9b093c4a33
AP_Compass: fixed a numerical issue in BMM150 driver
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we were getting the following:
ret=-32768 z=5 rhall=6267 z1=23743 z2=712 z3=-1035 z4=0 xyz1=6264 dividend=163840 dividend2=-1073577207 divisor=5253
the signed/unsigned casts for rhall and xyz1 did not produce the
desired result
8 years ago
0623db98d6
AP_Compass: cope with bus errors in BMM150
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if we have bus errors the BMM150 can get confused, giving rubbish
output. This uses the checked register code to reset, and a full soft
reset after 250ms of no samples.
8 years ago
fa3d40af8a
AP_Compass: fixed shift typo
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this doesn't affect LE MCUs like STM32
8 years ago
b8f628da83
HAL_PX4: fixed bug in last_sent
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thanks to Francisco
8 years ago
17893958bf
HAL_PX4: cope with brushed motors in read_last_sent()
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we need the value before scaling is applied, so slew rates can work
8 years ago
bc8c13d053
SRV_Channel: cope with large time jumps in slew rate limiter
8 years ago
a303c40f1f
AP_Beacon: initialise counter in get_next_boundary_point
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This is not a bug but at least one compiler has complained about this
8 years ago
06d40a7901
AP_NavEKF3: Fix terrain estimator innovation consistency check
8 years ago
ce8e935896
AP_NavEKF2: Fix terrain estimator innovation consistency check
8 years ago
284fc0f3c5
AP_NavEKF3: Fix bug in flow fusion for terrain estimation
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Also remove unused class variables
8 years ago
b7e6e6f95f
AP_NavEKF2: Fix bug in flow fusion for terrain estimation
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Also remove unused class variables
8 years ago
0b26908359
Landing: Disarm on land for deepstall
8 years ago
a1508b58c1
AP_NavEKF3: use AHRS likely flying state
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this sets inFlight when AHRS has indicated flying for 5s
8 years ago
cbffc29f0b
AP_NavEKF2: use AHRS likely flying state
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this sets inFlight when AHRS has indicated flying for 5s
8 years ago
770f697cfc
AP_AHRS: added set/get for flying state
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this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
8 years ago
647db728ce
AP_NavEKF2: Improve is flying check for non fly forward vehicles
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Will enable use of EK3_MAG_TYPE = 0 for coptersAP_NavEKF2:
8 years ago
edee8396ba
AP_NavEKF3: Improve in-flight check for non fly forward vehicles
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This will enable the EK3_MAG_TYPE 0 option to be used for multirotors
8 years ago
a0e4ec0f3a
AP_Compass: fixed bitmask typo
8 years ago
5da2e0b3fb
Update code format
8 years ago
8fff1ec4d4
add QMC5883L driver for GPS compass module
8 years ago
e648f2e61e
add QMC5883L driver for GPS compass module
8 years ago
5c19f09cd7
DataFlash: handle mavlink messages, not just remote-log-block-statuses
8 years ago
cf918d233f
GCS_MAVLink: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up
8 years ago
abd0831239
AP_Motors: changed BRUSHED16kHz to BRUSHED
8 years ago
11396919c8
HAL_PX4: changed BRUSHED16kHz to BRUSHED
8 years ago
1c741e78e6
AP_HAL: changed BRUSHED16kHz to BRUSHED
8 years ago
96627bc4e5
HAL_PX4: allow any pulse freq in brushed mode
8 years ago
97e88501c6
AP_OpticalFlow: support pixart 3901
8 years ago
6a03af8f3e
DataFlash: make EnableWrites a frontend thing
8 years ago
07e37281ef
DataFlash: add a should_log method
8 years ago
001d3a7118
DataFlash: correct consts on CardInserted
8 years ago
244365767d
DataFlash: remove DataFlash_Block and DataFlash_SITL
8 years ago
6a01c65197
AP_NavEKF3: Fix long description of EK3_OGN_HGT_MASK parameter (NFC)
8 years ago
7426bdb9b7
AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter
8 years ago
a199604348
AP_Beacon: fix get_boundary_points num_points
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Thanks @OXINARF for finding this!
8 years ago
b42fb31d7d
AP_NavEKF2: Change default value of EK2_OGN_HGT_MASK
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Turn off by default.
Update parameter description
8 years ago
49ec2b4032
AP_NavEKF3: Change default value of EK3_OGN_HGT_MASK
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Turn off by default.
Update parameter description.
8 years ago
fd25450632
AP_NavEKF2: Ensure reported local height = global height - origin height
8 years ago
6d14cf0ab8
AP_NavEKF3: Ensure reported local height = global height - origin height
8 years ago
798d5f85a2
DataFlash: Log EKF origin height
8 years ago
a3483d0d34
AP_AHRS: Update for compatibility with EKF interface change
8 years ago
3ae7998f51
AP_NavEKF3: Allow reporting of origin height for specified instance
8 years ago
77d21f72d4
AP_NavEKF2: Allow reporting of origin height for specified instance
8 years ago
e58ba8044d
AP_NavEKF3: Improve protection for badly conditioned dVel bias covariances
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If variance falls below desired minimum, set state noise to a larger value.
If variance drops below safe value, set to desired minimum and reset off-diagonals to zero.
8 years ago
bf963f8b65
AP_NavEKF3: Raise lower limit on del vel bias state variances
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This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
8 years ago
628d140319
AP_NavEKF3: Make target covariance time step larger
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The target covariance time step has been increased from 10 to 12 msec to improve conditioning of the covariance prediction calculation.
8 years ago
4c08622a7c
DataFlash: Add logging for EKF3 state variances
8 years ago
2b97d0f5c9
AP_NavEKF3: Add public accessor for state variances
8 years ago
9f97cbfc3b
AP_NavEKF3: Revert auto-code to original form and remove micro optimisations
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To eliminate the possibility of editing errors, revert the covariance prediction auto-code to the original auto-code without the replacement fo the /2 and /4 operations. The compiler optimisations are able to correctly handle the /2 and /4 operations.
Also use local variables for intermediate covariance calculations. The use of class variables for these small arrays was unnecessary.
8 years ago
f38fccd57c
AP_NavEKF3: Prevent possible race condition re-zeroing state variances
8 years ago
Andrew Tridgell
Randy Mackay
priseborough
Michael du Breuil
Touch
ljwang
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas