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Author SHA1 Message Date
Mark Whitehorn 47337eb4a5 add parsing of host frames for D type telemetry 2016-02-10 09:21:52 +01:00
Lorenz Meier 3edf304e55 EKF2: Fix home altitude reporting 2016-02-10 08:38:03 +01:00
Lorenz Meier aab63c78f9 Update ECL to include global alt fix 2016-02-10 08:30:19 +01:00
Lorenz Meier 419fa45657 Change SDLOG2 to blackbox in user-facing output 2016-02-10 08:29:26 +01:00
Lorenz Meier 84552d475e jMAVSim: Enable Zurich as location, enable mag decl lookup 2016-02-10 08:29:26 +01:00
Lorenz Meier 0a9f7e58db Merge pull request #43 from PX4/pr-baroHeightOffset 
Correct for sensor noise and baro offset during alignment
 2016-02-10 08:02:48 +01:00
Paul Riseborough fff2bd50f6 EKF: Fix bugs in position and velocity resets 
The position reset was not being compensated for velocity and measurement delay
The height was being reset with the position. It has been moved into a separate reset function
The maximum accepted GPS delay of 100msec was inadequate
The states  was being incorrectly reset to the GPS position and Baro height on initial alignment.
 2016-02-10 15:16:05 +11:00
Paul Riseborough 40e174b81c EKF: Correct for sensor noise and baro offset during alignment 2016-02-10 10:25:27 +11:00
Lorenz Meier 62d685440a Posix: Do not spam console with tone alarm 2016-02-09 21:46:10 +01:00
Lorenz Meier e59323c7d7 Commander: Do not announce home via MAVLink 2016-02-09 21:45:56 +01:00
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 
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 
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 
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 
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 
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