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26811ad46d
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25444 Commits

Author SHA1 Message Date
James O'Shannessy
26811ad46d AP_Landing: Autoenable fence if required when landing was aborted 2021-03-05 14:52:46 +11:00
James O'Shannessy
8ef68c8fb0 AC_Fence: Send text to gcs when fence is auto-enabled 2021-03-05 14:52:46 +11:00
James O'Shannessy
b4bf41c6f9 AC_Fence: Adjustments to default parameters for addition to plane 2021-03-05 14:52:46 +11:00
James O'Shannessy
c316711351 ArduPlane: Add conversion from ArduPlane geofence param to AC_Fence param 2021-03-05 14:52:46 +11:00
James O'Shannessy
254c28f142 AC_Fence: Improve auto enable documentation 2021-03-05 14:52:46 +11:00
James O'Shannessy
b6d29d746b AC_Fence: Add common auto enable and auto disable 2021-03-05 14:52:46 +11:00
James O'Shannessy
e4f1e26b5c AC_Fence: Disable fence floor when disabling the rest of the fence 2021-03-05 14:52:46 +11:00
Steven Josefs
c783410494 AC_Fence: adjusted AP_GROUPINFO to contain all copters 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
22bdc3e54c AC_Fence: extend pre-arm checks 
Fix comments
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
2e422f249a AC_Fence: small comment improvements. Do not call the same function four times 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
15e95be7d7 AC_Fence: do not delete the FENCE_ENABLE parameter. It would confuse many users. 
Talked to Randy about this. The consensus was not to delete the parameter
 2021-03-05 14:52:46 +11:00
James O'Shannessy
783a4b7965 AC_Fence: Change logic to fence enable and sys_status reporting 2021-03-05 14:52:46 +11:00
James O'Shannessy
a23e8d46da AP_Vehicle: Add additional fence mode change reason 2021-03-05 14:52:46 +11:00
James O'Shannessy
8ca69c2e89 AP_Logger: Add support for fence floor events 2021-03-05 14:52:46 +11:00
James O'Shannessy
c2abf27d78 GCS_MAVLink: Add reporting of fence floor breaches to GCS_MAVLink 
GCS_MAVLink: Add disabling of fence floor only, per mavlink spec

GCS_MAVLink: Cannot enable a fence if the fence is not present
 2021-03-05 14:52:46 +11:00
James O'Shannessy
0e73b7bce1 AP_Arming: Enable and Disable the fence when vehicle is armed/disarmed 
AP_Arming: Use auto enable flag to arm fence only when armed (as per enum)

AP_Arming: Config defines are not available in AP_Arming

Since config definitions are not available in AP_Arming, we can still rely on singleton access of the AC_Fence object.

AP_Arming: Perform fence checks for all vehicles
 2021-03-05 14:52:46 +11:00
James O'Shannessy
87b66b4b49 AC_Fence: Add parameters from Geofence to AC_Fence 
AC_Fence: Add fence floor breach checks and calculations

AC_Fence: Add event logging to enable/disable of fence floor

AC_Fence: Adjust sys_status reporting to look at total fence count

AC_Fence: Make retrieving of the return point accessible

AC_Fence: Check whether fence is enabled or autoenable is set for arming checks

Checks whether the fence is currently enabled OR if the fence is intended to be enabled automatically.
These checks are used to find out enabled fences, or prearm checks
 2021-03-05 14:52:46 +11:00
Paul Riseborough
9b53d505ea AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false 2021-03-05 12:10:01 +11:00
Paul Riseborough
e3eea0a54a AP_NavEKF3: Use specialised function for in-flight plane yaw alignment 2021-03-05 12:10:01 +11:00
Paul Riseborough
4675aea0bf AP_NavEKF3: Update parameter description 2021-03-05 12:10:01 +11:00
Paul Riseborough
246b80dc06 AP_NavEKF3: Don't return a 0,0 lat,lng unless absolutely necessary 2021-03-05 12:10:01 +11:00
Paul Riseborough
aa49e92edc AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete API 2021-03-05 12:10:01 +11:00
Paul Riseborough
1a3258a039 AP_AHRS: Fall back to DCM airspeed estimate if EKF velocity not available 2021-03-05 12:10:01 +11:00
Paul Riseborough
a50be71b41 AP_NavEKF3: Fix inconsistency in reporting raw GPS position validity 2021-03-05 12:10:01 +11:00
Paul Riseborough
ec401083bf AP_AHRS: Remove unused variable 2021-03-05 12:10:01 +11:00
Paul Riseborough
af2bf6097b AP_AHRS: Add accessor function for EKF3 yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough
6a603019d5 AP_NavEKF3: Add accessor function for yaw alignment status 2021-03-05 12:10:01 +11:00
Paul Riseborough
3634a942a1 AP_NavEKF3: Fix bug causing unwanted use of default airspeed 2021-03-05 12:10:01 +11:00
Paul Riseborough
a0faa55ef5 AP_AHRS: Fix rebase build error 2021-03-05 12:10:01 +11:00
Paul Riseborough
912db3512e AP_NavEKF3: Fix EKF selection bug 2021-03-05 12:10:01 +11:00
Paul Riseborough
85c0040fa3 AP_NavEKF3: Improve inFlight detection for fixed wing 
Better handle case where no airspeed sensor is being used with a hand launch.
 2021-03-05 12:10:01 +11:00
Andrew Tridgell
6d6ec44d59 AP_AHRS: fixed build on boards without EKF2 2021-03-05 12:10:01 +11:00
Paul Riseborough
295c1e1308 AP_NavEKF3: Reset covariances when falling back to non aiding mode 2021-03-05 12:10:01 +11:00
Paul Riseborough
adae7365e1 AP_NavEKF3: Fix LLH reporting bug 2021-03-05 12:10:01 +11:00
Paul Riseborough
ddadc45854 AP_NavEKF3: Reset states when falling back into non aiding mode. 2021-03-05 12:10:01 +11:00
Paul Riseborough
b92eca7b66 AP_NavEKF3: Select startup aiding mode after landing without yaw sensor 2021-03-05 12:10:01 +11:00
Paul Riseborough
afb31bc4f5 AP_NavEKF: Add underflow protection to yaw GSF weight normalisation 
This improves protection against a condition where if all yaw hypothesis filers have very large innovations, the weights of Gaussian densities can underflow leading to failure of the weights to converge.
 2021-03-05 12:10:01 +11:00
Paul Riseborough
d1d790019c AP_AHRS: Improve use of estimated airspeed 
Enable default airspeed variance to be specified externally to the EKF
Enable use of EKF airspeed estimates
 2021-03-05 12:10:01 +11:00
Paul Riseborough
9a5a264aa0 AP_NavEKF3: Improve wind estimation without airspeed sensing 
Enable default airspeed variance to be specified externally
Improve control of sideslip fusion
Don't modify non wind states unnecessarily when using synthesised air data measurements
 2021-03-05 12:10:01 +11:00
Paul Riseborough
ac00776184 AP_NavEKF2: DAL interface compatibility change 2021-03-05 12:10:01 +11:00
Paul Riseborough
296fb567ca AP_DAL: Enable default airspeed variance to be specified externally 2021-03-05 12:10:01 +11:00
murata
9228925bea AP_Motors: Battery voltage compensation maximum voltage 2021-03-05 08:48:20 +09:00
Tatsuya Yamaguchi
ecf928d68b AP_Proximity: change PRX_IGN_WIDx range from 45 to 127 2021-03-04 17:40:07 +09:00
Josh Henderson
267d19b0de SITL: SIM_Vicon fix observation interval limit 2021-03-04 16:12:54 +09:00
Josh Henderson
dceb76c9f1 SITL: SIM_VICON output MAVLink vision_position_delta 2021-03-04 16:12:54 +09:00
Peter Barker
e3de88d1d4 GCS_MAVLink: handle MAV_CMD_DO_SET_MISSION_CURRENT 2021-03-04 11:59:33 +11:00
Randy Mackay
f0ffaa5624 AR_AttitudeControl: reset speed filter and I term when stopped 2021-03-04 09:07:32 +09:00
James O'Shannessy
f6231db618 AC_Fence: Add breach calculation variant to use LLA 
Adds a parameter to make selection between vector pos_cm from origin and lat/lng.
 2021-03-04 10:31:58 +11:00
murata
e041b647d7 AP_Mount: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00
murata
6e6e807223 AP_NavEKF: Change misnomer (NFC) 2021-03-03 20:49:55 +11:00