Leonard Hall
62cb516a6c
Copter: Guided: make aircraft stop on accel time out
2021-07-22 19:07:36 +09:00
Leonard Hall
97a3e46536
Copter: Guided add terrain failsafe
2021-07-22 19:07:36 +09:00
Leonard Hall
2e7fd086f3
Copter: Guided: support terrain following
2021-07-22 19:07:36 +09:00
Leonard Hall
a29794ab49
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-22 19:07:36 +09:00
Leonard Hall
61f10c827f
Copter: Guided: fix waypoint track reporting
2021-07-22 19:07:36 +09:00
Leonard Hall
e2415bcdb3
Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT
2021-07-22 19:07:36 +09:00
Leonard Hall
92dc499053
Copter: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
064b0bcc63
Plane: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
62b932fe27
Sub: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
23b7d1060d
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
731a6bcb31
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
ebe694b606
Copter: Guided: use common initialisation
2021-07-22 19:07:36 +09:00
Leonard Hall
9f1cf90160
Copter: Guided prevent takeoff without takeoff command.
2021-07-22 19:07:36 +09:00
Leonard Hall
52166c94fe
AC_AttitudeControl: Add terain following to guided
2021-07-22 19:07:36 +09:00
Randy Mackay
1ad6b2e6c7
Copter: guided accepts terrain alt position targets
2021-07-22 19:07:36 +09:00
Randy Mackay
f3c25397c7
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-22 19:07:36 +09:00
Leonard Hall
ec53ea7f8e
AC_WPNav: move code to generate terrain following kinematic path
2021-07-22 19:07:36 +09:00
Leonard Hall
c1ad7a5a06
Sub: adjust for AttitudeControl library changes
2021-07-22 19:07:36 +09:00
Leonard Hall
88042ec153
Tools: Autotest update guided bitbask to include acceleration
2021-07-22 19:07:36 +09:00
Leonard Hall
b6b4d9869c
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-22 19:07:36 +09:00
Leonard Hall
91e22680a5
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-22 19:07:36 +09:00
Leonard Hall
a57102b161
Copter: support for acceleration-based AttitudeControl
2021-07-22 19:07:36 +09:00
Andrew Tridgell
aa4bbdfce1
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 19:07:36 +09:00
Andy Piper
e0bd344582
AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot
2021-07-22 19:07:36 +09:00
Randy Mackay
e139bfa1b8
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
2021-07-22 19:07:36 +09:00
Leonard Hall
300c5a9207
Copter: Correct yaw expo range limit
2021-07-22 19:07:36 +09:00
Andrew Tridgell
72be5fc575
autotest: adjust test_altitude_types for small change in longitude_scale
2021-07-22 19:07:36 +09:00
Andrew Tridgell
f8e23f5d3d
AP_Common: update tests for 4.1
2021-07-22 19:07:36 +09:00
Andrew Tridgell
6eb5495791
CI: removed test_size.yml
...
testing size against master doesn't work for 4.1
2021-07-22 19:07:36 +09:00
Andrew Tridgell
7e069b40eb
HAL_ChibiOS: raise DMA contention threshold for H7
2021-07-22 19:07:36 +09:00
Andrew Tridgell
a81ef9c272
AP_SerialManager: document DisableFIFO bit
2021-07-22 19:07:36 +09:00
Andrew Tridgell
fcc9e4627c
AP_SerialManager: call set_options() before first UART use
...
this ensures options are set before the first begin() call
2021-07-22 19:07:36 +09:00
Andrew Tridgell
126d5a8d23
HAL_ChibiOS: implement NOFIFO option for uarts
2021-07-22 19:07:36 +09:00
Andrew Tridgell
ae3b21b28a
AP_HAL: added serial option for disabling FIFO on uarts
2021-07-22 19:07:36 +09:00
Andrew Tridgell
9a469bdaa9
AP_Math: fixed build
2021-07-22 19:07:36 +09:00
Andrew Tridgell
3304730d7c
Sub: fixes for use of longitude_scale()
2021-07-22 19:07:36 +09:00
Andrew Tridgell
d3163c8f48
HAL_SITL: update for changed SITL API
2021-07-22 19:07:36 +09:00
Andrew Tridgell
1f5d16bff8
SITL: added SIM2 message
...
useful for EKF debugging
# Conflicts:
# libraries/SITL/SIM_Aircraft.cpp
2021-07-22 19:07:36 +09:00
Andrew Tridgell
34eb9f7328
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 19:07:36 +09:00
Andrew Tridgell
da2b69d521
AP_DAL: update GPS yaw API to add timestamp
2021-07-22 19:07:36 +09:00
Andrew Tridgell
d7dea5c28c
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 19:07:36 +09:00
Andrew Tridgell
966deb1148
AP_NavEKF: sync for 4.1.0beta
2021-07-22 19:07:36 +09:00
Andrew Tridgell
5660d31ca2
AP_Math: sync for 4.1.0beta releases
2021-07-22 19:07:36 +09:00
Andrew Tridgell
6ee9e445a9
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 19:07:36 +09:00
Andrew Tridgell
0a04bb4b05
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 19:07:36 +09:00
Peter Barker
c4dbbfcc07
AP_NavEKF3: pass NavEKF failures back up to callers
2021-07-22 19:07:36 +09:00
Andrew Tridgell
aadf179286
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 19:07:36 +09:00
Andrew Tridgell
93e1bd0160
AP_NavEKF3: fixed indentation in readGpsData()
2021-07-22 19:07:36 +09:00
Andrew Tridgell
9acb16acca
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 19:07:36 +09:00
Andrew Tridgell
3df7c1a7c7
AP_NavEKF3: moved checkUpdateEarthField to be called less often
2021-07-22 19:07:36 +09:00