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26741 Commits

Author SHA1 Message Date
Randy Mackay
fe2b4d09c3 AC_WPNav: protect against divide-by-zero 2021-09-10 14:07:37 +09:00
Randy Mackay
173de60f25 AC_WPNav: move definitions to .cpp file 2021-09-10 14:07:37 +09:00
Randy Mackay
05ac549155 Copter: terrain spelling fix 2021-09-10 14:07:37 +09:00
Randy Mackay
b66b5cd21c AC_WPNav: terrain spelling fix 2021-09-10 14:07:37 +09:00
Leonard Hall
e0c26afc4a AC_AttitudeControl: AC_PosControl: Remove const float 2021-09-10 14:07:37 +09:00
Leonard Hall
c404eec65c AC_WPNav: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Leonard Hall
efd6a14d66 AC_Autotune: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Leonard Hall
d942db7a38 AC_AttitudeControl: AC_PosControl: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Iampete1
753cb6dc20 SRV_Channel: call update_aux_servo_function in function_assigned 2021-09-10 14:07:37 +09:00
Andrew Tridgell
d0351581a0 HAL_ChibiOS: use more USB buffers on higher end F7 chips 2021-09-10 14:07:37 +09:00
Andrew Tridgell
d565549fad HAL_ChibiOS: reduce the impact of UART DMA contention 
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
 2021-09-10 14:07:37 +09:00
Andrew Tridgell
cbecce1d43 GCS_MAVLink: check for null comm_port before writing 
this was found when adding debug code to write to a specific channel
 2021-09-10 14:07:37 +09:00
Pierre Kancir
4f34ae70bf AP_Rangefinder: fix override in constructor 2021-09-10 14:07:37 +09:00
Andrew Tridgell
99d0f31059 AP_DAL: fixed a bug in RMGH logging 2021-09-10 14:07:37 +09:00
Andrew Tridgell
1ae5b5de1f AP_InertialSensor: fixed locking issue in delta accumulation 
this fixes a bug in calculating delta velocity and delta acceleration
between threads.
 2021-09-10 14:07:37 +09:00
Andrew Tridgell
8843704aca HAL_ChibiOS: fixed GPIO lines for QioTekZealotF427 2021-09-10 14:07:37 +09:00
Andrew Tridgell
76eece252b AP_Declination: added a test suite for AP_Declination 
use test vectors from MAVProxy mavextra
 2021-09-10 14:07:37 +09:00
Andrew Tridgell
171f855654 AP_Declination: fixed rounding in mag field 
thanks to Angela for noticing this
 2021-09-10 14:07:37 +09:00
mateksys
29a028d361 Tools: added MatekF765-SE to autobuild 2021-08-28 14:41:27 +09:00
mateksys
de2cfe0702 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-28 14:41:27 +09:00
Peter Barker
52d58f0670 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
3e2ad2ec8a APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
0b76a17e65 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
6d40d5bda0 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
4000983884 AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-28 14:41:27 +09:00
QioTek
7b38bdb455 AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649 
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
 2021-08-28 14:41:27 +09:00
Hwurzburg
4761bd0eff AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel 2021-08-28 14:41:27 +09:00
Andrew Tridgell
4143a21088 HAL_ChibiOS: allow FlywooF745 to build again 2021-08-28 14:41:27 +09:00
Andy Piper
479157a741 AP_HAL_ChibiOS: add FlywooF745Nano board definition 2021-08-28 14:41:27 +09:00
Leonard Hall
b6c4ccb683 AC_AttitudeControl: AC_PosControl: Non functional clean up 2021-08-28 14:41:27 +09:00
Leonard Hall
283c83fb6e AC_WPNav: Fix Jerk units 2021-08-28 14:41:27 +09:00
Leonard Hall
bb5b00d920 AC_AttitudeControl: AC_PosControl: limit initial acceleration 2021-08-28 14:41:27 +09:00
Leonard Hall
feafbe81a3 AC_AttitudeControl: AC_PosControl: fix stopping point initialization 2021-08-28 14:41:27 +09:00
Iampete1
e1972c7132 AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator 2021-08-28 14:41:27 +09:00
Randy Mackay
61cf45c944 AP_Scripting: copter-fast-descent.lua example script 2021-08-28 14:41:27 +09:00
Randy Mackay
400c9ee6b0 AP_Vehicle: add virtual set_target methods 2021-08-28 14:41:27 +09:00
Randy Mackay
ee81583669 AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings 2021-08-28 14:41:27 +09:00
Randy Mackay
08c2508e0c AP_Scripting: minor reorder of AP_Vehicle bindings 
this is a slightly better grouping
 2021-08-28 14:41:27 +09:00
Randy Mackay
a4664cc388 AP_Scripting: add AHRS:get_relative_position_NED_origin binding 2021-08-28 14:41:27 +09:00
Randy Mackay
93b7e614f6 AP_Scripting: add copter-circle-speed.lua example 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
 2021-08-28 14:41:27 +09:00
Randy Mackay
a2a732c91c AP_Scripting: add bindings for get_circle_radius, set_circle_rate 2021-08-28 14:41:27 +09:00
Randy Mackay
3bebd0bfaa AP_Vehicle: add get_circle_radius, set_circle_rate 2021-08-28 14:41:27 +09:00
Iampete1
2868128847 AP_Vehicle: #ifdef scripting specific functions 2021-08-28 14:41:27 +09:00
Iampete1
ac70c38187 AC_AttitudeControl: check for zero rate Y max before taking min 2021-08-28 14:41:27 +09:00
Randy Mackay
cede4bb028 AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero 2021-08-28 14:41:27 +09:00
Pierre Kancir
fad42e8c9c AP_InertialSensor: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Pierre Kancir
3043ab6b01 AP_Baro: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Pierre Kancir
adb82e13ee AP_Compass: fix externalAHRS detection 
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
84d9ff108e HAL_ChibiOS: switch to minimum scheduling delta of 10us 
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
 2021-08-28 14:41:27 +09:00
Andy Piper
3c8dbf8e30 AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it 
change mamba F405 to active high as per betaflight
 2021-08-28 14:41:27 +09:00
Randy Mackay
945600a49e AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 14:41:27 +09:00
Andrew Tridgell
cc5bfc8375 AC_AttitudeControl: this fixes an issue with Z accel initialisation 
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
 2021-08-28 14:41:27 +09:00
Andrew Tridgell
7ae696340a SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-28 14:41:27 +09:00
Hwurzburg
8b484738a5 AP_OSD: fixes bug introduced by #16477 2021-08-14 10:44:08 +09:00
Pierre Kancir
ae59533af1 AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 10:44:08 +09:00
Randy Mackay
a3c658ea01 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Randy Mackay
25af40adde AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
7b77dd39e0 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
4044ea1a42 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
03e382b1e3 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 10:44:08 +09:00
Andy Piper
d6b991768e AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 10:44:08 +09:00
Andy Piper
87018b859e AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 10:44:08 +09:00
Pierre Kancir
aad2733d06 AP_ESC_Telem: prevent possible overrun 2021-08-14 10:44:08 +09:00
Pierre Kancir
2c62d32ca8 AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 10:44:08 +09:00
Pierre Kancir
04a4a27a14 AP_ESC_Telem: fix out of bound access 2021-08-14 10:44:08 +09:00
Pierre Kancir
61a50c5481 AP_OSD: check for nullptr before using it 2021-08-14 10:44:08 +09:00
Leonard Hall
ba70c50a07 AP_Math: Spelling fix 2021-08-14 10:44:08 +09:00
Leonard Hall
a363468281 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall
eb652b71f9 AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall
eff91e87ca AP_Math: Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall
397cd8cbe0 AP_Math: Control: protect against divide by zero 2021-08-14 10:44:08 +09:00
Leonard Hall
8cd70f2569 AC_WPNav: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00
Leonard Hall
0ee9dbc059 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 10:44:08 +09:00
Leonard Hall
988f2dbb7e AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 10:44:08 +09:00
Leonard Hall
2e6e3d7b89 AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 10:44:08 +09:00
Leonard Hall
b3a10e45ba 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 10:44:08 +09:00
Andrew Tridgell
516df460b8 AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 10:44:08 +09:00
Andrew Tridgell
f735804035 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 10:44:08 +09:00
Andy Piper
796fdab984 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 10:44:08 +09:00
Randy Mackay
3c5bd942a6 AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 10:44:08 +09:00
Andrew Tridgell
c00fa705b7 AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 10:44:08 +09:00
Leonard Hall
8d41b2225b AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 10:44:08 +09:00
Andy Piper
d2c084bf69 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 10:44:08 +09:00
Andrew Tridgell
d7c72af849 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 10:44:08 +09:00
bugobliterator
62d89e840f AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 10:44:08 +09:00
bugobliterator
f33188b95f AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 10:44:08 +09:00
bugobliterator
b8c2a18eaf AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 10:44:08 +09:00
bugobliterator
cf535481e9 AP_CANSensor: create a separate register driver method 2021-08-14 10:44:08 +09:00
Andrew Tridgell
c1f72d6683 AP_AHRS: build fix 2021-07-22 19:07:36 +09:00
Paul Riseborough
b2c24a0b58 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.
 2021-07-22 19:07:36 +09:00
Paul Riseborough
762529a987 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-22 19:07:36 +09:00
Paul Riseborough
dd9cc70ad4 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-22 19:07:36 +09:00
Paul Riseborough
84693ea3c4 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.
 2021-07-22 19:07:36 +09:00
Paul Riseborough
d841615710 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 19:07:36 +09:00
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 
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 
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 
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 
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
Andrew Tridgell
aa4bbdfce1 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-22 19:07:36 +09:00
Andy Piper
e0bd344582 AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-22 19:07:36 +09:00
Randy Mackay
e139bfa1b8 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-22 19:07:36 +09:00
Andrew Tridgell
f8e23f5d3d AP_Common: update tests for 4.1 2021-07-22 19:07:36 +09:00
Andrew Tridgell
7e069b40eb HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-22 19:07:36 +09:00
Andrew Tridgell
a81ef9c272 AP_SerialManager: document DisableFIFO bit 2021-07-22 19:07:36 +09:00
Andrew Tridgell
fcc9e4627c AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
126d5a8d23 HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-22 19:07:36 +09:00
Andrew Tridgell
ae3b21b28a AP_HAL: added serial option for disabling FIFO on uarts 2021-07-22 19:07:36 +09:00
Andrew Tridgell
9a469bdaa9 AP_Math: fixed build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
d3163c8f48 HAL_SITL: update for changed SITL API 2021-07-22 19:07:36 +09:00
Andrew Tridgell
1f5d16bff8 SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
34eb9f7328 SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
da2b69d521 AP_DAL: update GPS yaw API to add timestamp 2021-07-22 19:07:36 +09:00
Andrew Tridgell
d7dea5c28c AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
966deb1148 AP_NavEKF: sync for 4.1.0beta 2021-07-22 19:07:36 +09:00
Andrew Tridgell
5660d31ca2 AP_Math: sync for 4.1.0beta releases 2021-07-22 19:07:36 +09:00
Andrew Tridgell
6ee9e445a9 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
0a04bb4b05 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-22 19:07:36 +09:00
Peter Barker
c4dbbfcc07 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 19:07:36 +09:00
Andrew Tridgell
aadf179286 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
93e1bd0160 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 19:07:36 +09:00
Andrew Tridgell
9acb16acca AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
3df7c1a7c7 AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 19:07:36 +09:00
Andrew Tridgell
5543706626 AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
a8844a8428 AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
87b4ca47e8 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 19:07:36 +09:00
Andrew Tridgell
7bb971f07d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 19:07:36 +09:00
Andrew Tridgell
395d2f1f7e AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 19:07:36 +09:00
Andrew Tridgell
63de37341c HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 19:07:36 +09:00
Andrew Tridgell
4f0f4608b9 AP_NavEKF3: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
601eb12efb AP_NavEKF2: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
78e87b32d6 AP_NavEKF: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
557fee7add AP_Mount: use ZERO_FARRAY() 2021-07-22 19:07:36 +09:00
Andrew Tridgell
045f8f2299 AP_Motors: fixup build for ftype conflict 2021-07-22 19:07:36 +09:00
Andrew Tridgell
9246442482 AP_Common: added double methods for SITL 2021-07-22 19:07:36 +09:00
Andrew Tridgell
c1012d69ab SITL: fixup offset calls 2021-07-22 19:07:36 +09:00
Andrew Tridgell
dddd78daf7 AP_Math: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
3239caf852 HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
4e4646d9d7 AP_HAL: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
3b64d41408 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
07acfd49b2 AP_Notify: disable DShot buzzer by default 2021-07-22 19:07:36 +09:00
Andy Piper
1f324d7cbf AP_Notify: re-enable display on 1Mb boards 2021-07-22 19:07:36 +09:00
Andrew Tridgell
7cd3c29ab2 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-22 19:07:36 +09:00
Andrew Tridgell
1b44375eea AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-22 19:07:36 +09:00
Randy Mackay
3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00
Andrew Tridgell
a7f31929ea AP_Common: use longitude scaling from definitions.h 2021-06-29 17:26:34 +09:00
Andrew Tridgell
978ea307b0 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-06-29 17:26:34 +09:00
Peter Barker
819c331acd AP_BattMonitor: correct static_assert call 2021-06-28 11:05:00 +09:00
Peter Barker
67ebdc300b AP_HAL_SITL: reduce scope of loop variable 2021-06-27 10:57:07 +10:00
Leonard Hall
fcde1e7370 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-06-25 16:54:05 +09:00
Leonard Hall
8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00
Andrew Tridgell
f12a7dd04b AP_Mount: fixed longitude subtraction 2021-06-25 15:33:55 +10:00
Peter Barker
f69e2a49f6 AP_Common: add test for longitude wrapping 2021-06-25 15:33:55 +10:00
Andrew Tridgell
77d83b9c77 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-06-25 15:33:55 +10:00
Leonard Hall
5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00