Lorenz Meier
3e02bb1070
MAVLink: Improve network handling
2016-02-09 12:51:05 +01:00
Andreas Antener
fb8b981015
make FOH and yaw mode work in parallel
2016-02-08 23:36:07 +01:00
Paul Riseborough
a6515543da
Merge pull request #41 from PX4/pr-magFusionUpdates
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EKF2: Prevent declination/heading drift during non-GPS operation
2016-02-09 07:57:34 +11:00
Paul Riseborough
5ea0ef39cd
EKF: Update declination fusion logic
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We do not need to run declination fusion if 3-axis mag fusion is not being used.
2016-02-09 07:54:24 +11:00
Andreas Antener
a63197b82b
prevent home yaw mode for vtol during transitions
2016-02-08 11:09:12 +01:00
Andreas Antener
e60cd46ad0
removed duplicate and unused flag vtol_in_transition
2016-02-08 11:09:12 +01:00
Andreas Antener
7af0816570
fixed yaw calculation for all yaw modes and stay during loiter items
2016-02-08 11:09:12 +01:00
Andreas Antener
20ef3adb1f
set relative altitude to false when using the feedback for the landing waypint
2016-02-08 11:09:12 +01:00
Andreas Antener
baa11e357d
refactored do_set_servo handling and generalized formatting of CMD mavlink mission items, fixes #3644
2016-02-08 11:09:12 +01:00
Andreas Antener
46bd1cbacf
only update previous setpoint if we read a new actual position setpoin, prevent yawing between waypoints inside the acceptance radius
2016-02-08 11:09:12 +01:00
Andreas Antener
4e0559eacf
updated mpc parameters for sitl standard vtol
2016-02-08 11:09:12 +01:00
Andreas Antener
134e95efda
don't use waypoint heading for landing descent
2016-02-08 11:09:12 +01:00
Andreas Antener
b05465470a
ignore wp altitude for intermediate landing wp so it doesn't descent before it is in landing mode
2016-02-08 11:09:12 +01:00
Andreas Antener
fec7950424
prevent yaw setpoint from changeing constantly when we're over it
2016-02-08 11:09:12 +01:00
Andreas Antener
26c635359e
updated some message severities and clarified reset in pos controller
2016-02-08 11:09:11 +01:00
Andreas Antener
e2328fcd72
use default acceptance radius for takeoff in MC case, set VTOL radius to 3
2016-02-08 11:09:11 +01:00
Andreas Antener
e32ec2a29a
wait until until vehicle enters transition before continuing after transition command
2016-02-08 11:09:11 +01:00
Andreas Antener
1351c6f68c
small fixes
2016-02-08 11:09:11 +01:00
tumbili
f8f208dbe6
vtol: reset multirotor positon and altitude
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when not in rotary wing mode
2016-02-08 11:09:11 +01:00
Andreas Antener
dfb31f2252
finish moving to waypoint after a back transition
2016-02-08 11:09:11 +01:00
Andreas Antener
0bdfb465cf
set correct mission item type for aligning before transition
2016-02-08 11:09:11 +01:00
Andreas Antener
c11a677207
directly issue status update after vtol update
2016-02-08 11:09:11 +01:00
Andreas Antener
ff47cae7c1
removed warning
2016-02-08 11:09:11 +01:00
Andreas Antener
02aa0eacd5
align towards next waypoint before MC to FW transition
2016-02-08 11:09:11 +01:00
Andreas Antener
b75eaf3c4a
implemented takeoff before WP and move to WP before land
2016-02-08 11:09:10 +01:00
Andreas Antener
ac985ee1c7
fixed mission item iteration
2016-02-08 11:09:10 +01:00
Andreas Antener
93bc018c93
read current and next mission item at the same time, issue item commands while processing items, guarding setpoint from non-position items
2016-02-08 11:09:10 +01:00
Paul Riseborough
47ab5ebcdd
EKF: Make PR comply with project convention for indenting
2016-02-08 15:12:38 +11:00
Paul Riseborough
cdc42c1de0
EKF: Add simple control logic for magnetic declination constraint
2016-02-08 14:18:43 +11:00
Paul Riseborough
dbb8e12948
EKF: Add fusion method to constrain declination when unobservable
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When fusing 3-axis magnetometer data without absolute external aiding leg GPS), the declination is ultimately unobservable and the declination of the field states and the vehicle heading will slowly drift over time. To prevent this we need to fuse in a declination to constraint the NE earth field estimates.
2016-02-08 14:18:43 +11:00
Paul Riseborough
9347afe250
EKF: Use unique variable name for mag heading fusion observation Jacobian
2016-02-08 14:18:43 +11:00
Paul Riseborough
6aeccf01ff
EKF: Add missing fusion health status messages
2016-02-08 14:18:43 +11:00
Paul Riseborough
a22886544d
EKF: Add missing Kalman gain to Declination fusion autocode
2016-02-08 14:02:08 +11:00
Paul Riseborough
2c8c6efb45
EKF: Eliminate use of power function to square numbers
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Use of the power function to square a number can be very inefficient depending on processor and compiler. Replace with an inlined function that multiplies the number by itself. This has not been put into the maths library because the use of the sq() function is peculiar to the autocode generated for the EKF and an inlined function was desired.
2016-02-08 11:11:59 +11:00
sander
9e0c636b97
RTL transition set constant
2016-02-07 18:19:32 +01:00
sander
9ad39fec67
If VTOL then transition to RW before landing in RTL
2016-02-07 18:19:32 +01:00
sander
949b0738e1
Remove run-once procedure on check_dist_1wp
2016-02-07 17:56:10 +01:00
Lorenz Meier
a8d00ee46f
Update mag declination code in SITL Gazebo
2016-02-07 15:06:58 +01:00
Lorenz Meier
f91520730b
Correct declination math. Allows to properly simulate declination in various locations
2016-02-07 12:30:28 +01:00
Lorenz Meier
630ad18c8d
Update SITL gazebo
2016-02-07 12:10:46 +01:00
Lorenz Meier
8a42b312ef
Add Gazebo version with mag declination
2016-02-07 12:00:59 +01:00
Paul Riseborough
42a943b37e
EKF: Fix text errors introduced when editing optical flow fusion autocode fragment
2016-02-07 21:49:50 +11:00
Andreas Antener
7a592d56a2
initialize mission item struct
2016-02-07 11:36:03 +01:00
Paul Riseborough
f99256286b
Merge pull request #40 from PX4/pr-updateOpticalFlowAutoCode
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Update EKF Optical Flow Fusion Autocode Fragments
2016-02-07 19:35:38 +11:00
Paul Riseborough
384ce06110
EKF: Add alternative code fragments for optical flow fusion
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These fragments were generated using the inbuilt matlab symbolic toolbox autocoder and may be more efficient than the other method
2016-02-07 19:31:13 +11:00
Paul Riseborough
dba462b9f3
EKF: Improve efficiency of optical flow fusion auto generated code fragments
2016-02-07 19:29:49 +11:00
Andreas Antener
48ea0230e1
minimum clearance for separate takeoff item needs to be bigger than acceptance radius
2016-02-07 01:32:34 +01:00
Andreas Antener
248bbcb520
use system specific acceptance radius for multirotor takeoff, ignore mission item
2016-02-07 01:32:34 +01:00
Lorenz Meier
9583ff1b8b
Add memory debugging switch support
2016-02-07 01:32:03 +01:00
Lorenz Meier
3bdcb203f4
SITL: Fix compile errors
2016-02-06 17:03:24 +01:00
Lorenz Meier