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26473 Commits

Author SHA1 Message Date
Randy Mackay 7084009454 AP_Common: add Location::linear_interpolate_alt 2021-07-22 16:01:01 +10:00
Andy Piper 8cd3ae12a7 AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 16:01:01 +10:00
Pierre Kancir 62be72d3ba AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 16:01:01 +10:00
Leonard Hall 730ac9cb20 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 16:01:01 +10:00
Leonard Hall 5001f47313 WP_Nav: Return Crosstrack error 2021-07-22 16:01:01 +10:00
Leonard Hall 3d6dd8cff8 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 16:01:01 +10:00
Randy Mackay b916f7742e AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 16:01:01 +10:00
Randy Mackay 7a09ac1aa6 AC_WPNav: add TER_MARGIN param 2021-07-22 16:01:01 +10:00
Leonard Hall 2dea0fa966 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 16:01:01 +10:00
Leonard Hall fc8242db68 AC_WPNav: Auto Terain following update 2021-07-22 16:01:01 +10:00
Andy Piper 19ae04f1b0 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 16:01:01 +10:00
Leonard Hall 902560953b AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 16:01:01 +10:00
Hwurzburg b59f5ec7a1 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Hwurzburg 319cc7a199 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Andy Piper 4540244e2a AP_RCTelemetry: correct firmware string length for CRSF 2021-07-22 16:01:01 +10:00
Leonard Hall 14cfcf18c2 AC_WPNav: Remove unused function 2021-07-22 16:01:01 +10:00
Leonard Hall fcca42410a AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 16:01:01 +10:00
Leonard Hall c3c3a47e9a AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 16:01:01 +10:00
Leonard Hall ebd8401652 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 16:01:01 +10:00
Leonard Hall 30aa636ba1 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall c1484f4b31 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:00 +10:00
Leonard Hall 9d8fdf3e85 AC_AttitudeControl: Add terain following to guided 2021-07-22 16:01:00 +10:00
Randy Mackay 3e2949ce98 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 16:01:00 +10:00
Leonard Hall 0269c49c14 AC_WPNav: move code to generate terrain following kinematic path 2021-07-22 16:01:00 +10:00
Leonard Hall d5d7e3d5d3 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-22 16:01:00 +10:00
Leonard Hall a546a9ac14 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-22 16:01:00 +10:00
Andrew Tridgell 3fd0bf734b 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 16:01:00 +10:00
Andy Piper 560a5ea225 AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-22 16:01:00 +10:00
Randy Mackay 5697e5616c AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-22 16:01:00 +10:00
Andrew Tridgell 8165a81256 AP_Common: update tests for 4.1 2021-07-22 16:01:00 +10:00
Andrew Tridgell d128c1a86f HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell 52e4b522f9 AP_SerialManager: document DisableFIFO bit 2021-07-22 16:01:00 +10:00
Andrew Tridgell 18d90f76b5 AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-22 16:01:00 +10:00
Andrew Tridgell c2b310ad86 HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-22 16:01:00 +10:00
Andrew Tridgell c37310b966 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-22 16:01:00 +10:00
Andrew Tridgell 0579870593 AP_Math: fixed build 2021-07-22 16:01:00 +10:00
Andrew Tridgell 97da800b67 HAL_SITL: update for changed SITL API 2021-07-22 16:01:00 +10:00
Andrew Tridgell 8fc7f661e8 SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-22 16:01:00 +10:00
Andrew Tridgell 29f694ffdd 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 16:01:00 +10:00
Andrew Tridgell f8e315fc65 AP_DAL: update GPS yaw API to add timestamp 2021-07-22 16:01:00 +10:00
Andrew Tridgell 4b2c766857 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 16:01:00 +10:00
Andrew Tridgell de254d59f1 AP_NavEKF: sync for 4.1.0beta 2021-07-22 16:01:00 +10:00
Andrew Tridgell dd2995af5d AP_Math: sync for 4.1.0beta releases 2021-07-22 16:01:00 +10:00
Andrew Tridgell 1d46e77942 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 16:01:00 +10:00
Andrew Tridgell f0bc4bca84 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 16:01:00 +10:00
Peter Barker 156a220d5b AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 16:01:00 +10:00
Andrew Tridgell 9f03f5a9a9 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 16:01:00 +10:00
Andrew Tridgell 4408eecb18 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 16:01:00 +10:00
Andrew Tridgell cc03255245 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 16:01:00 +10:00
Andrew Tridgell 8c9663e47c AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 16:01:00 +10:00