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Author SHA1 Message Date
Gustavo Jose de Sousa
f426e2c681 Replay: build: use separate library 
There are checks for APM_BUILD_Replay in the source code, so Replay tools needs
a separate static library.
 2016-06-30 12:55:18 -03:00
Tom Pittenger
85afd9e245 Plane: remove guided roll flag, handle it with timer=0 2016-06-30 07:48:37 -07:00
Michael Day
8ac433f991 Plane: Can now command roll from a companion computer. 2016-06-30 10:27:44 -04:00
Andrew Tridgell
fc9283964a HAL_SITL: fixed segv on cygwin 2016-06-30 20:45:03 +10:00
Andrew Tridgell
d477905fbd autotest: fixed XPlane with sim_vehicle.py 2016-06-30 20:26:14 +10:00
Andrew Tridgell
82f131667d SITL: added flaps control in XPlane 2016-06-30 20:26:00 +10:00
Andrew Tridgell
b1de768756 autotest: added quadplane-tilttri parameters 2016-06-30 17:00:56 +10:00
Andrew Tridgell
ec367d4a09 Plane: re-order channel initialisation 
this fixes a problem with spurious throttle output during board
startup. Many thanks to Marco for finding this!
 2016-06-30 16:48:30 +10:00
Andrew Tridgell
934d2b6ae4 RC_Channel: added setup_failsafe_trim_mask() 2016-06-30 16:46:57 +10:00
Andrew Tridgell
8fd31111ad Plane: fixed waf build with tricopter quadplane 2016-06-30 14:16:52 +10:00
Andrew Tridgell
a071fa3921 AP_Param: display defaults path on startup 2016-06-30 14:16:52 +10:00
Andrew Tridgell
0f7b4a0cd1 autotest: fixed tricopter quadplane for sim_vehicle.py 2016-06-30 14:16:52 +10:00
Gustavo Jose de Sousa
a748c52f06 waf: bump to version 1.9.0 
Some things worth mentioning:

- That version contains commits we had cherry picked on our submodule.
- There's a patch on top with a fix for the new process spawning used on
  version 1.9.0. That has already been applied to upstream's master, but not
  released yet.
- This patch also does necessary changes on our build system in order to
  accommodate the upgrade. Basically:
  - Use full task class names when calling create_task().
  - Use always_run class attribute instead of the decorator, which is
    deprecated.
 2016-06-29 11:18:22 -03:00
Andrew Tridgell
753f734a39 mavlink: submodule update 2016-06-29 18:44:47 +10:00
Andrew Tridgell
b5ccd458d3 Copter: added 10Hz logging of controller RMS values 
as discussed with Leonard
 2016-06-29 14:43:44 +10:00
Andrew Tridgell
beb3591f67 HAL_Linux: improved help output and errors for udp and bcast 2016-06-28 21:01:45 +10:00
Andrew Tridgell
72b5cecdb2 HAL_Linux: added udpin support to HAL_Linux 
useful for setting up ardupilot as a mavlink UDP listener
 2016-06-28 21:01:43 +10:00
Paul Riseborough
4a8689aa97 AP_NavEKF2: remove duplicate if statements from mag fusion 2016-06-28 14:20:13 +10:00
Paul Riseborough
094dd9d769 Replay: Fix bug preventing use of IMT data during replay 2016-06-28 14:20:13 +10:00
Paul Riseborough
e117bedf6a AP_NavEKF2: Adjust output observer tuning 
Use more accurate method by default.
Reduce overshoot on quaternion tracking
 2016-06-28 14:20:13 +10:00
Paul Riseborough
5c59922574 AP_NavEKF2: Fix bug that could publish bad compass offsets 
Magnetometer bias states will subject to larger errors early in flight before flight motion makes the offsets observable and the state variances reduce.
Adds a check on state variances.
Replaces the parameter check with a check of the actual filter fusion method being used.
 2016-06-28 14:20:13 +10:00
Paul Riseborough
165335b9e3 AP_NavEKF2: Improve ability to tune magnetic field learning 
Allow different process noise to be set for body (sensor bias) and earth field states.
This allows a stable magnetometer bias estimate to be available at end of flight whilst still allowing for external magnetic anomalies during landing.
Adjust default values to give stable mag bias learning and fast learning of external anomalies.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
6523481c76 AP_NavEKF2: Improve tracking accuracy of output predictor 
Automatically use the highest gain consistent with a 5% overshoot to minimise RMS tracking errors.
Provide an alternative correction method for the position and velocity states that allows the user to specify the time-constant. This can be used to fine tune the output observer for for platform specific sensor errors and control loop sensitivity estimation noise.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
fe06606193 AP_NavEKF2: Ensure corrected IMU data used by EKF 
Don't try to pop new IMU data from the buffer unless we have written data.
Correct IMU data as soon as it is popped from the buffer
 2016-06-28 14:20:12 +10:00
Paul Riseborough
1400dc9d02 AP_NavEKF2: Add tuning parameters for magentic yaw fusion 
Enable simple magnetic yaw fusion observation noise and innovation consistency check gate width to be tuned independantly.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
dc6836988c AP_NavEKF2: Improve ground based magnetic anomaly protection for copter 
The toilet bowling check during early flight has been removed. This check caused problems where bad compass calibration was the cause of the toilet bowling and resetting to the compass was a bad option. The handling of simultaneous failed mag and velocity innovations is already handled outside the EKF by the failsafe.
A check for yaw errors due to a ground based magnetic anomaly has been introduced.
The logic for in-flight yaw and magnetic field resets has been cleaned up and variable names improved.
 2016-06-28 14:20:12 +10:00
Paul Riseborough
703f56908f AP_NavEKF2: Correct comment 2016-06-28 14:20:12 +10:00
Paul Riseborough
26815ace7a AP_NavEKF2: Remove redundant logic check 2016-06-28 14:20:12 +10:00
Jonathan Challinger
bd8c804ab5 AP_NavEKF2: correct comments 2016-06-28 14:20:12 +10:00
Jonathan Challinger
ebae95d7f6 AP_NavEKF2: apply corrections to new inertial data when using for output prediction 2016-06-28 14:20:11 +10:00
Jonathan Challinger
2f709dfe86 AP_NavEKF2: improve inertial prediction 2016-06-28 14:20:11 +10:00
Paul Riseborough
262c5fe56d AP_NavEKF2: Make setter loop through all instances 
For setters where a success boolean is returned, return false if any instance fails.
 2016-06-28 14:20:11 +10:00
Jonathan Challinger
8baf064317 AP_NavEKF2: setTakeoffExpected and setTouchdownExpected loop through instances 2016-06-28 14:20:11 +10:00
Paul Riseborough
ec5c460584 AP_NavEKF2: Fix predicted nav reporting 
Predicted nav should never be false if current nav is true
 2016-06-28 14:20:11 +10:00
Jonathan Challinger
99f481e098 AP_NavEKF2: always calcGpsGoodForFlight 2016-06-28 14:20:11 +10:00
Jonathan Challinger
3382e09580 AP_NavEKF2: add height constraint during takeoff 2016-06-28 14:20:11 +10:00
Paul Riseborough
4bb46af861 AP_NavEKF2: Increase allowable gyro bias offset 2016-06-28 14:20:10 +10:00
Andrew Tridgell
af23a681e0 AP_BoardConfig: improved docs for BRD_SAFETYENABLE 2016-06-28 09:58:55 +10:00
Peter Barker
b23f983459 autotest: add --gdb option to autotest.py 2016-06-27 18:14:55 -03:00
Lucas De Marchi
1f96336f7c Global: rename bus type enum entries 2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa
f6bebc96c0 AP_InertialSensor: INS_generic: remove unused includes 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e85ac8b2c5 AP_InertialSensor: inform maximum gyro average difference 
While at it, define GYRO_INIT_MAX_DIFF_DPS.
 2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e6f62080f5 AP_InertialSensor: fix best_diff on gyro initialization 
Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
de94392759 AP_InertialSensor: MPU9250: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
83feb2e2ae AP_InertialSensor: MPU9250: let Device handle read flag 
There's no need to handle that in MPU9250 anymore.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
1e99a7125c AP_InertialSensor: MPU9250: remove _register_write_check() 
That function isn't used in the code base and there should be a better way to
debug writes on registers.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
a6e5eb9e14 AP_InertialSensor: MPU6000: remove _bus_type field 
Use _dev->bus_type instead.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
0718649c8b AP_InertialSensor: MPU6000: let Device handle read flag 
There's no need to handle that in MPU6000 anymore.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
309fe4a88c AP_InertialSensor: MPU6000: remove _register_write_check() 
That function isn't used in the code base and there should be a better way to
debug writes on registers.
 2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
d35cf60ce1 AP_HAL_Linux: I2CDevice: use read flag in read_registers_multiple 
Use the generic support in Device interface for read flag when we are
using read_registers_multiple() method.
 2016-06-27 17:20:46 -03:00