cf148fa76c
AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk
11 years ago
a9e683dada
AP_NavEKF: use the accelerometer chosen by DCM for each step
11 years ago
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
...
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
11 years ago
0b45d2bc06
AP_AHRS: removed the AHRS_GPS_DELAY parameter
...
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
11 years ago
6b9e1edf38
Plane: disable GPS2 in HIL
11 years ago
3de574e5dc
Copter: disable GPS2 in HIL
11 years ago
87ea98fe2c
Rover: disable GPS2 in HIL
11 years ago
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
11 years ago
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
11 years ago
8b59e564ba
AP_NavEKF: improved replay timing
11 years ago
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
11 years ago
66f238c0da
AP_NavEKF: support 400Hz replay from 50Hz logs
11 years ago
3fa2207a2d
AP_HAL: allow for microsecond resolution in scheduler->stop_clock()
...
this makes 400Hz in the replay code possible
11 years ago
6fc5c12f1d
AP_AHRS: remove unused variable
11 years ago
866e32f059
AP_Motors: removed unused variable
11 years ago
37394b30ee
Copter: added support for 2nd GPS
11 years ago
82ffc0ff2b
Rover: support a 2nd GPS
11 years ago
07826096a2
Plane: support a 2nd GPS
11 years ago
e410733682
DataFlash: added GPS2 logging
11 years ago
0115b9fa07
HAL_SITL: support a 2nd GPS
11 years ago
836f473db2
HAL_FLYMAPLE: no uartE
11 years ago
58d5454d65
HAL_Empty: no uartE
11 years ago
6c74ca58c3
HAL_AVR: no uartE
11 years ago
4cb61f1f08
AP_HAL: support uartE
11 years ago
bf2dd141e9
HAL_PX4: support uartE for 2nd GPS
11 years ago
95dd252f29
Plane: pass fix type to gps->setHIL()
11 years ago
2fcbdc4056
Copter: pass fix type to gps->setHIL()
11 years ago
50f89d0aa6
Rover: pass fix type to gps->setHIL()
11 years ago
63874dfffd
AP_NavEKF: set fix type in GPS replay
11 years ago
d7b2a09919
AP_GPS: added fix type to setHIL
11 years ago
09cce5d24e
AP_NavEKF: fixed replay with current copter logs
11 years ago
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
...
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
11 years ago
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
11 years ago
8a4289b56f
Plane: remove unused variables
...
thanks to Mike McCauley
11 years ago
11028c665d
Rover: removed unused variables
...
thanks to Mike McCauley
11 years ago
7a6f671659
AP_GPS: added have_vertical_velocity() function
...
for use by EKF
11 years ago
c1f9be75fe
autotest: fly the cruise rudder circuit a bit faster
11 years ago
a273951f70
HAL_Linux: added missing Util.cpp
11 years ago
eac4b1ec96
Rover: fixed EKF usage for rover
...
added barometer object, and use shared home object from AHRS. This
gives basic EKF operation.
11 years ago
203073e3ba
Rover: only use pivot steering in AUTO modes
11 years ago
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
11 years ago
01c84c3f47
AP_NavEKF : fixed bug in height limit range
11 years ago
36d619ec3a
AP_NavEKF : Changed default IMU bias process noise to use smallest value
11 years ago
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
11 years ago
939a32a7bb
AP_NavEKF : Improved stability of Z accel bias
11 years ago
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
11 years ago
6732d6c79b
AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL
11 years ago
5d7346b5c2
HAL_SITL: fixed build with new HIL INS API
11 years ago
4bcf9b5d98
Plane: fixed logging of relative altitude
11 years ago
492e65acde
Plane: fix for HIL API change
11 years ago
Andrew Tridgell
Paul Riseborough
Jonathan Challinger