Andrew Tridgell
464714f1ab
HAL_PX4: fixed build warning
2015-01-09 11:37:46 +11:00
Andrew Tridgell
d34e5b3f42
AP_GPS: fixed PX4 GPS driver for new upstream format
2015-01-09 11:37:38 +11:00
Andrew Tridgell
ef5cdb0d6c
AP_NavEKF: use more array bounds checked variables
2015-01-09 11:05:07 +11:00
Andrew Tridgell
fefdc37a4d
AP_Math: fixed warnings on bounds checking in quaternion
2015-01-09 11:04:50 +11:00
priseborough
3d46680348
AP_NavEKF: Make NED origin independent of home position
...
This enables the filter to report the last known position after disarm.
The LLH location of the filters NED origin is published and should be logged every time the vehicle is armed to assist with post-flight trajectory reconstruction.
The LLH location of the filters NED origin can be set externally whilst the vehicle is disarmed.
2015-01-09 10:51:24 +11:00
priseborough
f0ea858e4c
AP_NavEKF: Make LLH output report last known position in const pos mode
2015-01-09 10:51:24 +11:00
priseborough
a0957a83f8
AP_NavEKF: Fix bug in reported position and velocity
...
The last known position was being output on the velocities when in constant position mode.
2015-01-09 10:51:24 +11:00
priseborough
7d1cd604a8
AP_NavEKF: Report last known position when GPS is lost
2015-01-09 10:51:24 +11:00
priseborough
1789dc08a3
AP_NavEKF: Correctly report position timeout when GPS is lost
2015-01-09 10:51:24 +11:00
Randy Mackay
3e583e3650
DataFlash: fix EKF4 logging
2015-01-09 10:51:24 +11:00
Randy Mackay
e6e6a781c1
AP_NavEKF: init filter status bits to zero
2015-01-09 10:51:23 +11:00
priseborough
ffd9f7a4ed
AP_NavEKF: Predict filter solution status
2015-01-09 10:51:23 +11:00
Randy Mackay
3896dadc77
DataFlash: EKF logs filter status as uint16
2015-01-09 10:51:23 +11:00
Randy Mackay
657afcfe7a
AP_NavEKF: add pred_horiz_pos flags to filter status
2015-01-09 10:51:23 +11:00
Randy Mackay
54cff29fc2
DataFlash: EKF logging uses nav_filter_status
2015-01-09 10:51:23 +11:00
Randy Mackay
f4d8bc586c
Nav_EKF: getFilterStatus returns nav_filter_status struct
2015-01-09 10:51:23 +11:00
Randy Mackay
8a914af4a8
AP_NavEKF: add nav_filter_status definition
2015-01-09 10:51:23 +11:00
priseborough
d57e0b6bde
AP_NavEKF: Remove compiler warning messages
2015-01-09 10:51:23 +11:00
priseborough
a4ba4d1000
AP_NavEKF: Fix bug in optical flow innovation variances
...
Also improves protection against badly conditioned variances
2015-01-09 10:51:23 +11:00
priseborough
8bc8d1444a
AP_NavEKF: Extend definition of GPS availability to include user inhibit
2015-01-09 10:51:22 +11:00
priseborough
d0d49065e7
AP_NavEKF: Prevent potential repeated use of optical flow data
2015-01-09 10:51:22 +11:00
priseborough
b0c703e4f7
AP_NavEKF: Fix bug in optical flow fusion control logic
2015-01-09 10:51:22 +11:00
priseborough
d656c94bbc
AP_NavEKF: Fix out of bounds index bug
2015-01-09 10:51:22 +11:00
priseborough
300ba65f64
AP_NavEKF: Remove duplicate flow measurement state correction
2015-01-09 10:51:22 +11:00
priseborough
92bb75a635
AP_NavEKF: Prevent load leveling from dropping flow measurements
2015-01-09 10:51:22 +11:00
priseborough
873860e810
DataFlash: Allow negative HAGL values in the EKF optical flow debug log
2015-01-09 10:51:22 +11:00
priseborough
2f5aa210ce
AP_NavEKF: Enable recovery from extended flow measurement rejection
2015-01-09 10:51:21 +11:00
priseborough
d470d55234
DataFlash: Update EKF optical flow debug logging
2015-01-09 10:51:21 +11:00
priseborough
9f4baaa865
AP_NavEKF: Update flow debug logging
2015-01-09 10:51:21 +11:00
priseborough
8d1dae3ac1
AP_NavEKF: Improve optical flow terrain height estimation
...
The two state auxiliary EKF has been replaced with a single state filter that only estimates terrain offset. The new filter fuses a optical flow line of sight rate scalar (length of the optical flow LOS rate vector) which provides a terrain offset estimate that is less affected by yaw errors.
Estimation of focal length scale factor error in flight wasn't accurate enough and will be replaced with a pre-flight intrinsic sensor calibration procedure as the scale factor error does not change over time provided the lens assembly is not adjusted.
AP_NavEKF: Remove unwanted printf
2015-01-09 10:51:21 +11:00
priseborough
d599fa588e
AP_NavEKF: Don't allow EKF to initialise without GPS lock if we are a plane
...
This is needed because planes arm automatically.
AP_NavEKF: Fix bug in GPS patch
2015-01-09 10:51:21 +11:00
Staroselskii Georgii
c16eb5d330
AP_Compass: fixed corrections for AK8963
2015-01-09 06:38:22 +11:00
Staroselskii Georgii
4394f0cf75
AP_Compass: fixed external compass detection for AK8963
2015-01-09 06:38:22 +11:00
Staroselskii Georgii
f0753e965e
AP_Compass: eliminated possible division by zero in AK8963
2015-01-09 06:38:22 +11:00
Staroselskii Georgii
b804430276
AP_Compass: changed default orientation for AK8963 on Navio
2015-01-09 06:38:22 +11:00
Mikhail Avkhimenia
954b0795d4
HAL_Linux: Enable PCA9685 output after its setup
2015-01-09 06:38:21 +11:00
Randy Mackay
2a5a133bbf
AC_AttControl: remove deprecated trigger_xy method
2015-01-07 14:03:49 +09:00
Randy Mackay
ed7e176c61
LandingGear: command_mode becomes enum
2015-01-07 11:58:22 +09:00
Robert Lefebvre
c297aaeeab
AP_LandingGear: Add force_deploy method.
2015-01-07 11:58:19 +09:00
Robert Lefebvre
4177852d89
AP_LandingGear: Remove relay control from library.
2015-01-07 11:58:17 +09:00
Robert Lefebvre
4935a42054
RC_Channel_Aux: Add new landing gear control to Aux_servo_function_t enum.
...
Conflicts:
libraries/RC_Channel/RC_Channel_aux.h
2015-01-07 11:58:17 +09:00
Robert Lefebvre
9b0a33c453
AP_LandingGear: Create LandingGear Library.
2015-01-07 11:58:15 +09:00
Andrew Tridgell
1b3c3c754d
AP_InertialSensor: use correct ifdef for AK8963
2015-01-07 11:58:05 +11:00
Andrew Tridgell
9835544163
AP_Compass: fixed build on non-Linux platforms
2015-01-07 08:41:14 +11:00
Andrew Tridgell
2ddf3e728a
DataFlash: use common RingBuffer.h
2015-01-07 08:41:14 +11:00
Andrew Tridgell
9d3a9c20a8
HAL_VRBrain: use common RingBuffer.h
2015-01-07 08:41:14 +11:00
Andrew Tridgell
0c73dc2440
HAL_PX4: use common RingBuffer.h
2015-01-07 08:41:14 +11:00
Andrew Tridgell
4da0a24887
HAL_Linux: use common RingBuffer.h
2015-01-07 08:41:14 +11:00
Andrew Tridgell
6fb00f4fc3
AP_HAL: create a common utility/RingBuffer.h header
2015-01-07 08:41:14 +11:00
Staroselskii Georgii
43c88c37eb
AP_Baro: fixed MS5611 initialisation in order to get rid off conflicts with other I2C devices
2015-01-07 08:41:13 +11:00
