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48,719 Commits 71 Branches 510 Tags 774 MiB
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Commit Graph

26796 Commits

Author SHA1 Message Date
Iampete1
8c7cad8663 AP_Scripting: generator support depends keyword on AP_Object 2021-07-27 09:04:17 +10:00
Iampete1
432793a18a AP_Arming: support scripting CAN driver 2021-07-27 09:04:17 +10:00
Iampete1
bd36053abc AP_CANManager: support scripting CAN driver 2021-07-27 09:04:17 +10:00
mateksys
08cd1171bf Tools: added MatekF765-SE to autobuild 2021-07-26 18:13:46 +10:00
Hwurzburg
207de0ed4d AP_Landing: remove DeepStall from 1MB boards 2021-07-26 16:19:12 +10:00
Hwurzburg
8ec4b77cd7 AP_SerialManager: relabel protocol 29 to avoid confusion with CRSF RC 2021-07-26 14:40:43 +09:00
Andrew Tridgell
cbb2ba8d62 SRV_Channel: added doc of SERVOn_FUNCTION=-1 for GPIO 2021-07-26 15:12:17 +10:00
Peter Barker
2cdc4f5698 AP_HAL: add basic tests for ringbuffer 2021-07-26 15:10:01 +10:00
Andrew Tridgell
90aed6f338 AP_HAL: fixed get_size() on ObjectBuffer to be consistent with set_size() 2021-07-26 15:10:01 +10:00
bugobliterator
3d03979b16 GCS_MAVLink: add support for mavlink out on AP_Periph 2021-07-26 13:45:43 +10:00
Isaac Alich
35beae6037 AP_HAL_ChibiOS: Make final tweaks to MambaF405US-I2C 2021-07-25 17:44:22 +10:00
Isaac Alich
bdcb32456e AP_HAL_ChibiOS: Add support for MambaF405US-I2C based boards 2021-07-25 09:28:17 +10:00
MHefny
280788bfdf AP_HAL_LINUX:toggle gpio port 2021-07-24 09:16:08 -07:00
Andrew Tridgell
d95f6c8c2f AP_Arming: added button arming check 2021-07-24 18:18:57 +10:00
Andrew Tridgell
d8b8facdd0 HAL_ChibiOS: fixed off by 1 bug in GPIO check 2021-07-24 18:18:57 +10:00
Andrew Tridgell
ef93165f28 AP_Button: added arming check 2021-07-24 18:18:57 +10:00
Andrew Tridgell
45cf726a4b APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-24 15:32:55 +10:00
bugobliterator
98f5eb28db AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-07-23 16:01:29 +10:00
bugobliterator
59242739c7 AP_EFI: use separate register_driver method while contructing CAN Driver 2021-07-23 16:01:29 +10:00
bugobliterator
e553acd3e3 AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-07-23 16:01:29 +10:00
bugobliterator
6e61867e7f AP_CANSensor: create a separate register driver method 2021-07-23 16:01:29 +10:00
Andrew Tridgell
c5ef672fb5 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-23 14:47:14 +10:00
Tatsuya Yamaguchi
a3e176284d AP_Scripting: add AP_InertialSensor binding 2021-07-23 09:32:04 +09:00
Peter Barker
88d49effe7 AP_AHRS: move variable init into variable declaration 2021-07-23 09:55:14 +10:00
Peter Barker
15e5831002 AP_AHRS: remove unused get_expected_mag_field method 
there's get_mag_field_NED on AP_AHRS....
 2021-07-23 09:55:14 +10:00
Peter Barker
5b372dae06 AP_AHRS: stop storing gyro drift rate as variable 
This is constant and is just folded into whereever it is used.
 2021-07-23 09:55:14 +10:00
Peter Barker
a4d98a457b AP_AHRS: move init of dcm state into variable declarations 2021-07-23 09:55:14 +10:00
Peter Barker
4f9201a160 AP_AHRS: move parameters back into AP_AHRS.h 
metadata collection kind of dies otherwise
 2021-07-22 21:21:40 +10:00
Peter Barker
d351b7c7dc AP_AHRS: fix includes for moved files 2021-07-22 21:21:40 +10:00
Peter Barker
b7d4166b28 AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.* 2021-07-22 21:21:40 +10:00
Peter Barker
97b394a5ef AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.* 2021-07-22 21:21:40 +10:00
Paul Riseborough
17ead96250 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.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
aa6ac4a874 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-22 18:20:45 +10:00
Paul Riseborough
8fd1e98701 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
0088b0f3fe 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.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
59d31cc7d5 AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-22 18:20:45 +10:00
Paul Riseborough
5fa3ed5755 AP_NAvEKF3: use #define value for bad IMU hold time 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
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
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
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
Andrew Tridgell
7eaab583d4 AP_RPM: stop defaulting RPM_PIN to 54 2021-07-22 07:48:12 +10:00
Andrew Tridgell
bbcce717dc HAL_ChibiOS: stop defaulting relay pins to 54 and 55 
this just leads to confusion
 2021-07-22 07:48:12 +10:00
Andrew Tridgell
0f70b4d8e3 AP_BoardConfig: removed BRD_PWM_COUNT 2021-07-22 07:48:12 +10:00
Andrew Tridgell
54e53ed71c HAL_ChibiOS: use is_GPIO() instead of BRD_PWM_COUNT 2021-07-22 07:48:12 +10:00
Andrew Tridgell
874757a955 SRV_Channel: added k_GPIO and is_GPIO() 2021-07-22 07:48:12 +10:00
Peter Barker
a6a18fe193 AP_AHRS: punt to correct parent class when no index for getCorrectedDeltaVelocityNED 2021-07-21 21:01:39 +10:00
Peter Barker
b450a96698 AP_AHRS: shuffle AP_AHRS classes 2021-07-21 21:01:39 +10:00
Peter Barker
e1b839f739 GCS_MAVLink: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
1ae7d68988 AP_VisualOdom: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
7cca7513a1 AP_Vehicle: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e1162f0a66 AP_SmartRTL: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ed5303d1b8 AP_OpticalFlow: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
48e9fa7ebd AP_NMEA_Output: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ee069a081b AP_Mount: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
da11b6be77 AP_Module: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
b1bd699a73 AP_Logger: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
dbc24d5cd3 AP_InertialNav: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
2bd8a45c58 AP_Common: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00