Andrew Tridgell
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ed9a43ca46
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GCS_MAVLink: support for mavlink2 signing operations
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9 years ago |
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Andrew Tridgell
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ca39ece6cb
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StorageManager: added storage region for signing keys
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9 years ago |
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Andrew Tridgell
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8ea9e29fee
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GCS_MAVLink: use a fixed signing key for testing
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9 years ago |
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Andrew Tridgell
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b0be3e7423
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mk: fixed building with mavlink2 headers
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9 years ago |
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Andrew Tridgell
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0ead0ab978
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GCS_MAVLink: support mavlink2 build
|
9 years ago |
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Andrew Tridgell
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0ef5d8995b
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AP_Mount: support mavlink2 build
|
9 years ago |
|
Andrew Tridgell
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4eadab7a90
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HAL_QURT: support mavlink2 build
|
9 years ago |
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Andrew Tridgell
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f6511e8337
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build: added mavlink2 build option
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9 years ago |
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Andrew Tridgell
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31f8d26784
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HAL_Linux: support mavlink2 build
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9 years ago |
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Andrew Tridgell
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511ca6d764
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autotest: support -P2 option for SITL with MAVLink2
|
9 years ago |
Paul Riseborough
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74121fdaeb
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AP_NavEKF2: fix bug preventing in-flight alignment
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9 years ago |
|
Paul Riseborough
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16cb7078cd
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AP_NavEKF2: Fix misleading pre-flight status reporting
|
9 years ago |
|
Paul Riseborough
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38d61f5281
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AP_NavEKF2: Update status reporting to handle no-magnetometer startup
|
9 years ago |
|
Paul Riseborough
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9aa3cdfaae
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AP_NavEKF2: Update GPS yaw re-alignment function
Updates to support initial alignment without magnetometer
|
9 years ago |
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Paul Riseborough
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e3c966661b
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AP_NavEKF2: Remove unnecessary variance reset
This reset is unnecessary give that a synthetic yaw angle is fused at a low rate to prevent variances from becoming badly conditioned.
|
9 years ago |
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Paul Riseborough
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1179c08473
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AP_NavEKF2: Handle case where we are in-flight and haven't yet aligned the yaw
This happens if planes are flown without a compass
|
9 years ago |
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Paul Riseborough
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581c1aa0d4
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AP_NavEKF2: Adjust attitude variance values used after a heading reset
Because these errors are in body frame, a spherical error should be used to accommodate different orientations
|
9 years ago |
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Paul Riseborough
|
5ec8d523f6
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AP_NavEKF: remove unwanted co-variance reset
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
|
9 years ago |
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Paul Riseborough
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66e4d9d6e8
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AP_NavEKF2: Reset co-variance values when doing a pos,vel,hgt reset
Ensures consistent behaviour after resets and reduces attitude disturbances
|
9 years ago |
|
Paul Riseborough
|
cf8175a073
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AP_NavEKF2: Allow immediate use of GPS in-flight for plane without compass
Planes operating without a compass must align the yaw to the GPS heading immediately after launch or takeoff and cannot wait for GPS accuracy checks.
|
9 years ago |
|
Paul Riseborough
|
08de4e6d95
|
AP_NavEKF: Do not perform start-up yaw alignment if no compass
Yaw cannot be aligned until in-flight when there is sufficient GPS velocity.
|
9 years ago |
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Paul Riseborough
|
d2694fe5dc
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AP_NavEKF2: Remove duplicate transition into GPS aiding
This decision is made in one place in setAidingMode()
|
9 years ago |
|
Paul Riseborough
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7201f7d2fd
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AP_NavEKF2: fix comment
|
9 years ago |
|
Paul Riseborough
|
64a8153b68
|
AP_NavEKF2: update function name
The primary purpose of this function is re-alignment
|
9 years ago |
|
Paul Riseborough
|
addd213af0
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AP_NavEKF2: reduce effect of acceleration on non-GPS mode attitude
|
9 years ago |
|
Paul Riseborough
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d33bbf8cc7
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AP_NavEKF: remove debug code
|
9 years ago |
|
Paul Riseborough
|
54213ad871
|
DataFlash: Improve reporting of normalised ekf2 magnetometer innovations
Report the maximum of the x,y,z axis
|
9 years ago |
|
Paul Riseborough
|
a3b78e6231
|
AP_NavEKF2: update tuning defaults
|
9 years ago |
|
Paul Riseborough
|
65f63341d7
|
AP_NavEKF2: Improve numerical error protection in optical flow fusion
Abort fusion of data if variances will become negative and publish the fault
|
9 years ago |
|
Paul Riseborough
|
42da33593d
|
AP_NavEKF2: fix yaw fusion numerical health reporting
|
9 years ago |
|
Paul Riseborough
|
6eb9d43507
|
AP_NavEKF2: add numerical error checking and isolation to mag decl fusion
|
9 years ago |
|
Paul Riseborough
|
b325c5faeb
|
AP_NavEKF2: add error checking and isolation to mag heading fusion
|
9 years ago |
|
Paul Riseborough
|
a0b1dc5325
|
AP_NavEKF2: add error checking and isolation to 3D amg fusion
|
9 years ago |
|
Paul Riseborough
|
51a3df0319
|
AP_NavEKF2: Add error checking and isolation to pos vel fusion
|
9 years ago |
|
Paul Riseborough
|
b1e9207c0f
|
Replay: extend ekf fault status reporting coverage
|
9 years ago |
|
Paul Riseborough
|
fcee82f9b2
|
DataFlash: extend ekf fault status reporting coverage
|
9 years ago |
|
Paul Riseborough
|
597ec61673
|
AP_AHRS: extend ekf fault status reporting coverage
|
9 years ago |
|
Paul Riseborough
|
d59d8cc6e3
|
AP_NavEKF: extend fusion fault reporting coverage
|
9 years ago |
|
Paul Riseborough
|
71b589c89c
|
AP_NavEKF2: extend fusion fault reporting coverage
|
9 years ago |
|
Paul Riseborough
|
0982bd0b2b
|
AP_NavEKF2: update parameter documentation
|
9 years ago |
|
Paul Riseborough
|
46a2993a0d
|
AP_NavEKF: use intuitive units for imu bias process noise parameters
|
9 years ago |
|
Paul Riseborough
|
8c374fd679
|
AP_NavEKF2: correct comments
|
9 years ago |
|
Paul Riseborough
|
6be9eaa524
|
AP_NavEKF2: use receiver estimated accuracy
Adjust the GPS observation noise based on receiver accuracy output if available.
|
9 years ago |
|
Paul Riseborough
|
dddc213836
|
AP_NavEKF2: Open up tuning limits
Done to assist tuning assessments
|
9 years ago |
|
Paul Riseborough
|
cf05e110fc
|
AP_NavEKF2: fix scaling error in use of IMU noise parameters
Also remove process noise from state transition matrix where it was mistakenly left in after the derivation
|
9 years ago |
Randy Mackay
|
5461002eea
|
Copter: read rangefinder at 20hz
|
9 years ago |
|
Randy Mackay
|
e6b3638d84
|
Copter: minor change to land mode's logic to use rangefinder
No functional change
|
9 years ago |
|
Randy Mackay
|
8171532dc5
|
Copter: allow rangefinder to be disabled from definition
|
9 years ago |
|
Randy Mackay
|
e489c3184c
|
Copter: rangefinder.enabled false if no range finders are configured
|
9 years ago |
|
Randy Mackay
|
00445ce7bd
|
SITL: parameter file to enable rangefinder in copter
|
9 years ago |
