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17641 Commits

Author SHA1 Message Date
Andrew Tridgell
1fd6c0c00c AP_Airspeed: enable MS4525 on 4th I2C bus (for Pixhawk4) 2019-07-26 19:02:47 +10:00
Andrew Tridgell
243d8fcb95 AP_RangeFinder: added a 1.5 delay to probe of LW20 I2C 
the LW20 takes a long time to boot and be ready to probe
 2019-07-19 17:02:50 +10:00
Andrew Tridgell
e52d447c08 SITL: fixed pitch constraint on fixed wing takeoff 
fixes issue with jet takeoff
 2019-07-10 17:56:03 +10:00
Andrew Tridgell
6ff94c1022 SITL: simple implementation of a fast jet 
just increase the weight and the rest can be done with params
 2019-07-10 17:55:56 +10:00
Andrew Tridgell
5e420e2adf AP_IneertialSensor: fixed startup race in SITL 2019-07-10 11:14:59 +10:00
Andrew Tridgell
cd178a6c4f AP_Compass: backport master AK09916 driver 
this allows mRoControlZeroF7 to work in copter stable
 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
3011bc1930 AP_Baro.cpp: support DPS280 on SPI 2019-07-09 16:23:45 +10:00
Andrew Tridgell
aee7740ae9 AP_InertialSensor: fixes for backport of BMI088 driver 2019-07-09 16:23:45 +10:00
Andrew Tridgell
9a3ce35d7b AP_HAL: added Invensensev2 defines 2019-07-09 16:23:45 +10:00
Andrew Tridgell
9773f841b8 AP_InertialSensor: add drivers for register bank based Invensense Sensors 2019-07-09 16:23:45 +10:00
Andrew Tridgell
99bbcddc26 AP_InertialSensor: added driver for BMI088 
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
d484e9300a AP_InertialSensor: probe IMUs for mRoControlZeroF7 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
90a7d1dd6a AP_Baro: support DPS280 on SPI 2019-07-09 16:23:45 +10:00
Andrew Tridgell
f825487b57 AP_HAL: added DPS280 on SPI / added board type for mRoControlZeroF7 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
37429901ab HAL_ChibiOS: added hwdef for mRoControlZeroF7 2019-07-09 16:23:45 +10:00
Andrew Tridgell
b18d7cfc3d HAL_ChibiOS: added missing pins for F777 2019-07-09 16:23:45 +10:00
Andrew Tridgell
3f765d8bbe APM_Control: added decay_I() function 
used by VTOL planes to decay integrator on fixed wing components when
at very low airspeed
 2019-07-09 16:23:44 +10:00
Andrew Tridgell
f0a02bb6ba AP_NavEKF3: origin handling fixes from Francisco 2019-07-09 16:23:44 +10:00
Andrew Tridgell
450224b420 AP_NavEKF2: origin handling fixes from Francisco 2019-07-09 16:23:44 +10:00
Robin Hilliard
49d9f57c85 AP_HAL_SITL: Fix build on OSX 
include pthread.h missing from Scheduler.h, similar to PR 11281.
 2019-07-09 15:23:15 +10:00
Andrew Tridgell
3293ae4c65 HAL_ChibiOS: switch to new IO firmware for fmuv5 2019-07-08 10:37:22 +10:00
Andrew Tridgell
715e167557 RC_Channel: added get_type() method 2019-07-08 10:37:19 +10:00
Andrew Tridgell
8d076ded1e AP_IOMCU: fixup 2019-07-08 10:37:16 +10:00
Andrew Tridgell
3ce762ab7c HAL_ChibiOS: support DSM bind on IOMCU 2019-07-08 10:37:13 +10:00
Andrew Tridgell
5056fa68c7 AP_IOMCU: sync with master IOMCU firmware 2019-07-08 10:37:04 +10:00
Andrew Tridgell
e2155ad02d AP_NavEKF3: don't allow height datum reset when not on ground 2019-07-06 15:50:34 +10:00
Andrew Tridgell
6c54ba3e7a AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-06 15:50:34 +10:00
Andrew Tridgell
f44e5b4afb AP_NavEKF3: set terrainState to zero on height datum reset 2019-07-06 15:50:34 +10:00
Andrew Tridgell
befefc152a AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-06 15:50:34 +10:00
Andrew Tridgell
6efccab94c AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
358aaab472 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
64ba098c57 AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
2fc28e2eae AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
f6004ddfe3 AP_RCProtocol: fixed a overflow in SRXL decoder 
thanks to coverity 343308 and Peter for noticing
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
c452486f0a AP_NavEKF3: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
760bbf9921 AP_NavEKF2: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
1de946b29e AP_NavEKF2: default EK2_MAG_EF_LIM to 50 
this was supposed to be part of the original PR (agreed with Paul to
enable by default)
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
994a4b2082 AP_NavEKF2: constrain field by table after fusion 
this should make for faster convergence
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
6f5d0fa3f0 AP_NavEKF2: added EK2_MAG_EF_LIM parameter 
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
74805870b8 AP_Compass: use new get_earth_field_ga() API 2019-07-06 15:50:34 +10:00
Andrew Tridgell
7814a3f2e3 AP_Declination: added get_earth_field_ga() interface 
this gives a more convenient API for getting the earth field as a
vector
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
659458f208 AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection 2019-07-06 15:50:34 +10:00
Andrew Tridgell
14265d9580 AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-06 15:50:34 +10:00
Andrew Tridgell
91889d22cd AP_Mount: don't use disabled IMUs in solo gimbal code 2019-07-06 15:50:34 +10:00
Andrew Tridgell
1f309e8401 AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
7a9203ef29 AP_InertialSensor: zero accumulators on time step 
this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
a5e3cd664b AP_InertialSensor: added RC switch for killing IMUs 2019-07-06 15:50:34 +10:00
Andrew Tridgell
d0792f29da HAL_ChibiOS: cope with calling delay_microseconds_boost() multiple times 
needed for updated IMU wait code
 2019-07-06 10:03:18 +10:00
Andrew Tridgell
0bbe9bfb71 AP_InertialSensor: try much harder to get all IMU samples 
this we ensures we get new data for all active IMUs on each loop,
rather than sometimes returning with some IMUs not having data.

This matters as not having a sample on an IMU for a single loop can
cause an EKF IMU failover, which will degrade the learned bias
variances

The issue is usually only seen under high load, such as requesting a
loop rate beyond what the hardware is capable of
 2019-07-06 10:03:18 +10:00
Andrew Tridgell
47f9cce612 AP_NavEKF3: added inactive bias learning 
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
 2019-07-06 08:34:31 +10:00