Paul Riseborough
1812d8ea3a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-22 19:07:36 +09:00
Paul Riseborough
6d6699f9f9
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
This makes state corrections from GPS and baro observations more aggressive
2021-07-22 19:07:36 +09:00
Paul Riseborough
7abecb4e0e
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-22 19:07:36 +09:00
Paul Riseborough
1cc7dc59a1
AP_NavEKF3: Make bad IMU status more persistent
2021-07-22 19:07:36 +09:00
Paul Riseborough
6907fa8e88
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
2021-07-22 19:07:36 +09:00
Paul Riseborough
662bda1bbd
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-22 19:07:36 +09:00
Paul Riseborough
f37caffb31
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-22 19:07:36 +09:00
Paul Riseborough
36ead940d6
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-22 19:07:36 +09:00
Paul Riseborough
82ed96a927
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
2021-07-22 19:07:36 +09:00
Paul Riseborough
3714c1b2e2
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-22 19:07:36 +09:00
Paul Riseborough
a24df9d633
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.
2021-07-22 19:07:36 +09:00
Paul Riseborough
5a3e0e7f17
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-22 19:07:36 +09:00
Paul Riseborough
827d871c85
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-22 19:07:36 +09:00
Paul Riseborough
aa13e86ac9
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-22 19:07:36 +09:00
Paul Riseborough
cb6371e952
AP_NavEKF3: Update covariance prediction equations
2021-07-22 19:07:36 +09:00
Paul Riseborough
4f8f187b81
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-22 19:07:36 +09:00
Andrew Tridgell
7f3bc8ba1f
AP_Math: fix uses of single precision
2021-07-22 19:07:36 +09:00
Randy Mackay
92008ebb8f
AR_WPNav: integrate PathPlanner returning path_planner_used
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Rover does not need to handle the results differently based on the planner used
2021-07-22 19:07:36 +09:00
Randy Mackay
cca86c7a24
AC_WPNav_OA: minor formatting and comment fixes
2021-07-22 19:07:36 +09:00
Randy Mackay
0a5d6c48e6
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
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also bendy ruler uses pos controller
2021-07-22 19:07:36 +09:00
Randy Mackay
55e23d7230
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-22 19:07:36 +09:00
Randy Mackay
ae81e8ab2b
AC_Avoidance: bendy ruler format fixes
2021-07-22 19:07:36 +09:00
Randy Mackay
f98efd7ef8
AC_Avoidance: OA_PathPlanner returns which planner was used
...
this replaces get_bendy_type
2021-07-22 19:07:36 +09:00
Randy Mackay
1536249b33
AC_Avoidance: BendyRuler returns which type was used
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also make serach_xxx_path methods private
2021-07-22 19:07:36 +09:00
Randy Mackay
d946a2c95d
AP_Common: add Location::linear_interpolate_alt
2021-07-22 19:07:36 +09:00
Andy Piper
b6ce206c3d
AP_BLHeli: ensure correct rotation through telemetry ESCs
2021-07-22 19:07:36 +09:00
Pierre Kancir
9f2bfd330d
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-22 19:07:36 +09:00
Leonard Hall
9d1a51969b
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-22 19:07:36 +09:00
Leonard Hall
efd854562f
WP_Nav: Return Crosstrack error
2021-07-22 19:07:36 +09:00
Leonard Hall
8e31de412c
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-22 19:07:36 +09:00
Randy Mackay
aad2f883d6
AC_WPNav: use get_terrain_margin instead of constant
2021-07-22 19:07:36 +09:00
Randy Mackay
9775d23883
AC_WPNav: add TER_MARGIN param
2021-07-22 19:07:36 +09:00
Leonard Hall
dbf1020c16
AC_AttitudeControl: AC_PosControl: Auto Terain following update
2021-07-22 19:07:36 +09:00
Leonard Hall
185c6cf845
AC_WPNav: Auto Terain following update
2021-07-22 19:07:36 +09:00
Andy Piper
3efb3336a5
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-22 19:07:36 +09:00
Leonard Hall
b4277c49ca
AC_AttitudeControl: Allow yaw rate reset to be de-selected
2021-07-22 19:07:36 +09:00
Hwurzburg
e1cf91af15
RC_Channel: fix ELRS systems spamming CRSF mode/rate messages
2021-07-22 19:07:36 +09:00
Hwurzburg
f3e0a9e848
AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages
2021-07-22 19:07:36 +09:00
Andy Piper
dd69a9b5ba
AP_RCTelemetry: correct firmware string length for CRSF
2021-07-22 19:07:36 +09:00
Leonard Hall
49148f28e7
AC_WPNav: Remove unused function
2021-07-22 19:07:36 +09:00
Leonard Hall
3bf7e493b4
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-22 19:07:36 +09:00
Leonard Hall
370b980876
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-22 19:07:36 +09:00
Leonard Hall
a29794ab49
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-22 19:07:36 +09:00
Leonard Hall
23b7d1060d
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
731a6bcb31
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
52166c94fe
AC_AttitudeControl: Add terain following to guided
2021-07-22 19:07:36 +09:00
Randy Mackay
f3c25397c7
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-22 19:07:36 +09:00
Leonard Hall
ec53ea7f8e
AC_WPNav: move code to generate terrain following kinematic path
2021-07-22 19:07:36 +09:00
Leonard Hall
b6b4d9869c
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-22 19:07:36 +09:00
Leonard Hall
91e22680a5
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-22 19:07:36 +09:00