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44424 Commits

Author SHA1 Message Date
Paul Riseborough fa10d114e4 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
 2020-10-26 11:03:50 +11:00
Paul Riseborough 73d5ca5ad3 AP_NavEKF3: Fix yaw drift after yaw reset at +-90 deg pitch 
Use existing covariance prediction code to set quaternion state covariances.
Assumes tilt error is 3 deg 1-sigma.
TODO derive and add function that calculates tilt error variance.
 2020-10-26 11:03:50 +11:00
Paul Riseborough a97d030e4b AP_NavEKF3: Reset earth field variances when starting mag field estimation 2020-10-26 11:03:50 +11:00
Paul Riseborough 9168d0cd19 AP_NavEKF3: Initialise mag field variances to non zero values 2020-10-26 11:03:50 +11:00
Paul Riseborough 0b96f046c2 AP_NavEKF3: Unblock initial yaw alignment message 2020-10-26 11:03:50 +11:00
Paul Riseborough f81abd73d6 AP_NavEKF3: Update covariance prediction to yse SymPy generated equations 
Saves flash and variable space.
 2020-10-26 11:03:50 +11:00
Michael du Breuil a61444cec0 AP_GPS: Don't reset the entire buffer when handling RTCM data 
This is a micro optimization intended to just make handling GPS
corrections a bit faster.
 2020-10-25 14:21:39 +11:00
Andrew Tridgell acdc939946 AP_WheelEncoder: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell 999c7e0dc4 AntennaTracker: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell 9a244eef29 APM_Control: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell 0a7c628355 AC_AttitudeControl: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell 739410953b AC_PID: added slew limiter AC_PID 
this adds the fixed wing slew limiter as an optional part of
AC_PID. It allows the user to configure a maximum slew limit to
prevent oscillations in PIDs when gains are too high
 2020-10-25 10:32:48 +11:00
Andrew Tridgell 709e1f8f93 Filter: added slew rate filter 2020-10-25 10:32:48 +11:00
Andrew Tridgell d2a4505184 APM_Control: fixed bug in slew filter 2020-10-25 10:32:48 +11:00
Andrew Tridgell a4716fb9bf AP_NavEKF3: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell dc32f7a12f AP_NavEKF2: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing 
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
 2020-10-24 13:50:33 +11:00
Randy Mackay c3fd82b6d7 AP_NavEKF3: minor spelling fix 2020-10-24 12:35:58 +11:00
Randy Mackay 2f1ae29a9c AP_NavEKF3: extnav data gets corrected boolean 
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
 2020-10-24 12:35:58 +11:00
Randy Mackay a16de76f57 AP_NavEKF3: correct extnav position as it is recalled from the buffer 
This makes extnav position correction consistent with the velocity correction
 2020-10-24 12:35:58 +11:00
Peter Barker 225de23950 Copter: cope with race conditioning popping points on SmartRTL return 
There is a race with the cleanup thread.  While thin, it only has to
happen once.  After this patch the race would have to happen... a lot.

Co-authored-by: jasclarke308 <jasclarke308@gmail.com>
 2020-10-24 08:59:26 +09:00
Randy Mackay 71487e9c10 AP_NavEKF3: gps_elements gets corrected flag 
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
 2020-10-24 08:49:33 +09:00
Randy Mackay 3d4e1cd5c5 AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel 2020-10-24 08:49:33 +09:00
Randy Mackay e25579cc00 AP_NavEKF3: correct GPS for position as it is recalled from buffer 2020-10-24 08:49:33 +09:00
Pierre Kancir 87d9beab4f Autotest: firmware page: fix html 2020-10-24 10:30:09 +11:00
Pierre Kancir 45a35f9470 Autotest: fix html and use class on CSS 2020-10-24 10:30:09 +11:00
Pierre Kancir 60805fdfa3 Autotest: anonimize IP on ga on autotest page 2020-10-24 10:30:09 +11:00
Pierre Kancir 05d365f1a6 Autotest: remove jdrone logo from firmware server 2020-10-24 10:30:09 +11:00
Pierre Kancir 4ca8f6bf1e Autotest: fix githash on python 3 for firmware html page 2020-10-24 10:30:09 +11:00
Pierre Kancir de927691f2 Tools: remove empty fields in autotest.ardupilot.org 2020-10-24 10:30:09 +11:00
Michael du Breuil c86dcf91d6 AP_InertialSensor: Run vibration monitoring on all instances 2020-10-24 09:54:04 +11:00
Buzz 284fb53f75 autotest: integrate buildlog and BIN artifact uploads 2020-10-24 08:48:45 +11:00
Pierre Kancir d31d57484a travis: remove autotest and reorder compilation tests 2020-10-24 08:29:10 +11:00
Andrew Tridgell 96f7397099 HAL_ChibiOS: make PowerC primary power on CUAV-X7 
CUAV considers the CAN power to be the main power for this board
 2020-10-24 08:27:21 +11:00
Michael Oborne b383db15c7 ChibiOS: fix cubeblack+ name and usbid 2020-10-24 08:26:55 +11:00
Peter Barker 0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker a1e7c91f8e AP_NaveEKF3: reduce code duplication in setup_core 
Less code.

Saves 40 bytes on PixRacer
 2020-10-22 08:47:08 +11:00
Peter Barker 74f75dcd31 GCS_MAVLink: fill AUTOPILOT_VERSION.uid2 from get_system_id_unformatted 2020-10-21 18:26:12 +11:00
murata 9714d8dde9 AP_MAth: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
murata 4c835a0df9 AP_GPS: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
Peter Barker 7c8df47ac9 GCS_MAVLink: process messages sent to broadcast system 
.... even if we've forwarded them to someone else.
 2020-10-21 18:22:48 +11:00
Peter Barker d3ba7a8409 GCS_MAVLink: don't learn a route to the broadcast component 
Using a component ID of 0 for your source is invalid according to
common.xml

However, some clients do use it.

This stops us learning a route to that client for the broadcast client
for our own system ID.
 2020-10-21 18:22:48 +11:00
bugobliterator 308bc64f35 AP_Filesystem: add support for listing @SYS files 2020-10-21 18:16:50 +11:00
Buzz 586e9f80d5 AutoTest: break copter autotests into smaller "under 10 minute" chunks to speedup github actions CI 2020-10-21 18:01:47 +11:00
Randy Mackay e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay 231a958e51 AP_NavEKF3: minor comment fix 2020-10-21 11:40:35 +09:00
Randy Mackay 8aba1655a2 AP_Scripting: add ahrs-print-variances example 2020-10-21 08:58:45 +09:00
Randy Mackay 5eae007d49 AP_Scripting: add binding for ahrs get_variances 2020-10-21 08:58:45 +09:00
Randy Mackay bb25e4f6a3 AP_RCTelemetry: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Randy Mackay 4bf4872504 Sub: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00