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Author SHA1 Message Date
Paul Riseborough 8e30c2666d EKF: Add support auxiliary velocity observation 
This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
 2017-11-21 11:18:09 +11:00
Daniel Agar 00a47ba542 drivers device I2C consistency between nuttx/posix 2017-11-20 23:44:31 +01:00
Daniel Agar 8738fe8daf drivers device naming consistency 2017-11-20 23:44:31 +01:00
Daniel Agar 53595bac0e board support add px4_i2c_bus_external/px4_spi_bus_external 2017-11-20 23:44:31 +01:00
Daniel Agar 2aeb4aa55f drivers device move locking to cdev 2017-11-20 23:44:31 +01:00
Daniel Agar bf435fc520 drivers device merge nuttx and posix Device and CDev 2017-11-20 23:44:31 +01:00
Daniel Agar c6b6164cf7 drivers device nuttx remove unused interrupt support 2017-11-20 23:44:31 +01:00
Daniel Agar 5d20cf6b57 drivers device organize by nuttx/posix 2017-11-20 23:44:31 +01:00
Paul Riseborough bd8f30752a Merge pull request #351 from PX4/ekfGndEffectComp-wip 
EKF: Protect against ground effect induced static pressure rise
 2017-11-20 09:14:26 +11:00
Daniel Agar c1c176d65b cmake nuttx build net if enabled 2017-11-18 20:52:10 +01:00
makekam 3c252d973d mpu9250 test command use correct mag units (#8313) 2017-11-18 11:54:35 -05:00
Daniel Agar 7608cec1ed cmake NuttX improve builtin generation dependencies 2017-11-18 11:52:55 -05:00
Daniel Agar d35de9b4e3 cmake nuttx copy source into build with relative paths 
- this works around cygwin path issues on windows
 2017-11-18 11:52:55 -05:00
sanderux a07a2ebd73 Better scaling for reverse mixer 2017-11-18 13:51:46 +01:00
makekam 6ddbe91f42 Change the name of sdlog file in case of differential gps 
The fix_type variable in ubx.cpp may be assigned to 4(DGPS) or 5(Float RTK) or 6(Fixed RTK). So if we use differential gps, the value of the fix_type variable may not be 3. But gps still has 3d data and gps time. So The name of the file should named with gps time.My ublox differential gps fix_type is 5 (Float RTK).
 2017-11-18 13:49:58 +01:00
Paul Riseborough a2b24fa960 EKF: Protect against ground effect induced static pressure rise during landing and takeoff. 
Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
 2017-11-17 21:41:31 +11:00
Matthias Grob 41ad2bdea5 Matrix: added copyToRaw method to allow copying to a pointer 
because most uORB messages still contain all components of a vector one by one after each other
 2017-11-17 09:30:56 +01:00
Paul Riseborough c8d459eecd Merge pull request #360 from dagar/pr-ekfObsBufAlloc 
EKF RingBuffer allocation minor improvements + print memory usage
 2017-11-17 08:38:57 +11:00
Paul Riseborough 3479542ae5 Merge pull request #359 from PX4/pr-ekfObsBufAlloc 
EKF: Reduce memory usage
 2017-11-17 08:09:37 +11:00
Daniel Agar d9c8af54bd EKF add print_status() with memory usage 2017-11-16 14:11:34 -05:00
Daniel Agar 75d1ed894c EKF simplify RingBuffer allocation check 2017-11-16 13:09:17 -05:00
Paul Riseborough af7004ef01 EKF: report observation buffer allocation errors 2017-11-16 20:04:46 +11:00
Paul Riseborough d785a19c0a EKF: delay final allocation of observation buffers until required 2017-11-16 19:47:04 +11:00
makekam e9e663432b bmm150 fix I2C bus define (#8261) 
According to the board_config.h shown. bmm150 only on the external i2c bus
 2017-11-15 23:30:09 -05:00
Daniel Agar cc0be3e150 README remove gitter badge 2017-11-15 22:47:58 -05:00
Matthias Grob 308a6c91cb Test: added copyTo tests for Vector3, Quaternion and Matrix including clolumn-major order 2017-11-16 04:42:54 +01:00
Matthias Grob 1dffd5930b Matrix: add copyTo copying data to an array and copyToColumnMajor which does the same but with column-major order 
same functionality explicitly for quaternions can be deleted
 2017-11-16 04:42:54 +01:00
Paul Riseborough f54f1d467f Merge pull request #358 from PX4/pr-ringbuffer_copies 
EKF RingBuffer avoid unnecessary copying
 2017-11-16 13:37:36 +11:00
Paul Riseborough 7c8fcf7628 EKF: Clarify use of *= operator for quaternions 2017-11-16 11:52:19 +11:00
Daniel Agar ed9a394029 EKF RingBuffer avoid copying 2017-11-15 18:08:51 -05:00
Paul Riseborough 44eaa076db Merge pull request #356 from PX4/pr-ekfMiscUpdate 
EKF: Remove redundant code
 2017-11-16 07:05:18 +11:00
Beat Küng 3744cac1bb fix mc_att_control: re-add dropped acro parameters (#8293) 
and make sure the vtol params are always initialized

This got lost in 4416c4ddb3
v1.7.0-rc1 		2017-11-15 10:08:22 -05:00
Paul Riseborough 44a71ad6c9 ekf2: Update parameter descriptions (#8292) 
Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
 2017-11-15 09:19:08 -05:00
Paul Riseborough 2b20c52c4d EKF: Remove redundant code 2017-11-15 22:03:17 +11:00
Paul Riseborough cfdab732d1 EKF: Update parameter description 2017-11-15 21:28:11 +11:00
Matthias Grob 26171df9fc mc_pos_control: save previous velocity setpoint after constraining, fix smooth takeoff to be still excluded from slewrate 2017-11-15 10:38:57 +01:00
Julien Lecoeur 26d95ef674 Mixers: Include mixer_multirotor_normalized.generated.h everywhere 2017-11-15 09:56:10 +01:00
Julien Lecoeur 2ca00f1a65 Docker: update images to tag 2017-10-23 2017-11-15 09:56:10 +01:00
Julien Lecoeur 4be4ad86a0 Mixers: Add geometry quad_s250aq 2017-11-15 09:56:10 +01:00
Julien Lecoeur 3a1c5f8a94 Mixers: do not allow several mixers with same name or key 2017-11-15 09:56:10 +01:00
Julien Lecoeur 76447b0f4e Mixers: Use geometry filename as mixer name 2017-11-15 09:56:10 +01:00
Julien Lecoeur d43b33b1c4 Move src/lib/mixer/geoms to src/lib/mixer/geometries 2017-11-15 09:56:10 +01:00
Julien Lecoeur b6911c2266 Mixers: Rename geom -> geometry(ies) 2017-11-15 09:56:10 +01:00
Julien Lecoeur c95229faab Mixers: add --verbose option to print matrices 2017-11-15 09:56:10 +01:00
Julien Lecoeur 142cd7ee75 Mixers: write to stdout if no output file is provided 2017-11-15 09:56:10 +01:00
Julien Lecoeur 679f33b406 Mixers: raise exception if no input geometry is provided 2017-11-15 09:56:10 +01:00
Julien Lecoeur 9e045e3b2a Mixers: use os.path.join 2017-11-15 09:56:10 +01:00
Julien Lecoeur 89642a9203 Move src/module/systemlib/mixer to src/lib/mixer 2017-11-15 09:56:10 +01:00
Julien Lecoeur d46c37be79 Mixers: raise exception when geom file is incomplete 
pylint format
 2017-11-15 09:56:10 +01:00
Julien Lecoeur cb8d951a7e Mixers: add geoms quad_vtail (tilted props) and quad_y (rear coax props) 
quad_vtail: reverse prop direction (same quad_h) to combine yaw torque induced by propellers and yaw torque induced by tilted rotors.
 2017-11-15 09:56:10 +01:00