Andy Piper
c6247433df
AP_Vehicle: output rcout banner when initialization is done
...
move down ready message
2021-08-14 11:05:38 +09:00
Andy Piper
761fc57a18
AP_HAL_ChibiOS: output initializing from PWM banner when not available
2021-08-14 11:05:38 +09:00
Pierre Kancir
53d69de164
AP_ESC_Telem: prevent possible overrun
2021-08-14 11:05:38 +09:00
Pierre Kancir
050e18cd03
AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS
2021-08-14 11:05:38 +09:00
Pierre Kancir
2d0e359065
AP_ESC_Telem: fix out of bound access
2021-08-14 11:05:38 +09:00
Pierre Kancir
6e9e529967
AP_OSD: check for nullptr before using it
2021-08-14 11:05:38 +09:00
Leonard Hall
0c48848d31
AP_Math: Spelling fix
2021-08-14 11:05:38 +09:00
Leonard Hall
f5dd8a9982
AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
b25dab9c9b
AC_WPNav: support Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
dac064e51c
AP_Math: Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
61982815cd
AP_Math: Control: protect against divide by zero
2021-08-14 11:05:38 +09:00
Leonard Hall
b8cc90688e
AC_WPNav: Fix Angle Vel units on function
2021-08-14 11:05:38 +09:00
Leonard Hall
dfcc6ce612
AC_AttitudeControl: Fix Angle Vel units on function
2021-08-14 11:05:38 +09:00
Leonard Hall
2436330da1
AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE
2021-08-14 11:05:38 +09:00
Leonard Hall
6b72b1fd31
AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-14 11:05:37 +09:00
Leonard Hall
51dbf271f9
AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
...
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
2021-08-14 11:05:37 +09:00
Andrew Tridgell
1422c283b0
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
2021-08-14 11:05:37 +09:00
Andrew Tridgell
74f89cfbce
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
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this may help with some GPS modules
2021-08-14 11:05:37 +09:00
Andy Piper
91d0a44524
AP_HAL_ChibiOS: probe for compasses on FlywooF745
2021-08-14 11:05:37 +09:00
Randy Mackay
6670a48811
AP_NavEKF3: skip GSF reset count check if source actively changed
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also only fail all compass on emergency reset
2021-08-14 11:05:37 +09:00
Andrew Tridgell
37533db6f1
AP_NavEKF3: fixed output LLH to account for IMU offset
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thanks to Paul and Randy
2021-08-14 11:05:37 +09:00
Leonard Hall
5c16e81f8f
AC_AttitudeControl: Support thrust to weight of 10:1
2021-08-14 11:05:37 +09:00
Andy Piper
7bad54f638
AP_Motors: remove tri yaw servo from motor mask
2021-08-14 11:05:37 +09:00
Andrew Tridgell
d88d811ab3
AP_GPS: added arming checks for yaw available on ublox RTK rover
2021-08-14 11:05:37 +09:00
bugobliterator
cc4fc42ed0
AP_RangeFinder: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
d27acbce2d
AP_EFI: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
ae0d11a26d
AP_BattMonitor: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
1bac7283ab
AP_CANSensor: create a separate register driver method
2021-08-14 11:05:37 +09:00
Andrew Tridgell
ddbcfafe30
AP_AHRS: build fix
2021-07-23 10:19:50 +09:00
Paul Riseborough
d90c67a079
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
...
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
2021-07-23 10:19:50 +09:00
Paul Riseborough
28224c001a
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-23 10:19:50 +09:00
Paul Riseborough
5a3f785798
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
4b4bb18f50
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-23 10:19:50 +09:00
Paul Riseborough
a98583e0ca
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
51a1b9ae9a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-23 10:19:50 +09:00
Paul Riseborough
edd75e3981
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8
AP_NavEKF3: Make bad IMU status more persistent
2021-07-23 10:19:50 +09:00
Paul Riseborough
3ce5633701
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8
AP_NavEKF3: Retune IMU process noise
...
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d
AP_NavEKF3: Update covariance prediction equations
2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-23 10:19:49 +09:00