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Author SHA1 Message Date
Paul Riseborough
9654697415 Copter: rework ekf_check to use the EKF vibration_affected status 2021-07-22 18:20:45 +10:00
Paul Riseborough
7497590363 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-22 18:20:45 +10:00
Paul Riseborough
3e123c0a30 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-22 18:20:45 +10:00
Paul Riseborough
e3bdbcd8ea AP_NavEKF3: Make bad IMU status more persistent 2021-07-22 18:20:45 +10:00
Paul Riseborough
8f1b98a0cb AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-22 18:20:45 +10:00
Paul Riseborough
ccc95d8726 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 18:20:45 +10:00
Paul Riseborough
ed61287410 AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-22 18:20:45 +10:00
Paul Riseborough
62d70a628e AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-22 18:20:45 +10:00
Paul Riseborough
5eb7751682 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 18:20:45 +10:00
Paul Riseborough
ff1c465a17 Tools: relax navigation test accuracy 2021-07-22 18:20:45 +10:00
Paul Riseborough
72dc998509 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 18:20:45 +10:00
Paul Riseborough
0f2661c31c 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 18:20:45 +10:00
Paul Riseborough
a0ae998a4d 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.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
171eed5d85 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-22 18:20:45 +10:00
Paul Riseborough
ce4d13091a AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 18:20:45 +10:00
Paul Riseborough
6242ce19fa AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 18:20:45 +10:00
Paul Riseborough
bb9eed28a9 AP_NavEKF3: Update covariance prediction equations 2021-07-22 18:20:45 +10:00
Paul Riseborough
7b8e935880 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-22 18:20:45 +10:00
Andrew Tridgell
0048167f16 SITL: added SIM2 message 
useful for EKF debugging
 2021-07-22 10:19:02 +10:00
Randy Mackay
e9f6a5afdf 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 08:51:41 +09:00
Randy Mackay
83e85c7125 AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 08:51:41 +09:00
Randy Mackay
cf797dfca9 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 08:51:41 +09:00
Randy Mackay
dd4b3295f4 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 08:51:41 +09:00
Randy Mackay
faadaafd53 AC_Avoidance: bendy ruler format fixes 2021-07-22 08:51:41 +09:00
Randy Mackay
6d6324a328 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 08:51:41 +09:00
Randy Mackay
d7d41aea38 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 08:51:41 +09:00
Randy Mackay
70c6694798 AP_Common: add Location::linear_interpolate_alt 2021-07-22 08:51:41 +09:00
Randy Mackay
7daacfd63e AP_Math: vector2f gets float.h include 2021-07-22 08:51:41 +09:00
Randy Mackay
52bb8112b3 AP_Math: control.h needs vector2/3 includes 2021-07-22 08:51:41 +09:00
Andrew Tridgell
95cbb69d3c AP_Parachute: added CHUTE_OPTIONS 
allow for servo release forever to cope with high altitude drops where
servo may be frozen
 2021-07-22 07:49:14 +10:00
Andrew Tridgell
f91e995e98 AP_Arming: check pin arming_checks 2021-07-22 07:48:12 +10:00
Andrew Tridgell
8660e98b57 AP_Parachute: added arming_checks() 2021-07-22 07:48:12 +10:00
Andrew Tridgell
09ad43dea3 AP_Relay: added arming_checks 2021-07-22 07:48:12 +10:00
Andrew Tridgell
d827b35e57 AP_RPM: implement arming_checks() 2021-07-22 07:48:12 +10:00
Andrew Tridgell
9b78fa7fb8 HAL_SITL: implement valid_pin() 2021-07-22 07:48:12 +10:00
Andrew Tridgell
d302d3c90a HAL_ChibiOS: implement valid_pin() 2021-07-22 07:48:12 +10:00
Andrew Tridgell
4dcff3d900 AP_HAL: added valid_pin() GPIO API 2021-07-22 07:48:12 +10:00
Andrew Tridgell
8f9929c6c2 Rover: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell
8e6abf5976 ArduPlane: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell
a0ef4f76e2 AP_RangeFinder: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell
6888ddc4cc AP_LeakDetector: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell
b6dbc618dc AP_Compass: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell
fdd294b0f3 AP_BoardConfig: replaced Pixhawk with more appropriate wording in docs 2021-07-22 07:48:12 +10:00
Andrew Tridgell
b0fc5c3041 AP_WindVane: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell
8b388f80c5 AP_WheelEncoder: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell
9691581c81 AP_RSSI: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell
095ab7c9d7 AP_RPM: replaced PixhawkAUX1 with AUX1 
not everything is a pixhawk
 2021-07-22 07:48:12 +10:00
Andrew Tridgell
25057d26a0 AP_WindVane: default pins to -1 2021-07-22 07:48:12 +10:00
Andrew Tridgell
d0a26b6dc6 AP_WheelEncoder: default pins to -1 2021-07-22 07:48:12 +10:00
Andrew Tridgell
958843c0a9 AP_RSSI: default RSSI pin to -1 2021-07-22 07:48:12 +10:00