1e80e62491
ekf: Better variable zeroing
2014-04-22 10:26:44 +02:00
bd637697e4
Removed verbose print
2014-04-22 10:26:26 +02:00
2ecaab98f9
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
2014-04-22 09:58:07 +02:00
aefea1a95d
Merge pull request #850 from PX4/mavlink_startup_cleanup
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mavlink: Start the same in HIL mode as in normal mode. Requires all HIL ...
2014-04-22 09:57:56 +02:00
af56e65a37
Merge branch 'master' into ekf_params
2014-04-22 09:57:28 +02:00
bf4558c31b
Reduce data manager SD card wear and tear
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When the data manager was first designed each file record contained a 2
byte header and an 126 byte data section, resulting in a record length
of 128 bytes. Along the way it was decided to add 2 spare bytes to the
record header, but regrettably the data section was not correspondingly
reduced in size so we end up with a record length of 130 bytes. This is
bad since it does not align with SD card flash sectors and results in
more erase/write flash cycles than necessary thus reducing the SD cards
life.
This update reduced the data section of the data manager to 124,
resulting in an optimal record length of 128 bytes.
In order to avoid the reuse of data previously written data in the old
format, which could result in catastrophic misinterpretation, the data
manager file is checked at startup. If it is found to be in the old
format, it is deleted and recreated with in the new record length. In
this case previously stored data is lost, but that is far safer than the
unpredictable result of using the old file.
2014-04-22 01:19:01 -04:00
125f0b2f88
Added trap to filter to catch NaN handling
2014-04-22 02:25:38 +02:00
39a0d4e54d
Better error handling / reporting in filter
2014-04-22 02:24:29 +02:00
904ada124b
ekf: Put reset statements after variable zero operation to ensure values get initialized correctly
2014-04-22 02:15:33 +02:00
119dfc44e2
Merged home_fix
2014-04-22 01:42:12 +02:00
3a4874b22e
Merge branch 'sensors_loop' of github.com:PX4/Firmware into ekf_params
2014-04-22 01:40:45 +02:00
42e9c84d50
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
2014-04-22 01:40:27 +02:00
a0c9227044
commander: Also publish battery status in HIL, since we have a fake battery available and the system freaks out without knowing its main supply
2014-04-22 01:38:15 +02:00
db15e2811e
commander: Fix altitude initialisation, do not depend on global pos valid flag.
2014-04-22 01:36:32 +02:00
ca77c380b5
sensors: Keep looping in sensors app even if gyros do not update any more. There are lots of other reasons we might want to keep clocking the system. This resolves the RC timeout dependency in HIL.
2014-04-22 01:25:25 +02:00
815e221c1f
mavlink: Start the same in HIL mode as in normal mode. Requires all HIL tools to run sh /etc/init.d/rc.usb now. Improve UART error handling
2014-04-22 01:23:55 +02:00
706d08055d
Better / cleaner initialization of the attitude estimator
2014-04-22 01:18:30 +02:00
5e32ca29d5
Fixed LPOS message in log, added ground flags field
2014-04-21 21:25:54 +02:00
6297b451ba
sdlog2: Fix indendation to expose length better, cut string lengths for excessive strings
2014-04-21 21:00:24 +02:00
65e2062d7b
sdlog2: fix lpos labels string, shorten messages with excessive length
2014-04-21 20:56:02 +02:00
37b133e231
Added home position switch on GPS position - gives a more reliable home position setup
2014-04-21 12:28:11 +02:00
8ae50a4ba5
Changed home position set to depend on the commander home position switch
2014-04-21 12:27:06 +02:00
1f2e972ea6
mavlink: remaining battery scaling fixed
2014-04-21 12:16:45 +02:00
0a89364e3c
Merge branch 'ArmDisarm' of github.com:DonLakeFlyer/Firmware into ekf_params
2014-04-21 11:23:35 +02:00
595eb679b3
ekf_att_pos_estimator: Fixed mag initialization, now starts with initial measurement instead of defaults for faster convergence
2014-04-21 11:02:27 +02:00
aa3aafb1e5
Added debug macro for EKF. Fixed mag state handling which was only partially stored in correct states and not properly reset on init / dynamic reset
2014-04-21 10:47:15 +02:00
c08544721a
att_pos_estimator_ekf: Update filter to new filter API
2014-04-21 01:20:35 +02:00
14fb653d8c
ekf_att_pos_estimator: Using right app name
2014-04-21 01:18:34 +02:00
1e202a2284
Updated estimator, not using optical flow for now until proven on the bench
2014-04-21 01:18:13 +02:00
9cc284742e
Merge branch 'usb_buf_hotfix' into ekf_params
2014-04-20 21:04:35 +02:00
906abbcbb6
mavlink: Only write to TX buf if space is available. This is working around a NuttX issue where overflowing the TX buf leads to being unable to send any further data
2014-04-20 21:04:05 +02:00
200bd8e3dd
Merge branch 'ekf_params' of github.com:PX4/Firmware into ekf_params
2014-04-20 03:43:37 +02:00
b37d0f8f2e
Safety checks, prepared to use GPS variance
2014-04-20 03:41:34 +02:00
9c5dbeef3a
Proper zero init of the filter
2014-04-20 03:39:43 +02:00
7cad27a024
Changed home position set to depend on the commander home position switch
2014-04-20 03:06:13 +02:00
46a796fb86
Added home position switch on GPS position - gives a more reliable home position setup
2014-04-20 03:04:56 +02:00
fd34a8432e
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
2014-04-20 02:05:57 +02:00
2ea32b315f
Merged master
2014-04-20 02:04:05 +02:00
479fddff88
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
2014-04-20 01:45:00 +02:00
ce56d75bc6
Updated filter to most recent version with accel scale estimation, exposed crucial parameters for cross-vehicle support
2014-04-20 01:37:31 +02:00
dca1e7fc61
Decomission unmaintained position estimator
2014-04-19 22:40:37 +02:00
7b61c927f0
Renamed FW filter to EKF to express its generic properties, switched multicopters over to this filter for first tests.
2014-04-19 16:13:13 +02:00
edd16afead
Add filter parameters and multicopter defaults to parametrize Pauls estimator correctly when running for multicopters. Estimator itself not updated yet, will be next step.
2014-04-19 15:49:29 +02:00
0b85c41cd1
Merge pull request #820 from PX4/filter_nan_guard
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pauls estimator: Added NaN guard before publishing
2014-04-19 15:14:13 +02:00
a4b10bab30
navigator: wrong mission topic was copied, clearer naming of offboard mission now
2014-04-18 11:15:40 +02:00
df987f3577
Merge pull request #822 from helenol/helen_mavlink_pull
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Added a -w option to mavlink, added vicon messages to stream.
2014-04-13 23:39:27 +02:00
5c08a1aeac
Untangled local pos and distance messages, now sending distance messages only for actual distance measuring devices
2014-04-13 23:32:52 +02:00
f846690395
Added rangefinder message to MAVLink app
2014-04-13 23:30:09 +02:00
88357c58bd
mavlink: Change to size optimization
2014-04-13 20:45:03 +02:00
e7c8fdc586
More whitespace all the time.
2014-04-10 10:41:00 +02:00
Lorenz Meier