Tom Pittenger
4b6d0d8e24
AP_HAL: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Tom Pittenger
9d74f57ed3
AP_PID: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Tom Pittenger
70bef20a29
AC_AttitudeControl: replace fabs() with fabsf()
2015-05-09 09:57:26 +10:00
Andrew Tridgell
1127b716c4
SITL: lower the default noise
...
prevents problems calibrating the gyro
2015-05-09 07:22:37 +10:00
Andrew Tridgell
2552acbf12
AP_Arming: fixed accel cal test in arming
...
use a per-imu time of last cal pass, and triple accel threshold for
IMU3. Raise threshold to 0.5 for IMU1/IMU2
2015-05-08 21:01:52 +10:00
Tom Pittenger
d94c95a6ef
GCS_MAVLink: return true if mission recieve is complete
...
when handing a mission item, and that is the last item, return true so that whoever is handling this knows we have a new mission list. From here we can log a new mission
2015-05-08 21:01:51 +10:00
Paul Riseborough
a232606fc9
AP_NavEKF: Prevent EKF yaw errors due to fast yaw spins
...
Prolonged yaw rotations with gyro scale factor errors can cause yaw errors and gyro bias estimation errors to build up to a point where EKF health checks fail.
This patch introduces the following protections:
1) The assumed yaw gyro error is scaled using a filtered yaw rate and an assumed 3% scale factor error (MPU6000 data sheet)
2) When the filtered yaw rate magnitude is greater than 1 rad/sec, the Z gyro bias process noise is zeroed and the state variance set to zero to inhibit modification of the bias state
3) When the filtered yaw rate magnitude is greater than 1 rad/sec, the magnetometer quaternion corrections are scaled by a factor of four to maintain tighter alignment with the compass
2015-05-08 16:47:31 +09:00
Paul Riseborough
08382373f1
AP_NavEKF: Reduce likelihood of in-air switch to GPS with a bad heading
...
Increases magnetometer weighting on yaw corrections when there there is no other aiding to constrain yaw drift.
Prevents switch to GPS if magnetometer data is failing innovation checks which indicates a bad yaw angle
2015-05-08 16:47:29 +09:00
Randy Mackay
3781f133d7
AC_AttControlHeli: remove unused definitions
2015-05-08 14:50:38 +09:00
Randy Mackay
bef5633ed5
AC_AttControlHeli: use params from parent class
2015-05-08 14:50:36 +09:00
Randy Mackay
7951346d72
AC_AttControl: bf_feedfoward_save made more concise
2015-05-08 14:29:49 +09:00
Randy Mackay
3d9a6a69e2
MotorsHeli: COLYAW to float
2015-05-08 14:14:36 +09:00
Randy Mackay
edfa206bb8
Motors_Heli: nest heli params
2015-05-08 14:14:35 +09:00
Randy Mackay
68b05a4ca2
AP_Motors: is_throttle_mix_min returns bol
2015-05-08 14:14:32 +09:00
Leonard Hall
cf45a1cf3a
AC_AttitudeControl: add get accel and save ff
2015-05-08 14:14:30 +09:00
Leonard Hall
1900cc7582
AC_AttitudeControl: Enable FF by default
2015-05-08 14:14:21 +09:00
Leonard Hall
0f894ac1a8
AP_Motors: Rename and move Throttle Mix / Comp
2015-05-08 14:14:17 +09:00
Jonathan Challinger
142e018a18
AP_NavEKF: fix bug causing takeoff to fail
2015-05-08 09:15:45 +09:00
Randy Mackay
fa4ba456b4
GPS: fix example sketches
2015-05-07 14:01:14 +09:00
Andrew Tridgell
afc9812d0b
AP_InertialSensor: update VibTest after moving messages info DataFlash
2015-05-07 13:25:37 +10:00
Andrew Tridgell
7d90033a36
AP_InertialSensor: support raw accel and gyro dataflash logging
2015-05-07 12:08:30 +10:00
Andrew Tridgell
21d805422d
DataFlash: added defines for raw accel and gyro logging
2015-05-07 12:08:04 +10:00
Andrew Tridgell
f5140e25b0
AP_InertialSensor: updated VibTest for latest PX4 interfaces
2015-05-07 10:51:52 +10:00
Andrew Tridgell
cbdc9f0706
SITL: fixed autotest SITL
2015-05-06 10:09:43 +10:00
Andrew Tridgell
2369e06815
AP_HAL: fixed SITL build on windows
2015-05-06 09:07:03 +10:00
Andrew Tridgell
b09fcfc20e
HAL_Linux: cope with systems without I2C_RDRW_IOCTL_MAX_MSGS
...
such as my ubuntu 14.04 laptop :-)
2015-05-05 21:42:46 +10:00
Andrew Tridgell
6a8da06d19
HAL_SITL: hook in CRRCSim backend
2015-05-05 21:42:46 +10:00
Andrew Tridgell
93d5101bf9
SITL: added CRRCSim simulation connection
2015-05-05 21:42:45 +10:00
Andrew Tridgell
4c11002976
AP_HAL: added HAL_OS_SOCKETS define
...
used for systems with BSD sockets
2015-05-05 21:34:19 +10:00
Andrew Tridgell
08b9ed3342
AP_HAL: added socket handling class
2015-05-05 21:34:19 +10:00
Randy Mackay
9dede2f0ec
Math: remove duplicate HALF_SQRT_2 definition
2015-05-05 14:23:14 +09:00
Randy Mackay
151707cb0a
Filter: replace 2*M_PI_F with M_2PI_F
2015-05-05 14:22:52 +09:00
Peter Barker
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
2015-05-05 15:02:35 +10:00
Andrew Tridgell
77a2b4acf6
AP_Math: removed fast_atan
2015-05-05 13:57:22 +10:00
Andrew Tridgell
872583f441
AC_AttitudeControl: removed fast_atan
2015-05-05 13:57:16 +10:00
Andrew Tridgell
8ba5272b0e
AP_Scheduler: fixed PSTR() usage
2015-05-05 13:54:27 +10:00
Andrew Tridgell
88fb7ddff8
AP_Param: fixed PSTR() usage
2015-05-05 13:54:15 +10:00
Andrew Tridgell
089e63f987
AP_InertialSensor: fixed PSTR handling
...
must use PSTR on code compiled for AVR
2015-05-05 13:54:00 +10:00
Andrew Tridgell
31693e332e
AP_InertialSensor: use non-PSTR printf
...
this is not built on AVR
2015-05-05 13:48:34 +10:00
Andrew Tridgell
730644eaeb
AP_Mount: use M_PI_F instead of (float)M_PI
2015-05-05 13:44:25 +10:00
Andrew Tridgell
84ac721340
AC_AttitudeControl: use M_PI_F instead of (float)M_PI
2015-05-05 13:44:19 +10:00
Andrew Tridgell
f9114f849b
Filter: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
bcc6c7d380
AP_Param: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
a140a5e77f
AP_NavEKF: revert AP_Math class change
2015-05-05 13:27:07 +10:00
Andrew Tridgell
7c9e3d4b58
AP_Mount: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
0b897e04bb
AP_Math: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
e6a8a6da07
AP_InertialSensor: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
015fce5183
AP_Compass: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
d2167633f0
AP_Camera: revert AP_Math class change
2015-05-05 13:27:06 +10:00
Andrew Tridgell
48fb7f8159
AP_BARO: revert AP_Math class change
2015-05-05 13:27:05 +10:00
