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
05f18bb014
Copter: Rename output_min() to enable_motor_output()
10 years ago
41a6cc64ff
Copter: Log Emergency Stop and Motor Interlock status
10 years ago
d8a0952b5a
Copter: Explicitly define aux_switch enum.
10 years ago
da2854403e
Copter: Explicitly define tuning_func enum value
10 years ago
4e51ce6d75
Copter: rename "estop" to "emergency stop".
...
No functional change
10 years ago
9d9f20a6cb
Copter: Add Motor Interlock/E-Stop Conflict Prearm Check
10 years ago
fab8604f16
Copter: Change Auto Yaw #define table into Enum.
10 years ago
32b4e70cb7
Copter: Deprecate Aux Switch Multi-Mode
10 years ago
22a7fba289
Copter: Change autopilot modes into Enum
10 years ago
39d23519b1
Copter: Change CH6_Tuning #defines into Enum
10 years ago
167507e28b
Copter: non-functional format fixes in switches.pde
10 years ago
a357ef43a4
Copter: Move Aux Switch flags into new Enum
10 years ago
8610da7fbc
Copter: autopilot modes to check for motor interlock status
10 years ago
a035d5ad1b
Copter: Fix initialization of Motor Interlock Aux Sw function.
10 years ago
16cf9471ae
Copter: Remove ap.motors_interlock, use only flag in AP_Motors
10 years ago
9b15ea6f5c
Copter: Change throttle_zero to check interlock and E-stop status
10 years ago
2010410c44
Copter: Add numbers to Aux Switch Enum comments
10 years ago
b82113acc7
Copter: Modify auto-disarm process for throttle interlock
10 years ago
7349827eb1
Copter: Add Aux Switch E-Stop Function
10 years ago
1a482de5e2
AP_MotorsHeli: Overload output_armed_zero_throttle
10 years ago
6bdace30d2
AP_Motors: Add throttle interlock functionality
...
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
10 years ago
4a0a4de687
Copter: update motors.throttle_interlock every time motors_output is run
10 years ago
7d745587a4
Copter: Add using_interlock flag, employ it in arming process
10 years ago
e4c5915330
Copter: initial creation of motor_interlock
10 years ago
Jonathan Challinger
Randy Mackay
Paul Riseborough
Robert Lefebvre