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Use GPS for vertical velocity estimation on multirotors (#346)
2016-03-24
Konst
a
ntin
S
harlaimo
.
.
.
FW:
R
emove
limi
t
ati
o
n of minimum groun
d
speed
for
navigation
commit
|
commitdiff
|
tree
2016-03-23
Konstantin Shar
l
aimo
.
.
.
D
ISPLAY: Remove page cycling code
commit
|
commitdiff
|
tree
2016-03-23
Ko
n
stant
i
n Sharlaimo
.
.
.
I
M
U
:
W
e
ighte
n
ed method of u
s
ing acceleromete
r
for I
M
U
.
.
.
commit
|
commitdiff
|
tree
2016-03-22
Konstantin S
h
arla
i
mo
.
.
.
IMU: Remove fast IMU
i
ni
t
ialisation
as no
t
gi
v
ing mu
c
h
.
.
.
commit
|
commitdiff
|
tree
2016-03-22
Kons
t
antin Sharlaim
o
.
.
.
B
ugfix for throttle tilt compensatio
n
.
Throttle
was
.
.
.
commit
|
commitdiff
|
tree
2016-03-20
Kons
t
antin Sha
r
laimo
.
.
.
SE
R
IAL: E
x
pl
i
cit initialisation of ser
i
al port vtable
commit
|
commitdiff
|
tree
2016-03-18
K
o
n
stantin S
h
arlai
m
o
.
.
.
TELEM: Made telemetry modu
l
es selectabl
e
at com
p
ile
.
.
.
commit
|
commitdiff
|
tree
2016-03-18
Konst
a
ntin Sharl
a
imo
.
.
.
BE
E
PER:
B
u
g
f
ix for cli
P
r
intf
commit
|
commitdiff
|
tree
2016-03-18
Ko
n
s
t
anti
n
Sharla
i
mo
.
.
.
B
LA
C
KBOX: Log fixT
y
pe an
d
H
D
OP
commit
|
commitdiff
|
tree
2016-03-18
Konst
a
n
tin Sharlaimo
.
.
.
LTM:
R
eport 2D/
3
D GPS fix correctl
y
commit
|
commitdiff
|
tree
2016-03-18
Konstantin Sharla
i
mo
.
.
.
GPS: Bett
e
r GP
S
f
i
x
report
i
n
g
: 0=
n
one, 1=2D, 2=3D
commit
|
commitdiff
|
tree
2016-03-18
Konstantin Sharlaimo
.
.
.
GPS: Re
i
nstate HDOP in gpsSo
l
.
Report H
D
OP as an extra
.
.
.
commit
|
commitdiff
|
tree
2016-03-18
Konst
a
ntin Sharlaimo
.
.
.
GPS: Rem
o
ve
s
a
tellites in vi
e
w d
a
ta; GPS baud rate
.
.
.
commit
|
commitdiff
|
tree
2016-03-18
Konstantin S
h
arlaimo
.
.
.
M
e
rge b
r
a
n
ch 's
c
hed
u
ler-queue'
commit
|
commitdiff
|
tree
2016-03-18
Kons
t
a
n
t
in Sharlaimo
.
.
.
MSP: Fixed i
n
corr
e
ct assumpt
i
on a
b
out BOX ordering
.
.
.
commit
|
commitdiff
|
tree
2016-03-17
Konst
a
ntin
S
h
arlaimo
.
.
.
SCH
E
DULER: Move scheduler code t
o
a
s
epar
a
te directory
commit
|
commitdiff
|
tree
2016-03-17
Konstantin Sharlai
m
o
.
.
.
RTH: Implement GPS wait time
o
ut if n
o
GPS
a
v
ailab
l
e
.
.
.
commit
|
commitdiff
|
tree
2016-03-12
K
onst
a
nti
n
Sharlaimo
.
.
.
NAV: Further impro
v
e handling of magles
s
mac
h
ines
commit
|
commitdiff
|
tree
2016-03-12
Konstantin Sharlaimo
.
.
.
FW: Fi
x
issue
w
ith home set on a
magl
e
ss airpla
n
e
.
.
.
.
commit
|
commitdiff
|
tree
2016-02-17
Konsta
n
tin Sharlaimo
.
.
.
Versi
o
n bump 1
.
0
.
1, EE
P
ROM b
u
mp
commit
|
commitdiff
|
tree
2016-02-17
Ko
n
stantin Sharlaimo
.
.
.
SERVO: F
i
x servo
l
owpass fi
l
te
r
init
i
alisation
commit
|
commitdiff
|
tree
2016-02-17
Kon
s
tantin Sharlaimo
.
.
.
FILTER: Remo
v
e
s
erv
o
lowpas
s
- rep
l
ace
by BiQu
a
d; Remo
v
e
.
.
.
commit
|
commitdiff
|
tree
2016-02-17
Ko
n
stan
t
in Sharlai
m
o
.
.
.
FILTER
:
Replace FI
R
by Bi
Q
ua
d
by @bori
s
bstyle
.
First
.
.
.
commit
|
commitdiff
|
tree
2016-02-17
K
onst
a
ntin Sharlaimo
.
.
.
EMER
G
: F
i
x emergency landin
g
in
c
ase
w
hen
a
lti
t
ude
.
.
.
commit
|
commitdiff
|
tree
2016-02-12
Konstantin Sharlaimo
.
.
.
GPS-UB
L
O
X
: Make sure e
a
ch position
f
ra
m
e is processed
.
.
.
commit
|
commitdiff
|
tree
2016-02-01
Ko
n
sta
n
tin
S
h
a
r
laimo
.
.
.
GPS: Fixed wrong u
n
its for EPV
/
E
P
H (were in m
m
,
n
o
t
.
.
.
commit
|
commitdiff
|
tree
2016-01-31
Ko
n
stantin Sharl
a
imo
.
.
.
RMDO: Remo
v
e support
f
or B
M
P
0
85 an
d
MS5611 (sp
a
ce issues
)
commit
|
commitdiff
|
tree
2016-01-31
K
o
n
stantin Shar
l
aimo
.
.
.
BA
R
O: Add support for all baro
s
(
B
MP
0
85, BMP280 a
n
d
.
.
.
commit
|
commitdiff
|
tree
2016-01-31
K
o
nstantin Shar
l
aim
o
.
.
.
M
A
G:
Pu
t
back A
K
8
9
75 for
c
o
mmon targets
commit
|
commitdiff
|
tree
2016-01-26
K
onstan
t
in Sharlaimo
.
.
.
LAND
:
Fix
e
d the
b
ug i
n
s
o
nar-assisted landin
g
commit
|
commitdiff
|
tree
2016-01-24
Konsta
n
t
i
n
S
harl
a
imo
.
.
.
GPS
:
C
h
a
nge defaults to LOW_G model; INAV:
D
i
sable
.
.
.
commit
|
commitdiff
|
tree
2016-01-24
Konstantin Sharlaim
o
.
.
.
M
SP: Box
mode allowance
b
u
g
fixed
commit
|
commitdiff
|
tree
2016-01-23
Kon
s
tan
t
in Sharla
i
m
o
.
.
.
Version 1
.
0 b
u
mp
commit
|
commitdiff
|
tree
2016-01-23
Konst
a
ntin Sharlaimo
.
.
.
GPS: Fix autobaud setting being igno
r
ed for Ubl
o
x GPS
commit
|
commitdiff
|
tree
2016-01-22
K
o
nstantin Sharlaimo
.
.
.
GPS: Init delay,
a
void
feeding c
o
nf
i
g
data to GPS rec
e
iver
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
K
o
nstantin Sharl
a
imo
.
.
.
SPARKY: Fixed comp
i
l
ation bu
g
commit
|
commitdiff
|
tree
2016-01-22
Konstantin Sharl
a
imo
.
.
.
I
NAV: Option to disable usage of GPS V
e
lNED informati
o
n
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstantin
S
harlaimo
.
.
.
GPS:
C
onfigu
r
a
b
l
e L
O
W_G (pedestrian) a
n
d
HIGH_G (air
b
orne
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstanti
n
Sha
r
laim
o
.
.
.
GPS: More NA
V
5 debug options
f
or UBLOX
commit
|
commitdiff
|
tree
2016-01-22
K
o
nstan
t
in Sha
r
laimo
.
.
.
GP
S
: NME
A
No
-
f
ix issue solved
commit
|
commitdiff
|
tree
2016-01-22
Konsta
n
tin
S
h
arlaimo
.
.
.
GP
S
:
S
witched
f
rom HDO
P
/V
D
OP t
o
EPH/EPV value
s
- absolute
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Ko
n
stant
i
n
Shar
l
a
i
mo
.
.
.
GPS: Code
c
le
a
nups,
small refactori
n
g and s
t
ability
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstantin
Sharla
i
mo
.
.
.
GPS: Ublo
x
a
utobaud semantics changed to make i
n
i
tialisatio
n
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstantin Sharlaimo
.
.
.
GPS
:
D
i
sable N
A
VX5 message for Ublox configu
r
ation
commit
|
commitdiff
|
tree
2016-01-22
Konstantin S
h
arlaimo
.
.
.
GPS: C
o
nfig chang
e
- default to gps_pr
o
vider
=
UB
L
OX
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstantin Sharlaimo
.
.
.
G
P
S: Re-added
F
A
KE
_
G
PS fo
r
debugging
a
nd testing
commit
|
commitdiff
|
tree
2016-01-22
Konsta
n
ti
n
Sharla
i
m
o
.
.
.
GPS: Fi
x
for GPS MAG dete
c
tion for NAZA
G
PS when no
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konst
a
n
ti
n
Sha
r
lai
m
o
.
.
.
G
P
S: Cleaner GPS in
i
tiali
s
atio
n
b
a
t
c
hing - uses actual
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Ko
n
stantin Sharlaimo
.
.
.
GPS: R
e
move Ve
l
N
E
emulati
o
n - un
p
red
i
c
t
able and som
e
times
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
K
o
n
sta
n
tin S
h
arlaimo
.
.
.
GPS: Fix
G
P
S autoconfi
g
set
t
ing bei
n
g ignored
commit
|
commitdiff
|
tree
2016-01-22
Konstantin S
h
arlaimo
.
.
.
G
P
S: U
B
LOX version auto-de
t
ection
a
n
d
PVT me
s
sage support
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstantin Sh
a
rla
i
mo
.
.
.
GPS: Preliminary NAZA GPS supp
o
rt
.
Thanks to @Sambas
.
commit
|
commitdiff
|
tree
2016-01-22
Kons
t
antin Sharlaimo
.
.
.
Recover quicke
r
f
ro
m
a ba
d
ly rec
e
i
ved
/
inc
o
rrec
t
UBLOX
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konst
a
n
tin Sharlaim
o
.
.
.
G
PS: Protocol-ind
e
pende
n
t stack
.
UBL
O
X binary
d
r
iver
.
.
.
commit
|
commitdiff
|
tree
2016-01-22
Konstantin
S
harl
a
imo
.
.
.
NAV: Fixe
d
logging
o
f targe
t
position
commit
|
commitdiff
|
tree
2016-01-18
Konstan
t
i
n Sharl
a
imo
.
.
.
HIL
:
Unused p
a
rameter removal in imuHILUpdate()
.
C
loses #71
commit
|
commitdiff
|
tree
2016-01-18
Kon
s
tantin
Sharlaimo
.
.
.
SPARKY: Enable NA
V
for the target
.
Fi
x
d
i
s
p
l
a
y
.
c compilation
.
.
.
commit
|
commitdiff
|
tree
2016-01-13
K
o
n
st
a
ntin Sharlaimo
.
.
.
CLI: Fix nav PIDs max
va
l
ues
commit
|
commitdiff
|
tree
2016-01-12
Kons
t
ant
i
n
Shar
l
a
imo
.
.
.
MATH: Optimize
MIN(), M
A
X() and
ABS() implementation
.
.
.
commit
|
commitdiff
|
tree
2016-01-12
Konsta
n
tin Sharlaimo
.
.
.
RTH: Sonar guard f
o
r landin
g
.
If su
r
fa
c
e d
i
stance
.
.
.
commit
|
commitdiff
|
tree
2016-01-11
Konstantin S
h
arlaimo
.
.
.
Removed navigation
.
c (leftov
e
r from merge
with vanil
l
a)
commit
|
commitdiff
|
tree
2016-01-11
Konstantin
Sharlaimo
.
.
.
FA
I
L
S
AFE: Fix
f
or fa
i
l
s
afe RTH when no GPS l
o
c
k is
.
.
.
commit
|
commitdiff
|
tree
2016-01-03
Konstan
t
in Sharlaimo
.
.
.
SYSTEM: Increase st
a
rt
u
p delay f
r
om 100ms to 50
0
ms
.
.
.
commit
|
commitdiff
|
tree
2015-12-31
K
onstantin Sharl
a
imo
.
.
.
NAV: FIR filter fixes (DC gain fixed)
.
R
e
moved ACCEL
.
.
.
commit
|
commitdiff
|
tree
2015-12-30
Kon
s
tantin Sharl
a
imo
.
.
.
Revert "Bump co
n
fi
g
size to 4k for 128k targe
t
s
.
"
commit
|
commitdiff
|
tree
2015-12-30
Ko
n
stantin
Sharla
i
mo
.
.
.
Cooperative
task
sc
h
eduler
commit
|
commitdiff
|
tree
2015-12-30
Konst
a
n
t
i
n
S
h
arlai
m
o
.
.
.
L
A
ND: Modify landi
n
g co
n
tro
l
ler to descend l
a
st 5 mete
r
s
.
.
.
commit
|
commitdiff
|
tree
2015-12-24
Konsta
n
tin Sharlai
m
o
.
.
.
IMU
:
Fix
f
or G
P
S course usage
.
Now mathemati
c
a
l
ly corre
c
t
commit
|
commitdiff
|
tree
2015-12-24
Konstant
i
n Sharl
a
imo
.
.
.
NAV: U
p
dat
e
d config defaults
.
Looptime
i
s now default
e
d
.
.
.
commit
|
commitdiff
|
tree
2015-12-23
Konstantin Sharlaimo
.
.
.
NAV: Fi
x
ed an option
t
o com
p
ile ou
t
n
avigation while
.
.
.
commit
|
commitdiff
|
tree
2015-12-23
Konstantin
Sharlaimo
.
.
.
Merg
e
b
ranch 'master' into inav-dev
commit
|
commitdiff
|
tree
2015-12-22
Konstantin Sharla
i
mo
.
.
.
NAV: M
o
r
e gener
i
c code
.
FW:
R
ework
pitch
/
roll/
t
h
r
ottle
.
.
.
commit
|
commitdiff
|
tree
2015-12-22
Konsta
n
tin Sharla
i
mo
.
.
.
NA
V
: Instant
l
y
s
w
itch to emergen
c
y landin
g
if RTH
state
.
.
.
commit
|
commitdiff
|
tree
2015-12-21
Kons
t
antin Sharlaimo
.
.
.
NAV: Configurable position sensor timeout
.
Ab
i
lity
.
.
.
commit
|
commitdiff
|
tree
2015-12-21
Kon
s
tantin Sharlai
m
o
.
.
.
NAV: Prevent switching to
I
DLE state on GPS loss -
.
.
.
commit
|
commitdiff
|
tree
2015-12-21
Konstanti
n
Sharl
a
i
m
o
.
.
.
WP: Per-waypoint speed setting
commit
|
commitdiff
|
tree
2015-12-21
Konstantin Sharla
i
m
o
.
.
.
F
W
: Make RTH override
p
a
ssthru mode
commit
|
commitdiff
|
tree
2015-12-20
K
onsta
n
t
in Sharlai
m
o
.
.
.
MC: Position contr
o
l
l
e
r expo (contr
o
lled by Pos
D)
.
.
.
commit
|
commitdiff
|
tree
2015-12-20
Kon
s
tan
t
in Sha
r
laimo
.
.
.
FW: remove p
i
tch
/
rol
l
c
o
m
p
ensa
t
ion - malfunctions,
.
.
.
commit
|
commitdiff
|
tree
2015-12-18
Konst
a
n
t
in Shar
l
aimo
.
.
.
Fi
x
uninitiali
z
ed
rawYawErro
r
on targets
without GPS
.
.
.
commit
|
commitdiff
|
tree
2015-12-17
Konstantin Sharlai
m
o
.
.
.
FlySky i-Bus
receiver CLI bug fixed
commit
|
commitdiff
|
tree
2015-12-16
Konstantin Sharlaimo
.
.
.
Forc
e
AN
G
LE mode f
o
r air
p
lanes in ALTHOLD mode
commit
|
commitdiff
|
tree
2015-12-16
Kons
t
ant
i
n Sharlaimo
.
.
.
Fixed-wing pi
t
ch compen
s
ati
o
n in c
o
ordinate
d
turns
commit
|
commitdiff
|
tree
2015-12-16
Konstantin Sharlaimo
.
.
.
M
AG support for RMDO
tar
g
e
t
commit
|
commitdiff
|
tree
2015-12-16
Kons
t
antin Sharlaimo
.
.
.
IMU
t
yp
o
fix
.
Experimental centrifugal acceleration
.
.
.
commit
|
commitdiff
|
tree
2015-12-15
Ko
n
s
t
antin Sharlaimo
.
.
.
A
fix for airplane loiter (wo
r
ks at least
wi
t
h RTH
.
.
.
commit
|
commitdiff
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tree
2015-12-15
K
o
nstantin Sharlaimo
.
.
.
Impr
o
ve so
n
ar c
o
m
patibil
i
ty with n
e
w IMU
commit
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commitdiff
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tree
2015-12-15
Konstantin S
h
ar
l
aimo
.
.
.
Quaternion IMU unit test update
commit
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commitdiff
|
tree
2015-12-13
Konstantin Sharlaimo
.
.
.
Fix fo
r
nav_ex
t
ra_armin
g
_safety
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commitdiff
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tree
2015-12-13
Konsta
n
t
i
n
Sh
a
rlaim
o
.
.
.
Gradual transiti
o
n from ac
t
ual cli
m
b r
a
t
e to target
.
.
.
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tree
2015-12-12
Konstantin S
h
arlaimo
.
.
.
Move Ai
r
mode below
H
orizon/Angle (ne
e
ded
s
ome OSD's)
commit
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commitdiff
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tree
2015-12-12
Konstan
t
in Sharlaimo
.
.
.
Disab
l
ed
possibili
t
y to
switch
t
o
WP from
R
TH
commit
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commitdiff
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tree
2015-12-12
Konstantin Sharlaimo
.
.
.
Velocity att
e
nu
a
tion fo
r
WP
m
od
e
if not facing the
.
.
.
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2015-12-11
K
o
nstantin Sharlaimo
.
.
.
Bugf
i
x
for climb rate accelerat
i
on
l
i
m
iting
commit
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commitdiff
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tree
2015-12-11
Konstant
i
n Sh
a
rlaimo
.
.
.
HIL
n
ow output
s
rcComm
a
nd for mu
l
t
icopte
r
s
and se
l
ects
.
.
.
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2015-12-11
Konstantin S
h
arl
a
i
m
o
.
.
.
Add
e
d a 2 sec timeout before swi
t
ching into EMERG mode
.
.
.
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tree
2015-12-11
Kon
s
tantin Sharlaimo
.
.
.
Limit
m
ax accel
e
ration for
A
l
tHold
c
ontrolle
r
- avo
i
d
.
.
.
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2015-12-11
Konst
a
ntin Shar
l
a
i
mo
.
.
.
Configurable descent speed for RTH l
a
nding a
n
d EMERG
.
.
.
commit
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2015-12-11
Konst
a
ntin S
h
a
rlaimo
.
.
.
Code cleanups
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|
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2015-12-10
Ko
n
stantin Sharlaimo
.
.
.
D
on't
a
ppl
y
e
x
tra a
r
ming
safety if n
o
G
P
S-assi
s
ted
.
.
.
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