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Author SHA1 Message Date
Andrew Tridgell
614a77d2c9 Replay: allow for early log end in check_replay.py 
when session is killed we can lose one frame worth of EKF msgs
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
4cd5ac5164 Replay: add call to RFRF handler 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
90a8c5cb1a AP_NavEKF2: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell
47c3fadc17 AP_DAL: added ekf_low_time_remaining() 
used by EKF for inter-lane scheduling
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
1848491ac2 AP_DAL: fixed GPS backend for multiple sensors 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bf61910c7c AP_DAL: fixed shadowed variable 
found by semaphore build
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
50d03571da AP_DAL: fixed build without VisualOdometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell
b7d60b1d97 AP_Logger: added C field to EKF msgs 2020-11-10 16:15:45 +11:00
Andrew Tridgell
8ba067608b autotest: cope with LogStructure.h in multiple places 
and allow for no docs in replay msgs
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
09265a8a9b Replay: improved failure reporting in check_replay.py 2020-11-10 16:15:45 +11:00
Andrew Tridgell
f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
fa75824948 AP_DAL: added standalone link test 
useful to check for clean linking of EKF2/EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
42d62e138b Tools: updated test helpers to assist in replay testing 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
3ae237b652 autotest: started work on replay testing 2020-11-10 16:15:45 +11:00
Andrew Tridgell
161f2a8d2f autotest: improved error msg for missing doc fields 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0c1d665818 waf: support no-gcs and DAL builds 2020-11-10 16:15:45 +11:00
Andrew Tridgell
603146c5ca waf: added --no-gcs build option 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
32bda36908 SITL: fixed build with no GCS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
0700ca4882 AP_Vehicle: added DAL standalone vehicle type 2020-11-10 16:15:45 +11:00
Andrew Tridgell
ae56f554b9 AP_Vehicle: send watchdog reset msg at startup 
this helps if the watchdog will happen within 10s of startup
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
77687a9639 AP_UAVCAN: fixed build with no GCS 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
9b35bfba55 AP_AHRS: use enum class for takeoff/touchdown states 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
31fbb59384 AP_AHRS: delay EKF start until logging ready 
for replay to work reliably we need all the parameters output before
we init the EKF.

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
096aab9388 AP_NavEKF3: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
6be3d19e82 AP_NavEKF2: convert to use AP_DAL for new replay structure 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
97a2c5a576 AP_NavEKF: removed Log_EKF_Timing 
not needed for new replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
c0b20881d6 AP_Math: allow vector3.h to be included earlier in include chain 2020-11-10 16:15:45 +11:00
Andrew Tridgell
09aff03edc AP_Logger: support new replay system 
added allow_start_ekf and block write method for replay

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
daa0abeb13 AP_Logger: make structure check errors clearer 
add message name to more error messages
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
bd7ed003c2 AP_Logger: split out EKF messages and prepare for new replay 
adds core to more EKF message structures

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
81f96aedd2 Replay: new replay implemention 
this uses log msgs from AP_DAL to replay more accurately

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell
e116b1ff0a AP_DAL: added data access layer library 
This provides a wrapper around sensor and system calls to allow for
logging for replay in EKF2 and EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Iampete1
1587d88f58 AP_Scripting: example saving serial data to SD card 2020-11-10 12:15:56 +11:00
Andrew Tridgell
eea62bf733 Plane: added optional ground effect compensation for quadplanes 
this allows for landings in aircraft badly effected by ground effect
to be compensated for
 2020-11-10 12:05:48 +11:00
Iampete1
60951a7891 AP_GPS: add use primary if 3D fix GPS_AUTO_SWITCH option 2020-11-10 12:01:56 +11:00
Iampete1
347723dbaf AP_GPS: add primary param 2020-11-10 12:01:56 +11:00
Iampete1
0c2037438b AP_Motors: output mask: do not apply copter sin params and epxo 2020-11-10 11:09:56 +11:00
Peter Barker
814aa4e5ec AP_AHRS: take secondary attitude from EKF3 if it is configured 2020-11-10 10:59:08 +11:00
Randy Mackay
0f234583d6 Copter: poshold clears wind est when disarmed or landed 2020-11-10 08:56:36 +09:00
giacomo892
9b4441011c ArduPlane: Fix throttle nudge reset due to wrong radio timing 2020-11-10 10:20:23 +11:00
Andrew Tridgell
f7daa4a93a AP_Compass: raise max scale factor and make symmetric 2020-11-10 10:15:39 +11:00
Siddharth Purohit
87564f145b AP_Periph: add docs for CAN SITL 2020-11-09 19:37:00 +11:00
Rishabh
68b6ecc59c AC_Avoid: Mark OA_OPTIONS as a Rover-Only param 2020-11-09 08:37:47 +09:00
Andrew Tridgell
cb034c50a7 HAL_ChibiOS: fixed orientation of compass on M10070B 2020-11-08 16:13:17 +11:00
Andrew Tridgell
3b7b2b89a5 HAL_ChibiOS: added baro for mRo Location-one GPS 2020-11-08 16:13:17 +11:00
Peter Barker
c786e3560c Tools: decode_watchdog.py: tool to decode watchdog information 2020-11-07 09:59:04 +11:00
Peter Barker
b55838f7ff Tools: make decode-ICSR script an object 2020-11-07 09:59:04 +11:00
Randy Mackay
ed7580e83c Copter: takeoff relaxes wpnav and pos control during spool up 2020-11-06 08:24:03 +09:00
Hwurzburg
83e1fe94d1 Copter: fix metadata in FS_GCS_ENABLE param 2020-11-06 08:23:31 +09:00