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25380 Commits

Author SHA1 Message Date
Lucas De Marchi ec4d1eefca AP_HAL_PX4: UARTDriver: fix trailing whitespaces 2016-10-27 10:35:01 -03:00
Lucas De Marchi d60b4842b6 AP_HAL_Linux: reduce scope of dummy buffer 2016-10-27 10:35:01 -03:00
Lucas De Marchi 76f1e4243a AP_HAL_Linux: remove double assignment 
_dma_packet_tx.crc is already assigned below, we don't neet to set it to
0 before. While at it move the assignment to .crc up and fix coding
style.
 2016-10-27 10:35:01 -03:00
Lucas De Marchi c898b28962 AP_HAL_Linux: use MIN where possible 2016-10-27 10:35:01 -03:00
Lucas De Marchi 05a7eef1a2 RingBuffer: use explict "if" and return early 
Remove confusing use of ternary operator together with assign + load.
No change in behavior.
 2016-10-27 10:35:01 -03:00
Andrew Tridgell e8b9c815fc Copter: updates for EKF API changes 2016-10-27 17:09:06 +11:00
Andrew Tridgell b65c559558 Plane: updates for EKF API changes 2016-10-27 17:09:06 +11:00
Andrew Tridgell 82365f8670 AP_NavEKF2: save some memory in the position offsets in EKF2 
we don't need to copy that vector3f for every sample. A uint8_t does
the job
 2016-10-27 17:09:06 +11:00
Andrew Tridgell a05d216ce4 AP_NavEKF: make posOffset const ref for optflow 2016-10-27 15:45:40 +11:00
Andrew Tridgell 772209b3f3 AP_AHRS: make posOffset a const reference 2016-10-27 15:45:24 +11:00
Andrew Tridgell 703ef0ca0e AP_RangeFinder: added get_primary() API 2016-10-27 15:45:07 +11:00
Andrew Tridgell afe2c31ae7 AP_Inertial_Sensor: use const reference 2016-10-27 15:06:11 +11:00
Andrew Tridgell af332cb336 AP_GPS: use const reference 2016-10-27 15:05:58 +11:00
Andrew Tridgell 27cdf220de AP_RangeFinder: use const reference 2016-10-27 14:59:10 +11:00
Andrew Tridgell 047a09c391 AP_OpticalFlow: use const reference 
saves stack space and cpu
 2016-10-27 14:58:59 +11:00
priseborough f722ddf615 AP_RangeFinder: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 1bde180f98 AP_OpticalFlow: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 1dec6dd9b0 AP_GPS: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 7460d97c9a AP_InertialSensor: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 470f5c4562 AP_InertialSensor: Correct SITL IMU1 accel for position in body frame 2016-10-27 14:54:45 +11:00
priseborough d830f68901 SITL: Add angular acceleration to simulator states 
The calculation used is an approximation to work around the lack of angular acceleration in the interface with the flight dynamics model.
 2016-10-27 14:54:44 +11:00
priseborough 747f3a8cfd AP_HAL_SITL: Simulate range finder position offset 2016-10-27 14:54:44 +11:00
priseborough a9f63abc6f AP_HAL_SITL: simulate effect of GPS antenna offset 2016-10-27 14:54:44 +11:00
priseborough 3afe2b1694 AP_HAL_SITL: simulate optical flow sensor body frame position offset 2016-10-27 14:54:44 +11:00
priseborough 27dab27565 SITL: Add parameters for sensor position offsets in body frame 2016-10-27 14:54:44 +11:00
priseborough 4499ed437c AP_RangeFinder: remove space before preprocessor directive 2016-10-27 14:54:44 +11:00
priseborough 3ca6c12344 AP_RangeFinder: Improve consistency of parameter naming 2016-10-27 14:54:44 +11:00
priseborough c93c3d54f3 AP_NavEKF2: Don't correct for zero IMU position offset 
The IMU offset correction involves a significant number of floating point operations and most users will leave the offset parameter at zero.
 2016-10-27 14:54:44 +11:00
priseborough 1890bbdafa AP_NavEKF2: Don't correct GPS for zero position offset 2016-10-27 14:54:44 +11:00
priseborough f025c96e63 AP_NavEKF2: Don't correct range finder for zero position offset 2016-10-27 14:54:43 +11:00
priseborough 9a0ce1d5eb AP_NavEKF2: Don't correct flow sensor for zero position offset 2016-10-27 14:54:43 +11:00
priseborough b40016db62 AP_NavEKF2: Fix documentation errors 2016-10-27 14:54:43 +11:00
priseborough 54a431a51d AP_InertialSensor: Update position offset parameter documentation 
Notify users of the potential for velocity noise when using larger offset values..
Specific advice in terms of values has not been provided because it is highly dependent on Gyro noise levels.
 2016-10-27 14:54:43 +11:00
priseborough 13ca62b1c7 AP_NavEKF2: Correct velocity and position outputs for IMU offset 
This can improve position hold performance where it is not practical to have the IMU located at the centroid.
Although this enables the effect of IMU position offsets to be corrected, users will still need to be instructed to place the IMU as close to the vehicle c.g. as practical as correcting for large offsets makes the velocity estimates noisy.
 2016-10-27 14:54:43 +11:00
priseborough 21dcf42c27 AP_NavEKF2: Add missing documentation 2016-10-27 14:54:43 +11:00
priseborough 8922861359 AP_NavEKF2: Correct optical flow data for sensor position offset 
Correction requires the body rates averaged across the flow sensor sampling interval. This data has been added to the sensor buffer.
The body rate data from the flow sensor driver does not contain the Z component, so an equivalent value sampled from the navigation IMU has been used instead.
The variable omegaAcrossFlowTime has been moved out of the class and into the only function that uses it.
 2016-10-27 14:54:43 +11:00
priseborough 16f021c466 AP_NavEKF2: Correct range finder data for body frame position offset 2016-10-27 14:54:43 +11:00
priseborough e884e9cc6e AP_NavEKF2: Correct GPS data for antenna body frame offset 2016-10-27 14:54:43 +11:00
priseborough 064a106808 AP_NavEKF2: Get IMU accelerometer body position offset data 2016-10-27 14:54:42 +11:00
priseborough 397033b7c3 AP_NavEKF2: Add flow sensor body position offset to data buffer 2016-10-27 14:54:42 +11:00
priseborough 92c086b40e AP_NavEKF2: Add rangefinder body position offset to data buffer 2016-10-27 14:54:42 +11:00
priseborough 3148ad4623 AP_NavEKF2: Add GPS antenna position offset data to data buffer 2016-10-27 14:54:42 +11:00
priseborough 72db2ebd81 Plane: Add compensation for optical flow sensor body position offset 2016-10-27 14:54:42 +11:00
priseborough 209e364190 Copter: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
priseborough fd905c23e1 AP_NavEKF2: Add body position offset to optical flow interface 2016-10-27 14:54:42 +11:00
priseborough 8160eca47e AP_NavEKF: update flow sensor interface 
Adds a position offset which is not used by the backend
 2016-10-27 14:54:42 +11:00
priseborough 6069c37b19 AP_AHRS: add position offset to optical flow interface 2016-10-27 14:54:42 +11:00
priseborough 9c7ab639a1 AP_OpticalFlow: Add parameters for flow sensor position offset 2016-10-27 14:54:41 +11:00
priseborough 24f9e7365d AP_RangeFinder: Add parameters defining sensor position offset 2016-10-27 14:54:41 +11:00
priseborough 6db93d8a21 AP_InertialSensor: Add parameters defining accelerometer position offset 2016-10-27 14:54:41 +11:00