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Author SHA1 Message Date
Paul Riseborough 32de90b9ef EKF: Add method to zero covariance terms 2017-11-13 07:05:56 +11:00
Paul Riseborough f3e34eddc9 EKF: do not attempt to align FW yaw using GPS method if on ground 2017-11-13 07:05:56 +11:00
Paul Riseborough 8f27d3fc54 EKF: don't reset quaternion states unnecessarily 
When performing the initial in-flight mag yaw reset for RW vehicle, do not reset the quaternion states and corresponding variances unless there has been a change in yaw angle large enough to cause problems with navigation.
This is because the state estimates after a reset are more vulnerable to transient sensor errors, so a reset should be avoided if possible.
 2017-11-13 07:05:56 +11:00
Paul Riseborough 9e47b6e1b6 EKF: don't reset quaternions unnecessarily 
When performing the initial in-flight magnetic field reset for fixed wing vehicles, resetting the quaternion states and their corresponding covariances should be avoided unless yaw errors are large, because state estimates are vulnerable to transient sensor errors immediately following a reset.
 2017-11-13 06:55:02 +11:00
Paul Riseborough 29d383edbf EKF: Allow mag field estimates to stabilise before use 2017-11-13 06:55:02 +11:00
Paul Riseborough 363edf5eb9 EKF: Fix yaw reset for fixed wing 
Ensures that a complete reset of velocity and position states will always be performed if yaw has had to be reset using GPS velocity.
Ensures that the yaw_align status cannot be set to false once the filter has aligned.
 2017-11-13 06:55:02 +11:00
garfieldG cddea6f4b3 Fixed version firmware type (#8250) 
* Fixed the version tag to number and version tag to vendor version number to return dev version in case of any local modifications or in case there's a dash before firmware type in tags that support vendor  version.
v1.7.0-rc0 		2017-11-11 20:04:16 -05:00
Paul Riseborough 7852c0ed03 Merge pull request #312 from PX4/pr-ekfExtVisQuat 
EKF: Enable operation with arbitrary External Vision reference frame
 2017-11-12 08:35:39 +11:00
Paul Riseborough 5fd006ca48 EKF: remove redundant code 2017-11-11 07:06:01 +11:00
Julien Lecoeur 4e7bd576cb generate_listener.py: generate one function per topic to fit function sizelimit 2017-11-09 10:54:35 +01:00
Julien Lecoeur 8f2759ba79 topic_listener: allow multi-topic messages 2017-11-09 10:54:35 +01:00
ChristophTobler 368248fe6d Merge pull request #353 from PX4/pr-expo_int_cast 
EKF: use uint64_t cast for XeY to avoid float casting of variables
 2017-11-08 11:54:39 +01:00
ChristophTobler e388e59f32 EKF: use uint64_t cast for XeY to avoid float casting of variables 
The default type for XeY is float
 2017-11-08 11:40:26 +01:00
Beat Küng cf7140526a jMAVSim: update submodule to include fix for VMware driver 2017-11-08 10:47:57 +01:00
Daniel Agar 0a58bd309c EKF2 always publish status message (#8234) 
* EKF2 always publish status message

* EKF2 fix comment typo

* EKF2 time slip use signed int and consolidate

* EKF2 minor readability improvements
 2017-11-08 07:55:50 +11:00
Matthias Grob 3bd94fcd6f Test vector: structured & commented, added normalize and unit_or_zero tests, removed duplicate data preparation 2017-11-06 17:58:52 +01:00
Matthias Grob 9e59691e43 Vector: Additional normalization with check for zero norm because it occurs so many times in applications 2017-11-06 17:58:52 +01:00
Daniel Agar aa699cf4b7 Jenkins track test results (#8236) 2017-11-05 15:04:14 -05:00
TSC21 5a17f6b2d5 lpe: update _sensorTimeout init on constructor 2017-11-03 23:45:43 +01:00
TSC21 483f0d55e0 lpe: style fix 2017-11-03 23:45:43 +01:00
TSC21 051822eee1 lpe: remove unneeded subscriber to manual_control_setpoint 2017-11-03 23:45:43 +01:00
TSC21 691c35f47e lpe: small fixes 2017-11-03 23:45:43 +01:00
TSC21 e6efb5ec0a lpe: update _sensorTimeout and _sensorFault to handle support of more sensors 2017-11-03 23:45:43 +01:00
TSC21 392999c2df lpe: fix innovation covariance publishing 2017-11-03 23:45:43 +01:00
avinash-palleti 76fcd99241 Fix protocol_splitter compilation issues (#8230) 
Fixing compilation warnings which are treated as errors.
 2017-11-03 15:35:46 +05:30
Paul Riseborough bba3f70a0e EKF: reduce prediction time step from 12 to 8 sec 
Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
 2017-11-02 09:27:33 +01:00
Paul Riseborough 01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
Beat Küng 459a71a6f1 mavlink_receiver: directly pass the result to acknowledge() 
And use denied in case ulog streaming fails.
 2017-10-31 22:16:06 +01:00
Beat Küng a2db639289 mavlink_receiver: disable ulog streaming via Telemetry links 
Telemetry links don't have enough bandwidth for that feature. The vehicle
will return a NACK when trying to enable log streaming on such a link.
 2017-10-31 22:16:06 +01:00
Beat Küng 8f7a5d0e0c mavlink_receiver: merge handle_message_command_{long,int} into a common method 2017-10-31 22:16:06 +01:00
Beat Küng 29af2343e1 fix NAV_TRAFF_AVOID param definition: needs a ; 
Without that the parameter was not in parameters.xml, producing the error:
ERROR [lib__controllib] error finding param: NAV_TRAFF_AVOID
 2017-10-31 11:18:49 +01:00
Lorenz Meier a1a002f9b6 Navigator: Add the ability to do a low-altitude RTL to avoid traffic 
This is a first baseline implementation for collision avoidance with aircraft equipped with transponders. Since the drone-to-drone and drone-to-airplane system will be regulated by a standard, we do carefully avoid to do anything too fancy. This implementation allows to reduce altitude to get close to ground and land immediately or RTL. This is similar to what a human pilot would do and allows to get out of manned airspace which is at higher altitudes.
 2017-10-31 09:10:32 +01:00
Daniel Agar 330eed2bd6 circleci parallel compile 2017-10-31 08:13:38 +01:00
Daniel Agar 56bbe541ae travis-ci remove tests under UBSAN 2017-10-31 08:13:38 +01:00
Daniel Agar 9ff7f05d94 travis-ci remove tests under ASAN 2017-10-31 08:13:38 +01:00
Daniel Agar 43c0622819 travis-ci remove scan-build 2017-10-31 08:13:38 +01:00
Daniel Agar c4fd467c19 travis-ci remove cppcheck 2017-10-31 08:13:38 +01:00
Daniel Agar a567b94802 travis-ci remove check_stack 2017-10-31 08:13:38 +01:00
Daniel Agar 02339055e7 travis-ci remove check_format 2017-10-31 08:13:38 +01:00
Daniel Agar 14fefca85e vmount delete InputTest on error 
- fixes CID 139488
 2017-10-31 08:12:12 +01:00
Daniel Agar 0931efb3f0 vmount initialize params 
- fixes CID 199479
 2017-10-31 08:12:12 +01:00
Daniel Agar ce78f254c2 mavlink parameters initialize struct 
- fixes CID 141890
 2017-10-31 08:11:18 +01:00
Daniel Agar 5436801435 esc_calib properly cleanup on failure 
- fixes CID 139514
 2017-10-31 08:10:51 +01:00
Daniel Agar 21995bd4b7 sensors ignore invalid failover index 
- fixes CID 199478
 2017-10-31 08:10:04 +01:00
sanderux dd9179efc9 Adaptive QuadChute disabled in manual modes 2017-10-30 20:57:47 +01:00
sanderux fc16a31f89 Adaptive quadchute 2017-10-30 20:57:47 +01:00
Beat Küng 9c8dc3941d commander: fix 'commander arm' not working in HIL mode 
This got introduced with 61b0a81bf9. Due to the removed startup_in_hil flag,
this check does not work anymore, so remove it completely.
 2017-10-30 20:53:58 +01:00
davidaroyer f6693f1f17 drivers: remove ocpoc_sbus_rc_in 2017-10-30 20:53:28 +01:00
davidaroyer 2fab183731 posix-configs: use linux_sbus on ocpoc 2017-10-30 20:53:28 +01:00
davidaroyer b0942e996b cmake: use linux_sbus for ocpoc target 2017-10-30 20:53:28 +01:00