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48277 Commits

Author SHA1 Message Date
Leonard Hall 368eb6480f Plane: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 16:41:52 +10:00
Leonard Hall 0d52cd4aeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 16:41:52 +10:00
Leonard Hall a9fb5ceb5c 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 16:41:52 +10:00
Andrew Tridgell a7c3b2244a AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 16:41:52 +10:00
Andrew Tridgell 96580ee4f3 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 16:41:52 +10:00
Andy Piper 150290dd25 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 16:41:52 +10:00
Randy Mackay c1b67d295f AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 16:41:52 +10:00
Andrew Tridgell ae725421bc AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 16:41:52 +10:00
Leonard Hall 95601d42db Copter: Guided: Add terrain following initialization. 2021-08-14 16:41:52 +10:00
Leonard Hall 628206b5e8 AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 16:41:52 +10:00
Andy Piper a1f0ad63a9 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 16:41:52 +10:00
Josh Henderson e02f0f049a ArduCopter: guided auto_yaw_angle_rate timeout 2021-08-14 16:41:52 +10:00
Andrew Tridgell 9ed2e35229 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 16:41:52 +10:00
bugobliterator c539fe9bc2 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator 97a04c85f0 AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator 36b3fcc1a0 AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator b6a86533fc AP_CANSensor: create a separate register driver method 2021-08-14 16:41:52 +10:00
Andrew Tridgell 3de5ca6e12 Plane: prepare for 4.1.0beta4 2021-07-25 18:30:35 +10:00
Andrew Tridgell 5cfe288ff4 Plane: updated release notes for 4.1.0beta4 2021-07-25 18:30:08 +10:00
Andrew Tridgell 6609faff9e APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-25 09:30:25 +10:00
Andrew Tridgell 2255bfc257 Plane: update ATRP logging 2021-07-25 09:30:25 +10:00
Andrew Tridgell 09bb6a6942 Plane: added ONESHOT_MASK parameter 
after discussion with Paul on servo latency
 2021-07-25 09:30:25 +10:00
Andrew Tridgell 9e16660b69 Plane: added manual input expo for MANUAL, ACRO and TRAINING 
this is easier than setting up mode specific expo in radios for flying
in manual modes
 2021-07-25 09:30:25 +10:00
Andrew Tridgell c63548a5f3 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-25 09:30:25 +10:00
Randy Mackay f94483c380 Copter: version to 4.1.0-beta6 2021-07-25 09:30:25 +10:00
Randy Mackay b208c0b6d4 Copter: 4.1.0-beta6 release notes 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 aef90fc2c6 Tools: Rework Plane.EKFlaneswitch autotest 2021-07-25 09:30:25 +10:00
Paul Riseborough 02dcba8b6a Tools: Rework Copter VibrationFailsafe test to use commanded land 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 a829bc435c Tool: Allow more time for quadplane autotest to land and disarm 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
Andrew Tridgell e042f2693b Plane: disable EKF3 default airspeed fusion by default 
this fusion can cause problems with wind estimation, disable by
default for now
 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 00806ac9fb Copter: rework ekf_check to use the EKF vibration_affected status 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 21c4058acf Tools: relax navigation test accuracy 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 c087be94cb Tools: Fix AIRSPEED_AUTOCAL test failure 
The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
 2021-07-25 09:30:25 +10:00