a6f41b3ca6
HAL_SITL: removed the need for the FDM thread
...
this also removes the need for the barriers
10 years ago
19147a05f6
SITL: support functions for new simulators
10 years ago
437e1bdba0
SITL: added fill_fdm() for FDM output from simulator
10 years ago
ab2d4349b4
HAL_SITL: initial support for internal simulators
10 years ago
24b051565b
AP_Math: added normalize() method to Matrix3f
10 years ago
914b91af9e
SITL: initial conversion of multicopter sim to C++
10 years ago
2a6421d1bf
Airspeed: fix example sketch
10 years ago
55298a4c73
Baro: fix example sketch
10 years ago
054f05d285
Copter: AC3.3-rc3 version
10 years ago
22350c793b
Copter: AC3.3-rc3 release notes
10 years ago
be04be9b43
AP_NavEKF: Fix bug preventing home position being set by copter
...
The interface definition has been modified so that it returns true for a position obtained usin geither the normal inertial navigation calculation, or a raw GPS measurement.
This enables this function to be used to set a home position before flight.
10 years ago
0812e16008
Copter: explicitly define flight modes enum
...
Thanks to Luis Vale for spotting this
10 years ago
75e2498da2
Scheduler: fix example sketch
10 years ago
89c0c2e532
Copter: update AC3.3-rc2 release notes
10 years ago
606086cd6f
Copter: version to AC3.3-rc2
10 years ago
77c2991867
Copter: AC3.3-rc2 release notes
10 years ago
c78068b8b8
StorageManager: fix example sketch
10 years ago
5b15c07d47
RC_Channel: fix example sketch
10 years ago
240a845206
Notify: fix example sketches
10 years ago
b223e90ef6
AP_Motors: fix example sketches
10 years ago
ed61d961c3
Mission: fix example sketch
10 years ago
fecbf06008
AP_Math: fix example sketches
10 years ago
2b29060a4e
AC_WPNav: remove unused set_loiter_velocity
10 years ago
187dd0dccd
HAL_PX4: fix example sketch
10 years ago
fb96335b46
Copter: get_RTL_alt returns alt above home
10 years ago
fb7e75594f
AP_NavEKF: replace memset with quaternion.initialise
10 years ago
eaedeeb7bf
AP_Math: add quaternion.initialise
10 years ago
c366fbbc96
AP_NavEKF: remove unused haveDeltaAngles
10 years ago
6773c0b232
AP_InertialSensor: default primary accel and gyro
10 years ago
b71b8f4bda
AP_NavEKF: Always return a NED relative position if possible
...
If a calculated position is not available, the function will return a value based on raw GPS or last calculation if available, but the status will be set to false to indicate that it cannot be used for control.
10 years ago
20ba1e6b1b
AP_NavEKF: Always return a WGS-84 location if possible
...
If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
10 years ago
dd1e0b2f0b
AP_NavEKF: Add missing function to return the NED to XYZ quaternion
10 years ago
2c4572eb50
AP_NavEKF: Make ground effect variable names more descriptive
10 years ago
3986851c51
AP_NavEKF: Prevent Z accel bias changing during ground effect takeoff
...
The inconsistent baro data during ground effect takeoff combined with the larger variances in the Z accel bias state early in flight can cause unwanted changes in bias estimate and therefore changes in height estimation error.
This patch turns of the process noise and state updates for the Z accel bias state when takeoff in ground effect is expected.
10 years ago
2cba60c731
AP_NavEKF: Decouple takeoff ground effect compensation from arm transtion
...
Thsi fixes a potential bug where the vehicle could land at a lower location without disarming and re-enter ground effect takeoff mode wiht a baro height floor above the current altitude, causing unpredictable height gain
10 years ago
c4c0f819b5
AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step
10 years ago
5dc29699ab
AP_NavEKF: Publish the INS delta quaternion
10 years ago
d273302ce7
AP_NavEKF: Improve rate of accel bias learning before flight
10 years ago
8dc6354a54
AP_NavEKF: Prevent touchdown baro errors tripping height innovation check
...
Ground effect baro errors can cause a spike in height innovation on disarming if ground effect compensation was used during the landing. This causes a transient AHRS fault message if this innovation is outside the pre-arm check limits.
Resetting the vertical position state to the measured height after disarming prevents this.
10 years ago
2f38dd1b67
AP_NavEKF: use quaternion functions to apply IMU delta angles
10 years ago
9c374eb4a8
AP_NavEKF: apply constrained floor to barometer innovation while landing
10 years ago
3c6446fadd
AP_NavEKF: refactor meaHgtAtTakeOff filter
10 years ago
744de74c16
AP_NavEKF: Reduce ground effect baro induced height errors during takeoff
10 years ago
13616d6436
AP_NavEKF: Add takeoff and touchdown expected to reported filter status
10 years ago
8c92524b8a
AP_NavEKF: add takeoffExpected and touchdownExpected
10 years ago
b6b55bf6f2
AP_NavEKF: integrate gravity over correct time period
10 years ago
cb0c424da1
AP_NavEKF: rewrite readIMUData
10 years ago
bb88a4f8fe
AP_InertialSensor: healthy() checks bounds
10 years ago
af80f20a51
AP_InertialSensor: add get_primary_gyro, fix get_primary_accel
10 years ago
0acc06d713
AP_Motors: minor comment for interlock
10 years ago
Andrew Tridgell
Randy Mackay
Paul Riseborough
Jonathan Challinger