Andrew Tridgell
01156ed348
AP_Common: make longitude_scale() a static
...
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:
pos1 + offs = pos2
pos2 - offs == pos1
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c9b9a6a616
HAL_ChibiOS: run storage writes at 1kHz not 100Hz
...
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.
Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
2021-07-23 10:19:46 +09:00
Peter Barker
304927a41e
AP_NavEKF3: pass NavEKF failures back up to callers
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c31de1a5ca
AP_NavEKF3: process GPS yaw independently of GPS fix
...
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
2021-07-23 10:19:46 +09:00
Andrew Tridgell
56ddaa1a99
AP_NavEKF3: fixed indentation in readGpsData()
2021-07-23 10:19:46 +09:00
Andrew Tridgell
579e4566c6
AP_NavEKF3: implement moving origin
...
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.
The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
2021-07-23 10:19:46 +09:00
Andrew Tridgell
d43e95a39a
AP_NavEKF3: moved checkUpdateEarthField to be called less often
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
2021-07-23 10:19:46 +09:00
Andrew Tridgell
399cd4ea03
AP_Common: added ftype precision offset call
...
# Conflicts:
# libraries/AP_Common/Location.cpp
# libraries/AP_Common/Location.h
2021-07-23 10:19:46 +09:00
Andrew Tridgell
163a37efa7
AP_NavEKF3: convert code_gen.py to ftype
2021-07-23 10:19:46 +09:00
Andrew Tridgell
5531703548
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c988f23389
AP_NavEKF3: convert EKF3 derivation to ftype
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e11c94602b
HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7
2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba
AP_NavEKF3: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
edbaf9f3c1
AP_NavEKF2: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
d31ca6ca8c
AP_NavEKF: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
6484a9666c
AP_Mount: use ZERO_FARRAY()
2021-07-23 10:19:45 +09:00
Andrew Tridgell
6bcc0737ae
AP_Motors: fixup build for ftype conflict
2021-07-23 10:19:45 +09:00
Andrew Tridgell
9629b19ec1
AP_Common: added double methods for SITL
2021-07-23 10:19:45 +09:00
Andrew Tridgell
970ae3dd76
SITL: fixup offset calls
2021-07-23 10:19:45 +09:00
Andrew Tridgell
232ccfe477
AP_Math: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
712fbd08dc
HAL_ChibiOS: use SRAM1 as first ram segment on H7
...
this is needed to give the linker more than 128k for static variables
with double precision maths.
2021-07-23 10:19:45 +09:00
Andrew Tridgell
53ecf048d1
AP_HAL: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
21bd2b7008
Tools: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
41154e0f1b
waf: added --ekf-double configure option
2021-07-23 10:19:45 +09:00
Andrew Tridgell
a4693d191c
Plane: prepare for 4.1.0beta3
2021-07-23 10:19:45 +09:00
Andrew Tridgell
01b6eaf200
Plane: updated release notes for 4.1.0beta3
2021-07-23 10:19:45 +09:00
Andrew Tridgell
079577a6e5
APM_Control: adjust fixed wing filter defaults
...
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
2021-07-23 10:19:45 +09:00
Andrew Tridgell
36b22cffb6
AP_Notify: disable DShot buzzer by default
2021-07-23 10:19:45 +09:00
Andrew Tridgell
06066c1af2
Plane: fixed motor test with DShot VTOL motors
...
need to arm when running the motor test
2021-07-23 10:19:45 +09:00
Andy Piper
c265d70d3d
AP_Notify: re-enable display on 1Mb boards
2021-07-23 10:19:45 +09:00
Andrew Tridgell
3a683be219
HAL_ChibiOS: always send zero DShot when disarmed
...
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.
See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
2021-07-23 10:19:45 +09:00
Andrew Tridgell
a757706797
AP_Logger: fixed log creation on forced arm
...
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
2021-07-23 10:19:45 +09:00
Andrew Tridgell
080ebe9cb2
Plane: prepare for 4.1.0beta2 release
2021-07-23 10:19:45 +09:00
Andrew Tridgell
5132442b1e
Plane: prepare for 4.1.0beta1 release
2021-07-23 10:19:45 +09:00
Randy Mackay
6668c072f6
Copter: version to 4.1.0-beta5
2021-07-23 10:19:45 +09:00
Randy Mackay
4acdce2a8b
Rover: version to 4.1.0-beta5
2021-06-30 14:40:15 +09:00
Randy Mackay
b3b7fec71c
Rover: 4.1.0-beta5 release notes
2021-06-30 14:37:48 +09:00
Randy Mackay
97db237b96
Copter: 4.1.0-beta5 release notes
2021-06-30 13:45:03 +09:00
Randy Mackay
cb0cb38949
mavlink: move submodule reference forward to latest
2021-06-30 12:05:09 +09:00
Randy Mackay
8c5eecf84e
Rover: call send-water-depth
2021-06-30 12:05:09 +09:00
Randy Mackay
3900a4f14a
GCS_MAVLink: send water depth and temp
2021-06-30 12:05:09 +09:00
Andrew Tridgell
5eb1d4a5a9
Copter: improve check of far_from_EKF_origin
...
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
2021-06-30 11:52:55 +09:00
Hwurzburg
4c7a9146c6
Rover: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Hwurzburg
8eaf45f185
Blimp: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Hwurzburg
ac76a63931
ArduPlane: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Hwurzburg
e6c80744db
ArduCopter: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Hwurzburg
106e5e0115
AntennaTracker: remove values metadata from log bitmask
2021-06-30 09:24:26 +09:00
Shiv
4a39424d6b
Copter: added comments to include libraries in copter.h and attitude.cpp
...
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
2021-06-30 09:23:24 +09:00
Andrew Tridgell
a7f31929ea
AP_Common: use longitude scaling from definitions.h
2021-06-29 17:26:34 +09:00