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26504 Commits

Author SHA1 Message Date
Andrew Tridgell
c63548a5f3 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-25 09:30:25 +10:00
Andrew Tridgell
506e03251a AP_AHRS: build fix 2021-07-25 09:30:25 +10:00
Paul Riseborough
998cad030e 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.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
73229371c7 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-25 09:30:25 +10:00
Paul Riseborough
8744b0954f AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
6637d9dece AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
1d3ed8e9da AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fb6de9ad9d AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-25 09:30:25 +10:00
Paul Riseborough
ca00da81cd AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-25 09:30:25 +10:00
Paul Riseborough
c3f38ec159 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-25 09:30:25 +10:00
Paul Riseborough
00b91b4799 AP_NavEKF3: Make bad IMU status more persistent 2021-07-25 09:30:25 +10:00
Paul Riseborough
14c2bb0c9b AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fdea45a3e4 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-25 09:30:25 +10:00
Paul Riseborough
ace601f1dd AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-25 09:30:25 +10:00
Paul Riseborough
8b16d8dc4c AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-25 09:30:25 +10:00
Paul Riseborough
eb5a82dd38 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-25 09:30:25 +10:00
Paul Riseborough
942a1f329f AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-25 09:30:25 +10:00
Paul Riseborough
ffce6fab70 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.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
77082e414b AP_NavEKF3: Make gyro bias learning less noisy 2021-07-25 09:30:25 +10:00
Paul Riseborough
a32fd0a97c AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-25 09:30:25 +10:00
Paul Riseborough
90a8dc48d1 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-25 09:30:25 +10:00
Paul Riseborough
bb88aef1b3 AP_NavEKF3: Update covariance prediction equations 2021-07-25 09:30:25 +10:00
Paul Riseborough
b6a2f4b4f5 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-25 09:30:25 +10:00
Andrew Tridgell
36174d198f AP_Math: fix uses of single precision 2021-07-22 16:01:01 +10:00
Randy Mackay
b375fe291f AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-22 16:01:01 +10:00
Randy Mackay
6dd100df7b AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
3242bd0ee8 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 16:01:01 +10:00
Randy Mackay
6cbc62744b AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 16:01:01 +10:00
Randy Mackay
3177759a1d AC_Avoidance: bendy ruler format fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
8d641e1bb3 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 16:01:01 +10:00
Randy Mackay
6b74dd2ab4 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 16:01:01 +10:00
Randy Mackay
7084009454 AP_Common: add Location::linear_interpolate_alt 2021-07-22 16:01:01 +10:00
Andy Piper
8cd3ae12a7 AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 16:01:01 +10:00
Pierre Kancir
62be72d3ba AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 16:01:01 +10:00
Leonard Hall
730ac9cb20 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 16:01:01 +10:00
Leonard Hall
5001f47313 WP_Nav: Return Crosstrack error 2021-07-22 16:01:01 +10:00
Leonard Hall
3d6dd8cff8 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 16:01:01 +10:00
Randy Mackay
b916f7742e AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 16:01:01 +10:00
Randy Mackay
7a09ac1aa6 AC_WPNav: add TER_MARGIN param 2021-07-22 16:01:01 +10:00
Leonard Hall
2dea0fa966 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 16:01:01 +10:00
Leonard Hall
fc8242db68 AC_WPNav: Auto Terain following update 2021-07-22 16:01:01 +10:00
Andy Piper
19ae04f1b0 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 16:01:01 +10:00
Leonard Hall
902560953b AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 16:01:01 +10:00
Hwurzburg
b59f5ec7a1 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Hwurzburg
319cc7a199 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Andy Piper
4540244e2a AP_RCTelemetry: correct firmware string length for CRSF 2021-07-22 16:01:01 +10:00
Leonard Hall
14cfcf18c2 AC_WPNav: Remove unused function 2021-07-22 16:01:01 +10:00
Leonard Hall
fcca42410a AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 16:01:01 +10:00
Leonard Hall
c3c3a47e9a AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 16:01:01 +10:00
Leonard Hall
ebd8401652 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 16:01:01 +10:00