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Author SHA1 Message Date
Paul Riseborough 8070691aa4 EKF: Add accessor function for velocity accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough d6abf3f2e4 EKF: add accessor function for local position accuracy 2017-02-25 21:17:01 +01:00
Paul Riseborough b7d0b3c4d0 EKF: Improve naming of WGS-84 accuracy accessor function 2017-02-25 21:17:01 +01:00
Paul Riseborough d22599b440 EKF: Add reporting of inertial dead-reckoning status 2017-02-25 21:17:01 +01:00
José Roberto de Souza 6ce5807240 mavlink: Send message to control onboard camera as broadcast 
The target was it self.
 2017-02-25 19:03:45 +01:00
Daniel Agar c1bd0d5733 sync attitude setpoint messages 2017-02-25 17:57:05 +01:00
Daniel Agar fe4ea6dd63 VTOL mc_pos reset internal state during FW mode 2017-02-25 17:57:05 +01:00
Daniel Agar 1b2973f602 VTOL fw_att don't reset integrators during transition 2017-02-25 17:57:05 +01:00
Lorenz Meier e18fe0a8a8 Port PWM command to POSIX 2017-02-25 11:07:25 +01:00
Matthias Grob 8fd27fddcd mc_pos_control: moved responsibility of the x,y stick deadzone to a mathematical function 
to prevent a setpoint step when moving the stick over the border of the deadzone
and to enable very small inputs even from a control stick that needs a big deadzone
 2017-02-25 11:05:53 +01:00
Lorenz Meier ad3d0391ab Navigator: Only update params as they change 2017-02-25 11:04:52 +01:00
Daniel Agar ecb2511a7b add matrix copyTo 2017-02-25 11:04:02 +01:00
Beat Küng f43f3baa02 ATT_VIBE_THRESH param: move the definition of this param to sensors 
since it's only used in sensors module (otherwise it could get pruned)
 2017-02-25 11:02:15 +01:00
Beat Küng 3cc1c9d0a9 param command: warnx -> PX4_{WARN,ERR} 2017-02-25 11:02:15 +01:00
Beat Küng cfa84954ea param_get: add null-pointer check 
If param_find() returned PARAM_INVALID, and this was directly passed to
param_get(), param_get_value_ptr() returned null and we read garbage data
(or segfaulted on systems with virtual memory).
On px4fmu-v2, this happened for the param ATT_VIBE_THRESH in sensors.
Because of the recently added parameter scoping, this param got pruned, as
it's defined in attitude_estimator_q.

credits for finding this go to Jeyong Shin (jeyong).
 2017-02-25 11:02:15 +01:00
Daniel Agar cf924956d7 test vector3 using matrix::isEqual 2017-02-24 20:47:41 -05:00
Daniel Agar d81ddb0f37 travis-ci only check formatting once 2017-02-24 20:47:41 -05:00
Daniel Agar de3517a5c7 cmake add asan and ubsan 2017-02-24 20:47:41 -05:00
Daniel Agar cfa68c2196 clang-tidy trivial cleanup 2017-02-24 20:47:41 -05:00
Daniel Agar 5f2f6f0308 rename cmake "Profile" to "Coverage" and add builds 2017-02-24 20:47:41 -05:00
Daniel Agar fb87165051 cmake add check 2017-02-24 20:47:41 -05:00
Daniel Agar f00edc9442 update to astyle 2.06 and fix formatting 2017-02-24 20:47:41 -05:00
Daniel Agar 68c7cc5bfd Quaternion add copyTo 2017-02-24 20:47:41 -05:00
Lorenz Meier 3e88b2f2b1 Rate-limit navigator update rate 2017-02-24 08:52:10 +01:00
Kabir Mohammed 80e1064523 mavlink : fix legacy vision interface attitude timestamps 2017-02-24 08:51:05 +01:00
Beat Küng 058bc97c83 commander preflight calibration: accept param6 == 2 for airspeed calibration as well 
This is according to the updated mavlink spec to deconflict the definition
with APM.
 2017-02-24 08:24:53 +01:00
Matthias Grob 3a358422c4 mc_pos_control: change sign for close to ground + style fix 2017-02-23 23:26:17 +01:00
Dennis Mannhart de9d05c292 mc_pos_control: uorb home_postition subscription 2017-02-23 23:26:17 +01:00
Kabir Mohammed 3bc8617224 Update maintainers list 2017-02-23 22:37:18 +01:00
José Roberto de Souza 8d50249e8f ROMFS: common: Start aerofc_adc in AeroFC 
Probably this was a merge error.
 2017-02-23 22:37:01 +01:00
Matthias Grob e6031a97fa land_detector: added a parameter for the manual land detection stick throshold 
because it is definitely something that needs to be allowed to tune or disable for different application scenarios
 2017-02-23 13:18:49 +01:00
José Roberto de Souza ef228b82aa boards: AeroFC: Make it a memory constrained system 
The maximum number of missions was increased in almost 8 times in
recent commit: 9369262e63 navigator: allow more mission items.

As this board loads missions in RAM, now it don't have enough memory
to allocate causing dataman start to fail, so mark it as a memory
constrained system and reduce the number of maximum missions
supported.
 2017-02-23 08:26:42 +01:00
José Roberto de Souza b1c11b14a8 ROMFS: common: AeroFC: Do not start MAVLink over USB 
STM32 pins are not exposed in AeroFC, so lets save some memory here.
 2017-02-23 08:26:42 +01:00
José Roberto de Souza b372d15443 drivers: tap_esc: Fix low on stack warning 
WARN  [load_mon] tap_esc_main low on stack! (284 bytes left)
 2017-02-23 08:26:42 +01:00
Roman 4bffb1478f ekf2: added parameter for range sensor pitch offset 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 22:21:41 +01:00
Roman 3fdbe13857 updated ecl 2017-02-22 22:21:41 +01:00
Matthias Grob 3183cbda90 land_detector: manual land detection stick throshold less strict 
Even for well calibrated RC sticks 5% stick movement is a too small margin for the end user that might not land because of this.
15% is still clearly restricting the stick far down.
 2017-02-22 21:56:41 +01:00
Dennis Mannhart cbc54c9917 mc_pos_control: only swithc to velocity control from hold_engaged when user moves stick 2017-02-22 20:48:40 +01:00
Roman 7e2597ec28 update range sensor angle parameters in case they have changed 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Roman aa53f45f15 terrain estimator: removed unused hrt dependancy 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Roman 6480fcc3d5 terrain estimator: fixed computation of filtered time since last range update 
- do not use hrt to compute delta time
- limit filter state
- do not use static variables

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-02-22 14:12:05 +01:00
Paul Riseborough 6561edb9a5 EKF: Clean up terrain estimation functionality. 
This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.
 2017-02-22 14:12:05 +01:00
devbharat 8004e9fe7e EKF: Make range finder data continuous check more robust 
Use a filtered arrival time delta to determine if range data is continuous
 2017-02-22 14:12:05 +01:00
Paul Riseborough d94068b88a EKF: Simplify calculation of height above terrain observation variance 
The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.
 2017-02-22 14:12:05 +01:00
Paul Riseborough 3dadc98b43 EKF: enable scaling of range observation variance with height 2017-02-22 14:12:05 +01:00
Paul Riseborough cf9c8de167 EKF: Add arbitrary pitch offset for range sensor 2017-02-22 14:12:05 +01:00
devbharat d9688fae7d EKF: Simplify terrain position validity check 
Remove the relative accuracy check that was false triggering close to ground
 2017-02-22 14:12:05 +01:00
Paul Riseborough af26ade1ce EKF: Use norm for vector length everywhere 2017-02-22 14:12:05 +01:00
Lorenz Meier d7683e97a3 MC pos control: More landing handling 2017-02-22 09:33:12 +01:00
Lorenz Meier c55fa9dd3f MC pos control: add option to use takeoff yaw 2017-02-22 09:21:20 +01:00