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Author SHA1 Message Date
Paul Riseborough 403424d55d EKF: fix cross compiler build errors 2016-11-07 09:38:44 +11:00
Paul Riseborough d5b398ddb1 EKF: Minimise data buffer lengths 
Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
 2016-11-07 09:06:45 +11:00
Michal Stasiak 9180268a17 Geofence: Param update fix (#5812) 2016-11-06 14:31:59 -05:00
Daniel Agar 8ac4dd04ae implement MAV_CMD_MISSION_START 2016-11-06 15:24:34 +01:00
Beat Küng 223595e978 ecl: update submodule to master 2016-11-06 14:48:20 +01:00
Beat Küng d1a3261e81 ekf2_main: reduce stack (according to the reductions in the commit before) 2016-11-06 14:48:20 +01:00
Beat Küng 5bcfa3c7e6 ekf2_main: add {} to limit variable scope and save stack 
Reformatting makes it look worse than it is, but it really only adds {}
 2016-11-06 14:48:20 +01:00
Beat Küng f7e3e46a92 config command: fix device commands like 'config /dev/accel0 block' 2016-11-06 14:48:20 +01:00
Beat Küng cc27d2a1e0 ekf2_main: move subscriptions into main thread & call orb_unsubscribe at the end 2016-11-06 14:48:20 +01:00
Beat Küng 53cf27eb84 ekf2_main: some cleanup of redundant fields 2016-11-06 14:48:20 +01:00
Beat Küng 85cee9460f sensors: use only as many voters as there are sensors 
This saves ~1.1KB of RAM for systems with only 1 sensor of each type.

If there are more sensors, they will be dynamically added, such that
failover still works.
 2016-11-06 14:48:20 +01:00
Beat Küng 0f2b31b41e uorb: inline orb_advertise (directly calls orb_advertise_multi) 
reduces the stack depth
 2016-11-06 14:48:20 +01:00
Henry Zhang 309c256e9e fix param interface (#5797) 
* param: fix bug when param value is changed to 'zero' for the first time, it won't be saved.

* param: revert incorrectly removed code.
 2016-11-06 14:45:17 +01:00
Julian Oes 53e0bc5f12 POSIX: use up to 20 command line arguments 
This fixes the case where more than 10 args were needed for instance
when starting mavlink with all its options.
 2016-11-05 14:20:17 +01:00
Paul Riseborough 750a8874c1 EKF: Improve recovery and reporting for badly conditioned sideslip fusion 
Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.
 2016-11-05 12:19:01 +01:00
Paul Riseborough 6c7703d485 EKF: Update tuning for synthetic sideslip fusion 
Used value that worked well for replay of flight logs
 2016-11-05 12:19:01 +01:00
Paul Riseborough f76a2a5ff7 EKF: fix bug in sideslip fusion and reduce RAM usage 
The bug meant the  Y velocity (state index 5)  covariance was not being updated correctly when sideslip was being used to constrain velocity drift (extended GPS loss).
The rework of the covariance update to reduce RAM follows the same pattern as adopted for other fusion processes
 2016-11-05 12:19:01 +01:00
Paul Riseborough 951c8b77af EKF: Improve wind state reset logic 
Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation.
Wind states and covariances are reset differently depending on whether airspeed is available.
 2016-11-05 12:19:01 +01:00
Paul Riseborough 2fedbc8a18 EKF: Refresh sideslip fusion auto-code and improve covariance update efficiency 2016-11-05 12:19:01 +01:00
Paul Riseborough 352b4ca177 EKF: Allow sideslip fusion with airspeed fusion 2016-11-05 12:19:01 +01:00
Paul Riseborough fb6f4be453 EKF: don't allow sideslip fusion to affect non-airspeed states if not deae-reckoning 2016-11-05 12:19:01 +01:00
CarlOlsson a9182259a5 fixed bug in beta fusion 2016-11-05 12:19:01 +01:00
CarlOlsson 0e3ae4b323 fixed issue with the covariance update in synthetic sideslip fusion 2016-11-05 12:19:01 +01:00
CarlOlsson e1d9d503e3 updated logic of when to fuse beta. Now synthetic sideslip measurements are fused after 5 seconds of cruise flight with airspeed sensor activated 2016-11-05 12:19:01 +01:00
CarlOlsson dec686afd7 updated parameters 2016-11-05 12:19:01 +01:00
CarlOlsson 5205a8198b added function to control when to fuse beta 2016-11-05 12:19:01 +01:00
CarlOlsson f5d0228cd5 include ecl.h 2016-11-05 12:19:01 +01:00
CarlOlsson beb90f008d adopted code for upstream changes 2016-11-05 12:19:01 +01:00
CarlOlsson b7a4a1358f added sidelip_fusion.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 12aeaafbd3 adopted estimator_interface.h 2016-11-05 12:19:01 +01:00
CarlOlsson c8e3c24150 adopted ekf_helper.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 8f6c75bb0b adopted ekf.h 2016-11-05 12:19:01 +01:00
CarlOlsson 15768f6f93 adopted ekf.cpp 2016-11-05 12:19:01 +01:00
CarlOlsson 738414d36e adopted common.h 2016-11-05 12:19:01 +01:00
CarlOlsson 6c9cc5691c adopted EKF/CMakeLists 2016-11-05 12:19:01 +01:00
CarlOlsson daf44dcd67 adopted CMakeLists 2016-11-05 12:19:01 +01:00
Lorenz Meier bae8adc1a8 Update README.md 
Add GitHub links to maintenance team list.
 2016-11-05 11:43:09 +01:00
Lorenz Meier f44ab6f05d Update README.md 
Listing existing maintainers explicitly.
 2016-11-05 11:34:38 +01:00
Michal Stasiak 2bfac7ff4f Mission feasibility: Geofence check fix 
Current implementation checks against geofence only if it is in polygon form.
When it's created via params, it accepts all the waypoints as the number of vertices = 0.
Thus, changed the function to the one that is used to check whether geofence is breached in flight.
 2016-11-05 11:07:23 +01:00
Dennis Shtatnov bf9a1c5a18 Removing alternative io timer rate for CF2 2016-11-05 11:06:43 +01:00
David Sidrane 2d451991af PX4 System change to Remove #ifdefs from the IO timers 
Update the comment, to explain how to achive a different perescale
   value.

   Added PX4_IO_TIMER_ALTERNATE_RATE one board agnostic ifdef
   PX4_IO_TIMER_ALTERNATE_RATE that is non board specific.

   N.B.  I would like to eliminate PX4_IO_TIMER_ALTERNATE_RATE
   as well, but I need crazyflie HW to validate that the startup
   script can just set the rate on the PWM to 3921 fast enough to
   not effect the motors.
 2016-11-05 11:06:43 +01:00
David Sidrane b2b9a0be9f PX4 System change to allow way to override the PWM_.*_{MIN|MAX} values 
Add PX4_PWM_ALTERNATE_RANGES in suport of a board agnostic way
 to override the PWM_.*_{MIN|MAX} values
 2016-11-05 11:06:43 +01:00
David Sidrane d77e107e31 Crazyflie uses the board common interface to provide board name 
Removed #ifdef in version.h
 2016-11-05 11:06:43 +01:00
David Sidrane ab43baa02d Clean up Crazyflie 
1) Remove uneeded spi and reset code
   2) Use the Board commin for providing the BOARD_NAME
   3) Add PX4_PWM_ALTERNATE_RANGES in suport of a board agnostic
      way to override the PWM_.*_{MIN|MAX} values
   4) Remove #ifdefs from the IO timers*. Drive the config deltas
      from the crazyflie_timer_config.c and one board agnostic
      ifdef PX4_IO_TIMER_ALTERNATE_RATE that is non board specific

      *I would like to eliminate PX4_IO_TIMER_ALTERNATE_RATE
      as well, but I need HW to validate that the startup
      script can just set the rate on the PWM to 3921 fast
      enough to not effect the motors.
 2016-11-05 11:06:43 +01:00
David Sidrane c4d91ef644 Removed CONFIG_STM32_I2CTIMEOTICKS defined in the PX4 I2C driver 
CONFIG_STM32_I2CTIMEOTICKS is hard defined on PX4 master
 and defconfig defined on upstream Nuttx (nuttx_v3) it will be fixed
 there.
 2016-11-05 11:06:43 +01:00
David Sidrane fd797ae3b4 Using build system warnings. 
Aligned Make.Defs to use the build system's defined warnigns.
 2016-11-05 11:06:43 +01:00
Mark Whitehorn 9603794b9d set verbose flag for Dcm.renormalize test 2016-11-05 11:05:25 +01:00
Mark Whitehorn 03beeb2e55 update matrix submodule 2016-11-05 11:05:25 +01:00
Mark Whitehorn fc73ab5e40 add unit test for Dcm.renormalize() 2016-11-05 11:05:25 +01:00
Daniel Agar a8369c6ac8 FW use loiter to achieve waypoint altitude 
- fixes #5061
 2016-11-05 10:30:36 +01:00