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Author SHA1 Message Date
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
df9950fbb3 Tools: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell
5bccdf5e5a waf: added --ekf-double configure option 2021-07-22 19:07:36 +09:00
Andrew Tridgell
4ed4adacfa Plane: prepare for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell
14c006bb1a Plane: updated release notes for 4.1.0beta3 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
Andrew Tridgell
ff93999a94 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 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
Andrew Tridgell
c53eacf73d Plane: prepare for 4.1.0beta2 release 2021-07-22 19:07:36 +09:00
Andrew Tridgell
f4974107e1 Plane: prepare for 4.1.0beta1 release 2021-07-22 19:07:36 +09:00
Randy Mackay
98c73a0b05 Copter: version to 4.1.0-beta5 2021-06-30 13:47:51 +09:00
Randy Mackay
97db237b96 Copter: 4.1.0-beta5 release notes 2021-06-30 13:45:03 +09:00
Randy Mackay
cb0cb38949 mavlink: move submodule reference forward to latest 2021-06-30 12:05:09 +09:00
Randy Mackay
8c5eecf84e Rover: call send-water-depth 2021-06-30 12:05:09 +09:00
Randy Mackay
3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00
Andrew Tridgell
5eb1d4a5a9 Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-06-30 11:52:55 +09:00
Hwurzburg
4c7a9146c6 Rover: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg
8eaf45f185 Blimp: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg
ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg
e6c80744db ArduCopter: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg
106e5e0115 AntennaTracker: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Shiv
4a39424d6b Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-06-30 09:23:24 +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
Andrew Tridgell
843f87d618 Tools: install geocoder 2021-06-29 15:41:26 +10:00
Andrew Tridgell
d81b758d77 autotest: support using geocoder for -L location 
this allows for location names from OSM, for example:

  sim_vehicle.py -L '26 Carstensz St Griffith' --console --map
 2021-06-29 15:41:26 +10:00
Hwurzburg
8310f4a718 Plane: fix bug in tilt position for QLOITER and QRTL if THR_MIN !=0 2021-06-29 10:58:11 +10:00
Rafael Araujo Lehmkuhl
4f7da5867d Tools: Allow direct execution of firmware_version_decoder.py from command line 2021-06-29 09:24:04 +10:00
Peter Barker
819c331acd AP_BattMonitor: correct static_assert call 2021-06-28 11:05:00 +09:00