644 Commits

Author	SHA1	Message	Date
Anton Babushkin	2b1a11b16d	position_estimator_inav: bug fixed, allow to disable GPS by setting INAV_W_POS_GPS_P = 0	2013-10-11 20:36:40 +02:00
Anton Babushkin	74af8d2c45	multirotor_pos_control: reset distance z setpoint when distance_bottom switch switched on	2013-10-11 16:48:52 +02:00
Anton Babushkin	c314f31068	multirotor_pos_control: update altitude setpoint if reference altitude changed	2013-10-11 11:58:21 +02:00
Anton Babushkin	fbf4b6462d	Merge branch 'master' into inav_sonar_indep	2013-10-11 11:50:40 +02:00
Anton Babushkin	dc09182b95	Added "bottom distance" switch, multirotor_pos_control implemented: use bottom distance to surface to control altitde	2013-10-11 11:38:36 +02:00
Anton Babushkin	86c53bee43	position_estimator_inav: use independent estimate for distance to ground (sonar), WIP	2013-10-10 19:10:45 +02:00
Anton Babushkin	aedb97f38e	multirotor_pos_control: run mainloop at 100Hz	2013-10-10 12:35:05 +02:00
Anton Babushkin	b7d8d77c0f	position_estimator_inav: if flow is inaccurate, but used for correction with less weight	2013-10-09 11:41:00 +02:00
Anton Babushkin	2fc011d20c	Remove vehicle_local_position.ref_surface_timestamp field, don't sync baro_offset and local_pos.ref_alt instead	2013-10-09 11:05:22 +02:00
Anton Babushkin	9d1027162f	position_estimator_inav: use flow even if it's not accurate if GPS is not available to prevent estimation suspending when no GPS available	2013-10-09 10:47:44 +02:00
Anton Babushkin	e4f7767e81	multirotor_pos_control: debug log messages removed	2013-10-08 21:19:14 +02:00
Anton Babushkin	c96de846b3	Added vehicle_local_position.ref_surface_timestamp to track surface level changes. Reference altitude updated continuosly when sonar available.	2013-10-08 21:18:17 +02:00
Anton Babushkin	ff92770305	multirotor_pos_control: track reference position even if not active to handle reference changes properly	2013-10-08 19:27:20 +02:00
Anton Babushkin	52cf8836fe	position_estimator_inav: avoid triggering land detector on altitude reference changes, don't reset altitude on arming if sonar is valid	2013-10-08 16:38:49 +02:00
Lorenz Meier	a3bdf536e5	Dynamic integral resets for straight and circle mode, announcing turn radius now	2013-10-08 09:17:58 +02:00
Lorenz Meier	d59cdf6fcc	Added support for dynamic turn radii	2013-10-08 09:15:40 +02:00
Anton Babushkin	1da6565fc6	position_estimator_inav: code style fixed	2013-10-07 15:12:57 +02:00
Anton Babushkin	bda03cadc3	Merge branch 'inav_fix' into inav_flow	2013-10-07 12:00:24 +02:00
Anton Babushkin	537484f60d	Revert "sensors: slow down updates rate to 200Hz to free some CPU time" ... This reverts commit 81a4df0953e738041d9fdc2b2eb353a635f3003b.	2013-10-07 11:59:54 +02:00
Anton Babushkin	c8c74ea776	position_estimator_inav: major optimization, poll only attitude topic, publish at 100 Hz	2013-10-07 11:59:23 +02:00
Lorenz Meier	d1871bd7bb	State machine fixes for HIL	2013-10-06 14:18:28 +02:00
Lorenz Meier	90c4664dce	Merged status changes	2013-10-06 14:17:37 +02:00
Anton Babushkin	81a4df0953	sensors: slow down updates rate to 200Hz to free some CPU time	2013-10-06 08:44:30 +02:00
Anton Babushkin	d005815c68	position_estimator_inav: major update, using optical flow for position estimation	2013-10-05 23:00:25 +02:00
Anton Babushkin	defb37c43b	commander: require only valid velocity for EASY mode, allows flying with FLOW and no GPS	2013-10-05 22:59:32 +02:00
Anton Babushkin	921662ebe0	Merge branch 'master' into inav_fix	2013-09-30 19:39:55 +02:00
Lorenz Meier	1b32ba2436	Hotfix: Ensure that a minimum of 10 degrees pitch is set on takeoff	2013-09-29 14:12:50 +02:00
Anton Babushkin	45a95ab5e7	Merge branch 'master' into inav_fix	2013-09-27 18:29:16 +02:00
Lorenz Meier	f7090db708	Fix the direction of the override switch for the new state machine	2013-09-24 08:22:44 +02:00
Jean Cyr	6f54825000	Comments in GPS UORB topic don't make sense ... - Describe long, lat, and alt coordinates properly	2013-09-22 23:17:27 -04:00
Lorenz Meier	ad4c28507f	Hotfixes for HIL and mode switching.	2013-09-22 17:08:29 +02:00
Anton Babushkin	4124417934	position_estimator_inav: GPS topic timeout detection fixed, messages about GPS signal state in mavlink added	2013-09-22 16:53:48 +02:00
Lorenz Meier	6616aa6f99	Fixed in-air restart, now obeys the right order	2013-09-22 14:58:06 +02:00
Lorenz Meier	826d5687be	Fixed in-air restart	2013-09-22 14:43:12 +02:00
Lorenz Meier	9424728af9	Fix a whole bunch of sanity checks across all mixers	2013-09-22 14:20:19 +02:00
Anton Babushkin	8a9a230e0d	position_estimator_inav: more compact messages to fit in mavlink packet	2013-09-22 12:39:51 +02:00
Anton Babushkin	0d5ead7d85	position_estimator_inav: GPS signal quality hysteresis, accel bias estimation fixed, cleanup	2013-09-22 12:33:08 +02:00
Lorenz Meier	f62aeba420	Cover last potential corner case with mixers, should be totally safe now	2013-09-22 11:16:19 +02:00
Anton Babushkin	4679a13f17	Merge branch 'master' into inav_fix	2013-09-22 08:45:15 +02:00
Anton Babushkin	648fb6c523	position_estimator_inav: minor fixes	2013-09-21 15:46:15 +02:00
Anton Babushkin	96d8ee3483	Merge branch 'master' into mpc_yaw_fix	2013-09-21 15:36:16 +02:00
Anton Babushkin	b56723af2a	mavlink: bugfix	2013-09-21 10:20:26 +02:00
Anton Babushkin	32fbf80ab8	mavlink: EPH/EPV casting issue fixed	2013-09-21 10:17:00 +02:00
Lorenz Meier	cd8854e622	Hotfix: Make param saving relatively robust	2013-09-20 19:59:48 +02:00
Anton Babushkin	ab26ecf188	Merge branch 'master' into mpc_yaw_fix	2013-09-20 16:14:21 +02:00
Thomas Gubler	d542735b2a	re-enable state hil	2013-09-20 09:44:48 +02:00
Anton Babushkin	2362041dc1	commander: state indication changed, 3 green blinks = succsess, 3 white blinks = neutral, 3 red blinks = reject	2013-09-19 19:58:41 +02:00
Anton Babushkin	4c23b482f8	position_estimator_inav: GPS health detection changed, minor improvements	2013-09-19 19:14:34 +02:00
Anton Babushkin	528666c912	multirotor_pos_control: yaw setpoint bug fixed	2013-09-19 18:26:33 +02:00
Lorenz Meier	fdc4521949	Hotfix: Disabling param lock, not operational yet	2013-09-19 07:51:37 +02:00