Paul Riseborough
edd75e3981
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
This makes state corrections from GPS and baro observations more aggressive
2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8
AP_NavEKF3: Make bad IMU status more persistent
2021-07-23 10:19:50 +09:00
Paul Riseborough
3ce5633701
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463
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
2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8
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.
2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d
AP_NavEKF3: Update covariance prediction equations
2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-23 10:19:49 +09:00
Andrew Tridgell
c2e221dd09
AP_Math: fix uses of single precision
2021-07-23 10:19:49 +09:00
Randy Mackay
e4684f65dc
AR_WPNav: integrate PathPlanner returning path_planner_used
...
Rover does not need to handle the results differently based on the planner used
2021-07-23 10:19:49 +09:00
Randy Mackay
0c9fbf9456
AC_WPNav_OA: minor formatting and comment fixes
2021-07-23 10:19:49 +09:00
Randy Mackay
b95c6b5e5d
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
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also bendy ruler uses pos controller
2021-07-23 10:19:49 +09:00
Randy Mackay
c991ff4318
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-23 10:19:49 +09:00
Randy Mackay
075c05baea
AC_Avoidance: bendy ruler format fixes
2021-07-23 10:19:49 +09:00
Randy Mackay
0b26bace7f
AC_Avoidance: OA_PathPlanner returns which planner was used
...
this replaces get_bendy_type
2021-07-23 10:19:49 +09:00
Randy Mackay
980909deb5
AC_Avoidance: BendyRuler returns which type was used
...
also make serach_xxx_path methods private
2021-07-23 10:19:49 +09:00
Randy Mackay
400731df1b
AP_Common: add Location::linear_interpolate_alt
2021-07-23 10:19:49 +09:00
Andy Piper
74a8891099
AP_BLHeli: ensure correct rotation through telemetry ESCs
2021-07-23 10:19:49 +09:00
Pierre Kancir
3cee86e63f
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-23 10:19:49 +09:00
Leonard Hall
6f5d2008e3
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-23 10:19:49 +09:00
Leonard Hall
6f26ca6b65
WP_Nav: Return Crosstrack error
2021-07-23 10:19:49 +09:00
Leonard Hall
d6df47fd06
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-23 10:19:49 +09:00
Randy Mackay
fce7db0d18
AC_WPNav: use get_terrain_margin instead of constant
2021-07-23 10:19:49 +09:00
Randy Mackay
33ec14ce70
AC_WPNav: add TER_MARGIN param
2021-07-23 10:19:49 +09:00
Leonard Hall
767281dc76
AC_AttitudeControl: AC_PosControl: Auto Terain following update
2021-07-23 10:19:49 +09:00
Leonard Hall
4bbc69ef6e
AC_WPNav: Auto Terain following update
2021-07-23 10:19:49 +09:00
Andy Piper
a9187a50cf
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-23 10:19:48 +09:00
Leonard Hall
a765e266f4
AC_AttitudeControl: Allow yaw rate reset to be de-selected
2021-07-23 10:19:48 +09:00
Hwurzburg
4664ed6d7d
RC_Channel: fix ELRS systems spamming CRSF mode/rate messages
2021-07-23 10:19:48 +09:00
Hwurzburg
a09f38b195
AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages
2021-07-23 10:19:48 +09:00
Andy Piper
2ef5a9170e
AP_RCTelemetry: correct firmware string length for CRSF
2021-07-23 10:19:48 +09:00
Leonard Hall
82ba9e06a1
AC_WPNav: Remove unused function
2021-07-23 10:19:48 +09:00
Leonard Hall
05f21d7665
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-23 10:19:48 +09:00
Leonard Hall
49da46af16
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-23 10:19:48 +09:00
Leonard Hall
b2032ee2e3
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-23 10:19:48 +09:00
Leonard Hall
d9c0670dcd
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-23 10:19:47 +09:00
Leonard Hall
5f7607bbf0
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-23 10:19:47 +09:00
Leonard Hall
2075e2ffc4
AC_AttitudeControl: Add terain following to guided
2021-07-23 10:19:47 +09:00
Randy Mackay
d22f8fbc35
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-23 10:19:47 +09:00
Leonard Hall
80b90a7ac3
AC_WPNav: move code to generate terrain following kinematic path
2021-07-23 10:19:47 +09:00
Leonard Hall
9244183798
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-23 10:19:47 +09:00
Leonard Hall
612b00ef00
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-23 10:19:47 +09:00
Andrew Tridgell
cb14275e43
AP_Math: added test for SCurve::calculate_path
...
this was the values shown in the core dump for failing guided mode
test in CI
2021-07-23 10:19:47 +09:00
