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Commit Graph

22662 Commits

Author SHA1 Message Date
Peter Barker
1b99cfb10a AP_Vehicle: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
b7a03ae5ad AP_RangeFinder: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
d390126b93 AP_Rally: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
d19f8db06f AP_NavEKF3: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
efbf929bc0 AP_InertialSensor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e67347f011 AP_HAL_SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
7d7a7d126c AP_Follow: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e1f8af1653 AP_BattMonitor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
6046aa3625 AP_Airspeed: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
e545a429a0 AC_Fence: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
002d47447e AC_Avoidance: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay
3ccb3c69a6 SITL: add vicon position offsets 2020-04-14 10:28:03 +10:00
Randy Mackay
2164293cc0 AP_VisualOdom: remove sensor position from call to ahrs writeExtNavData 2020-04-14 10:28:03 +10:00
Randy Mackay
79afc70cdb AP_AHRS: remove writeExtNavData sensOffset argument 
EKF pulls this directly from AP_VisualOdom
 2020-04-14 10:28:03 +10:00
Randy Mackay
8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay
c39fef6c56 GCS_MAVLink: pass vision-position-estimate reset_counter to AP_VisualOdom handler 2020-04-14 10:28:03 +10:00
Randy Mackay
3557104787 AP_VisualOdom: log corrected position instead of raw position 2020-04-14 10:28:03 +10:00
Randy Mackay
6622927a23 AP_VisualOdom: support position resets 2020-04-14 10:28:03 +10:00
Randy Mackay
83e48b575e AP_VisualOdom: add SCALE parameter 
Applied to positions from vision-position-estimate messages
 2020-04-14 10:28:03 +10:00
Randy Mackay
852325c8e4 AP_VisualOdom: remove unused method declarations 2020-04-14 10:28:03 +10:00
Randy Mackay
ccf96cf0a5 AP_VisualOdom: rename MAV to MAVLink in TYPE param desc 2020-04-14 10:28:03 +10:00
Randy Mackay
4f639481c1 AP_Logger: VISP msg adds reset_counter 2020-04-14 10:28:03 +10:00
Randy Mackay
fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Andrew Tridgell
74f33d57c5 HAL_ChibiOS: avoid unnecessary H7 flash writes 2020-04-14 10:02:51 +10:00
Andrew Tridgell
8dabd6cefc HAL_ChibiOS: expect a long delay on flash page erase 
this prevents the display of errors on flash page erase
 2020-04-14 10:02:51 +10:00
Andrew Tridgell
4b236e52b2 HAL_ChibiOS: added MatekH743 port 2020-04-14 10:02:51 +10:00
Andrew Tridgell
2165fd66f1 HAL_ChibiOS: define FLASH_RESERVE_END_KB 2020-04-14 10:02:51 +10:00
Andrew Tridgell
8e83783b18 AP_FlashStorage: support H7 flash storage 
this generalises AP_FlashStorage to support the 32 byte write
restrictions of the STM32H7
 2020-04-14 10:02:51 +10:00
Andrew Tridgell
5125fc1a64 HAL_SITL: added checks for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
efe78fe3e1 AP_HAL: allow SITL to emulate 3 different types of flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
e1792f89db AP_HAL: fixed default HAL_STORAGE_SIZE for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell
c0039c85e0 HAL_SITL: emulate sector size for flash storage properly 2020-04-14 10:02:51 +10:00
Peter Barker
2988c70627 AP_FlashStorage: clarify space-available-for-write check 2020-04-14 10:02:51 +10:00
Andy Piper
c4217f329b AP_RPM: allow harmonic notch driver to appear as RPM values. 2020-04-14 09:43:16 +10:00
Henry Wurzburg
e5319397b4 AP_HAL_ChibiOS: eliminate EKF2 from F4 builds not using HAL_MINIMIZE_FEATURES 2020-04-14 09:19:28 +10:00
Andrew Tridgell
5c399fce41 AP_AHRS: auto-switch to EK3/EK2 if selected option disabled 
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.

This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
 2020-04-14 09:15:43 +10:00
Peter Barker
c36e06e7fa AP_Compass: add documentation for COFS, compass-learning message 2020-04-14 07:34:59 +10:00
Peter Barker
54292c5443 AP_Tuning: add documentation for PRTN message 2020-04-14 07:34:59 +10:00
Peter Barker
061c3ecb7f AP_RCProtocol: add documentation for RCDA message 2020-04-14 07:34:59 +10:00
Peter Barker
767c010332 AP_Logger: add documentation for WENC, CESC, PRX, ADSB, BCN, BCL, OABR, OADF 2020-04-14 07:34:59 +10:00
murata
124d8c7fdf AP_HAL_ChibiOS: Changing the timeout detection 2020-04-14 07:32:46 +10:00
murata
10b7988092 AP_Baro: Fix timestamp wrapping 2020-04-14 07:30:58 +10:00
Randy Mackay
9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell
db4f1a1473 HAL_ChibiOS: enable ADIS16470 on SPI1 2020-04-13 15:26:02 +10:00
CUAVcaijie
942b2fd29f HAL_ChibiOS: Added support for CUAV X7 flight controller 2020-04-13 15:26:02 +10:00
Andrew Tridgell
d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Peter Barker
ede87d49f6 AP_InternalError: add a bit for infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
a2b4713008 AP_FlashStorage: protect against infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
851d9ae1ef AP_Compass: log message information for MMC3416 2020-04-12 08:36:48 +10:00
Peter Barker
c3b8db95b8 AP_Logger: add DSTL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
d23d4768f1 AP_Landing: add LAND log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
e5b634cdd0 AP_IOMCU: add IOMC log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
88d61b9d3c AP_Follow: add FOLL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
194d3c280f AP_EFI: add EFI log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
f9c4976f93 AP_BoardConfig: add HEAT log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
1a148afe1b AC_AutoTune: add ATDE log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
afc0fbc516 AC_AttitudeControl: add CTRL log message documentation 2020-04-12 08:36:48 +10:00
Andrew Tridgell
1f8cd830ea AP_NavEKF3: fixed use of tabs 2020-04-11 21:14:31 +10:00
Paul Riseborough
f68f355852 AP_NavEKF3: Fix timestamp wrapping 2020-04-11 21:14:31 +10:00
Paul Riseborough
33ab1a7b15 AP_NavEKF3: Ensure yaw fusion commences when starting from rest 2020-04-11 21:14:31 +10:00
Paul Riseborough
a3725e2581 AP_NavEKF3: Fix bug in calculation of rotation order 2020-04-11 21:14:31 +10:00
Paul Riseborough
eeac0a05b9 AP_NavEKF3: Improvements to on ground movement check 
Reduce sensitivity and log test ratios.
Reduce base logging rate to 5Hz and log when status changes.
 2020-04-11 21:14:31 +10:00
Paul Riseborough
ebb8bb4f6f AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts 2020-04-11 21:14:31 +10:00
Andrew Tridgell
83ad1c17a8 AP_AHRS: disable DCM yaw consistency check when using external yaw 
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
3ae0b0d446 AP_NavEKF3: added using_external_yaw() method 
needed by AHRS for attitudes_consistent() check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
6f04fae4a0 AP_NavEKF3: added fallback to mag option with external yaw 
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled

This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
a3100251a8 AP_NavEKF3: use enum class for EK3_MAG_CAL values 
and use effective_magCal() everywhere for consistency
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
e8fb082a9a HAL_SITL: fixed simulation of roll/pitch of moving baseline ublox 2020-04-11 21:14:31 +10:00
Andrew Tridgell
b90b4f9157 HAL_SITL: implement moving baseline for ublox 
this allows testing of the moving baseline dual ublox code
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Andrew Tridgell
ff112a726b AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-04-10 11:46:01 +10:00
bugobliterator
a31f2e5d90 hwdef: add validation checks for CubeOrange 2020-04-10 07:04:21 +10:00
bugobliterator
ef91f1634b HAL_ChibiOS: add support for adding board validation test 2020-04-10 07:04:21 +10:00
bugobliterator
8a77ddf8c6 AP_BoardConfig: run validation test if declared under hwdef 2020-04-10 07:04:21 +10:00
Randy Mackay
1ba036169f AP_VisualOdom: align sensor displays yaw shift in 0 to 360 range 2020-04-09 19:41:08 +09:00
Randy Mackay
9fd39f3768 AP_Math: alternative quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
26e4dd6fef AP_Math: correct quaternion::from_rotation for pitch-180 2020-04-09 19:41:08 +09:00
Randy Mackay
dc2e0f328b AP_VisualOdom: fix handle_vision_position_delta_msg 
position and angle deltas were swapped when passed into the EKF
time passed into the EKF was scaled as usec when it should be sec
 2020-04-09 19:41:08 +09:00
Randy Mackay
c18fce6714 AP_Math: add quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
d1aa3858f0 AP_Vehicle: add visual odometry 2020-04-09 19:41:08 +09:00
Randy Mackay
1b1687f43d AP_Arming: integrate visual odometry pre_arm_check 2020-04-09 19:41:08 +09:00
Randy Mackay
2f5a8fd6b9 RC_Channel: add aux function for visodom-calibrate 2020-04-09 19:41:08 +09:00
Randy Mackay
9769f08fd9 GCS_MAVLink: visual odometry build fixes 2020-04-09 19:41:08 +09:00
Randy Mackay
a9c1eb5af4 GCS_MAVLink: fill in sys_status vision position bits 2020-04-09 19:41:08 +09:00
Randy Mackay
a1ddd55ea5 GCS_MAVlink: AP_integrate of rename to handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
728e8b45a9 GCS_MAVLink: use AP_VisualOdom to handle vision-position-estimate messages 2020-04-09 19:41:08 +09:00
Randy Mackay
aa720b0ae6 AP_VisualOdom: pre-arm failure string prefix moved to AP_Arming 2020-04-09 19:41:08 +09:00
Randy Mackay
3d75dc7815 AP_VisualOdom: add HAL_VISUALODOM_ENABLED 2020-04-09 19:41:08 +09:00
Randy Mackay
8f94a0cfb0 AP_VisualOdom: integrate IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
f0e11d9a5c AP_VisualOdom: add IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
a41b169635 AP_VisualOdom: front-end implements handle_vision_position_estimate with eulers 2020-04-09 19:41:08 +09:00
Randy Mackay
3530d5b348 AP_VisualOdom: MAV driver implements handle_vision_position_estimate 2020-04-09 19:41:08 +09:00
Randy Mackay
c78b1ab3bf AP_VisualOdom: rename handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
b519d285a6 AP_VisualOdom: get_orientation made public 
also remove unnecessary friends
 2020-04-09 19:41:08 +09:00
Randy Mackay
c36dfc448d AP_VisualOdom: handle_msg directly updates EKF 2020-04-09 19:41:08 +09:00
Randy Mackay
0eb1ef1f08 AP_VisualOdom: add handle_vision_position_estimate 
also add pre_arm_check
 2020-04-09 19:41:08 +09:00
Randy Mackay
1cf9655b4a AP_VisualOdom: TYPE param becomes enable flag and reboot required 2020-04-09 19:41:08 +09:00
Randy Mackay
61a06bbb04 AP_Math: add quaternion rotate, from_rotation and invert 2020-04-09 19:41:08 +09:00
Randy Mackay
338548c5eb AP_Math: move HALF_SQRT_2 def to rotation.h 
This allows it to be used by the Quaternion class
 2020-04-09 19:41:08 +09:00