Roman
3fdbe13857
updated ecl
2017-02-22 22:21:41 +01:00
Matthias Grob
3183cbda90
land_detector: manual land detection stick throshold less strict
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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
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Signed-off-by: Roman <bapstroman@gmail.com >
2017-02-22 14:12:05 +01:00
Roman
aa53f45f15
terrain estimator: removed unused hrt dependancy
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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
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- 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.
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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
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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
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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
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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
Lorenz Meier
d11e4915f6
Vehicle control state: Add support for global yaw
2017-02-22 09:21:20 +01:00
Paul Riseborough
6e5a9aabe1
Merge pull request #234 from PX4/pr-optFlowUpdates
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EKF: optical flow improvements
2017-02-22 09:00:48 +11:00
Lorenz Meier
4ddc7e22fb
MC pos ctrl: Force slow landing speed below min loiter altitude
2017-02-21 22:01:20 +01:00
Lorenz Meier
1d370f3470
MC pos control: Improve landing handling
2017-02-21 21:57:18 +01:00
Dennis Mannhart
20604989bb
mc_pos_control: have same acceleration max for xy and z
2017-02-21 21:50:00 +01:00
Dennis Mannhart
2788cf8ffc
mc_pos_control: manual stick input fix; deletion of unusued function
2017-02-21 16:47:46 +01:00
Lorenz Meier
7fc8ee85fa
Commander: Do not break out of RTL on stick input change
2017-02-21 13:56:31 +01:00
Paul Riseborough
bf06066010
Tools: Add scripts for ecl EKF log file analysis
2017-02-20 07:53:07 +01:00
Paul Riseborough
ed5c8913ad
events: update documentation for polyfit algorithm
2017-02-20 07:53:07 +01:00
Andreas Antener
11484b0d51
Rattitude: set default threshold for multicopter rattitude mode to 0.8 which enables it right away when selecting it
2017-02-18 08:03:19 +01:00
Andreas Antener
44d05bac55
Rattitude: enable for FW in old style switch mapping
2017-02-18 08:03:19 +01:00
Daniel Agar
e81e6a8296
fw_att_control add rattitude mode
2017-02-18 08:03:19 +01:00
Daniel Agar
9120082b0c
fw_att_control stabilized mode publish att_sp quat
2017-02-18 08:03:19 +01:00
Daniel Agar
12e5aca028
fw_att_control remove unused accel sub
2017-02-18 08:03:19 +01:00
Andreas Antener
bd0cd35ff8
Convergence: fix motor output meta data
2017-02-18 08:03:19 +01:00
Daniel Agar
f6eecf4d5c
commander tests group TRANSITION_CHANGED tests
2017-02-18 08:03:19 +01:00
Daniel Agar
c14c9c20eb
commander tests allow FW ACRO
2017-02-18 08:03:19 +01:00
Andreas Antener
998427f821
ECL: updated to proper commit
2017-02-18 08:03:19 +01:00
Andreas Antener
8683739fec
Convergence: updated tuning
2017-02-18 08:03:19 +01:00
Andreas Antener
459b8b7c7e
FW att: removed unused fields again
2017-02-18 08:03:19 +01:00
Andreas Antener
e04fe593e0
Tiltrotor: option to enable differential thrust in forwards flight
2017-02-18 08:03:19 +01:00
Andreas Antener
b19cd19411
FW Acro: udpate ECL and implemented fixed-wing Acro
2017-02-18 08:03:19 +01:00
Andreas Antener
2f3b1edbd4
Convergence: increase yaw output in mixer
2017-02-18 08:03:19 +01:00
Andreas Antener
986fa1d52f
Sublime: exclude build folders
2017-02-18 08:03:19 +01:00
Andreas Antener
a5f3f65c2b
Switch assignment: added manual and stabilized switch for a default stabilized switch scheme, let FW go into Acro
2017-02-18 08:03:19 +01:00
Beat Küng
21f5219bbc
vehicle_command.msg: add PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION
2017-02-17 23:01:25 +01:00
Beat Küng
e4ca10363b
mavlink MAV_CMD_IMAGE_START_CAPTURE message: send request for highest resolution
2017-02-17 23:01:25 +01:00
Beat Küng
1a81b64d49
VEHICLE_CMD_PREFLIGHT_CALIBRATION: update temperature_calibration param definition
2017-02-17 23:01:25 +01:00
Lorenz Meier
51c8e90508
FW att control: Increase stack size to ensure limits
2017-02-17 22:31:55 +01:00
Lorenz Meier
bbc5186e2a
GPS driver: Improve GPS "fake" mode init and code style
2017-02-17 22:28:55 +01:00
Lorenz Meier
495e16d510
Uploader script: Fix Python 2 issue and timing corner case on Mac OS, both in a robust fashion
2017-02-17 22:28:14 +01:00
James Goppert
7659402fdb
WIP: valgrind runtime analysis and fixes ( #6521 )
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* Fix several valgrind identified mem leaks
* Added callgrind target.
* px4_posix_tasks use nullptr
2017-02-17 12:36:52 -05:00
Beat Küng
a0f00f84f3
param show command: add -c to show only changed, do case insensitive comparison
2017-02-17 11:27:08 +01:00
Beat Küng
a4050db766
param: comment what the lock is needed for
2017-02-17 11:27:08 +01:00
Beat Küng
b4b5c987a6
unittests: add setup code to call param_init()
2017-02-17 11:27:08 +01:00
Roman