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6761 Commits

Author SHA1 Message Date
Andrew Tridgell
5512a6f8a0 SITL: lower the default noise in SITL 
the noise levels were well above realistic levels, especially for gyro
noise, and were causing EKF issues
 2015-01-22 11:33:09 +11:00
Randy Mackay
842efe71be DataFlash: move COMPASS2,3 formats to extra structures 2015-01-21 14:38:13 +09:00
Randy Mackay
e7471c5fe5 DataFlash: fix message id and CURR formatting 2015-01-21 14:38:03 +09:00
Randy Mackay
09e3dcd821 DataFlash: pass ahrs, batt, targets by reference 2015-01-21 14:38:01 +09:00
Randy Mackay
f23959b5fa DataFlash: fix missing slash lost in merge 2015-01-21 14:37:59 +09:00
Robert Lefebvre
80929c389e DataFlash: Handle multiple compass instances natively inside the Library. 2015-01-21 14:37:50 +09:00
Robert Lefebvre
5b70550b73 DataFlash: Fix potentially uninitialized variable compiler warning. 2015-01-21 14:37:27 +09:00
Robert Lefebvre
be803f4f39 DataFlash: Minor whitespace changes/cleanup. No effect. 2015-01-21 14:37:25 +09:00
Robert Lefebvre
2657610373 DataFlash: Add common-vehicle Mode logging method. 
Conflicts:
	libraries/DataFlash/DataFlash.h
 2015-01-21 14:37:18 +09:00
Robert Lefebvre
12c3593bc3 DataFlash: Add common-vehicle Compass logging method. 2015-01-21 14:37:14 +09:00
Robert Lefebvre
2fdcd99db2 Arducopter: Move Attitude Message structure definition to the Base Structures section. 
Conflicts:
	libraries/DataFlash/DataFlash.h
 2015-01-21 14:37:12 +09:00
Robert Lefebvre
d2adf2cdd7 DataFlash.h: Move format characters string to a more convenient location. 2015-01-21 14:37:10 +09:00
Robert Lefebvre
392e5257cc DataFlash: Add voltage2 data to Current log, to be used by plane. 2015-01-21 14:37:07 +09:00
Robert Lefebvre
50b5376945 DataFlash: Add common-vehicle Current logging message. 2015-01-21 14:37:01 +09:00
Robert Lefebvre
db1a066f43 DataFlash: Add common-vehicle Attitude logging message. 2015-01-21 14:36:56 +09:00
Robert Lefebvre
743c5e4fde AC_AttitudeControl: Remove un-needed #include 2015-01-21 14:36:54 +09:00
Andrew Tridgell
8b59c72eb9 AP_InertialSensor: cope with 2 IMUs in SITL 2015-01-20 19:47:45 +11:00
Andrew Tridgell
a37f3680e4 AP_Arming: support skip_gyro_cal 
also break up arming INS reports, to be clearer for users
 2015-01-20 19:47:15 +11:00
Andrew Tridgell
765d833efa AP_Arming: check compass.use_for_yaw() 2015-01-20 11:33:39 +11:00
Andrew Tridgell
e8017a5079 AP_NavEKF: cope with the changed semantics of airspeed.use() 2015-01-20 11:28:14 +11:00
Andrew Tridgell
ed0a56cc3c AP_AHRS: cope with the changed semantics of airspeed.use() 2015-01-20 11:27:58 +11:00
Andrew Tridgell
850b3b89ea AP_Arming: added INS checks and airspeed checks 
this also displays all failing arming checks, not just the first
one. That is more useful for the user
 2015-01-20 11:27:13 +11:00
Andrew Tridgell
2235d18d67 AP_Airspeed: make it possible to tell if a airspeed sensor is unhealthy 
we need use() to reflect if the user wants to use the sensor, so the
arming checks can tell if it is not working as expected
 2015-01-20 11:26:20 +11:00
Andrew Tridgell
b3ce56d34d AP_InertialSensor: fixed 2nd IMU in Replay 
this makes for much more accurate replay runs
 2015-01-20 09:20:47 +11:00
Andrew Tridgell
5d83124675 DataFlash: moved airspeed msg to DataFlash 
so it can be used by Replay
 2015-01-20 09:10:33 +11:00
Andrew Tridgell
62e7778ba8 AP_GPS: fixed build warning 2015-01-19 11:22:10 +11:00
Randy Mackay
aeecc46f7b AC_PosControl: remove unnecessary set of desired_accel 
The desired_accel is set again 11 lines lower so this line did nothing.
 2015-01-14 16:23:26 +09:00
Jonathan Challinger
9ebd0e9960 AC_PosControl: reincarnate dead block of code 2015-01-14 16:20:17 +09:00
Jonathan Challinger
a580cd83e8 AC_PosControl: Fill _vel_desired.z for reporting 2015-01-14 16:08:48 +09:00
priseborough
c40c3632bb AP_NavEKF: Critical Bug Fix 
Prevents possible loss of attitude reference for flights without optical flow and GPS.

The optical flow measurement timeout can reset the velocity states which decouples the position states from IMU errors and therefore significantly reduces the amount of attitude error correction.
 2015-01-13 16:05:31 +13:00
mirkix
62a05a0438 AP_Notify: fix if statement 2015-01-13 12:15:32 +13:00
mirkix
fa950a735e AP_InertialSensor: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
mirkix
c58a022111 AP_HAL_Linux: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
mirkix
70445d11f6 AP_HAL: add support for BBBMINI, simple ArduPilot DIY Cape for the BeagleBone Black 2015-01-12 21:36:40 +13:00
Randy Mackay
c93e7a69a7 Baro: init external_temperature in constructor 2015-01-12 13:56:35 +09:00
mirkix
b03a9e2911 AP_Notify: ToneAlarm_Linux.h includes itself 2015-01-11 11:50:07 +09:00
Andrew Tridgell
b1d8df3d54 AP_Baro: only allow calibrated sensors to be used 2015-01-09 12:59:01 +11:00
Andrew Tridgell
e8b1fc72e0 DataFlash: fixed build warning 2015-01-09 12:43:15 +11:00
Andrew Tridgell
3320dfd7fa AP_Baro: fixed ms5611 spelling error 2015-01-09 11:59:49 +11:00
Andrew Tridgell
0a8677b3e2 AP_Baro: fixed build after rebase with all_healthy() 2015-01-09 11:51:52 +11:00
Andrew Tridgell
1c2a6deaaf AP_Baro: added all_healthy() method 2015-01-09 11:51:51 +11:00
Andrew Tridgell
8359c082ca AP_Baro: fixed baro on NavIO 
don't use the 1kHz timer as it conflicts with other I2C devices
 2015-01-09 11:51:51 +11:00
Andrew Tridgell
b85001bf4a DataFlash: added logging of 2nd baro 2015-01-09 11:51:51 +11:00
Andrew Tridgell
b1342c2d39 GCS_MAVLink: send SCALED_PRESSURE2 if available 2015-01-09 11:50:57 +11:00
Andrew Tridgell
19c717df2e AP_OpticalFlow: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
8aa1a89081 AP_Mission: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
cd7fbddcce AP_InertialNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
197c09fcd8 AP_Baro: added num_instances() API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
d2c827aa4b AP_AHRS: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
25f69f05eb AC_WPNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
5ec8ce933e AC_Sprayer: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
55ec316718 AC_Fence: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
5c4440a9ac AC_AttitudeControl: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
bb6deb4817 GCS_MAVLink: re-generated headers 2015-01-09 11:50:55 +11:00
Andrew Tridgell
56f682f186 GCS_MAVLink: added SCALED_PRESSURE2 message 2015-01-09 11:50:55 +11:00
Andrew Tridgell
8a3d3bed72 SITL: changes for new AP_Baro API 2015-01-09 11:50:54 +11:00
Andrew Tridgell
f1891cea1f AP_Baro: BMP085 driver done, but untested 2015-01-09 11:50:54 +11:00
Andrew Tridgell
5bb57a31f7 AP_Baro: split into frontend/backend 
this allows for support of multiple sensors on a board
 2015-01-09 11:50:54 +11:00
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