Lorenz Meier
a85939f66b
Merge pull request #3780 from kd0aij/frsky_stack
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increase stack size for frsky telemetry daemon
2016-02-16 19:22:29 +01:00
Mark Whitehorn
12437f1fc6
increase stack size for frsky telemetry daemon
2016-02-16 10:39:30 -07:00
James Goppert
5a01e6c939
Added slice function for matrix.
2016-02-16 12:22:08 -05:00
James Goppert
a2de2bb9cb
Merge pull request #3777 from jgoppert/matrix-update
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Updated matrix lib.
2016-02-16 11:35:41 -05:00
James Goppert
59781167a2
Updated matrix lib.
2016-02-16 10:58:39 -05:00
James Goppert
1ae114b3d2
Improved rk4 integration to allow longer time interval than 1 step.
2016-02-16 10:53:12 -05:00
Andreas Antener
48e2053f98
fixed code style
2016-02-16 10:26:13 +01:00
Roman
f11a619bf8
multirotor landing:
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prevent sudden thrust setpoints when vehicle has reached ground
after landing
2016-02-16 10:26:13 +01:00
Paul Riseborough
abf9476853
EKF: miscellaneous formatting and typo updates
2016-02-16 11:08:30 +11:00
Paul Riseborough
ffe1d30864
EKF: Set covariances to zero for un-used states
2016-02-16 11:08:30 +11:00
Paul Riseborough
294aca8609
EKF: Improve variance limiting for stationary states
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Turn off the process noise if they grow too large and use the hard variance limit as a backup. This is numerically more stable than relying on a hard variance limit which does not deal with the covariances.
2016-02-16 11:08:30 +11:00
Paul Riseborough
1d40507af8
EKF: Set Kaman gains to zero for un-used states
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This is a defensive programming technique. In theory this should not be necessary if the corresponding covariance entries are zero.
2016-02-16 11:08:30 +11:00
Paul Riseborough
69b8982043
EKF: Initialise variances to zero for un-used states
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Setting these variances to zero makes it less likely that these states will be modified by fusion processing.
2016-02-16 11:08:30 +11:00
Paul Riseborough
d9bf4e9870
EKF: Enable control mode transitions to be detected
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Save the previous value of the filter control modes
2016-02-16 11:08:30 +11:00
Paul Riseborough
402206a305
EKF: Fix critical bug in fusion of yaw and declination observations
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This bug was in the derivation and resulted from use of a tan instead of an atan operator. The derivations have been reworked and the updated auto-code has been imported as part of this patch.
2016-02-16 11:08:30 +11:00
Paul Riseborough
d8afca5e7a
EKF derivations: Correct error in direct yaw and declination angle fusion
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The atan function is now being used correctly instead of the tan function. This fixes problems with large heading errors or declination values.
The simple heading fusion has been decoupled from the magnetic field measurements. This enables external yaw measurements to be used in the future.
2016-02-16 11:08:30 +11:00
Paul Riseborough
7da40a45a4
EKF: Add control mode for wind state estimation
2016-02-16 11:08:30 +11:00
Andreas Antener
570fb97163
updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly
2016-02-15 23:29:47 +01:00
Andreas Antener
eb5b8a32ee
transition alignment will force heading now and go to RTL if it cannot reach it in time, handle mission failure correctly, reset after mission update, issue message with actual problem
2016-02-15 23:29:38 +01:00
Andreas Antener
bb4decfa8b
implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default
2016-02-15 23:26:28 +01:00
Lorenz Meier
0a4d0f6eae
Reaper config: Provide standby pulse
2016-02-15 16:33:13 +01:00
Lorenz Meier
a3b57c6820
Add REAPER frame
2016-02-15 16:03:22 +01:00
Lorenz Meier
4207213fc3
Set correct MAV type for quad_h mixer
2016-02-15 15:58:01 +01:00
Andreas Antener
8dbbe1b1f3
fixed code style in px4io.cpp
2016-02-15 15:55:14 +01:00
Andreas Antener
9e2e78c9ed
only set PWM AUX values where necessary so the surfaces don't move to extreme positions on boot
2016-02-15 13:29:26 +01:00
Lorenz Meier
cd7001fd2f
Sensors: Fix code style
2016-02-15 13:20:20 +01:00
Roman
15b0baf555
ekf2: fixed call to save parameter
2016-02-15 12:52:49 +01:00
Paul Riseborough
af5bbc916c
ekf2: Enable user defeatible saving of declination for next startup
2016-02-15 12:52:49 +01:00
Paul Riseborough
2ca48037fd
ekf2: Add mavlink adjustable parameters for control of magnetometer fusion
2016-02-15 12:52:49 +01:00
Paul Riseborough
384ab209fc
ecl: update library reference
2016-02-15 12:52:49 +01:00
Lorenz Meier
be6278a1ba
IO: Avoid param writes which do not change a value
2016-02-15 12:44:07 +01:00
Lorenz Meier
c3529d353d
sensors: Do not change parameter if it already has the right default
2016-02-15 12:43:11 +01:00
Lorenz Meier
230db2e050
VTOL control: Do not spam the console
2016-02-15 12:42:20 +01:00
Lorenz Meier
2fd89ea904
ROMFS: Remove calls which messed with params
2016-02-15 12:40:57 +01:00
Lorenz Meier
17e77535bf
Enable new PWM disarmed setting which allows to pick the single throttle channel. Servos stay unpowered until safety is disabled, ESC gets a standby pulse
2016-02-15 12:06:27 +01:00
suiauthon
ada61ef06b
added support for FreeRTOS
2016-02-15 11:21:10 +01:00
suiauthon
b4f6e1e553
added support for FreeRTOS
2016-02-15 11:15:42 +01:00
Roman
1d5cf70e83
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:49:24 +01:00
sander
dc7077b125
Move constraint after feed forward
2016-02-15 09:48:37 +01:00
Andreas Antener
7db35337da
use control flag to decide if we enable wv or not
2016-02-15 09:48:37 +01:00
Roman
8c2eec6161
use correct struct names for virtual topics
2016-02-15 09:48:37 +01:00
Roman
80f8fcbdf6
implemented vtol weathervane yaw control for landing and loiter mission item
2016-02-15 09:48:37 +01:00
Roman
be0f680863
orb topic messages:
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-added flag to enable weathervane yaw control for vtol
-added comment to keep virtual topics and original topic identical
2016-02-15 09:48:37 +01:00
Paul Riseborough
de02aebafd
EKF: Reset covariance matrix when doing a yaw and magnetic field reset
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The correlation terms in the covariance matrix will be incorrect after a reset, so should be zeroed
2016-02-14 22:01:53 +01:00
Paul Riseborough
dba58aa4c6
EKF: Add control logic for fusion modes
2016-02-14 22:01:53 +01:00
Paul Riseborough
22c177c951
EKF: Re-align yaw and magnetic field states when changing into GPS aiding mode
2016-02-14 22:01:53 +01:00
Paul Riseborough
c089079321
EKF: Split tilt and yaw align
2016-02-14 22:01:53 +01:00
Paul Riseborough
020cc5978e
EKF: Move calculation of declination into a separate function
2016-02-14 22:01:53 +01:00
Paul Riseborough
aa58b3e98c
EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function
2016-02-14 22:01:53 +01:00
Paul Riseborough
2bbe7f9a1c
EKF: Update magnetometer fusion to use declination from the specified source
2016-02-14 22:01:53 +01:00
Lorenz Meier