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
9c5f564dc5
AP_NavEKF : Fixes bug in initial earth magnetic field states
...
The calculation for these states was not being bias corrected
11 years ago
7bff8e9312
AC_AttControl: constrain earth frame yaw angle error
...
This temporarily resolves the wobble we see in Auto when the target
heading is suddenly changed leading to a large yaw angle error
11 years ago
197683d539
WPNav: clean up spline comments
11 years ago
e1819bb53a
AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane
11 years ago
ac339a0289
Mission: add decoding of NAV_SPLINE command
11 years ago
e7be622eef
GCS_MAVLink: generate after adding NAV_SPLINE cmd
11 years ago
519d5fc444
GCS_MAVLink: add MAV_CMD_NAV_SPLINE_WAYPOINT cmd
...
This is the same as a NAV_WAYPOINT except that the vehicle flies a
spline curved path to the destination
11 years ago
24eb195aa3
WPNav: add yaw control for straight line wp nav
11 years ago
b42b12f7be
AC_WPNav: add get_spline_yaw
11 years ago
f2d9ad41aa
Mission: minor comment update
11 years ago
e5e71ce371
WPNav: add spline support
11 years ago
e1d193f539
GCS_MAVLink: Generated code from message additions for autofence.
11 years ago
c5ebd120f1
GCS_MAVLink: XML for MAV_CMD_DO_FENCE_ENABLE and MAV_SYS_STATUS_GEOFENCE
11 years ago
55c60b8f07
AP_NavEKF : Reduce Magnetometer innovation consistency check threshold
11 years ago
45b1a2fa46
AP_NavEKF : Reduce GPS position innovation consistency fail threshold
...
This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres
This will provide copters with more protection for close in loiter situations
11 years ago
8c0c9c317e
RC_Channel: prevent a numerical exception with bad mount parameters
11 years ago
bafc664750
AP_NavEKF: use APM_BUILD_TYPE() macro
11 years ago
priseborough
Andrew Tridgell
Jonathan Challinger
Randy Mackay
Michael Day