Commit Graph

48240 Commits

Author SHA1 Message Date
Andrew Tridgell 645386cba6 Plane: disable EKF3 default airspeed fusion by default
this fusion can cause problems with wind estimation, disable by
default for now
2021-07-22 19:07:36 +09:00
Paul Riseborough d841615710 AP_NavEKF3: Rework non-airspeed wind estimation
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough 1812d8ea3a AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-22 19:07:36 +09:00
Paul Riseborough 3e4375e453 Copter: rework ekf_check to use the EKF vibration_affected status 2021-07-22 19:07:36 +09:00
Paul Riseborough 6d6699f9f9 AP_NavEKF3: Increase lower state variance limit when vibration affected
This makes state corrections from GPS and baro observations more aggressive
2021-07-22 19:07:36 +09:00
Paul Riseborough 7abecb4e0e AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-22 19:07:36 +09:00
Paul Riseborough 1cc7dc59a1 AP_NavEKF3: Make bad IMU status more persistent 2021-07-22 19:07:36 +09:00
Paul Riseborough 6907fa8e88 AP_AHRS: Add accessor function for vibration affected status
AP_AHRS: fix rebase build error
2021-07-22 19:07:36 +09:00
Paul Riseborough 662bda1bbd AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 19:07:36 +09:00
Paul Riseborough f37caffb31 AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-22 19:07:36 +09:00
Paul Riseborough 36ead940d6 AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-22 19:07:36 +09:00
Paul Riseborough 82ed96a927 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 19:07:36 +09:00
Paul Riseborough ed30a7ce35 Tools: relax navigation test accuracy 2021-07-22 19:07:36 +09:00
Paul Riseborough 3714c1b2e2 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 19:07:36 +09:00
Paul Riseborough a24df9d633 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 19:07:36 +09:00
Paul Riseborough 8db073a8d6 Tools: Fix AIRSPEED_AUTOCAL test failure
The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
2021-07-22 19:07:36 +09:00
Paul Riseborough 5a3e0e7f17 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-22 19:07:36 +09:00
Paul Riseborough 827d871c85 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 19:07:36 +09:00
Paul Riseborough aa13e86ac9 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 19:07:36 +09:00
Paul Riseborough cb6371e952 AP_NavEKF3: Update covariance prediction equations 2021-07-22 19:07:36 +09:00
Paul Riseborough 4f8f187b81 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-22 19:07:36 +09:00
Peter Barker 65d0dcf3b7 Tools: split yaw-vehicle-for-mount-roi test out 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7f3bc8ba1f AP_Math: fix uses of single precision 2021-07-22 19:07:36 +09:00
Randy Mackay 92008ebb8f 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 19:07:36 +09:00
Randy Mackay cca86c7a24 AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 19:07:36 +09:00
Randy Mackay 0a5d6c48e6 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
also bendy ruler uses pos controller
2021-07-22 19:07:36 +09:00
Randy Mackay 55e23d7230 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 19:07:36 +09:00
Randy Mackay ae81e8ab2b AC_Avoidance: bendy ruler format fixes 2021-07-22 19:07:36 +09:00
Randy Mackay f98efd7ef8 AC_Avoidance: OA_PathPlanner returns which planner was used
this replaces get_bendy_type
2021-07-22 19:07:36 +09:00
Randy Mackay 1536249b33 AC_Avoidance: BendyRuler returns which type was used
also make serach_xxx_path methods private
2021-07-22 19:07:36 +09:00
Randy Mackay d946a2c95d AP_Common: add Location::linear_interpolate_alt 2021-07-22 19:07:36 +09:00
Andy Piper b6ce206c3d AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 19:07:36 +09:00
Pierre Kancir 9f2bfd330d AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 19:07:36 +09:00
Leonard Hall 9d1a51969b AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 19:07:36 +09:00
Leonard Hall 0211676b90 Copter: Guided and Loiter mode returns Crosstrack error 2021-07-22 19:07:36 +09:00
Leonard Hall efd854562f WP_Nav: Return Crosstrack error 2021-07-22 19:07:36 +09:00
Leonard Hall 8e31de412c AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 19:07:36 +09:00
Randy Mackay aad2f883d6 AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 19:07:36 +09:00
Andrew Tridgell c737e0cc47 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN
# Conflicts:
#	ArduCopter/Parameters.cpp
#	ArduCopter/Parameters.h
#	ArduCopter/terrain.cpp
2021-07-22 19:07:36 +09:00
Randy Mackay 9775d23883 AC_WPNav: add TER_MARGIN param 2021-07-22 19:07:36 +09:00
Leonard Hall dbf1020c16 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 19:07:36 +09:00
Leonard Hall 185c6cf845 AC_WPNav: Auto Terain following update 2021-07-22 19:07:36 +09:00
Andrew Tridgell b032b812ce Copter: Fix guided yaw bug.
# Conflicts:
#	ArduCopter/GCS_Mavlink.cpp
2021-07-22 19:07:36 +09:00
Peter Barker e4392e3ce6 Copter: simplify throttle-is-unlimited check
Now not the same pattern as the other checks - but it is much shorter
2021-07-22 19:07:36 +09:00
Peter Barker c131d3b1a5 Copter: wait for motors to spool up before trying to upright vehicle
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
2021-07-22 19:07:36 +09:00
Peter Barker 77148ae853 Copter: constify some ModeThrow methods 2021-07-22 19:07:36 +09:00
Andy Piper e2bf62e7fe iomcu: update for pulse width changes 2021-07-22 19:07:36 +09:00
Andy Piper 3efb3336a5 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 19:07:36 +09:00
Tal Bass 5b3515a1c2 Copter: reset land_repo_active flag in RTL mode 2021-07-22 19:07:36 +09:00
Leonard Hall b4277c49ca AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 19:07:36 +09:00