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26539 Commits

Author SHA1 Message Date
Pierre Kancir 90d345b64e AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 16:41:52 +10:00
Randy Mackay 837df29179 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Randy Mackay 78704a2f9c AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi e10f6e2a42 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi 3d2290c4a3 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi ca5d307001 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 16:41:52 +10:00
Andy Piper 67876e94e0 AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 16:41:52 +10:00
Andy Piper 1746ab3cfe AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 16:41:52 +10:00
Pierre Kancir c36feb62f1 AP_ESC_Telem: prevent possible overrun 2021-08-14 16:41:52 +10:00
Pierre Kancir 3463bb24ae AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 16:41:52 +10:00
Pierre Kancir 92581d802b AP_ESC_Telem: fix out of bound access 2021-08-14 16:41:52 +10:00
Pierre Kancir ba5323e78a AP_OSD: check for nullptr before using it 2021-08-14 16:41:52 +10:00
Leonard Hall ce9be29980 AP_Math: Spelling fix 2021-08-14 16:41:52 +10:00
Leonard Hall 62c4a34660 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall 42d4a75d3b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall 3d75c936f2 AP_Math: Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall 7e60feab4a AP_Math: Control: protect against divide by zero 2021-08-14 16:41:52 +10:00
Leonard Hall 551e5fe4dc AC_WPNav: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall 3f33ac0a82 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall b1cd9434a9 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 16:41:52 +10:00
Leonard Hall 0d52cd4aeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 16:41:52 +10:00
Leonard Hall a9fb5ceb5c AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
 2021-08-14 16:41:52 +10:00
Andrew Tridgell a7c3b2244a AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 16:41:52 +10:00
Andrew Tridgell 96580ee4f3 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 16:41:52 +10:00
Andy Piper 150290dd25 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 16:41:52 +10:00
Randy Mackay c1b67d295f AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 16:41:52 +10:00
Andrew Tridgell ae725421bc AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 16:41:52 +10:00
Leonard Hall 628206b5e8 AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 16:41:52 +10:00
Andy Piper a1f0ad63a9 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 16:41:52 +10:00
Andrew Tridgell 9ed2e35229 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 16:41:52 +10:00
bugobliterator c539fe9bc2 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator 97a04c85f0 AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator 36b3fcc1a0 AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator b6a86533fc AP_CANSensor: create a separate register driver method 2021-08-14 16:41:52 +10:00
Andrew Tridgell 6609faff9e APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-25 09:30:25 +10:00
Andrew Tridgell c63548a5f3 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-25 09:30:25 +10:00
Andrew Tridgell 506e03251a AP_AHRS: build fix 2021-07-25 09:30:25 +10:00
Paul Riseborough 998cad030e AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
 2021-07-25 09:30:25 +10:00
Paul Riseborough 73229371c7 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-25 09:30:25 +10:00
Paul Riseborough 8744b0954f AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough 6637d9dece AP_NavEKF3: Revert EK3_BETA_MASK parameter extension 
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
 2021-07-25 09:30:25 +10:00
Paul Riseborough 1d3ed8e9da AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough fb6de9ad9d AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-25 09:30:25 +10:00
Paul Riseborough ca00da81cd AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-25 09:30:25 +10:00
Paul Riseborough c3f38ec159 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-25 09:30:25 +10:00
Paul Riseborough 00b91b4799 AP_NavEKF3: Make bad IMU status more persistent 2021-07-25 09:30:25 +10:00
Paul Riseborough 14c2bb0c9b AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-25 09:30:25 +10:00
Paul Riseborough fdea45a3e4 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-25 09:30:25 +10:00
Paul Riseborough ace601f1dd AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-25 09:30:25 +10:00
Paul Riseborough 8b16d8dc4c AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-25 09:30:25 +10:00