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48337 Commits

Author SHA1 Message Date
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
Andrew Tridgell de254d59f1 AP_NavEKF: sync for 4.1.0beta 2021-07-22 16:01:00 +10:00
Andrew Tridgell dd2995af5d AP_Math: sync for 4.1.0beta releases 2021-07-22 16:01:00 +10:00
Andrew Tridgell 1d46e77942 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-22 16:01:00 +10:00
Andrew Tridgell f0bc4bca84 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-22 16:01:00 +10:00
Peter Barker 156a220d5b AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 16:01:00 +10:00
Andrew Tridgell 9f03f5a9a9 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 16:01:00 +10:00
Andrew Tridgell 4408eecb18 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 16:01:00 +10:00
Andrew Tridgell cc03255245 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 16:01:00 +10:00
Andrew Tridgell 8c9663e47c AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 16:01:00 +10:00
Andrew Tridgell c05e93e51e AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 16:01:00 +10:00
Andrew Tridgell f2668f8e8e AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 16:01:00 +10:00
Andrew Tridgell edb11d4d71 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell 823ed4c309 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 16:01:00 +10:00
Andrew Tridgell b6fb7383e7 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell fa3f3dd218 HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell a6c5b65f4a AP_NavEKF3: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell 380b9b39ed AP_NavEKF2: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell 10facfc519 AP_NavEKF: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell 4dfa6258d9 AP_Mount: use ZERO_FARRAY() 2021-07-22 16:01:00 +10:00
Andrew Tridgell 26820c3a8c AP_Motors: fixup build for ftype conflict 2021-07-22 16:01:00 +10:00
Andrew Tridgell 425c8aafb1 AP_Common: added double methods for SITL 2021-07-22 16:01:00 +10:00
Andrew Tridgell d698987070 SITL: fixup offset calls 2021-07-22 16:01:00 +10:00
Andrew Tridgell e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell c6c197d4fb 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 16:01:00 +10:00
Andrew Tridgell 309500c84f AP_HAL: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell 6171006579 Tools: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell c659352ebe waf: added --ekf-double configure option 2021-07-22 16:01:00 +10:00
Andrew Tridgell db37898e36 Plane: prepare for 4.1.0beta3 2021-07-05 16:23:07 +10:00
Andrew Tridgell 136c6a509c Plane: updated release notes for 4.1.0beta3 2021-07-05 16:22:27 +10:00
Andrew Tridgell ae013dd5e6 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
 2021-07-05 16:09:34 +10:00
Andrew Tridgell 2ac01f207a AP_Notify: disable DShot buzzer by default 2021-07-04 18:28:20 +10:00
Andrew Tridgell 002bc51fd5 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-04 18:20:29 +10:00
Andy Piper b5bb401b97 AP_Notify: re-enable display on 1Mb boards 2021-07-04 08:24:40 +10:00
Andrew Tridgell 2d4e77e9b1 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
 2021-07-04 08:24:17 +10:00
Andrew Tridgell bf867fb792 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
 2021-07-04 08:23:29 +10:00
Randy Mackay 008b17eb6e Copter: version to 4.1.0-beta5 2021-07-04 08:19:11 +10:00
Randy Mackay e0e7af1e76 Copter: 4.1.0-beta5 release notes 2021-07-04 08:19:11 +10:00
Randy Mackay c5db503e47 mavlink: move submodule reference forward to latest 2021-07-04 08:19:11 +10:00
Randy Mackay 63599a36fa Rover: call send-water-depth 2021-07-04 08:19:11 +10:00
Randy Mackay 8722bb7ff9 GCS_MAVLink: send water depth and temp 2021-07-04 08:19:11 +10:00
Andrew Tridgell 9818633c5c 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)
 2021-07-04 08:19:11 +10:00
Hwurzburg 5114d3aacb Rover: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Hwurzburg 75905c5d8b Blimp: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Hwurzburg 41b54fecf9 ArduPlane: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Hwurzburg 2be203cf8b ArduCopter: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Hwurzburg 247f4e7c90 AntennaTracker: remove values metadata from log bitmask 2021-07-04 08:19:11 +10:00
Shiv e2ce88fcf2 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
 2021-07-04 08:19:11 +10:00