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
