Pierre Kancir
3043ab6b01
AP_Baro: fix externalAHRS detection
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'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
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'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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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This makes state corrections from GPS and baro observations more aggressive
2021-07-22 19:07:36 +09:00
