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48434 Commits

Author SHA1 Message Date
Leonard Hall 24f57b1daa Copter: Guided: move to zero velocity after takeoff 2021-07-22 16:01:01 +10:00
Leonard Hall d4610974e2 Copter: Auto Yaw variable names and comments 2021-07-22 16:01:01 +10:00
Leonard Hall 945af08fd0 Copter: Guided Angle init Z controller on time out 2021-07-22 16:01:01 +10:00
Leonard Hall 14cfcf18c2 AC_WPNav: Remove unused function 2021-07-22 16:01:01 +10:00
Leonard Hall 9abbc11c30 Copter: additional yaw modes and fixes 2021-07-22 16:01:01 +10:00
Leonard Hall fcca42410a AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 16:01:01 +10:00
Leonard Hall c3c3a47e9a AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 16:01:01 +10:00
Leonard Hall 2df7e9551a Copter: Guided: use default yaw mode for all gps based sub modes. 2021-07-22 16:01:01 +10:00
Leonard Hall d51ab7fcc9 Copter: Guided: stop aircraft if an invalid command is sent 2021-07-22 16:01:01 +10:00
Leonard Hall 03373c6962 Copter: Guided: make aircraft stop on accel time out 2021-07-22 16:01:01 +10:00
Leonard Hall 7defb6d3e6 Copter: Guided add terrain failsafe 2021-07-22 16:01:01 +10:00
Leonard Hall 9ce91211e2 Copter: Guided: support terrain following 2021-07-22 16:01:01 +10:00
Leonard Hall ebd8401652 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 16:01:01 +10:00
Leonard Hall e6d248f41d Copter: Guided: fix waypoint track reporting 2021-07-22 16:01:01 +10:00
Leonard Hall 04611f4c98 Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 2021-07-22 16:01:01 +10:00
Leonard Hall 1e3c4d06c2 Copter: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall a4003474b8 Plane: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall e1000d25ed Sub: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall 30aa636ba1 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall c1484f4b31 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:00 +10:00
Leonard Hall 8a23df951d Copter: Guided: use common initialisation 2021-07-22 16:01:00 +10:00
Leonard Hall e71c8c6446 Copter: Guided prevent takeoff without takeoff command. 2021-07-22 16:01:00 +10:00
Leonard Hall 9d8fdf3e85 AC_AttitudeControl: Add terain following to guided 2021-07-22 16:01:00 +10:00
Randy Mackay 97f2ecd06e Copter: guided accepts terrain alt position targets 2021-07-22 16:01:00 +10:00
Randy Mackay 3e2949ce98 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 16:01:00 +10:00
Leonard Hall 0269c49c14 AC_WPNav: move code to generate terrain following kinematic path 2021-07-22 16:01:00 +10:00
Leonard Hall a250a06080 Sub: adjust for AttitudeControl library changes 2021-07-22 16:01:00 +10:00
Leonard Hall 52d054b9c8 Tools: Autotest update guided bitbask to include acceleration 2021-07-22 16:01:00 +10:00
Leonard Hall d5d7e3d5d3 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-22 16:01:00 +10:00
Leonard Hall a546a9ac14 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-22 16:01:00 +10:00
Leonard Hall e91bc234ea Copter: support for acceleration-based AttitudeControl 2021-07-22 16:01:00 +10:00
Andrew Tridgell 3fd0bf734b AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-22 16:01:00 +10:00
Andy Piper 560a5ea225 AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-22 16:01:00 +10:00
Randy Mackay 5697e5616c AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-22 16:01:00 +10:00
Leonard Hall 96a48668d5 Copter: Correct yaw expo range limit 2021-07-22 16:01:00 +10:00
Andrew Tridgell 7e50577ca5 autotest: adjust test_altitude_types for small change in longitude_scale 2021-07-22 16:01:00 +10:00
Andrew Tridgell 8165a81256 AP_Common: update tests for 4.1 2021-07-22 16:01:00 +10:00
Andrew Tridgell 1d91353867 CI: removed test_size.yml 
testing size against master doesn't work for 4.1
 2021-07-22 16:01:00 +10:00
Andrew Tridgell d128c1a86f HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell 52e4b522f9 AP_SerialManager: document DisableFIFO bit 2021-07-22 16:01:00 +10:00
Andrew Tridgell 18d90f76b5 AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-22 16:01:00 +10:00
Andrew Tridgell c2b310ad86 HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-22 16:01:00 +10:00
Andrew Tridgell c37310b966 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-22 16:01:00 +10:00
Andrew Tridgell 0579870593 AP_Math: fixed build 2021-07-22 16:01:00 +10:00
Andrew Tridgell ab71cac503 Sub: fixes for use of longitude_scale() 2021-07-22 16:01:00 +10:00
Andrew Tridgell 97da800b67 HAL_SITL: update for changed SITL API 2021-07-22 16:01:00 +10:00
Andrew Tridgell 8fc7f661e8 SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-22 16:01:00 +10:00
Andrew Tridgell 29f694ffdd SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-22 16:01:00 +10:00
Andrew Tridgell f8e315fc65 AP_DAL: update GPS yaw API to add timestamp 2021-07-22 16:01:00 +10:00
Andrew Tridgell 4b2c766857 AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-22 16:01:00 +10:00