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22728 Commits

Author SHA1 Message Date
Paul Riseborough
de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Paul Riseborough
863f989130 AP_NavEKF3: Fix integration of GPS yaw options 
AP_NavEKF3: fix failure to arm with EK3_MAG_CAL = 7

AP_NavEKF3: Fix failure to arm when not using magnetometer

AP_NavEKF3: Reduce yaw drift when EK3_MAG_CAL = 7
 2020-04-24 09:43:22 +10:00
Paul Riseborough
410b5825fb AP_NavEKF3: Enable use of EKF-GSF yaw estimate 
AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate

AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters

Enables fail-safe to be set with more sensitivity and improves tracking accuracy.
Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then.

AP_NavEKF3: Prevent constant mag anomaly yaw resets

Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference.
Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required.

AP_NavEKF3: Add option to fly without magnetometer

AP_NavEKF3: Rework emergency yaw reset logic

Use a separate external accessor function to request the yaw reset.
Allow reset requests to remain active for a defined period of time.
Tidy up reset function to split out accuracy check.

AP_NavEKF3: Fix vulnerability to lane switch race condition

Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react.

AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours

Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate.
Fix bug causing emergency yaw message to be output for a normal reset.
Fix vulnerability to reported negative yaw variance.
Remove duplicate timer checks.

AP_NavEKF3: Update EK3_MAG_CAL documentation

AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag

AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor

Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
 2020-04-24 09:43:22 +10:00
Paul Riseborough
6bb7c55bba AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter 
AP_NavEKF: Simplify centripetal accel correction
 2020-04-24 09:43:22 +10:00
Peter Barker
eee0f028ba AP_Logger: fix examples 
Having a valid AP_Scheduler is now a requirement
 2020-04-23 11:33:41 +09:00
Andrew Tridgell
4ec1717361 HAL_ChibiOS: enable IMU temp control on CUAV-X7 2020-04-23 09:05:52 +10:00
Andrew Tridgell
56b0dddb7c HAL_ChibiOS: set IMU temp on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5892e6421e HAL_ChibiOS: enable DRDY on ADIS16470 on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell
ffe773ff6f HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus 2020-04-23 07:28:13 +10:00
Andrew Tridgell
5c6749ee54 AP_InertialSensor: use wait_pin() to wait for DRDY pin if available 2020-04-23 07:28:13 +10:00
Andrew Tridgell
450871cde1 HAL_ChibiOS: added wait_pin() implementation 2020-04-23 07:28:13 +10:00
Andrew Tridgell
34df438560 AP_HAL: added wait_pin() API 
for waiting on data-ready lines
 2020-04-23 07:28:13 +10:00
Andrew Tridgell
8e977183fe HAL_ChibiOS: added mRoNexus 2020-04-23 07:28:13 +10:00
Randy Mackay
6f8176c71e GCS_MAVLink: remove ahrs3 2020-04-22 14:11:17 +09:00
Mark Whitehorn
dbfbe50737 SITL: update flightaxis defaults 2020-04-22 12:36:03 +10:00
Randy Mackay
47c7c8fb53 RC_Channel: rover option param desc gets Viso Align 2020-04-22 10:34:18 +09:00
Peter Barker
653b554a31 SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Peter Barker
185bc68476 AP_HAL_SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Andrew Tridgell
6be519fb0d HAL_ChibiOS: added alt-config for UART4 on omnibusf4pro 2020-04-21 18:42:12 +10:00
Andrew Tridgell
6347d0adb0 AP_GPS: leave uart2 config enabled when using uart2 MB setup 2020-04-21 15:30:54 +10:00
Andrew Tridgell
f3a5d915f3 AP_GPS: allow for larger average delta on MB rover than normal 2020-04-21 15:30:54 +10:00
Andrew Tridgell
36098c3221 AP_GPS: improved delay health threshold 
allow for missing frames without showing unhealthy on GCS
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
3397ed766d AP_GPS: enable ublox moving baseline compilation option 
disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
ae2132d861 AP_GPS: added check for Z error in moving baseline ublox 
this ensures we don't get bad yaw from having the right distance but
incorrect Z offset for the currently expected roll/pitch
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
7027eecd34 AP_GPS: added GPS_DRV_OPTIONS 
this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
9a6de209ab AP_GPS: ensure that PVT and RELPOSNED msgs time align 
this ensures we wait until we have a matching PVT and RELPOSNED
message before we report new data. If we stop receiving RELPOSNED
messages then disable yaw support
 2020-04-21 15:30:54 +10:00
Andrew Tridgell
3fbeae613b AP_GPS: fixed moving baseline yaw calculation 
this reverts #13955 and instead applies the correct fix, which is to
subtract the angle instead of adding.
 2020-04-21 15:30:54 +10:00
Randy Mackay
3195a7cccd AC_Circle: z-axis target only updated during terrain following 
This allows the circle flight mode to externally control the altitude target
 2020-04-21 11:39:38 +09:00
murata
2af70f5e60 AP_Arming: Display mag field value 2020-04-21 10:51:48 +09:00
Randy Mackay
35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay
7470bc9994 AP_NavEKF3: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Randy Mackay
85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker
87108b86c8 AP_NavEKF3: add documentation for XKFM message 2020-04-21 09:48:43 +10:00
Peter Barker
a83c25cfa7 AP_Logger: add documentation for EKF messages 
NKF0, NKF1, NKF2, NKF3, NKF4, NKF5, NKQ

XKF0, XKF1, XKF2, XKF3, XKF4, XKF5, XKFD, XKQ, XKV1, XKV2
 2020-04-21 09:48:43 +10:00
Peter Barker
cda0d14f57 SITL: add documentation for SITL and SMOO message 2020-04-21 09:48:43 +10:00
Rishabh
6a98ab569e AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Andrew Tridgell
7e835d1037 AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-04-21 06:02:29 +10:00
Peter Barker
59c02816b8 AP_HAL_SITL: find dumpstack when run from vehicle subdirectory 2020-04-20 14:25:08 +10:00
murata
bd688ef412 AP_ToshibaCAN: Using the maximum number of ESCs definition 
AP_ToshibaCAN: Using the maximum number of ESCs definition
 2020-04-20 10:12:57 +09:00
Andrew Tridgell
02aebfcd6f AP_Baro: fixed build warning 2020-04-20 07:10:21 +10:00
Andrew Tridgell
6dafa82c7c AP_FlashStorage: fixed build warning 2020-04-19 13:36:24 +10:00
Peter Barker
b490f20f3d AP_Param: panic if defaults file load fails 2020-04-18 21:51:16 +10:00
Andy Piper
f3b240533f AP_HAL_ChibiOS: eliminate EKF2 from fmuv2 build 2020-04-18 20:18:30 +10:00
Mark Whitehorn
874c293911 AP_Logger: expand description of GPS.spd 2020-04-18 15:33:43 +10:00
Randy Mackay
33d29feab9 AP_VisualOdom: T265 supports vision-position-delta 
implementation is the same for both backends so move to AP_VisualOdom_Backend
 2020-04-18 08:07:20 +09:00
Peter Barker
870159c14f AP_Logger: add times-full to MAV log structure 2020-04-17 22:21:14 +10:00
Peter Barker
8b9281eaa1 GCS_MAVLink: log number of times message not sent due to no space 2020-04-17 22:21:14 +10:00
Peter Barker
908dfa58f3 AP_Logger: remove unused FORMATS stage in DFLogStart messagewriter 2020-04-17 21:42:15 +10:00
Andrew Tridgell
db8fdeebeb HAL_ChibiOS: fixed Hott telem half duplex handling 
this fixes an issue with single byte writes with half duplex. It isn't
an elegent solution, but nicely separates the different types of half
duplex operation
 2020-04-17 17:52:28 +10:00
Patrick José Pereira
6672155e24 AP_FlashStorage: Fix test for AP_FLASHSTORAGE_MULTI_WRITE 
AP_FLASHSTORAGE_MULTI_WRITE is not defined

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 16:00:39 +10:00
Patrick José Pereira
c83ce93165 AP_HAL_Linux: Add missing wscript for GPIOTest 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:59:25 +10:00
Patrick José Pereira
4018a79f83 AP_Baro: Fix scope of HAL_INS_MPU60x0_NAME 
`read_calibration_data` is defined but only used inside the
definition scope.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:58:38 +10:00
Andrew Tridgell
cac455ff2d HAL_ChibiOS: added another uart to omnibusf4v6 
for RC telemetry such as Hott telem
 2020-04-17 11:23:06 +10:00
Andrew Tridgell
f721fb1743 AP_Hott_Telem: fixed GPS display for mz-32 
thanks to Ralf Helbing
 2020-04-17 11:23:06 +10:00
Peter Barker
41ada7f8f4 GCS_MAVLink: document the payload-space macros 2020-04-17 10:20:49 +10:00
Randy Mackay
03441f2250 AC_Circle: remove _rangefinder_use parameter 
We will reuse the WPNAV_RFND_USE parameter indirectly
 2020-04-16 17:30:29 +09:00
Randy Mackay
f3e2b182a1 AC_WPNav: add rangefinder_used accessor 2020-04-16 17:30:29 +09:00
Randy Mackay
658bb646ca AC_Circle: support terrain altitudes 2020-04-16 17:30:29 +09:00
vierfuffzig
7c7b199bbd AP_HAL_ChibiOS: add I2C / USART3 ALT_CONFIG for omnibusf4pro 2020-04-16 08:42:24 +10:00
Randy Mackay
22c9081c83 AP_NavEKF3: minor comment fix 2020-04-15 19:35:30 +09:00
Peter Barker
678d6f43c5 AP_Logger: use existing LoggerMessageWriter to log uploaded missions 
Instead of creating a MessageWriter explicitly to log uploaded missions
we fiddle the state of the one stored in the startup message writer.

This has the advantage of being much more likely to log the entire
mission (as the buffer constraint is removed), and with the addition of
a time-remaining check much less likely to cause a timing glitch.
 2020-04-15 16:24:40 +10:00
Peter Barker
856b635e89 AP_Mount: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker
d8582d864a AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker
acba2a78f6 AP_Logger: add message validation check against duplicate labels 2020-04-14 12:30:58 +10:00
Peter Barker
ec7bde2be4 SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
4245ee6543 RC_Channel: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
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