Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 08:58:29 -04:00
Code Issues Packages Projects Releases Wiki Activity
33,679 Commits 71 Branches 510 Tags 771 MiB
3011bc1930
Commit Graph

33679 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
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
092c31f370 Tools: added mRoControlZeroF7 bootloader 2019-07-09 16:23:45 +10:00
Andrew Tridgell
85b5223be1 Plane: decay fw rate integrators when at low airspeed 
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
 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
f5bf610b9a Plane: reset rate controller integrators if not run for 2s 
this prevents a bug where integrator buildup can happen from a
previous flight mode
 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
bd5d11ca82 Plane: update version for 3.9.9beta1 2019-07-08 11:41:59 +10:00
Andrew Tridgell
7e43101dbd Plane: prepare for 3.9.9beta1 release 2019-07-08 11:40:53 +10:00
Andrew Tridgell
5fde4cde06 Tools: removed unused io firmware 2019-07-08 10:37:24 +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
4378d92c6e Tools: update IO firmware binary 2019-07-08 10:37:11 +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
f52ccd9982 Plane: fixed home reset alt bias 
this fixes a bug in the set of home alt while disarmed. The set had a
circular dependency which could cause a large bias to build up between
home alt and gps alt due to small fluctuations in barometer data

Thanks to Nick Allen for spotting this
 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