bda	AP_NavEKF: Always return a NED relative position if possible If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.	2015-05-01 16:37:32 +09:00
Paul Riseborough	20ba1e6b1b	AP_NavEKF: Always return a WGS-84 location if possible If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.	2015-05-01 16:37:31 +09:00
Paul Riseborough	dd1e0b2f0b	AP_NavEKF: Add missing function to return the NED to XYZ quaternion	2015-05-01 16:37:30 +09:00
Paul Riseborough	2c4572eb50	AP_NavEKF: Make ground effect variable names more descriptive	2015-05-01 16:37:29 +09:00
Paul Riseborough	3986851c51	AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error. This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.	2015-05-01 16:37:28 +09:00
Paul Riseborough	2cba60c731	AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain	2015-05-01 16:37:27 +09:00
Paul Riseborough	c4c0f819b5	AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step	2015-05-01 16:37:26 +09:00
Paul Riseborough	5dc29699ab	AP_NavEKF: Publish the INS delta quaternion	2015-05-01 16:37:25 +09:00
Paul Riseborough	d273302ce7	AP_NavEKF: Improve rate of accel bias learning before flight	2015-05-01 16:37:24 +09:00
Paul Riseborough	8dc6354a54	AP_NavEKF: Prevent touchdown baro errors tripping height innovation check Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits. Resetting the vertical position state to the measured height after disarming prevents this.	2015-05-01 16:37:23 +09:00
Jonathan Challinger	2f38dd1b67	AP_NavEKF: use quaternion functions to apply IMU delta angles	2015-05-01 16:37:22 +09:00
Jonathan Challinger	9c374eb4a8	AP_NavEKF: apply constrained floor to barometer innovation while landing	2015-05-01 16:37:21 +09:00
Jonathan Challinger	3c6446fadd	AP_NavEKF: refactor meaHgtAtTakeOff filter	2015-05-01 16:37:20 +09:00
Paul Riseborough	744de74c16	AP_NavEKF: Reduce ground effect baro induced height errors during takeoff	2015-05-01 16:37:19 +09:00
Paul Riseborough	13616d6436	AP_NavEKF: Add takeoff and touchdown expected to reported filter status	2015-05-01 16:37:19 +09:00
Jonathan Challinger	8c92524b8a	AP_NavEKF: add takeoffExpected and touchdownExpected	2015-05-01 16:37:18 +09:00
Jonathan Challinger	b6b55bf6f2	AP_NavEKF: integrate gravity over correct time period	2015-05-01 16:37:17 +09:00
Jonathan Challinger	cb0c424da1	AP_NavEKF: rewrite readIMUData	2015-05-01 16:37:16 +09:00
Jonathan Challinger	bb88a4f8fe	AP_InertialSensor: healthy() checks bounds	2015-05-01 16:37:15 +09:00
Jonathan Challinger	af80f20a51	AP_InertialSensor: add get_primary_gyro, fix get_primary_accel	2015-05-01 16:37:14 +09:00
Randy Mackay	0acc06d713	AP_Motors: minor comment for interlock	2015-05-01 14:30:45 +09:00
Robert Lefebvre	1a482de5e2	AP_MotorsHeli: Overload output_armed_zero_throttle	2015-05-01 14:30:25 +09:00
Robert Lefebvre	6bdace30d2	AP_Motors: Add throttle interlock functionality AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class	2015-05-01 14:30:24 +09:00
Randy Mackay	31edd6a72b	AC_PosControl: add_takeoff_climb_rate method This function simply increments the current altitude target given a climb rate and dt	2015-05-01 12:56:30 +09:00
Jonathan Challinger	348001e786	AP_Motors: add get_throttle_warn function	2015-05-01 12:56:11 +09:00
Andrew Tridgell	74581a55bc	HAL_SITL: fixed startup of SITL in synthetic clock mode	2015-04-30 17:19:56 +10:00
Andrew Tridgell	df21c6c68d	AP_HAL: support micros64() and millis64() on all platforms this will allow for 64 bit timestamps in DF logs (Peter is working on that)	2015-04-30 12:17:34 +10:00
Andrew Tridgell	4c4a4f9ea5	AP_RangeFinder: fixed cm to meter comparison thanks to EShamaev for this fix (see PR #1352)	2015-04-30 11:26:36 +10:00
Randy Mackay	dfadcad69d	Mission: allow zoom_step to be negative	2015-04-29 14:36:25 +09:00
Randy Mackay	bae1722946	AP_Motors: get_compensation_gain gets div-by-zero check	2015-04-29 14:36:22 +09:00
Randy Mackay	1b381b5675	Baro: get_air_density_ratio gets div-by-zero check	2015-04-29 14:36:20 +09:00
Jonathan Challinger	41ae7207c7	AP_Motors: scale roll/pitch/yaw gain for air density	2015-04-29 14:36:15 +09:00
Jonathan Challinger	e2ba351149	AP_Motors: refactor apply_thrust_curve_and_volt_scaling	2015-04-29 14:36:12 +09:00
Jonathan Challinger	f381ef93e8	AP_Baro: add get_air_density_ratio	2015-04-29 14:36:10 +09:00
Randy Mackay	b55367ccc7	GCS_MAVLink: fix example sketch	2015-04-29 10:18:57 +09:00
Randy Mackay	67b0c6f5c4	AC_PID: replace is_equal with is_zero	2015-04-28 16:22:08 +09:00
Randy Mackay	3514177314	AC_PI_2D: minor format fix	2015-04-28 16:21:53 +09:00
dgrat	303cfd683a	AC_PID: replace floating point '==' with is_equal Also add div-by-zero check to fix calc_filt_alpha Also get_i and get_shrink_i do not need to set values to zero in Vector2f constructor because this is already done.	2015-04-28 16:21:46 +09:00
Randy Mackay	0392292489	AP_Math: inline is_equal, add is_zero	2015-04-28 16:19:01 +09:00
dgrat	726d7df710	AP_Math: add is_equal to compare floats	2015-04-28 16:18:59 +09:00
Grant Morphett	444841537e	AP_Camera: Just putting the newline at the end of the file.	2015-04-28 15:23:34 +09:00
Andrew Tridgell	007b01533d	AP_InertialSensor: switched to 16g accel range for MPU9250 this matches the Pixhawk, and makes us less prone to vibration. We have seen clipping at 8g	2015-04-28 15:30:29 +10:00
Randy Mackay	33431acaa4	AC_WPNav: protect against div-by-zero related to gnd_speed_limit	2015-04-28 13:53:19 +09:00
Paul Riseborough	7481217445	AC_WPNav: Improve application of EKF optical flow speed limit	2015-04-28 13:53:17 +09:00
Andrew Tridgell	514c349060	AP_NavEKF: raise DCM error_rp threshold to 0.05 it was failing on many boards with fixed wing	2015-04-28 14:07:39 +10:00
Andrew Tridgell	6bfca648b9	AP_AHRS: raise DCM P gains when disarmed for first 20 seconds	2015-04-28 14:07:39 +10:00
Andrew Tridgell	42d2addbdd	HAL_SITL: removed the special code for cygwin we no longer need special timing code for cygwin	2015-04-28 13:15:40 +10:00
Andrew Tridgell	063a33ebce	HAL_SITL: implement barriers using pthread condition variables this avoid pthread_barrier_*, which is not available on cygwin	2015-04-28 13:14:12 +10:00
Jonathan Challinger	3812773485	AP_Math: make quaternion divide by zero protection more conservative	2015-04-28 11:42:13 +10:00
Jonathan Challinger	fb8da1b2d8	AP_Math: add get_euler_(roll\|pitch\|yaw) functions to quaternion	2015-04-28 11:42:13 +10:00
Andrew Tridgell	020d9ea78a	HAL_PX4: only consider power to have changed when armed this prevents false positives with multi-battery setups	2015-04-28 11:05:29 +10:00
Randy Mackay	608bb3d611	Notify: minor format fix	2015-04-27 12:10:17 +09:00
Andrew Tridgell	028248d1f5	HAL_SITL: avoid floating point exceptions on i386 fixes issue #2147	2015-04-27 13:09:21 +10:00
Andrew Tridgell	4e86a6cd0e	GCS_MAVLink: merged upstream header changes	2015-04-27 09:00:38 +10:00
Randy Mackay	35874292a0	AC_WPNav: move stop below all loiter methods No functional change	2015-04-26 16:26:53 +09:00
Robert Lefebvre	4a7fe83b0f	AC_WPNav: Create Stop Mode functions	2015-04-26 16:11:45 +09:00
Andrew Tridgell	fdac41dbab	GCS_MAVLink: re-generate headers	2015-04-25 09:12:16 +10:00
Michael Day	3d3267d472	AP_Mission: Now support mission item MAV_CMD_NAV_LOITER_TO_ALT	2015-04-25 09:12:16 +10:00
Michael Day	98d7f943ef	GCS_MAVLink: Added definition for MAV_CMD_NAV_LOITER_TO_ALT	2015-04-25 09:12:16 +10:00
Jonathan Challinger	a07b322d31	AP_Motors: set_throttle takes a float	2015-04-24 16:30:45 +09:00
Jonathan Challinger	ab2532a609	AC_AttitudeControl: constrain _angle_boost to avoid overflow	2015-04-24 16:30:43 +09:00
Randy Mackay	fdf226ebc1	AP_NavEKF: include AP_RangeFinder.h	2015-04-24 15:49:11 +09:00
Tom Pittenger	10c933966b	AP_Math: fix compile warning re float constants	2015-04-24 14:25:02 +09:00
Tom Pittenger	dbc01e2f1a	BattMon: fix compile warning re to unused variable	2015-04-24 14:18:36 +09:00
Tom Pittenger	3b3752468d	HAL_PX4: fix compile warnings re unused variables	2015-04-24 14:18:24 +09:00
Tom Pittenger	84d3069a77	AttControl_Heli: fix compile warning re member init order	2015-04-24 14:15:35 +09:00
Tom Pittenger	52474faa2e	AP_ADC: fix compile warning re member init order	2015-04-24 14:15:24 +09:00
Tom Pittenger	4191c44bbd	Baro: fix compile warning re member init order	2015-04-24 14:15:11 +09:00
Tom Pittenger	16e71ec1ce	Compass: fix compile warning re member init order	2015-04-24 14:15:00 +09:00
Tom Pittenger	179c72bfa9	HAL_PX4: fix compile warning re member init order	2015-04-24 14:14:38 +09:00
Tom Pittenger	ee1a415baa	HAL_VRBrain: fix compile warning re member init order	2015-04-24 14:14:27 +09:00
Tom Pittenger	a340d13d01	NavEKF: fix compile warning re member init order	2015-04-24 14:14:12 +09:00
Tom Pittenger	f3d13656ba	PID: fix compile warnings re float constants	2015-04-24 14:04:24 +09:00
Tom Pittenger	91476d78ae	SITL: fix compile warnings re float constants	2015-04-24 14:04:19 +09:00
Tom Pittenger	1575abff63	GCS_Console: fix compile warnings re float constants	2015-04-24 14:04:17 +09:00
Tom Pittenger	347fc1e59c	Filter: fix compile warnings re float constants	2015-04-24 14:04:14 +09:00
Tom Pittenger	f700f76923	DataFlash: fix compile warnings re float constants	2015-04-24 14:04:12 +09:00
Tom Pittenger	5ead138917	RangeFinder: fix compile warnings re float constants	2015-04-24 14:04:10 +09:00
Tom Pittenger	5f49b79d2f	Rally: fix compile warnings re float constants	2015-04-24 14:04:08 +09:00
Tom Pittenger	2179705791	PerfMon: fix compile warnings re float constants	2015-04-24 14:04:06 +09:00
Tom Pittenger	66ddfdeae6	AP_Param: fix compile warnings re float constants	2015-04-24 14:04:04 +09:00
Tom Pittenger	d6b34209b5	NavEKF: fix compile warnings re float constants	2015-04-24 14:04:02 +09:00
Tom Pittenger	a5ffadf201	AP_Motors: fix compile warnings re float constants	2015-04-24 14:04:00 +09:00
Tom Pittenger	a8dda9f2ed	AP_Math: fix compile warnings re float constants	2015-04-24 14:03:54 +09:00
Tom Pittenger	a4b8575432	InertialSensor: fix compile warnings re float constants	2015-04-24 14:03:49 +09:00
Tom Pittenger	ae6d44bf82	HAL_VRBrain: fix compile warnings re float constants	2015-04-24 14:03:38 +09:00
Tom Pittenger	7e18480cd2	HAL_PX4: fix compile warnings re float constants	2015-04-24 12:49:18 +09:00
Tom Pittenger	11951dbf48	HAL_Flymaple: fix compile warnings re float constants	2015-04-24 12:48:20 +09:00
Tom Pittenger	b7fb4022b4	AVR_SITL: fix compile warnings re float constants	2015-04-24 12:47:11 +09:00
Tom Pittenger	12b604663c	FrSky_Telem: fix compile warnings re float constants	2015-04-24 12:39:21 +09:00
Tom Pittenger	dffcdbd751	Curve: fix compile warnings re float constants	2015-04-24 12:39:02 +09:00
Tom Pittenger	bf1d128d70	Compass: fix compile warnings re float constants Also fix example sketch	2015-04-24 12:29:07 +09:00
Tom Pittenger	c1d4992dac	Camera: fix compile warnings re float constants	2015-04-24 12:28:03 +09:00
Tom Pittenger	0926cf17dd	BattMon: fix compile warnings re float constants	2015-04-24 12:27:23 +09:00
Tom Pittenger	8f11507594	Arming: fix compile warnings re float constants	2015-04-24 12:27:05 +09:00
Tom Pittenger	e28c555889	AHRS_DCM: fix compile warnings re float constants Also fix example sketch	2015-04-24 12:26:08 +09:00
Tom Pittenger	f4bfc12316	AP_ADC: fix compile warnings re float constants	2015-04-24 12:24:49 +09:00
Tom Pittenger	7132b39dcf	AP_AutoTune: fix compile warnings re float constants	2015-04-24 12:24:19 +09:00
Tom Pittenger	2f9e0c1938	APM_PI: fix compile warnings re float constants	2015-04-24 12:24:02 +09:00
Tom Pittenger	b9865c5f3e	AC_Circle: fix compile warnings re float constants	2015-04-24 12:23:38 +09:00
Tom Pittenger	4b97cc1957	AC_PID: fix compile warnings re float constants	2015-04-24 12:22:43 +09:00
Randy Mackay	b05bdd657d	AP_NavEKF: getHeightControlLimit modifies height on success	2015-04-24 10:58:05 +09:00
Randy Mackay	ba94a993f5	AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success	2015-04-24 10:58:00 +09:00
Paul Riseborough	51624149e1	AP_InertialNav: Add function to return EKF height control limit	2015-04-24 10:57:58 +09:00
Paul Riseborough	cf04600710	AP_NavEKF: Add public function to limit height control during OF nav	2015-04-24 10:57:56 +09:00
Paul Riseborough	68b225de4d	AP_NavEKF: Prevent pre-arm baro drift affecting mag field reset height	2015-04-24 10:57:54 +09:00
Paul Riseborough	c2e6fdb56c	AP_NavEKF: Reduce effect of noisy baro data on baro height offset estimate This estimate is used to offset baro data if we need to switch across from range finder data due to sensor failure. The previous filter coefficients gave a 0.5 seconds time constant on the offset which was too susceptible to baro noise.	2015-04-24 10:57:51 +09:00
Paul Riseborough	fd7fdc1ad9	AP_NavEKF: Remove unnecessary state resets on arm and disarm Resetting states unnecessarily creates transients due to presence of bias errors	2015-04-24 10:57:49 +09:00
Paul Riseborough	3e67080002	AP_NavEKF: Use GPS vertical velocity observations to estimate Z accel bias	2015-04-24 10:57:47 +09:00
Paul Riseborough	e48171ab11	AP_NavEKF: Improve takeoff with optical flow and range data loss Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.	2015-04-24 10:57:45 +09:00
Paul Riseborough	3e061b174e	AP_NavEKF: Report unhealthy for all filter faults	2015-04-24 10:57:43 +09:00
Paul Riseborough	6c4c54c2ba	AP_NavEKF: Use default on ground range parameter from range finder object	2015-04-24 10:57:41 +09:00
Jonathan Challinger	10476333d8	AP_NavEKF: don't run when previously disarmed and time has slipped	2015-04-24 10:57:39 +09:00
Jonathan Challinger	085faaac6a	AP_NavEKF: fix delay detection so that filter properly resets after a delay	2015-04-24 10:57:36 +09:00
Randy Mackay	a01fb64f12	RangeFinder: fix example sketch	2015-04-24 10:57:25 +09:00
Randy Mackay	715da653c3	RangeFinder_Analog: set status	2015-04-24 10:57:23 +09:00
Randy Mackay	fadfa70e99	RangeFinder_MaxSonar: set status	2015-04-24 10:57:21 +09:00
Randy Mackay	e212ebb0d0	RangeFinder_PulsedLight: set status	2015-04-24 10:57:19 +09:00
Randy Mackay	aa04bef5af	RangeFinder_PX4: set status and consume out of range samples	2015-04-24 10:57:16 +09:00
Randy Mackay	71de0ab815	RangeFinder_PX4_PWM: set status and consume out of range samples	2015-04-24 10:57:12 +09:00
Randy Mackay	7663b8eade	RangeFinder: replace healthy with status and no_data methods	2015-04-24 10:57:10 +09:00
Randy Mackay	8ed6207ca8	RangeFinder: add pre-arm checks	2015-04-24 10:57:05 +09:00
Randy Mackay	f1cbd1f03b	RangeFinder: add ground clearance parameter	2015-04-24 10:57:03 +09:00
Paul Riseborough	1c8e3f9444	AP_NavEKF: Allow EKF to pull data from range finder object	2015-04-24 10:57:01 +09:00
Paul Riseborough	7f1749dc1c	AP_AHRS: Allow EKF to pull data from range finder object	2015-04-24 10:56:58 +09:00
Andrew Tridgell	f21aa17980	AP_GPS: fixed sending of GPS_RAW_INT with multiple links thanks to ziltoid2 for this fix! See PR #2132	2015-04-24 08:21:00 +10:00
Niels Joubert	2a5b25ddbf	GCS_MAVLink: Re-enable GPS Injection Packets	2015-04-24 08:01:32 +10:00
Niels Joubert	a5beef00d1	GPS: Official Swift Binary Protocol GPS Driver v3 for Piksi GPS DRIVER FEATURES: - All logic for RTK vs Normal now lives inside Piksi - Supports observation uplink through telem radio - Supports full SBP packet logging - Reports high-rate green blinking to indicate RTK lock. - Switchable to accept only Float or Integer RTK locks. THIS REQUIRES PIKSI FIRMWARE v0.14 OR HIGHER - Uses Piksi's new Pseudo-Absolute-Positioning mode - Onboard Piksi must have Pseudo-Absolute mode enabled - Ground Station Piksi must have a surveyed location in settings - Ground Station Piksi must send its location to Onboard Piksi. NEXT STEPS REQUIRED: - EKF needs to take higher accuracy GPS into account - EKF needs to take GPS RTK height into account - GCS needs to support sending SBP observation packets --- MAVProxy patch forthcoming	2015-04-24 08:01:32 +10:00
Fergus Noble	0480867de2	SITL: Update SBP simulation functions for pseudo-absolute mode	2015-04-24 08:01:32 +10:00
Paul Riseborough	405862bd8f	AP_AHRS: Reduce time delay for EKF initialisation	2015-04-23 20:35:52 +09:00
Paul Riseborough	4a5bf0a266	AP_NavEKF: Reduce EKF start time Makes EKF start conditional on DCM solution tilt error	2015-04-23 20:35:48 +09:00
Paul Riseborough	5184bca87f	AP_AHRS: Prevent DCM reporting good tilt error when inverted	2015-04-23 20:35:39 +09:00
Paul Riseborough	ea8217bd3a	AP_AHRS: Reduce time constant on filtering of DCM error reporting Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF	2015-04-23 20:35:35 +09:00
Randy Mackay	7e43eaafab	GPS: TYPE param description to PX4-UAVCAN	2015-04-23 20:17:26 +09:00
Randy Mackay	6e30093924	AP_AHRS: correct sanity checks on update_trig	2015-04-23 09:45:43 +09:00
Jonathan Challinger	6a6ccb4f32	AP_AHRS: add sanity checks	2015-04-22 21:50:51 +09:00
Randy Mackay	c6f71ea2e0	AHRS: make get_error_rp and get_error_yaw const	2015-04-21 22:42:17 +09:00
Randy Mackay	18a73d8630	Camera: use camera feedback flag	2015-04-21 22:22:57 +09:00
Randy Mackay	26383183d2	GCS_MAVLink: version update after generate	2015-04-21 22:22:54 +09:00
Randy Mackay	48c6803717	GCS_MAVLink: generate after fixing camera feedback flags	2015-04-21 22:22:52 +09:00
Randy Mackay	8e2616ddcf	GCS_MAVLink: prefix camera feedback flags	2015-04-21 22:22:49 +09:00
Dario Lindo Andres	a21d328b93	GCS_Mavlink: Update ardupilotmega.xml Define PHOTO flag on CAMERA_FEEDBACK_FLAGS.	2015-04-21 22:22:47 +09:00
Randy Mackay	8ced9cc904	Gimbal: only include for high performance CPUs	2015-04-21 21:47:18 +09:00
Randy Mackay	93ba2d2d32	Mount_MAVLink: uses vehicle's sysid	2015-04-21 21:47:17 +09:00
Randy Mackay	e726a05f3b	Gimbal: fix to parameter init order resolves a compiler warning	2015-04-21 21:47:16 +09:00
Randy Mackay	e9b2153672	Gimbal: formatting fixes Also isCopterFlipped returns bool instead of uint8_t No functional change	2015-04-21 21:47:15 +09:00
Randy Mackay	db6bb295c7	Mount: add gimbal parameter descriptions	2015-04-21 21:47:14 +09:00
Randy Mackay	924a3b2c67	GCS_MAVLink: version update after generate	2015-04-21 21:47:13 +09:00
Randy Mackay	9f10c43708	GCS_MAVLink: generate after GIMBAL/GOPRO msgs added	2015-04-21 21:47:12 +09:00
Angus Peart	86b81120fd	GCS_MAVLink: update gopro message definitions	2015-04-21 21:45:53 +09:00
Jonathan Challinger	231f776dd7	AP_Gimbal: change isCopterFlipped()	2015-04-21 21:45:52 +09:00
Arthur Benemann	e59c6ddbae	AP_SmallEKF: increase start-up time of the SmallEKF	2015-04-21 21:45:51 +09:00
Arthur Benemann	21b909f670	AP_Gimbal: report gimbal angles using a 312 rotation vector	2015-04-21 21:45:50 +09:00
Arthur Benemann	2850c7ab4a	AP_Gimbal: nest AP_Gimbal files into AP_Mount library	2015-04-21 21:45:49 +09:00
Arthur Benemann	608017ba4a	AP_Gimbal: optimize function calls using const refrences	2015-04-21 21:45:48 +09:00
Arthur Benemann	03c0e17a4d	AP_Gimbal: fix typo	2015-04-21 21:45:47 +09:00
Arthur Benemann	03974c93bb	AP_Gimbal: use new quaternion math to handle gimbal lock issue	2015-04-21 21:45:46 +09:00
Arthur Benemann	255c5b3025	AP_Mount: report MAVLink gimbal angle to the GCS	2015-04-21 21:45:45 +09:00
Arthur Benemann	b3c35aee4e	AP_Gimbal: fix problem with rotation math on control loop	2015-04-21 21:45:44 +09:00
Arthur Benemann	4bdf909bbf	AP_Mount: Create new copter parameters to hold gimbal settings	2015-04-21 21:45:43 +09:00
Arthur Benemann	cf2377d113	AP_Gimbal: Move gimbal parameters to a structure	2015-04-21 21:45:42 +09:00
Arthur Benemann	9b94f26583	AP_Gimbal: Relax minimal angle constrains on the gimbal	2015-04-21 21:45:41 +09:00
Arthur Benemann	a05fe7e117	AP_Gimbal: Re-implement the target low-pass filter	2015-04-21 21:45:40 +09:00
Arthur Benemann	b3dd8891c8	AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class	2015-04-21 21:45:38 +09:00
Arthur Benemann	ee8c92c850	AP_Gimbal: clean-up for AP_Mount merge	2015-04-21 21:45:37 +09:00
Arthur Benemann	4ad3e786a5	AP_NavEKF: fix initialization of the SmallEKF The constructor 'states' variable was not being called. To make sure other variables where also zeroed now	2015-04-21 21:45:36 +09:00
Arthur Benemann	0189f80462	AP_Gimbal: update getGimbalRateDemVecTilt to use quaternions	2015-04-21 21:45:35 +09:00
Arthur Benemann	4bdae02cfd	AP_Gimbal: disable gimbal motors if copter is fliped	2015-04-21 21:45:34 +09:00
Arthur Benemann	ebaf1e28b1	AP_Gimbal: smooth the RC input with a low pass filter	2015-04-21 21:45:33 +09:00
Arthur Benemann	534790634b	AP_Gimbal: add a radio failsafe state to the gimbal	2015-04-21 21:45:32 +09:00
Arthur Benemann	1da4be3a87	AP_Gimbal: initial implementation of the rate controlled gimbal library	2015-04-21 21:45:30 +09:00
Arthur Benemann	1d9beed42f	AP_SmallEKF: add function to report if the EKF is stable	2015-04-21 21:45:29 +09:00
Arthur Benemann	7b28bf7d44	AP_NavEKF: Remove small EKF dependency on navigation EKF	2015-04-21 21:45:28 +09:00
Arthur Benemann	558a69bdca	Mount_MAVLink: remove code now in AP_Gimbal	2015-04-21 21:44:56 +09:00
Jonathan Challinger	2053d5e42e	GCS_MAVlink: add GIMBAL_ and GOPRO_ messages	2015-04-21 21:40:05 +09:00
Randy Mackay	87e6452ee9	Mission: bug fix when jump target is zero This would result in copter flying to a waypoint high above home	2015-04-21 20:42:49 +09:00
Andrew Tridgell	a0969905ce	AP_AHRS: make get_error_rp() and get_error_yaw() const this makes them usable by multiple consumers, and allows use by EKF	2015-04-21 21:42:17 +10:00
Andrew Tridgell	2dfe3cb844	DataFlash: added a perf counter for microSD overruns this allows us to tell if a microSD can handle a high logging rate	2015-04-21 20:45:30 +10:00
Andy Piper	b0937154f5	DataFlash: log compass health This patch simply logs the health of each compass for easy diagnosis.	2015-04-21 13:18:24 +09:00
Andrew Tridgell	c153d31dd2	DataFlash: speed up DataFlash in Replay	2015-04-21 10:14:41 +10:00
Andrew Tridgell	dcb25632fb	AP_Compass: removed old setHIL compass offset	2015-04-21 08:30:05 +10:00
Andrew Tridgell	a4bad1c703	HAL_SITL: use SIM_MAG_OFS in SITL compass	2015-04-21 08:29:51 +10:00
Andrew Tridgell	1ce9cb693a	SITL: added SIM_MAG_OFS for setting compass offsets in SITL	2015-04-21 08:29:27 +10:00
Andrew Tridgell	179e47c618	HAL_Linux: prevent time from going backwards in Replay	2015-04-20 15:12:51 +10:00
Andrew Tridgell	d7000c4105	AP_Compass: fixed compass timestamps in Replay	2015-04-20 15:12:51 +10:00
Randy Mackay	337a94e52e	Camera: remove empty configure_msg method	2015-04-20 13:50:15 +09:00
Randy Mackay	d456b97fd2	Camera: control_cmd triggers pic	2015-04-20 13:50:12 +09:00
Jaime Machuca	38491c4ff7	Camera: fix mission cmds sending msgs to components mission commands were triggering the sending of mavlink mission items when they should have been sending command long messages	2015-04-20 13:50:10 +09:00
Randy Mackay	4eb3263653	Camera: mission cmds send do-digicam msgs to components This allows digicam-control and digicam-configure mission command to trigger sending the equivalent mavlink messages to components	2015-04-20 13:50:08 +09:00
Randy Mackay	8dcd555037	Camera: trigger_pic sends do-digicam-control to components This (optionally) allows pictures triggered from ch7/ch8 switch to send a mavlink do-digicam-control message to components	2015-04-20 13:50:06 +09:00
Randy Mackay	1f705eb6a3	GCS_MAVLink: add send_to_components method	2015-04-20 13:50:04 +09:00
Randy Mackay	888c2289ce	Mission: support do-digicam-control parameters	2015-04-20 13:50:01 +09:00
Peter Barker	c95348c1d9	SITL: Avoid run-time FPEs due to bad gyro settings if SIM_DRIFT_TIME is set to 0 _gyro_drift essentially suffers a divide-by-zero if SIM_DRIFT_TIME is 0. The gyro initialisation routines in AP_InertialSensor do not return once the generated NaN propogates back to them.	2015-04-19 07:24:45 +10:00
Jonathan Challinger	12957867fd	AC_PosControl: fix thr twitch when changing modes	2015-04-18 12:38:44 +09:00
Randy Mackay	44d2ae06fb	Mount: unix style line endings	2015-04-17 22:59:34 +09:00
Randy Mackay	06ea18f97e	Filter: fix LPF example sketch	2015-04-17 22:54:06 +09:00
Randy Mackay	99a9a88529	Filter: dt check fix for LPF	2015-04-17 10:59:03 +09:00
Jonathan Challinger	f20a91ec95	Filter: add dt<0 check to LPF	2015-04-17 10:47:06 +09:00
Randy Mackay	22e1156c31	Filter: add some comments to LowPassFilter	2015-04-17 10:47:04 +09:00
Jonathan Challinger	738b1967ad	AC_PosControl: use LowPassFilterVector2f	2015-04-17 10:47:01 +09:00
Jonathan Challinger	8f667b3d1c	AC_PosControl: fix up comments	2015-04-17 10:46:59 +09:00
Jonathan Challinger	4993fd4d71	AP_Motors: use new lowpass filter	2015-04-17 10:46:47 +09:00
Jonathan Challinger	87500d9d70	AC_AttitudeControl: use new lowpass filter	2015-04-17 10:46:45 +09:00
Jonathan Challinger	76da2868d0	Filter: rework LowPassFilter	2015-04-17 10:46:42 +09:00
Leonard Hall	c2a6a0a9e2	AC_PosControl: add accel filter parameter	2015-04-16 21:00:45 +09:00
Leonard Hall	a632a57d79	AC_PosControl: accessors to log z-axis vel and accel	2015-04-16 21:00:32 +09:00
Leonard Hall	0aca3c4be6	AC_PosControl: add relax Alt Hold controllers	2015-04-16 21:00:25 +09:00
Leonard Hall	24b8d32b0e	AC_AttitudeControl: add comment	2015-04-16 21:00:22 +09:00
Leonard Hall	7cb3c4ba39	AC_PosControl: add feed forward to Alt Hold	2015-04-16 21:00:20 +09:00
Randy Mackay	a1e6a3ee32	AC_PosControl: minor format fix	2015-04-16 21:00:14 +09:00
Jonathan Challinger	3e0dab7b2d	AC_PosControl: remove accel error filter and set throttle output filter instead	2015-04-16 21:00:07 +09:00
Jonathan Challinger	b7f7624aac	AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions	2015-04-16 21:00:04 +09:00
Jonathan Challinger	e80776f1f5	AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter	2015-04-16 21:00:01 +09:00
Jonathan Challinger	518e798f53	AC_AttitudeControl: rework angle_boost	2015-04-16 20:59:58 +09:00
Jonathan Challinger	7abd02baf2	AC_PosControl: change int32/int16 to float in accel_to_throttle	2015-04-16 20:59:55 +09:00
Jonathan Challinger	d14893fcd5	AC_PosControl: don't limit throttle any more	2015-04-16 20:59:51 +09:00
Jonathan Challinger	f3555d0d43	AC_AttitudeControl: modify throttle interface to specify stabilization	2015-04-16 20:59:45 +09:00
Jonathan Challinger	5c2341009a	AC_AttitudeControl: throttle is a float	2015-04-16 20:59:42 +09:00
Jonathan Challinger	8e442675a7	AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output	2015-04-16 20:59:40 +09:00
Jonathan Challinger	bc2afb31dd	AP_Motors: virtual not necessary in child class	2015-04-16 20:59:37 +09:00
Jonathan Challinger	a2c69fe90d	AP_Motors: add optional motor output throttle filter	2015-04-16 20:59:31 +09:00
Leonard Hall	4d9da2720b	AC_AttitudeControl: add get for angle bf errors	2015-04-16 13:29:52 +09:00
Leonard Hall	88be3d67e7	AP_Motors: add get for throttle comp	2015-04-16 13:29:50 +09:00
Leonard Hall	791fbcf9b3	AP_Motors_Class: time constants of throttle comp	2015-04-16 13:29:46 +09:00
Michael du Breuil	04e9141881	AP_TECS: Allow tecs to control throttle during takeoff	2015-04-16 08:56:37 +10:00
Michael du Breuil	a9fc2b8a32	AP_Vehicle: Moved takeoff_throttle_max into plane parameters	2015-04-16 08:56:36 +10:00
Andrew Tridgell	4586de6637	AP_NavEKF: enable optimisation in Linux build only really need debugging for SITL	2015-04-16 08:36:16 +10:00
Leonard Hall	48fb487a8c	AC_AttitudeControl: Formatting fix	2015-04-15 22:04:27 +09:00
Paul Riseborough	dffa2e19bf	AP_NavEKF: Make copter glitch accel consistent with timeout and radius	2015-04-15 17:32:48 +09:00
Paul Riseborough	5d70854c08	AP_NavEKF: Fix minor bug in calculation of innovation variance the innovation variance for GPS should be the sum of squares of the state and measurement uncertainty.	2015-04-15 17:32:46 +09:00
Paul Riseborough	1008c6390c	AP_NavEKF: Fail absolute position status if GPS repeatedly rejected	2015-04-15 17:32:44 +09:00
Paul Riseborough	77d3798278	AP_NavEKF: Reduce recovery time after a GPS fusion timeout	2015-04-15 17:32:41 +09:00
Paul Riseborough	0852aeab6e	AP_NavEKF: Allow raw innovations to be monitored during timeouts	2015-04-15 17:32:39 +09:00
Paul Riseborough	d3f4b4a02b	AP_NavEKF: Fix name consistency for data check time stamps	2015-04-15 17:32:36 +09:00
Jonathan Challinger	6ea91d012e	AC_PID: calculate filt_alpha every time the filter is run	2015-04-14 16:19:02 +09:00
Randy Mackay	f06c859d93	AC_Fence: add comment re check_fence method	2015-04-14 16:10:09 +09:00
Jonathan Challinger	05fda4ee4c	AC_Fence: accept curr_alt parameter instead of getting alt from inav	2015-04-14 16:10:07 +09:00
Jonathan Challinger	f06cc5d0c1	AC_Fence: change inav to const reference	2015-04-14 16:10:02 +09:00
Staroselskii Georgii	dff430e136	AP_HAL_Linux: added UART port for second GPS	2015-04-14 15:59:34 +10:00
Staroselskii Georgii	da6316ed4c	AP_HAL_Linux: fixed TCP client connection in LinuxUARTDriver	2015-04-14 15:59:33 +10:00
Randy Mackay	39213584da	AC_WPNav: minor comment and formatting changes	2015-04-14 14:50:58 +09:00
Jonathan Challinger	fd55068620	AC_WPNav: fix double-twitch on stop in loiter	2015-04-14 14:50:55 +09:00
Jonathan Challinger	1da410a6c6	AC_WPNav: allow user to tune loiter	2015-04-14 14:50:53 +09:00
mirkix	13ee34c58a	AP_InertialSensor: MPU9150 fix compiler warnings	2015-04-14 11:14:48 +10:00
Staroselskii Georgii	4a3e61f4e4	AP_GPS: turn UBlox autodetection only for NavIO	2015-04-14 10:45:49 +10:00
Staroselskii Georgii	716fd56c62	AP_HAL_Linux: added support for dynamic speed configration in LinuxSPIUARTDriver	2015-04-14 10:45:49 +10:00
Staroselskii Georgii	47a336d192	AP_GPS: added Ublox' hardware generation autodetection	2015-04-14 10:45:49 +10:00
Staroselskii Georgii	baf2b4da4e	AP_HAL_Linux: renamed AnalogIn_Navio	2015-04-14 10:16:26 +10:00
Mikhail Avkhimenia	7ba6a5e346	AP_HAL: Specify terrain directory for Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	930aeaf556	AP_HAL_Linux: add RPi version runtime detection	2015-04-14 10:16:25 +10:00
Mikhail Avkhimenia	c11304ba7a	AP_HAL_Linux: change GPIO register address for Raspberry Pi 2	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	641fa05028	AP_HAL_Linux: added buffering in RCOutput_Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	e6c2977da2	AP_HAL_Linux: fixed style in RCOutput_Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	024825f95a	AP_HAL_Linux: fixed PCA9685 initialization for RCOutput_Navio	2015-04-14 10:16:25 +10:00
Staroselskii Georgii	2a137b6ea9	AP_HAL_Linux: fixed RCInput initialization on NavIO	2015-04-14 10:16:24 +10:00
$Sean O\'Brien$ Sean O\'Brien	6474aa2477	AP_HAL_AVR_SITL: added sensor delays to sitl.	2015-04-14 10:10:38 +10:00
$Sean O\'Brien$ Sean O\'Brien	bfba8870e2	AP_HAL_AVR_SITL: added sensor delays to sitl.	2015-04-14 10:10:35 +10:00
Lucas De Marchi	b292873304	AP_InertialSensor: fix starvation in L3G4200D The main thread would always be blocked on the semaphore to read the data from accelerometer and gyroscope. Especially if we have a slow update of these values in _accumulate() due to the I2C transfer function taking too much time: the timer thread would never give up the CPU, causing starvation on the main thread. This fixes the issue by reducing the critical region using a flip-buffer so _accumulate() can work on its own copy of the data. Now that the critical region is smaller, also avoid the semaphore and use a spinlock instead.	2015-04-14 10:01:47 +10:00
Andrew Tridgell	b17878c8c4	SITL: lower default GPS delay to 0.2 seconds this matches typical uBlox	2015-04-14 09:57:47 +10:00
Andrew Tridgell	d7249cc1e6	AP_AHRS: only use EKF for plane and rover if all data available we need position and velocity to be working for plane and rover	2015-04-14 09:57:45 +10:00
Lucas De Marchi	996739df12	AP_Compass: Do not panic if compass is not found Copter uses 2 compasses for linux configuration, but one of them may not be available. Do not panic if a AK8963 isn't found.	2015-04-14 09:29:12 +10:00
Gustavo Jose de Sousa	be67b019a7	AP_GPS: Add missing setup for GPS_AUTO_test GPS_AUTO_test was missing some setup lines.	2015-04-14 09:27:41 +10:00
Andrew Tridgell	7f7d92913e	HAL_Linux: allow running as non-root this is needed for Replay, plus is very useful for debugging	2015-04-14 09:25:35 +10:00
Lucas De Marchi	f049c8e4c5	AP_HAL_Linux: remove needless call to mlockall() All threads share the same address space and have the same pages locked into memory so it's not necessary to call mlockall() for each of them. Grepping /proc/<tid>/status gives the same VmLck for all of them, even when only the main thread locks the memory: # for i in `seq 477 482`; do \ name=$(cat /proc/$i/comm); \ vm=$(cat /proc/$i/status \|grep VmLck); \ echo -e "$name\t$vm"; \ done ArduCopter.elf VmLck: 57868 kB sched-timer VmLck: 57868 kB sched-uart VmLck: 57868 kB sched-rcin VmLck: 57868 kB sched-tonealarm VmLck: 57868 kB sched-io VmLck: 57868 kB	2015-04-14 09:17:21 +10:00
Lucas De Marchi	b7355dc62b	AP_HAL_Linux: set thread name for ease debug Use pthread_setname_np() to set thread name so it's easier to debug what't going on with each of them. This is the example output of the relevant par of "ps -Leo class,rtprio,wchan,comm": FF 12 futex_ ArduCopter.elf FF 15 usleep sched-timer FF 14 hrtime sched-uart FF 13 poll_s sched-rcin FF 11 hrtime sched-tonealarm FF 10 hrtime sched-io	2015-04-14 09:17:21 +10:00
Lucas De Marchi	2c48434110	AP_HAL_Linux: use a table to initialize threads Refactor function calls into a table and pass in the name so it can be used in error message.	2015-04-14 09:17:21 +10:00
Lucas De Marchi	e3d78b8960	AP_HAL_Linux: fix passing callback to member function It's undefined behavior to pass the callback to pthread to a class member like we were doing. Refactor the code so the callbacks are static members. This fixes the following warnings: libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void)': /home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread); ^ libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void ()(void)}' [-Wpmf-conversions] (pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);	2015-04-14 09:17:20 +10:00
Lucas De Marchi	62c2f737d5	AP_HAL_Linux: fix setting RT priorities LinuxScheduler::init() was not really working as it should. This was the result of "ps -Leo class,rtprio,wchan,comm \| grep ArduCopter": FF 12 futex_ ArduCopter.elf FF 12 usleep ArduCopter.elf FF 12 hrtime ArduCopter.elf FF 12 poll_s ArduCopter.elf FF 12 hrtime ArduCopter.elf FF 12 hrtime ArduCopter.elf As can be seen all the threads run with the same priority, the one of the main thread. There were basically 2 mistakes: 1) pthread_attr_setschedpolicy() needs to be called before pthread_attr_setschedparam(). Otherwise the latter will just return an error and not set the priority 2) pthread_create() defaults to ignore the priority and inherit the it from the parent thread. pthread_attr_setinheritsched() needs to be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See pthread_attr_setinheritsched(3) for an example program to test the behaviors. Also, it's undefined behavior to call pthread_attr_init() several times on the same pthread_attr_t. Although we could reutilize the same attribute without calling pthread_attr_init() again, lets refactor the code a little bit, so all the pthread calls are in a single place. Then also call pthread_attr_destroy() when we are done.	2015-04-14 09:17:20 +10:00
Lucas De Marchi	29b667efdf	AP_HAL_Linux: remove useless mlock of stack In Linux the default stack size is always greater than 32k, either 2MB or 8MB depending on the architecture. There's no point in creating a function to lock 32k.	2015-04-14 09:17:20 +10:00
Randy Mackay	e2071a4630	Notify: ToneAlarm fix to stopping continuous tones	2015-04-13 17:44:45 +09:00
Randy Mackay	2472702838	Notify: rename lost_copter to vehicle_lost	2015-04-13 17:44:44 +09:00
Jaime Machuca	043d24f03a	Notify: add Lost Copter tone	2015-04-13 17:42:07 +09:00
Andrew Tridgell	0695277773	HAL_SITL: use pthread barriers for synthetic clock synchronisation this avoids siganls and provides a race free way of keeping time in lock step	2015-04-13 06:05:55 +10:00
Paul Riseborough	e79ccf1fcc	AP_NavEKF: Fix bug allowing terrain to be above vehicle position The terrain state and vehicle state need to be compared at the same time horizon.	2015-04-11 15:51:08 +09:00
Paul Riseborough	6d58c63c4c	AP_NavEKF: Prevent potential divide by zeros in OF fusion	2015-04-11 15:51:03 +09:00
Paul Riseborough	89142f1c5f	AP_NavEKF: Prevent inadvertent use of DCM roll and pitch estimates. the use of roll and pitch from the AHRS object is bad because that object could be returning estimates from the backup DCM algorithm.	2015-04-11 15:19:05 +09:00
Randy Mackay	56d2306a18	BattMon_SMBus_PX4: read capacity	2015-04-11 14:10:22 +09:00
Randy Mackay	c6440a48b3	BattMon_Backend: add init and set_capacity methods	2015-04-11 14:10:19 +09:00
Paul Riseborough	9268024094	AP_NavEKF: Update default parameters for copter optical flow fusion	2015-04-10 11:08:11 +09:00
Paul Riseborough	4fbdab27ff	AP_NavEKF: Use range finder for primary hgt ref in opt flow mode Falls back to baro if range finder is unavailable Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.	2015-04-10 11:08:07 +09:00
Paul Riseborough	ff9917d338	AP_AHRS: Fix bug preventing EKF from initialising	2015-04-10 11:07:42 +09:00
Paul Riseborough	d618c55e2f	AP_NavEKF: Improved handling of noisy GPS speed accuracy data	2015-04-10 11:07:34 +09:00
Paul Riseborough	53358a4e10	AP_OpticalFlow: Add parameter to compensate for flow sensor yaw angle AP_OpticalFlow: update parameter name	2015-04-10 11:07:31 +09:00
Paul Riseborough	cab171b580	AP_InertialNav: Add method to return EKF height above ground estimate AP_InertialNav: Add validity flag to height above ground estimate	2015-04-10 11:07:27 +09:00
Paul Riseborough	e98edaa6cb	AP_NavEKF: Return more accurate validity status for height above ground	2015-04-10 11:07:24 +09:00
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
Randy Mackay	d2739c5ce5	Mount_SToRM: slow updates to 10hz, reverse yaw, pitch	2015-03-20 20:46:45 +09:00
Randy Mackay	c7dd6ae816	BattMon: SMBus becomes unhealthy after 5sec timeout Also remove unused internal variable	2015-03-20 11:05:30 +09:00
Randy Mackay	c44f304253	BattMon: analog monitor always healthy	2015-03-20 11:05:27 +09:00
Randy Mackay	98efcd5f03	AHRS: always use EKF for copter	2015-03-19 15:15:51 +09:00
Andrew Tridgell	5a4ed85588	AP_TECS: added TECS_LAND_PMAX this limits maximum pitch during the flare, which both reduces integrator windup and prevents too high pitch which can cause a stall	2015-03-19 14:46:41 +11:00
Randy Mackay	9aba885231	AC_Fence: fix prearm check before arming the EKF's pred_horiz_pos_abs flag should be used	2015-03-18 21:25:47 +09:00
Andrew Tridgell	ecd2a6f515	DataFlash: log temperature of IMUs this is the first step towards supporting temperature calibration of IMUs	2015-03-17 13:33:26 +11:00
Andrew Tridgell	23272e4013	AP_InertialSensor: added get_temperature() interface this will allow logging of individual temperature sensors	2015-03-17 13:32:54 +11:00
Randy Mackay	7f25938834	AHRS: fix example sketch	2015-03-16 20:29:19 +09:00
Randy Mackay	b01f9505b1	Mission: fix example sketch Also replace printf with print where possible	2015-03-16 20:29:05 +09:00
Randy Mackay	385b3744ea	MotorTri: check servo_out above min_throttle	2015-03-16 14:49:38 +09:00
Randy Mackay	f9e29a7f77	MotorSingle: check servo_out above min_throttle We need to recalc radio_out or the motors could fall below min throttle	2015-03-16 14:49:37 +09:00
Randy Mackay	8de5d16f96	MotorCoax: check servo_out above min_throttle We need to recalc radio_out or the motors could fall below min throttle	2015-03-16 14:49:35 +09:00
Leonard Hall	9a3f48cc1f	AC_PosControl: ensure throttle output above zero	2015-03-16 14:49:33 +09:00
Leonard Hall	31a55b2bd6	MotorsMatrix: fix div by zero by ensuring throttle is above min	2015-03-16 14:49:31 +09:00
Paul Riseborough	9c2f1ce869	AP_Mount: Fix bug in mavlink gimbal attitude control	2015-03-16 09:54:43 +11:00
ahcorde	103bb2a08d	AP_InertialSensor: Fix orientation MPU6000 PXF	2015-03-16 09:50:51 +11:00
mirkix	d4d42599b0	AP_HAL_Linux: Add RcInput and RcOutput with only one PRU when using a BBB. BBBMINI use the RC AIO PRU firmware already	2015-03-16 09:33:54 +11:00
mirkix	a6b018eab9	AP_HAL_Linux: BBBMINI use kernel CS now	2015-03-16 09:15:06 +11:00
Jonathan Challinger	dff899647f	AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT	2015-03-16 09:14:03 +11:00
Jonathan Challinger	f92c711d14	AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use	2015-03-16 09:14:03 +11:00
Andrew Tridgell	569626ac1a	AP_TECS: fixed APM2 build	2015-03-16 08:40:18 +11:00
Andrew Tridgell	cf2445dc97	AP_InertialSensor: prevent nested accelerometer calibration	2015-03-15 15:22:59 +11:00
Andrew Tridgell	8fc58d1cbe	AP_Vehicle: expose LAND_FLARE_SEC in vehicle parameters for fixed wing	2015-03-15 13:52:34 +11:00
Andrew Tridgell	060f553097	AP_TECS: provide a much smoother transition before flare this moves the pitch constraint smoothly between unconstrained and fully constrained over two time constants before the flare. This greatly reduces the sudden pitch changes at flare	2015-03-15 13:52:17 +11:00
Andrew Tridgell	9c0614c7bb	AP_RangeFinder: default test to I2C Lidar	2015-03-15 13:50:59 +11:00
Andrew Tridgell	c8b0970e61	AP_Compass: show compass count in example	2015-03-14 20:00:29 +11:00
Andrew Tridgell	c565d3b805	AP_Airspeed: fixed example build	2015-03-14 20:00:15 +11:00
Andrew Tridgell	f4455d063e	AP_Compass: fixed example	2015-03-14 17:07:39 +11:00
Andrew Tridgell	585a105128	AP_AHRS: use compass->last_update_usec()	2015-03-14 12:31:50 +11:00
Andrew Tridgell	de3f461a55	AP_NavEKF: use compass->last_update_usec()	2015-03-14 12:31:39 +11:00
Andrew Tridgell	1962706a33	AP_Compass: fixed last_update, using last_update_usec() this broke use of compass in the EKF	2015-03-14 12:31:23 +11:00
Andrew Tridgell	86fc90f54c	AP_Compass: removed spurious rotation in PX4 backend and cleanup rotation macros	2015-03-14 08:52:37 +11:00
Andrew Tridgell	d7bac39539	AP_Compass: removed two unused functions	2015-03-14 08:52:37 +11:00
Andrew Tridgell	73782c41a9	DataFlash: disable CLI on APM2	2015-03-13 22:52:55 +11:00
Andrew Tridgell	8a99cab535	AP_InertialSensor: load only HIL backend for hil_mode	2015-03-13 22:52:55 +11:00
Andrew Tridgell	fec2025469	AP_Compass: added set_hil_mode()	2015-03-13 22:52:55 +11:00
Andrew Tridgell	2e9d2e6449	AP_Baro: load only HIL backend for hil_mode	2015-03-13 22:52:55 +11:00
Randy Mackay	bb74b8dec8	AC_PosControl: fix twitch when entering RTL Also removed slow_cpu flag Fixed bug in update to _accel_target_jerk_limited.	2015-03-13 20:47:19 +09:00
Andrew Tridgell	8f6982860f	AP_Compass: fixed devid for 2nd compass	2015-03-13 20:46:32 +11:00
Andrew Tridgell	7b51c907f5	AP_Compass: zero some more variables in constructor and init	2015-03-13 19:22:11 +11:00
Andrew Tridgell	4bc92b6373	AP_Compass: removed _product_id var	2015-03-13 18:59:52 +11:00
Andrew Tridgell	3a1cbaeb25	AP_Mission: fix for new compass API	2015-03-13 18:46:18 +11:00
Andrew Tridgell	b488d6de00	AP_AHRS: fix for new compass API	2015-03-13 18:46:17 +11:00
Andrew Tridgell	520c7c1306	AP_InertialSensor: always allow for AK8963 on MPU9250	2015-03-13 18:46:17 +11:00
Andrew Tridgell	d040318014	AP_Baro: removed unused define	2015-03-13 18:46:17 +11:00
Vic	033bd243d6	SITL: Changes in compass for SITL	2015-03-13 18:46:16 +11:00
Andrew Tridgell	60b8736cf1	AP_InertialSensor: use right AK8963 compass defines	2015-03-13 18:46:15 +11:00
Andrew Tridgell	b52918331a	AP_HAL: make PXF use AK8963 compass by default	2015-03-13 18:46:15 +11:00
Andrew Tridgell	d186b82edc	AP_HAL: consolidate AK8963 defines	2015-03-13 18:46:15 +11:00
Andrew Tridgell	0efd3bacea	AP_Compass: make new backend match old PX4 behaviour when a compass is internal only apply board orientation, not user specified rotation	2015-03-13 18:46:15 +11:00
Andrew Tridgell	a871c87cad	AP_Compass: use state array for compass variables	2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches	13f0aa5ecd	AP_Compass: Separate common code into backend _copy_to_frontend function takes care of abstracting this code from the driver. For now the function takes care of the offset and rotation that is common.	2015-03-13 18:46:15 +11:00
Víctor Mayoral Vilches	d3b76cd8d3	AP_Compass: split compass into frontend/backend	2015-03-13 18:46:15 +11:00
Randy Mackay	385558db4d	OptFlow: fix example sketch	2015-03-13 16:41:01 +09:00
Randy Mackay	4772fd338c	Mission: fix example sketch	2015-03-13 16:40:59 +09:00
Randy Mackay	c88ff00f5f	AC_WPNav: remove example sketch this only tested compiling anyway	2015-03-13 16:40:57 +09:00
Randy Mackay	ce2d0a14a6	AC_Sprayer: remove example sketch This only tested compiling anyway	2015-03-13 16:40:54 +09:00
Randy Mackay	4754ecc9e2	AC_Fence: remove example sketch This only tested compiling anyway	2015-03-13 16:40:52 +09:00
Randy Mackay	90702e2d79	AC_AttControl: remove example sketch This sketch only tested compiling anyway	2015-03-13 16:40:50 +09:00
Randy Mackay	883e23b97d	GPS_Glitch: remove class This logic is now within the EKF	2015-03-13 16:40:48 +09:00
Randy Mackay	0344ec5d89	Arming: remove GPS glitch checks	2015-03-13 16:40:43 +09:00
Randy Mackay	0dc985a6ab	Notify: remove GPS glitch notification	2015-03-13 16:40:41 +09:00

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8490 Commits