- split get_type into allocated_type and configured_type
- check allocated type rather than configured type when looking at backends
Prevents overwrite of random memory when backends are changed at runtime.
I have no idea if this is actually the sort of number which these devices will return.
However, for the EKF to be happy with the GPS the reported speed accuracy must be much lower than the SBP2 driver reports when we give it these numbers.
It might be that we are interpretting these fields incorrectly in the driver and that the simulator is, in fact, correct.
Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings.
For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project.
Add code to reflect USB ACM parity setting to the passthrough port alongside existing support for ACM baud rate changes. Some use cases for serial passthrough require specific parity settings.
For example, even parity is used and required by the USART protocol used in the STM32 system bootloader. This enhancement allows the use of standard flash programming tools such as STM32CubeProgrammer to flash connected STM based peripherals such as Receivers and Telemetry radios via serial passthrough. Some examples of such peripherals include the FrSky R9 receivers as well as various other STM based LoRa modules used by the mLRS project.
support detecting F9P hardware variant
fix bug in extension buffer management
support NEO-F9P GNSS configuration
allow multiple configuration values to be set in one go
phase F9 configuration to account for GNSS reset
The previous method resulted in data incest and fusion of predicted airspeed on every EKF internal time step.
This was not apparent during flight where the vehicle was turning, but during long straight legs did not constrain along track drift.
Make it user selectable.
Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks.
Log the waitingForGpsChecks class variable
These changes enable the EKF to use the last observable wind velocity vector estimate to synthesise an airspeed measurement if operating without an airspeed sensor and when all other measurement types that can constrain velocoty drift are lost. This enables the EKF to use dead reckoning to continue after loss of GPS when there is no air speed sensor fitted and without the need to set a default airspeed value.
The logic used to fuse a default airspeed value has also been cleaned up and the call to FuseAirSpeed() from inside SelectBetaDragFusion() has been removed.
AP_NavEKF3: Fix error in default airspeed observation variance
AP_NavEKF3: Enable shadow fusion of airspeed when sensor is disabled
Peter Barker
Brad Bosch
muramura
Martin Luessi
subashchandar
Andy Piper
Bill Geyer
MattKear
Paul Riseborough
Andrew Tridgell
Paul Riseborough
Iampete1
George Zogopoulos