Commit Graph

9458 Commits

Author SHA1 Message Date
Paul Riseborough
3d8f720aaf AP_NavEKF: Improve initial accel bias learning
Fuse synthetic velocity data at zero before arming to improve stability margins for initial bias offset learning.
2015-11-02 17:46:57 +09:00
Paul Riseborough
64ad7d6a50 AP_NavEKF: handle case where one IMU fails to return a delta velocity or angle 2015-11-02 17:46:56 +09:00
Paul Riseborough
69d4bd2481 AP_NavEKF: Protect against baro data errors in constant position mode
Large baro data errors when flying without GPS could cause total failure of the EKF.
This patch provides protection against this happening in-flight but allows for large innovations during preflight alignment.
2015-11-02 17:46:55 +09:00
Paul Riseborough
778b1c3e18 AP_NavEKF: Remove dead code for constant velocity mode 2015-11-02 17:46:54 +09:00
Paul Riseborough
fb8e01a73c AP_NavEKF: Do not automatically accept DCM alignment data after 30 seconds
A looser check is applied at 30 seconds rather than no check.
2015-11-02 17:46:53 +09:00
Paul Riseborough
be11e12f81 AP_NavEKF: Improve height reset during climbs and descents
Resets the vertical velocity to the GPS when the height is reset is the GPS is healthy
2015-11-02 17:46:53 +09:00
Paul Riseborough
59df23bc0f AP_NavEKF: Reduce EKF health pre-arm check false positives 2015-11-02 17:46:52 +09:00
Paul Riseborough
aa14de9d39 AP_NavEKF2: Fix failure to start mag cal due to gyro noise
Vibration in the 400Hz delta angles could cause the angular rate condition check for in-flight magnetic field alignment to fail.
The symptons were failure to start magnetic field learning as expected when EK2_MAG_CAL=3 was set.
2015-11-02 14:12:17 +11:00
Paul Riseborough
2ebce110b7 AP_NavEKF2: Explicitly define plane build type for default parameters
Use Copter parameters if build type is unknown
2015-11-02 14:12:17 +11:00
Paul Riseborough
7ed36d8e65 AP_AHRS: Enable pre-flight GPS check status reporting for EKF2 2015-11-02 14:12:17 +11:00
Paul Riseborough
b6d63d4b4e AP_NavEKF2: Fix reporting of pre-flight GPS checks
Re-order checks so that that less important messages are not hidden when the 40 character buffer overflows
Add required output methods
2015-11-02 14:12:16 +11:00
Paul Riseborough
7bd61a484c AP_NavEKF2: Faster initial accel bias learning 2015-11-02 14:12:16 +11:00
Paul Riseborough
b15bf3243e AP_NavEKF2: Remove potential for division by zero 2015-10-30 15:34:26 +09:00
Paul Riseborough
5533a9a149 AP_NavEKF2: Add improved health monitoring when using simple compass yaw fusion 2015-10-30 15:34:23 +09:00
Paul Riseborough
f539b597a3 AP_NavEKF2: Improve initialisation of magnetic field learning
Use the more robust, but less accurate compass heading fusion up to 5m altitude
Wait for the magnetometer data fusion time offset to be correct before using data to reset states
Don't reset magnetic field states if the vehicle is rotating rapidly as timing offsets will produce large errors
When doing the yaw angle reset, apply the reset increment to all quaternions stored in the output buffer to avoid transients produced by yaw rotations and the 0.25 second fusion time horizon offset.
Only do the one yaw and mag reset at 5m, not two at 1.5 and 5.0m
Always re-do the yaw and mag reset when leaving the ground.
2015-10-30 15:34:20 +09:00
Paul Riseborough
844ed95718 AP_NavEKF2: Add method to rotate output quaternion history 2015-10-30 15:34:17 +09:00
Paul Riseborough
a1e32d71ec AP_NavEKF: Prevent large rotation rates corrupting the in-flight mag reset 2015-10-30 15:34:14 +09:00
Lucas De Marchi
1ce03c53a6 AP_Curve: remove wrong comment about PSTR
Not being able to leave the instantiation in ther header is not because
of PSTR issues, but basically because the instantiation needs to be in a
compilation unit, not in the header itself.
2015-10-30 14:35:49 +09:00
Lucas De Marchi
9203e2b929 AP_Common: remove PSTR definition 2015-10-30 14:35:48 +09:00
Lucas De Marchi
92016e9229 AP_Progmem: remove dead code
The only thing from AP_Progmem that's still used are the pgm_read_*
function and there's no support for AVR anymore. So remove the dead code
and use a single header to contain that inline functions.
2015-10-30 14:35:47 +09:00
Lucas De Marchi
68bef1ec64 AP_Param: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:45 +09:00
Lucas De Marchi
d2a259cef0 DataFlash: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:42 +09:00
Lucas De Marchi
bdd1d5e9d4 AP_Menu: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:41 +09:00
Lucas De Marchi
62ba8266ef AP_InertialSensor: fix wrong printf format for printf
"%S" is used for wide string, but we are passing a char*. Use lowercase
in this case to remove warnings like this:

libraries/AP_InertialSensor/AP_InertialSensor.cpp: In member function
'bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract*, float&, float&)':
libraries/AP_InertialSensor/AP_InertialSensor.cpp:620:61: warning:
format '%S' expects argument of type 'wchar_t*', but argument 3 has type 'const char*' [-Wformat=]
                 "Place vehicle %S and press any key.\n", msg);
                                                             ^
2015-10-30 14:35:40 +09:00
Lucas De Marchi
5244559010 Minimize AP_Progmem.h includes
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
a65c98485c AP_HAL: UARTDriver: remove _P() variants
They aren't used anymore so remove.
2015-10-30 14:35:31 +09:00
Lucas De Marchi
1b07dabeb7 Replace prog_char and prog_char_t with char
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
Lucas De Marchi
b52d1cfabb DataFlash: remove DataFlash.Log_Write_Message_P() 2015-10-30 14:35:29 +09:00
Lucas De Marchi
4ab9821624 Replace use of Log_Write_Message_P() with Log_Write_Message() 2015-10-30 14:35:28 +09:00
Lucas De Marchi
132303db4b AP_InertialSensor: use printf() rather than _printf_P() 2015-10-30 14:35:27 +09:00
Lucas De Marchi
2556fc8dbe BetterStream: use common macro for printf formatting
Since this needs an additional header, also put them in correct order.
2015-10-30 14:35:26 +09:00
Lucas De Marchi
20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf()
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi
7ceffb1e2b Replace use of vprintf_P() with vprintf() 2015-10-30 14:35:23 +09:00
Lucas De Marchi
6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi
a964ac38ec Replace use of print_P() with print() 2015-10-30 14:35:21 +09:00
Lucas De Marchi
65e719ccc3 AP_Param: replace find_P() with find() 2015-10-30 14:35:19 +09:00
Lucas De Marchi
af88ebf477 GCS_MAVLink: remove send_text_P() in favor of send_text() 2015-10-30 14:35:18 +09:00
Lucas De Marchi
831d8acca5 Remove use of PROGMEM
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi
d595e41003 Replace use of strncmp_P() with strncmp() 2015-10-30 14:35:14 +09:00
Lucas De Marchi
0aa117f65d Replace use of strnlen_P() with strnlen() 2015-10-30 14:35:13 +09:00
Lucas De Marchi
1336d621be Replace use of strcpy_P() with strcpy() 2015-10-30 14:35:12 +09:00
Lucas De Marchi
e4b313d2ca Replace use of memcpy_P() with memcpy() 2015-10-30 14:35:11 +09:00
Lucas De Marchi
f8f3f5a024 Replace use of strlen_P() with strlen() 2015-10-30 14:35:10 +09:00
Lucas De Marchi
aa370fe758 Replace use of strcmp_P() with strcmp() 2015-10-30 14:35:09 +09:00
Lucas De Marchi
6f0db45b57 Replace use of strcasecmp_P() with strcasecmp() 2015-10-30 14:35:08 +09:00
Lucas De Marchi
a8455aa4e3 AP_HAL: Remove Util::{v,}snprintf_P() 2015-10-30 14:35:06 +09:00
Lucas De Marchi
84d5fb006f Remove use of Util::{v,}snprintf_P()
These are now the same function as Util::snprintf().
2015-10-30 14:35:05 +09:00
Lucas De Marchi
2c38e31c93 Remove use of PSTR
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Randy Mackay
4d458833dc AP_NavEKF2: remove unnecessary PV_AidingMode check
Thanks to OXINARF for catching this
2015-10-30 12:52:49 +09:00
Paul Riseborough
b459d937ad AP_NavEKF2: Clean up GPS fusion timeout logic and comments 2015-10-30 12:24:19 +09:00