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Author SHA1 Message Date
James Goppert 4d6d0b2850 Fix px4io bind failed message to say safet is off instead of armed. (#5834) 
Minor message clarity fix.
 2016-11-09 19:39:39 -05:00
James Goppert 3511f8abfb Add position ground truth. (#5819) 
Have confirmed this works with gazebo sitl.
 2016-11-09 19:38:38 -05:00
Julian Oes d1d47c4c27 mavlink: send MOUNT_STATUS msg if subscribed 
This adds the message MOUNT_STATUS to report about the attitude of a
gimbal.
 2016-11-09 10:23:34 +01:00
Julian Oes 18d69698a0 vmount: publish mount_status 
We need feedback in mavlink about the attitude of the gimbal. Therefore
the gimbal output angles are published in vmount.
 2016-11-09 10:23:34 +01:00
Julian Oes 7e312f3961 msg: Added message for mount status 2016-11-09 10:23:34 +01:00
Julian Oes 8ddda0a8fa mavlink: move the msg id from uint8_t to uint16_t 
With mavlink2 new messages are added with msg IDs greated than 255.
Therefore the msg ID types needed to be raised everywhere.
 2016-11-09 10:23:34 +01:00
Julian Oes 278d63eef6 mavlink: update both submodule to lastest master 2016-11-09 10:23:34 +01:00
Julian Oes 7df11b900d mavlink: use queueing for acks 2016-11-09 08:50:13 +01:00
Julian Oes d0b1983784 mavlink: send NACK if msg ID does not exist 2016-11-09 08:50:13 +01:00
Julian Oes 1e617f362d mavlink: send ACK for CMD_SET_MESSAGE_INTERVAL 
There was no feedback if a CMD_SET_MESSAGE_INTERVAL went through or not.
 2016-11-09 08:50:13 +01:00
Beat Küng 643ccd66b6 MavlinkParametersManager: output deprecation warning if INAV is selected 2016-11-08 11:17:07 +01:00
Beat Küng d32d250a50 px4fmu-v2_test.cmake: remove inav 2016-11-08 11:17:07 +01:00
Beat Küng 66ffc834d3 startup scripts: remove INAV, start LPE if INAV selected 2016-11-08 11:17:07 +01:00
Paul Riseborough 246dc5421b ekf2: remove unnecessary variables found during review 2016-11-08 11:17:07 +01:00
Paul Riseborough d19a62a8f6 px4fmu-v1: Remove INAV to free required flash space 2016-11-08 11:17:07 +01:00
Paul Riseborough d75600b8a4 px4fmu-v2: Remove INAV to free required flash space 2016-11-08 11:17:07 +01:00
Paul Riseborough 0ee75dbc6b ekf2: Allow adjustment of min arrival time delta parameter 2016-11-08 11:17:07 +01:00
Paul Riseborough 08a380ae2d ecl: update library reference 
Enables optimum setting of sensor data buffer lengths using specified data delays and min arrival interval.
 2016-11-08 11:17:07 +01:00
Paul Riseborough 5ac73f3440 ekf2: code style fixes 2016-11-08 11:17:07 +01:00
Paul Riseborough 699edd2535 ekf2: Prevent loss of baro data due to buffer time arrival checks 
Baro data arriving too soon after the last measurement due to a high sampling rate or timing jitter is rejected inside the ecl EKF to prevent the data buffer overflowing.
This patch checks the timestamp difference from the last measurement, and if to small, the data is accumulated and the average sent to the EKF when the time delta
is acceptable.
 2016-11-08 11:17:07 +01:00
Paul Riseborough ef7ed97cbd ekf2: Don't send un-usable mag and baro data to the EKF 
Fixes:

1) Invalid data with a zero time stamp could be the EKF ends up in the data buffers and result in loss of 'good' data from the buffers

2) Magnetometer data was arriving at a rate faster than the data buffers could handle resulting in loss of data.
 2016-11-08 11:17:07 +01:00
Paul Riseborough 7d0d29f62d ekf2_replay: fix time stamping bug 
If the replay data for the baro or mag data has a zero time stamp, then the corresponding relative timestamp published over the combined sensor topic must be se to RELATIVE_TIMESTAMP_INVALID so that the ekf2 module does not try to use this data.
 2016-11-08 11:17:07 +01:00
Paul Riseborough 5ad329b641 EKF: Fix variable names to match convention 2016-11-07 22:23:12 +11:00
Lorenz Meier 7be71459f5 Offboard control (#5816) 
* Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work.  The line of code changed here causes failsafe RTL to kick in without this fix.

* Add altitude hold option using Z position control, while doing velocity control on vx and vy.

* Fix style and rebase issues
 2016-11-07 12:09:41 +01:00
Paul Riseborough afd6e54b2a EKF: Allow for worst case timing jitter when setting observation buffer length 2016-11-07 11:50:16 +11:00
Paul Riseborough 403424d55d EKF: fix cross compiler build errors 2016-11-07 09:38:44 +11:00
Paul Riseborough d5b398ddb1 EKF: Minimise data buffer lengths 
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
 2016-11-07 09:06:45 +11:00
Michal Stasiak 9180268a17 Geofence: Param update fix (#5812) 2016-11-06 14:31:59 -05:00
Daniel Agar 8ac4dd04ae implement MAV_CMD_MISSION_START 2016-11-06 15:24:34 +01:00
Beat Küng 223595e978 ecl: update submodule to master 2016-11-06 14:48:20 +01:00
Beat Küng d1a3261e81 ekf2_main: reduce stack (according to the reductions in the commit before) 2016-11-06 14:48:20 +01:00
Beat Küng 5bcfa3c7e6 ekf2_main: add {} to limit variable scope and save stack 
Reformatting makes it look worse than it is, but it really only adds {}
 2016-11-06 14:48:20 +01:00
Beat Küng f7e3e46a92 config command: fix device commands like 'config /dev/accel0 block' 2016-11-06 14:48:20 +01:00
Beat Küng cc27d2a1e0 ekf2_main: move subscriptions into main thread & call orb_unsubscribe at the end 2016-11-06 14:48:20 +01:00
Beat Küng 53cf27eb84 ekf2_main: some cleanup of redundant fields 2016-11-06 14:48:20 +01:00
Beat Küng 85cee9460f sensors: use only as many voters as there are sensors 
This saves ~1.1KB of RAM for systems with only 1 sensor of each type.

If there are more sensors, they will be dynamically added, such that
failover still works.
 2016-11-06 14:48:20 +01:00
Beat Küng 0f2b31b41e uorb: inline orb_advertise (directly calls orb_advertise_multi) 
reduces the stack depth
 2016-11-06 14:48:20 +01:00
Henry Zhang 309c256e9e fix param interface (#5797) 
* param: fix bug when param value is changed to 'zero' for the first time, it won't be saved.

* param: revert incorrectly removed code.
 2016-11-06 14:45:17 +01:00
Julian Oes 53e0bc5f12 POSIX: use up to 20 command line arguments 
This fixes the case where more than 10 args were needed for instance
when starting mavlink with all its options.
 2016-11-05 14:20:17 +01:00
Paul Riseborough 750a8874c1 EKF: Improve recovery and reporting for badly conditioned sideslip fusion 
Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
 2016-11-05 12:19:01 +01:00
Paul Riseborough 6c7703d485 EKF: Update tuning for synthetic sideslip fusion 
Used value that worked well for replay of flight logs
 2016-11-05 12:19:01 +01:00
Paul Riseborough f76a2a5ff7 EKF: fix bug in sideslip fusion and reduce RAM usage 
The bug meant the  Y velocity (state index 5)  covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
 2016-11-05 12:19:01 +01:00
Paul Riseborough 951c8b77af EKF: Improve wind state reset logic 
Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
 2016-11-05 12:19:01 +01:00
Paul Riseborough 2fedbc8a18 EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency 2016-11-05 12:19:01 +01:00
Paul Riseborough 352b4ca177 EKF: Allow sideslip fusion with airspeed fusion 2016-11-05 12:19:01 +01:00
Paul Riseborough fb6f4be453 EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning 2016-11-05 12:19:01 +01:00
CarlOlsson a9182259a5 fixed bug in beta fusion 2016-11-05 12:19:01 +01:00
CarlOlsson 0e3ae4b323 fixed issue with the covariance update in synthetic sideslip fusion 2016-11-05 12:19:01 +01:00
CarlOlsson e1d9d503e3 updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated 2016-11-05 12:19:01 +01:00
CarlOlsson dec686afd7 updated parameters 2016-11-05 12:19:01 +01:00