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7592 Commits

Author SHA1 Message Date
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