013aaf4d3e
GCS_MAVLink: moved comms functions to not be inline
...
saves a bit of flash space
11 years ago
d9d038345a
AP_GPS: save 800 bytes of code space on APM2
...
we can assume a single GPS
11 years ago
9f857529ca
AP_GPS: auto-switch primary GPS based on status and number of satellites
11 years ago
11f196318e
RC_Channel: added static functions to simplify operations on all channels
...
this avoids vehicle code having to loop over all channels for common
operations
11 years ago
21c205a57e
AP_GPS: cope with different MON-HW message size in u-Blox Neo7
11 years ago
cd3038fabd
AP_NavEKF: fixed return of offset in getVariances()
11 years ago
dcb42af3e9
AP_BattMonitor: fixed example build
11 years ago
3a92d75936
Ublox: Enable 1Hz Lock LED by default
11 years ago
067bbf5b5c
DataFlash: hdop is unsigned
11 years ago
e40a048009
AP_GPS: handle multiple GPS in GPS setHIL()
11 years ago
79f5618f6f
AP_GPS: zero state structure on driver release
...
this ensures no values are left from the previous driver
11 years ago
2ddc414f4d
InertialNav: replace safe_sqrt with pythagorous2
11 years ago
90e205c905
AC_PosControl: replace safe_sqrt with pythagorous2
11 years ago
15da01cf3a
AC_WPNav: replace safe_sqrt with pythagorous2
11 years ago
b8e4e35a0d
AP_Airspeed: use pythagorous3()
11 years ago
a7f213a5c5
AP_NavEKF: use pythagorous2()
11 years ago
9ab1a79b5a
AP_Airspeed: changed sqrt() to sqrtf()
11 years ago
09c5ba1aed
Dataflash : Improved logging of EKF sensor health checks
...
This changes the definition sof the messages in the EKF4 message to make it more useful
The values shown now relate directly to how much margin there is before a measurement
is rejected, enabling better tuning of error trap parameters
11 years ago
04036d7777
AP_NavEKF : Updated GPS glitch protection logic
...
This adds new functionality to the detection and compensation of GPS
glitches:
1) A maximum allowable innovation is calculated using the GPS noise
parameter multiplied by the gate, with an additional component allowing
for growth in position uncertainty due to acceleration error since
the last valid measurement
2) Includes per vehicle type values for the acceleration error limit
3) If the innovation length exceeds the maximum allowable, no fusion occurs
4) If no fusion has occurred for long enough such that the position uncertainty
exceeds the maximum set by a per vehicle parameter or a maximum time, an offset
is applied to the GPS data to so that it matches the value predicted by the filter
5) The offset is never allowed to be bigger than 100m
6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to
be accommodated gradually
7) The default velocity innovation gate has been tightened up for copter and rover
8) The variance data logging output has been updated to make it more useful
11 years ago
7e2ef0cfc0
AP_GPS: fixed GPS for Replay
11 years ago
9278685cdf
AP_Math: fixed location build on SITL
11 years ago
77e2f48581
AP_GPS: fixed notify updates for new API
11 years ago
9781175bf5
AP_GPS: fixed handling of driver destruction
...
this allows for more complex destructors, and ensures we don't have
multiple backends allocated at once per instance
11 years ago
7ceba8dce4
AP_GPS: prevent double allocation of GPS drivers
11 years ago
8779ffe088
AP_GPS: flush pending config strings when uBlox starts
11 years ago
0191355488
AP_GPS: fixed init strings to all be in progmem
...
and sent async ...
11 years ago
bc0c9ad6d5
AP_InertialNav: fixed example build
11 years ago
35c111a63a
AP_AHRS: fixed example build
11 years ago
7b2d56a8cb
AC_Fence: disable example build
...
fails to build with compiler error
11 years ago
3b8c6e629d
AC_AttitudeControl: updated example for new GPS API
11 years ago
c2486d8d6e
AP_GPS: updated examples for new API
...
removed old per-driver examples, and updates AUTO example
11 years ago
d04d33a02d
AP_InertialNav: convert to new GPS API
11 years ago
5a2e84e792
AP_NavEKF: changes for new GPS API
11 years ago
b7a2db716b
AP_Arming: convert to new GPS API
11 years ago
eb67948171
AP_Mount: convert to new GPS API
11 years ago
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
31d3b6555f
DataFlash: convert to new GPS API
11 years ago
368daf89f1
AP_GPS: new GPS API
...
This is a complete rewrite of the GPS driver structure, with a static
main driver and separate backend drivers. This will allow proper
support for multiple GPSes, and will allow parameters to be set on the
GPS object
11 years ago
2dd92832dc
AP_GPS: support multiple AP_GPS_Auto drivers
...
move all static variables into a dynamically allocated structure in
the AUTO driver which gets freed when we have found a GPS type
11 years ago
3c4389180e
AP_GPS: removed GPS_406 driver
...
this driver was untested and badly structured. If we want to support
the 406 we can revive it and do it properly
11 years ago
f0fc0397d3
Notify: add arming failure tone
11 years ago
7bb981f2df
AP_Notify: correct dos formatting
11 years ago
31082f4ce2
AP_Mission: fixed a bug re-entering AUTO
...
this fixes a bug found by Marco where we would continue in CRUISE mode
with no waypoint if we re-entered AUTO after a mission reset
11 years ago
93f8d53d1b
Mission: make get_prev_nav_cmd_index const
11 years ago
b15d4379d8
AC_WPNav: use atan2f, make methods const
11 years ago
3ad635feeb
AC_AttControl: 45deg/sec yaw rate for Auto, RTL
11 years ago
d27ca53a9d
AC_WPNav: spline sets origin vel to zero when no prev segment
...
Issue caught by Michael Oborne
11 years ago
7dfde39e19
AC_WPNav: advance_spline to use dt
11 years ago
c0458b786a
AC_WPNav: check acceleration is non zero
11 years ago
f0f3688172
AC_WPNav: rounder corners for short spline segments
11 years ago
Andrew Tridgell
Craig Elder
Randy Mackay
priseborough
Jonathan Challinger