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14109 Commits

Author SHA1 Message Date
Andrew Tridgell 2876f1467c AP_InertialSensor: converge sensor rate quickly, then slowly 
converge fast for the first 60 seconds, then more slowly to reduce
noise
 2017-05-01 15:13:56 +10:00
Andrew Tridgell db25b6e966 AP_InertialSensor: estimate and log sensor rates for all IMUs 
this adds IMU.GHz and IMU.AHz log fields so we can see the actual
observed sensor rates of each IMU
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 0a83281a29 DataFlash: added logging of actual sensor rates 2017-05-01 15:06:46 +10:00
Andrew Tridgell 49cc0965c0 AP_InertialSensor: separate handling of FIFO and non-FIFO sensors 
FIFO sensors produce data at a well known rate, but samples come in
bunches, so we can't use the system clock to calculate deltaT.

non-FIFO sensors produce data when we sample them, but that rate is
less regular due to timing jitter.

For FIFO sensors this changes makes us use a learned sample rate,
which allows for different clock speeds on sensor and system board.

For non-FIFO sensors we use the system clock to measure deltaT

the overall effect is a fix for sensors that produce samples at other
than the claimed datasheet rate.
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 74eb7a7243 AP_InertialSensor: make SITL sensor rate match a Pixhawk1 
use 760Hz 2nd gyro and 800 Hz 2nd accel
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 25cd16a275 AP_InertialSensor: fixed LSM303D registered sample rate 
we are running the LSM303D at 1600Hz, and are sampling it at 1kHz. We
need to tell the AP_InertialSensor layer that samples will arrive at 1kHz
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 28030dd85c AP_AHRS: use SIM_ODOM_ENABLE to enable visual odom in SITL 2017-05-01 15:06:46 +10:00
Andrew Tridgell 67404e9660 SITL: added SIM_ODOM_ENABLE 
for enabling visual odomotry simulated data
 2017-05-01 15:06:46 +10:00
Andrew Tridgell 56aa467d60 AP_Scheduler: adjust debug levels 
this is more useful for performance analysis of scheduler, using perf
command
 2017-05-01 15:02:34 +10:00
Andrew Tridgell 5c62e4f4c2 GCS_MAVLink: don't use more than 1ms sending parameters 
this reduces the scheduling misses when fetching parameters initially
 2017-05-01 14:37:15 +10:00
Andrew Tridgell f465c37c65 GCS_MAVLink: added async parameter sending 2017-05-01 14:37:13 +10:00
Andrew Tridgell 5c4ca3bf0b GCS_MAVLink: added send_queued_parameters() 2017-05-01 14:36:52 +10:00
Andrew Tridgell f778954b84 GCS_MAVLink: split parameter functions into a separate file 2017-05-01 14:36:10 +10:00
Andrew Tridgell 60e4c0eb98 AP_Param: make count_parameters() thread safe 2017-05-01 14:36:10 +10:00
Andrew Tridgell 84114d067a SRV_Channels: added SRV_Channels::enable_by_mask() 2017-05-01 14:32:18 +10:00
Andrew Tridgell 2c4975ba31 AP_Motors: removed cork/push from AP_Motors 
should be done by vehicle code if needed, so that AUX servos are sent
at the same time
 2017-05-01 14:32:18 +10:00
Andrew Tridgell 5c028897a3 HAL_VRBrain: cope with nested cork/push 2017-05-01 14:32:18 +10:00
Andrew Tridgell 266f99db93 HAL_QURT: cope with nested cork/push 2017-05-01 14:32:18 +10:00
Andrew Tridgell 9bdb6838e6 HAL_PX4: cope with nested cork/push 2017-05-01 14:32:18 +10:00
Andrew Tridgell 9b297ef5a1 HAL_Linux: fixed nested cork/push 
don't generate extra pulse sets if we nest
 2017-05-01 14:32:18 +10:00
Andrew Tridgell f257a869ac HAL_SITL: make cork/push safe to call nested 2017-05-01 14:32:18 +10:00
priseborough 2d4eee0cce AP_NavEKF2: documentation update 2017-05-01 14:24:55 +10:00
priseborough 4a898037e9 AP_NavEKF3: documentation update 2017-05-01 14:24:55 +10:00
Andrew Tridgell a04aff7a7d AP_NavEKF3: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
Andrew Tridgell 2de8777669 AP_NavEKF2: added inter-EKF scheduling cooperation 
this changes the stragegy for load levelling between EKF cores so it
works between EK2 and EK3, and with future estimators as well.

It allows us to run EK3 and EK2 at the same time with good scheduling
performance
 2017-05-01 14:24:55 +10:00
Andrew Tridgell e62fdad12c AP_InertialSensor: added get_last_update_usec() 
this will be used by the inter-EKF scheduling changes
 2017-05-01 14:24:55 +10:00
Andrew Tridgell e78f55ef9b AP_AHRS: change order of EK2/EK3 update 
if EK3 is our primary estimator when we want to run the EK3 update
first, so it gets time priority for inter-EKF scheduling.
 2017-05-01 14:24:55 +10:00
Andrew Tridgell 4c36c77db1 AP_BoardConfig: split setup of safety switch init init_safety() 
this allows it to be called late, so that servo outputs are fully
setup before the safety is disabled when BRD_SAFETYENABLE=0
 2017-04-30 21:47:04 +10:00
Randy Mackay b1bd3f0364 AC_WPNav: yaw points along leash 2017-04-29 11:47:51 +09:00
priseborough 8ead9d6b19 DataFlash: Add logging of average EKF time step min/max 2017-04-29 11:03:44 +10:00
priseborough 0bf50fd56f AP_NavEKF3: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough e48f46c98b AP_NavEKF2: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough 7d777485d8 AP_NavEKF: Add monitoring of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough 3ce81967ae AP_NavEKF3: Improve calculation and use of average EKF time step 2017-04-29 11:03:44 +10:00
priseborough 7abf9997e6 AP_NavEKF3: Correctly initialise dtIMUavg time step and apply LPF 2017-04-29 11:03:44 +10:00
Andrew Tridgell 4ce0a8e24e GCS_MAVLink: time limit GCS update() calls 
and add performance counters
 2017-04-28 16:09:12 -07:00
priseborough 1301b9797a AP_NavEKF3: Fix solution validity reporting bug 
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
 2017-04-28 17:19:23 +01:00
priseborough 082f429da3 AP_NavEKF2: Fix solution validity reporting bug 
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
 2017-04-28 17:19:23 +01:00
Leonard Hall 62c123bb08 AC_WPNav: correct straight line waypoint leash calculation 
The former calculation was not correctly using the 3D leash
 2017-04-28 17:58:34 +09:00
Andrew Tridgell d4e6720b01 AP_BattMonitor: added BATT_VOLT_TIMEO 
this is useful for aircraft with very low C batteries, to prevent a low
voltage failsafe on takeoff. For long endurance aircraft low C batteries
are often used, and the voltage sags a lot on takeoff, but it fine for
the rest of the flight
 2017-04-28 17:40:18 +10:00
Andrew Tridgell 0ccb3a7688 DataFlash: added logging of timing statistics 2017-04-28 17:19:39 +10:00
Andrew Tridgell adb281cd4e AP_NavEKF3: added timing statistics logging 2017-04-28 17:19:39 +10:00
Andrew Tridgell ee5c032f27 AP_NavEKF2: added recording of timing statistics 2017-04-28 17:19:39 +10:00
Andrew Tridgell ae3df89d17 AP_NavEKF: added ekf_timing structure 2017-04-28 17:19:39 +10:00
Leonard Hall ba011eef78 AC_WPNav: init z-axis feed-foward to correct stopping point calcs 2017-04-28 09:10:02 +09:00
Randy Mackay 3a397584a1 AC_PosControl: z-axis stopping point up to 3m above vehicle 
Stopping point while descending remains at 2m for safety
 2017-04-28 09:10:02 +09:00
Leonard Hall 6e92f74ca0 AC_PosControl: add clear_desired_velocity_ff_z method 2017-04-28 09:10:02 +09:00
Michael du Breuil 22ab8de4d2 AP_BattMonitor: SMBus: Fetch pack capacity 2017-04-28 00:36:10 +01:00
Michael du Breuil f919c409bb AP_BattMonitor: Remove redundant state copy 
Every backend stored a instance reference, which wasn't used in most locations
which is redundant given that the state already tracks the instance for us as
well.
 2017-04-28 00:36:10 +01:00
Michael du Breuil 3ab3face9b AP_BattMonitor: SMBus: Read serial number 2017-04-28 00:36:10 +01:00
Francisco Ferreira 7dca7933fa AP_HAL_PX4: fix UAVCAN armed state to depend on safety switch 2017-04-27 14:04:56 +01:00
Francisco Ferreira 965eda69f3 AP_HAL_PX4: remove left-overs of legacy UAVCAN support 2017-04-27 13:32:43 +01:00
Andrew Tridgell ca4cde9770 HAL_PX4: fixed safety switch light pattern 
this was broken by the recent CAN merge. My fault for not checking it
carefully. We have to publish the armed state so the fmu driver on
pixracer can update the light
 2017-04-27 13:32:43 +01:00
priseborough 596b20eb07 AP_NavEKF2: close perf counter when doing early return 2017-04-27 20:14:21 +10:00
priseborough 88469ce80c AP_NavEKF2: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
priseborough f208986d43 AP_NavEKF3: Reset covariance if bad mag fusion update 2017-04-27 20:14:21 +10:00
Andrew Tridgell 18b66f9eed AP_NavEKF3: fixed reset of coviariance matrix 2017-04-27 18:33:25 +10:00
Andrew Tridgell d799bacd7d AP_NavEKF2: fixed reset of coviariance matrix 2017-04-27 18:33:25 +10:00
Randy Mackay e2cf836734 AC_WPNav: add get_stopping_point 
returns 3D stopping point, simply re-uses pos_controller methods
 2017-04-27 14:36:22 +09:00
Randy Mackay e96332d346 AC_WPNav: reduce spline to straight twitch 2017-04-27 11:21:33 +09:00
Pierre Kancir f8d6b5fc9c AP_HAL_SITL: Allow to use a second type of gps for all type 2017-04-26 18:34:56 +01:00
karthik.desai 44d84fca15 AP_Beacon: Added Marvelmind Beacon class 
Code cleanup, adhering to Ardupilot code style
Marvelmind code fixes
formatting fixes including replacing camel case with underscore
replaced puts with ::printf
removed unused debug and counter

Removed useless library includes.
Corrected spellings.
Update the last_update_ms so healthy() doesn't break.
 2017-04-26 11:59:20 +09:00
Pierre Kancir f0f7ca2386 SITL: State constrain rover motor input between 1000 and 2000 2017-04-26 10:38:01 +10:00
Andrew Tridgell 1e69508322 SITL: added a vectored tilt tricopter quadplane 2017-04-24 16:54:41 +10:00
Andrew Tridgell 61fbaf0db7 SRV_Channel: added elevon and vtail functions 
these allow for trimming and limit setting per channel, plus allow for
more than one set of elevon or vtail
 2017-04-24 16:26:08 +10:00
Michael du Breuil d91f89d24b AP_GPS: Remove stale ublox config files 
These configurations no longer (and haven't for quite awhile) matched the
desired command set or baud rates, loading them will still require the GPS
driver to tweak settings, or have AUTO_CONFIG turned off, which is a less
safe configuration.
 2017-04-23 21:15:58 +01:00
Peter Barker 1ba59b446c AP_GPS: log ublox sw and hw versions on dataflash log start 
This burns 41 bytes of RAM for each u-Blox GPS.
 2017-04-23 21:04:17 +01:00
Peter Barker b7baca8d43 AP_GPS: move GPS type announcements into backend 
See #4584
 2017-04-23 21:04:17 +01:00
Peter Barker c46ea73426 AP_GPS: rename QURTGPS to QURT 2017-04-23 21:04:15 +01:00
Peter Barker 2354a0ec5a AP_GPS: ability to log GPS detection state to dataflash 2017-04-23 21:03:23 +01:00
Peter Barker 94a5e94ec9 AP_GPS: canonicalise statustext messages 
Use "GPS %d" prefix, where %d is instance+1, to correspond
with parameters
 2017-04-23 09:09:30 +10:00
Peter Barker 4334a92ac9 AP_GPS: remove unimplemented method declarations 2017-04-23 09:08:30 +10:00
Peter Barker 608d6d0a5f DataFlash: implement a printf-like Log_Write_MessageF method 2017-04-23 09:08:30 +10:00
karthik.desai 28a6ca7d75 Dataflash: add AP_Beacon logging 2017-04-22 10:54:59 +09:00
Randy Mackay b255c7b370 AP_NavEKF: add setOrigin 2017-04-22 10:37:31 +09:00
Randy Mackay 0af9433c8e AP_AHRS: add set_origin 2017-04-22 10:37:31 +09:00
Jacob Walser 96f503d9d1 AP_Baro: Fix GND_EXT_BUS @Values formatting 2017-04-21 21:11:40 +01:00
Michael du Breuil e0d49e6d84 AP_BattMonitor: Use a unified SMBus temperature interface 2017-04-21 00:38:41 +01:00
Michael du Breuil 9c3b97347a AP_BattMonitor: Unify read_word interface 2017-04-21 00:38:41 +01:00
Michael du Breuil 3319c3ccdc AP_BattMonitor: Use a common PEC helper 2017-04-21 00:38:41 +01:00
Randy Mackay 35a965ebc5 AC_Avoidance: add configurable margin 
vehicle will attempt to stop MARGIN meters from objects in GPS modes
 2017-04-20 18:11:43 +09:00
Randy Mackay 3ad5c3775e AP_Proximity: rename get_distances to get_horizontal_distances 
Also fix existing bug in return
 2017-04-20 18:11:43 +09:00
Randy Mackay 09e3d6b7f0 AP_Proximity_MAV: healthy if either horiz or vert positions received 2017-04-20 18:11:43 +09:00
Pierre Kancir 327ac07d54 AP_HAL_SITL: gps correct glitchs 2017-04-19 17:44:29 +01:00
Florent Martel 949aa4d9ca AP_Frsky_Telem: replace VDOP with extra GPS status bits 
This removes VDOP (not really that useful) and replaces two of those
bits with GPS status info that now allows to differentiate between 3D
fix, DGPS, RTK Float, and RTK Fixed. This is written to maximize
backwards compatibility (by not shifting any other bits of the
gps_status variable)
 2017-04-19 17:43:17 +01:00
Eugene Shamaev fb8f4f8cd1 AP_UAVCAN: ESC numbering correction 2017-04-19 14:28:48 +01:00
Michael du Breuil a96772e46e AP_BattMonitor: get Solo battery voltage from sum of cell voltages 
Minimizes the number of transactions on the bus, and reduces the amount of noise we have to consider
 2017-04-19 14:17:24 +01:00
Michael du Breuil 3b6d348241 DataFlash: Log battery temperature and cell voltages 2017-04-19 14:17:24 +01:00
Michael du Breuil 341ac701d1 GCS_MAVLink: report temperature information to the battery status report 2017-04-19 14:17:24 +01:00
Michael du Breuil 9cb0d8f99b GCS_MAVlink: Add battery cell backend 2017-04-19 14:17:24 +01:00
Michael du Breuil 8f24d211ce AP_BattMonitor: Solo add support for temperature and cells 
Also fixs a buffer overflow when reading the ManufacturerData
 2017-04-19 14:17:24 +01:00
Michael du Breuil 043b93d643 AP_BattMonitor: Maxell support temperature 2017-04-19 14:17:24 +01:00
Michael du Breuil de02bd52ed AP_BattMonitor: SMBus_Maxell request voltages 2017-04-19 14:17:24 +01:00
Michael du Breuil 121ebebfef AP_BattMonitor: Add temperature interface 2017-04-19 14:17:24 +01:00
Michael du Breuil e39ae6d48c AP_BattMonitor: Add cell monitoring 2017-04-19 14:17:24 +01:00
Eugene Shamaev c9f413da38 GCS_MAVLink: AOA, SSA message 2017-04-19 20:48:42 +10:00
Eugene Shamaev a144e79a50 DataFlash: logging of AOA and SSA 2017-04-19 20:48:42 +10:00
Eugene Shamaev 5c080ce875 AP_AHRS: calculation and reporting of AOA and SSA 2017-04-19 20:48:42 +10:00
Lucas De Marchi 915f10dc8a AP_HAL: SPIDevice: prefer nullptr for pointer 2017-04-19 01:36:58 -07:00
Vinicius Juvinski c3d5aaa21c AP_Notify: add AP_BoardLED support for BBBMini 2017-04-19 01:33:50 -07:00