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Author SHA1 Message Date
Paul Riseborough 588b27bde7 EKF: inhibit accelerometer bias learning if manoeuvre levels are excessive 
This prevents bad scale factors and other errors associated with rapid manoeuvres corrupting the accelerometer bias estimates.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 5fb24c3032 EKF: Reduce EKF prediction delta time jitter 
Make the target EKF rate an integer multiple of the IMU rate. This slightly increases the average prediction time step for the EKF from just over 10msec to 12msec, but the variation reduces significantly which makes filter tuning more deterministic.
Improve the algorithm used to adjust the collection time criteria to reduce jitter in the correction.
 2017-03-10 10:14:06 +01:00
Paul Riseborough 324fe3b0c7 EKF: Add accel bias estimation fault to reporting 2017-03-10 10:14:06 +01:00
Paul Riseborough b51abf4aff EKF: Add console notification for accel bias covariance reset 2017-03-10 10:14:06 +01:00
Paul Riseborough 8511754094 EKF - detect and fix badly conditioned accel bias covariance values. 2017-03-10 10:14:06 +01:00
Paul Riseborough cf31945038 EKF: Fix use of incorrect timestamp 
This was incorrectly using the IMU (1/250 sec) timestamp instead of the EKF (1/100 sec) value.
The corresponding accelerometer limit has been made a parameter and adjusted to match previous behaviour.
 2017-03-10 10:14:06 +01:00
Beat Küng 828bb983e8 rpi startup scripts: start dataman so that missions can be flown 2017-03-10 09:00:24 +01:00
Beat Küng 2a6eac578d rpi: add HIL config 2017-03-10 09:00:24 +01:00
Beat Küng 32995a5bc1 state_machine_helper: remove unneeded code to disable sensor publication 
In HIL mode we do not start the sensors anymore, so this is not needed.

Also it did not work (I did not try to find the reason, just noticed the
sensors kept publishing in HIL mode)
 2017-03-10 09:00:24 +01:00
Beat Küng af1984ac07 sensors: do not warn about baro in HIL mode 2017-03-10 09:00:24 +01:00
Beat Küng bc91005e7a voted_sensors_update: increase accel & gyro timeout in HIL mode 2017-03-10 09:00:24 +01:00
Beat Küng 3a737097ee rpi px4.config: switch to ekf2 2017-03-10 09:00:24 +01:00
Beat Küng 541e53fdcf jmavsim_run.sh: add -i to specify the IP 2017-03-10 09:00:24 +01:00
jwilson 62200e2a81 WIP: Temporary fix for a problem which prevents arming on the Snapdragon Flight board. 2017-03-10 08:54:08 +01:00
Paul Riseborough 879ad1fd2c Merge pull request #231 from pickledgator/ev_hgt_counter_fix 
height counter update for ev primary height source
 2017-03-10 14:18:35 +11:00
Paul Riseborough 092cc52838 EKF: Remove out of date comment 2017-03-10 14:18:13 +11:00
Paul Riseborough e4a4427991 Revert "EKF: fix compile error" 
This reverts commit 6db552717d.
 2017-03-10 07:38:02 +11:00
Julian Oes 0c926106f1 param_shmem.c: comment out locking on Snappy 
The param locking doesn't seem to be working on Snapdragon, so let's
just comment it out again.
 2017-03-08 15:44:31 +01:00
Julian Oes 9235c0fd67 Update jMAVSim submodule 
This fixes the compass, see:
https://github.com/PX4/jMAVSim/pull/55
 2017-03-08 19:37:57 +08:00
jwilson 4f9245cc9c Resolves a conflict in the type of the index parameter in the dm_read and dm_write function signature, caused by a recent change in the dataman code. This problem was causing the loading of the flight stack to fail on the aDSP. 2017-03-08 15:04:20 +08:00
Julian Oes 24819ce7b1 commander: no datalink failsafe on ground 
On SITL startup we got a datalink lost failsafe message whenever home
was initialized. The reason that in standalone SITL, there is usually no
datalink connected. However, on ground, we shouldn't really failsafe,
therefore it makes sense not to enter the state in the first place.
 2017-03-08 05:33:32 +08:00
Beat Küng c715228b8f LandDetector: save & initialize total flight time 2017-03-08 04:19:22 +08:00
Beat Küng bac10bcfb8 rcS: do not wipe flight time param on autoconf 2017-03-08 04:19:22 +08:00
Michael Schaeuble 06c5cb506a Enable ICM 20608 on Pixhawk Pro 2017-03-08 04:18:48 +08:00
Beat Küng 561a5c5422 Tools/px_mkfw.py: use the same args to get the git version as px_update_git_header.py 2017-03-07 23:55:37 +08:00
Mathieu Bresciani d67b6efda3 PixHawk Pro: Update mag IDs to have external higher priority 2017-03-07 23:43:28 +08:00
Paul Riseborough 6db552717d EKF: fix compile error 2017-03-07 21:13:45 +11:00
Lorenz Meier daf668e687 Fixed wing land detector: Fix RTL logic with a temporary altitude limit workaround 2017-03-07 15:48:23 +08:00
Paul Riseborough a02a046f5e EKF: Clean up auto-code files for body frame velocity measurements 2017-03-06 09:01:46 +11:00
zthorson b8e72789cd px4fmu-v4: Formatting fixes 
Signed-off-by: zthorson <zachthorson@gmail.com>
 2017-03-05 11:42:27 +08:00
zthorson a716b105f5 px4fmu-v4: Only close down fmu drivers on reset if they weren't running 
Signed-off-by: zthorson <zachthorson@gmail.com>
 2017-03-05 11:42:27 +08:00
zthorson 63857c6afc px4fmu-v4: Fix for HIL Unable to Set Control Surfaces. Fixes #5651 
The sensor_rest command added to the startup script for px4fmu_v4 hardware
was leaving the /dev/pwm_output0 driver open.  This would prevent the
pwm_out_sim module from registering as a simulated driver.  The result
would cause the system to properly boot in HIL mode, but you would not
be able to set any control surfaces.

Since sensor_rest and peripheral_reset are only used on initialization, the
drivers can be shut down after they have performed their reset functions.

Signed-off-by: zthorson <zachthorson@gmail.com>
 2017-03-05 11:42:27 +08:00
Daniel Agar e63ee9d8bd fw_att wheel controller enable param (default off) 2017-03-05 11:41:14 +08:00
Beat Küng ca05e64a9f replay: update & add some comments 2017-03-04 22:47:54 +08:00
Beat Küng eaa9e6a019 ekf2: set att.timestamp to now in replay mode before ekf is initialized 
logger will always log this topic, and a 0 timestamp will look worse in
FlightPlot. This will show a period of 0 attitude instead before ekf
is initialized.
 2017-03-04 22:47:54 +08:00
Beat Küng 01541bb10d logger: switch from ekf2_replay to ekf2_timestamps topic, enable by default 2017-03-04 22:47:54 +08:00
Beat Küng 1d48d7e053 ekf2 replay: add statistics output when replay finished 
The error counter is an indicator that the logger missed samples or dropped
due to a too small write buffer.
 2017-03-04 22:47:54 +08:00
Beat Küng 2a11a2bc0b ekf2 replay: switch from ekf2_replay to ekf2_timestamps topic 2017-03-04 22:47:54 +08:00
Beat Küng aabdc4125b ekf2: publish ekf2_timestamps topic 2017-03-04 22:47:54 +08:00
Beat Küng df3ef3660b ekf2_timestamps.msg: add new message with ekf2 timestamps 2017-03-04 22:47:54 +08:00
Beat Küng 473192aa81 replay: some API refactoring & extensions 
in preparation to the updated ekf2 replay
 2017-03-04 22:47:54 +08:00
Beat Küng ba89839f65 replay: make sure ReplayEkf2::handleTopicUpdate is protected, not private 2017-03-04 22:47:54 +08:00
Beat Küng 1d93b1bce3 nuttx configs: increase CONFIG_NFILE_DESCRIPTORS from 51 to 53 
this is needed due to the additional topics logged with the logger
 2017-03-04 22:47:54 +08:00
Beat Küng 037280c17d sitl: add iris_replay startup script, handle $replay_mode in sitl_run.sh 
usage:
export replay_mode=ekf2
export replay=<abs_path_to_log.ulg>
make posix none
 2017-03-04 22:47:54 +08:00
Beat Küng 63203625bc replay: add ekf2 replay method (can be selected with 'export replay_mode=ekf2') 2017-03-04 22:47:54 +08:00
Beat Küng e251c64c5f refactor replay: add some overrideable methods 2017-03-04 22:47:54 +08:00
Beat Küng df8c1a1489 logger: log ekf2_replay topic if EKF2_REC_RPL is set 2017-03-04 22:47:54 +08:00
Beat Küng 9d54f62d37 replay: check if topic timestamp is smaller than logging start 
This could happen and then the sleep duration would wrap and be huge.
 2017-03-04 22:47:54 +08:00
Beat Küng 1d5f51e6a4 replay: don't add subscription if formats don't match 2017-03-04 22:47:54 +08:00
Beat Küng 4eea89bb42 refactor replay: move topic publication into separate method 2017-03-04 22:47:54 +08:00