3ff1bb7714
Rover: add ekf failsafe
6 years ago
70d159cb38
Copter: raise EKF failure even if USB is connected
...
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.
This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB. Since people do this, it is better to have
the checks than not.
7 years ago
6f138ddcfa
Copter: ekf failsafe first enforces landing with no GPS
...
thanks to khancyr for spotting this
7 years ago
656892cd88
Copter: ekf failsafe disabled for acro and stabilize
...
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
7 years ago
a727305a59
Copter: integrate attitude control EKF inertial-frame-reset
7 years ago
c13d6580ae
Copter: delete \n from the log using gcs().send_text
7 years ago
2d23e1f7c7
Copter: rename flightmode_ objects to mode_
7 years ago
ef1489e87a
Copter: eliminate mode_requires_gps
7 years ago
3b1ca99b95
Copter: FlightMode - convert LAND flight mode
7 years ago
45d056fcf0
Copter: ekf position checks are done before we call failsafe_ekf_event
7 years ago
d5caff3f1b
Copter: do not enter ekf-failsafe based on position if pos not needed
7 years ago
ff82f23cf6
Copter: factor out a ekf_check_position_problem method
7 years ago
84a873a520
Copter: remove redundant check; we will never failsafe_ekf_event if disarmed
...
See line 37
7 years ago
f60389d4aa
Copter: use send_text method on the GCS singleton
8 years ago
2e56e10d9c
Copter: ekf check adds position variance check
...
two of three of compass, velocity and position variances being high will trigger the ekf failsafe
8 years ago
0f6d0c5ba9
Copter: combined tri, single, coax and multicopter into a single build
...
this allows copter to be just 2 builds, one for heli, and one for
everything else
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
26c3295042
Copter: ignore first ekf core switch
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The ekf core is initialised to -1 but after initialisation changes to zero. Ignore this first change.
8 years ago
f3a035694a
Copter: fix ekf check to always call mode_requires_gps
8 years ago
263f685683
Copter: ekf failsafe can trigger in LAND
...
Thanks to John Ingersoll for the report and detailed fix
Resolves issue #4827
8 years ago
d74ae535d1
Copter: log EKF lane switch
8 years ago
35864c6226
Copter: move check_ekf_reset to ekf_check.cpp
...
No functional change
8 years ago
e3934fac80
ArduCopter: Delete (wrong) filename out of header
9 years ago
1356deab8b
Copter: add control_mode_reason
9 years ago
c7acc46d09
Copter: use millis/micros/panic functions
9 years ago
84da1f5039
Rename gcs_send_text_P to gcs_send_text
9 years ago
2c38e31c93
Remove use of PSTR
...
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
9 years ago
19785c1033
Copter: Access EKF origin through AHRS object
...
Enables EKF2 use
9 years ago
7c6b31b585
Copter: Access EKF variance checks through AHRS object
...
Supports flight using EKF2
9 years ago
598925f8d2
Copter: EKF failsafe action always Land if RC failsafe active
9 years ago
767b4da5b6
Copter: update send text severities
10 years ago
277e3d8675
Copter: enable ekf_check only after ekf origin has been set
10 years ago
f603c1ef69
Copter: fix ekf-check reliance on position_ok
10 years ago
ce1031a5bd
Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks
...
Copter requires an EKF
10 years ago
aa05325b54
Copter: add althold as ekf failsafe action
10 years ago
4408f01f39
Copter: rename ekf_check_thresh to fs_ekf_thresh
10 years ago
278883c521
Copter: finished conversion to .cpp files
...
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
10 years ago
356ece3402
Copter: rename .pde files to .cpp files
10 years ago
4b5d07252e
Copter: ekf_check ok if optflow pos available
10 years ago
765b8ded02
Copter: ekf check triggers if position bad
10 years ago
74b98b89d0
Copter: remove dcm check
10 years ago
28b98a170b
Copter: fix to dcm-check to be continuous
...
dcm-check was triggering after 10 bad headings but these did not need to
be continuous meaning if the vehicle was flown long enough it would
almost certainly trigger a dcm-check failure and land
10 years ago
6becb1a722
Copter: add DCM check of yaw error
...
Triggers an "ekf" failsafe if the DCM yaw error is > 60deg
10 years ago
21d56735ca
Copter: increase EKF_CHECK_THRESH default to 0.8
...
Also remove unused #define related to inertial nav check (now removed)
11 years ago
c87283af98
Copter: remove inav check
...
the EKF check works reliably but attempts to check the inertial nav for
errors has not been successful. I could not find a way to reliably
catch flyaways without also introducing false positives (and thus
unwanted LANDings)
11 years ago
162b824424
Copter : Distinguish between EKF and INAV errors
11 years ago
4723ed5e6e
Copter: rename EKF check's error message to dataflash
...
It checks more than the compass so the old error message was misleading.
11 years ago
c7ba44db2d
Copter: increase ekf check threshold for inav
...
This increases the accel correction from 60cm/s to 80cm/s before the ekf
check will trigger a land
11 years ago
b29f8968ce
Copter: clarify EKF check msg to GCS
...
remove "compass" from the error message because the failure can also be
caused by GPS glitches
11 years ago
004eb168fb
Copter: remove unused var from ekf check
11 years ago
Tatsuya Yamaguchi
Peter Barker
Randy Mackay
Leonard Hall
murata
Andrew Tridgell
Mathieu OTHACEHE
mirkix
Jonathan Challinger
Caio Marcelo de Oliveira Filho
Lucas De Marchi
Paul Riseborough
squilter
priseborough