Peter Barker
2a964c44d4
autotest: copy message hooks while iterating over them for removal
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won't remove a number of entries from the end of the list if others have been removed
2024-06-10 07:04:40 +10:00
Andy Piper
2af6358c07
AP_GPS: dynamically allocate config_GNSS
2024-06-10 06:53:23 +10:00
Andy Piper
90f7222f98
AP_HAL_ChibiOS: enable LEDs on Here4AP
2024-06-10 06:53:23 +10:00
Andy Piper
a9dc7b440f
AP_GPS: support GPSx_GNSS_MODE for F9P
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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
2024-06-10 06:53:23 +10:00
Bill Geyer
c77f688032
AP_Motors: fix spacing
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Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
2024-06-09 13:24:38 -04:00
MattKear
3a311a9d69
AP_Motors: Heli: Fix SWSH logging for reversed collectives
2024-06-09 13:24:38 -04:00
Paul Riseborough
5c76e77c11
autotest: Reduce time threshold used in plane deadreckoning test
2024-06-09 14:25:02 +10:00
Andrew Tridgell
09623f46e8
autotest: enable LOG_REPLAY in deadreckoning test
2024-06-09 14:25:02 +10:00
Paul Riseborough
b17e189473
Tools: update AHRS_OPTIONS for dead reckoning test
2024-06-09 14:25:02 +10:00
Paul Riseborough
19f6b2d6d6
Tools: relax req accuracy for plane dead reckoning when not using airspeed
2024-06-09 14:25:02 +10:00
Paul Riseborough
9d2b05840b
Tools: Disable DCM fallback for plane dead reckoning tests
2024-06-09 14:25:02 +10:00
Paul Riseborough
61874da020
AP_NavEKF3: Rework method of synthesising airspeed for dead reckoning
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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.
2024-06-09 14:25:02 +10:00
Paul Riseborough
87a867ee2e
Tools: Use GPS jamming option in EKF dead reckoning autotests
2024-06-09 14:25:02 +10:00
Paul Riseborough
720c2da807
AP_NavEKF3: Rework GPS jamming resiliency
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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
2024-06-09 14:25:02 +10:00
Paul Riseborough
996bf7d4df
AP_NavEKF3: Log gpsGoodToAlign
2024-06-09 14:25:02 +10:00
Paul Riseborough
eb2ff2192d
AP_NavEKF3: Don't block no compass planes from running GPS alignment checks
2024-06-09 14:25:02 +10:00
Paul Riseborough
6baeb1cd9d
AP_NavEKF3: Fix bug causing in flight yaw align to not complete
2024-06-09 14:25:02 +10:00
Paul Riseborough
ffde7f815c
AP_NavEKF3: Allow wind to relearn rapidly when GPS is re-enabled
2024-06-09 14:25:02 +10:00
Paul Riseborough
8639543cdd
Tools: Allow dead reckoning test longer to learn wind if no aspd sensor
2024-06-09 14:25:02 +10:00
Paul Riseborough
87bf8d9997
AP_NavEKF3: Treat wind as truth when deadreckoning with no airspeed sensor
2024-06-09 14:25:02 +10:00
Paul Riseborough
568972c0f0
AP_NavEKF3: Fix bug preventing use of default or synthetic airspeed
2024-06-09 14:25:02 +10:00
Paul Riseborough
2b027a7265
Tools: re-work copter and plane loss of GPS auto tests
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Explicitly test time taken to reset to GPS loss and regain of lock for copter without and plane with dead reckoning assistance.
2024-06-09 14:25:02 +10:00
Paul Riseborough
2c3174b77b
AP_NavEKF3: Strengthen protection against GPS jamming
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These changes prevent the EKF from consuming GPS data too soon when it is recovering from jamming if the EKF is able to navigate using dead reckoning.
2024-06-09 14:25:02 +10:00
Paul Riseborough
324d5da811
AP_NavEKF3: Use last observed wind states to enable dead reckoning
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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
2024-06-09 14:25:02 +10:00
Paul Riseborough
e53416e77b
AP_NavEKF3: Apply GPS quality checks following loss of 3D fix if velocity error is bounded
2024-06-09 14:25:02 +10:00
MattKear
5784abde1f
AP_Motors: Heli dual: Constrain cyclic roll for intermeshing
2024-06-08 23:13:28 -04:00
Peter Barker
3ede599cfd
autotest: clarify AutoTuneSwitch test
2024-06-09 09:53:08 +10:00
Peter Barker
2c3594b8ff
autotest: revert SIM_SPEEDUP for RTL in follow test
2024-06-09 09:09:31 +10:00
Peter Barker
56a865147d
autotest: ModeFollow: correct relative altitude being fed to autopilot
2024-06-09 09:09:00 +10:00
Peter Barker
eaf5767bfa
autotest: simplify AC_Avoidance_Proximity test
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take advantage of new infrastructure
2024-06-09 09:08:29 +10:00
Andrew Tridgell
c783f632c1
AP_Scription: added CANF logging to Halo6000 EFI driver
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allows for easier debugging
2024-06-09 08:37:44 +10:00
Iampete1
1c5c80d244
AP_Scripting: Docs: remove stray grave
2024-06-08 07:29:53 +10:00
Andrew Tridgell
e9d39d80f4
AP_InertialSensor: fixed ICM42670
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highres sampling is not working on the ICM42670 on some versions of
the Pixhawk6X. Disable for now.
2024-06-07 19:44:48 +10:00
Iampete1
cb22a6389d
AP_Scripting: add virtual class in docs to avoid need nil check warning
2024-06-07 06:30:22 +10:00
muramura
dfc04cd53a
AP_Notify: Convert the ENUM definition to a class
2024-06-06 15:15:14 -04:00
George Zogopoulos
396865223f
autotest: Removed unnecessary parameter whitelist item
2024-06-05 19:03:31 +10:00
George Zogopoulos
d2901dc9c9
SITL: Removed trailing underscore
2024-06-05 19:03:31 +10:00
Peter Barker
78fcf7057c
GCS_MAVLink: move switch for sending camera messages into AP_Camera
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neatens GCS_Common a bit, reduces repetitive code
2024-06-05 10:29:01 +10:00
Peter Barker
5538f6735f
AP_Camera: move switch for sending camera messages into AP_Camera
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neatens GCS_Common a bit, reduces repetitive code
2024-06-05 10:29:01 +10:00
Willian Galvani
be87aa5191
Sub: set default streamrates
2024-06-04 19:24:51 -03:00
Tom Pittenger
ad006de914
locations: add Madera and Peg
2024-06-04 09:22:53 -06:00
xue
66138aed0f
Tools: reserve IDs for ZeroOne
2024-06-04 23:02:06 +10:00
Peter Barker
f345ae792b
Rover: remove defaulting of OSD_ENABLED
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we do this in AP_OSD_config.h too so include ordering can break things badly
2024-06-04 16:32:26 +10:00
Peter Barker
61a34d0edb
ArduPlane: remove defaulting of OSD_ENABLED
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we do this in AP_OSD_config.h too so include ordering can break things badly
2024-06-04 16:32:26 +10:00
Peter Barker
cb869ef7f0
ArduCopter: remove defaulting of OSD_ENABLED
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we do this in AP_OSD_config.h too so include ordering can break things badly
2024-06-04 16:32:26 +10:00
Iampete1
364419be81
AP_Scripting: docs: allow overload of manual bindings to allow documentation of optional arguments
2024-06-04 09:29:49 +10:00
Iampete1
f54ca766df
AP_Scripting: tests: luacheck.lua: ignore lua-language-server
2024-06-04 09:29:49 +10:00
Iampete1
93642026aa
AP_Scripting: tests: check.json: check files it gitignore but not self
2024-06-04 09:29:49 +10:00
Iampete1
c5cdc46fb7
Tools: scripts: run_lua_language_check.py: allow running on a single file and error is no files are checked
2024-06-04 09:29:49 +10:00
Henry Wurzburg
3b86c0527f
AP_BLHeli:expand metadata of 3d and Reverse masks
2024-06-04 09:24:41 +10:00