This sets the fusion of the synthetic position and velocity to occur at the same time as the barometer
This makes filter tuning more consistent between GPS and non-GPS useage
High measurement data rates can fill buffers with data that is always new and never fused because it is over-written before it falls behind the measurement time horizon.
new param: NAVL1_XTRACK_I
// @Description: Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.
fixes https://github.com/diydrones/ardupilot/issues/2650
when param is changed the integrator is set to zero. This makes for easier tuning by seeing it converge to zero on each change.
This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
When instantiating AP_AHRS_NavEKF for ArduCopter, explicitly pass the
flag to always use the EKF.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
For all supported boards the maximum number of instances is 3. The
number of HIL_COMPASSES was already defined as 2 instead of 3, so this
is left as before.
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
COMPASS_MAX_INSTANCES and COMPASS_MAX_BACKEND constant for all supported
boards.
We don't support HAL_CPU_CLASS <= HAL_CPU_CLASS_16 anymore. This makes
INS_MAX_INSTANCES, INS_MAX_BACKENDS and INS_VIBRATION_CHECK constant for
all supported boards.
The code with ifdef for !FAST_SAMPLING is bit rotting and the example
for AP_InertialSensor is currently broken for this case. Instead of
adding more ifdefs, remove the legacy implementation for !FAST_SAMPLING
since we don't support it anymore.
Reported by Grant:
/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:
In member function 'void AP_InertialSensor_MPU6000::_accumulate(uint8_t*,
uint8_t)':
/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:776:20:
error: no match for 'operator+=' (operand types are 'Vector3l {aka
Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
_accel_sum += accel;
/home/grant/3dr/ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp:777:19:
error: no match for 'operator+=' (operand types are 'Vector3l {aka
Vector3<long int>}' and 'Vector3f {aka Vector3<float>}')
_gyro_sum += gyro;
Andrew Tridgell
Paul Riseborough
lanbo.gao
Tom Pittenger
Caio Marcelo de Oliveira Filho
Peter Barker
wsilva32
Lucas De Marchi