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48,261 Commits 71 Branches 509 Tags 714 MiB
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48261 Commits

Author SHA1 Message Date
Andy Piper 7bad54f638 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 11:05:37 +09:00
Josh Henderson a831434aa7 ArduCopter: guided auto_yaw_angle_rate timeout 2021-08-14 11:05:37 +09:00
Andrew Tridgell d88d811ab3 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 11:05:37 +09:00
bugobliterator cc4fc42ed0 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator d27acbce2d AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator ae0d11a26d AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 11:05:37 +09:00
bugobliterator 1bac7283ab AP_CANSensor: create a separate register driver method 2021-08-14 11:05:37 +09:00
Randy Mackay 917280de1b Copter: version to 4.1.0-beta6 2021-08-14 11:05:37 +09:00
Randy Mackay 00085b7574 Copter: 4.1.0-beta6 release notes 2021-08-14 11:05:37 +09:00
Randy Mackay 474046e501 Rover: version to 4.1.0-beta6 2021-07-23 12:04:33 +09:00
Randy Mackay ce9b079456 Rover: 4.1.0-beta6 release notes 2021-07-23 12:03:20 +09:00
Andrew Tridgell ddbcfafe30 AP_AHRS: build fix 2021-07-23 10:19:50 +09:00
Paul Riseborough d90c67a079 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.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 7fb30597eb Tools: Rework Plane.EKFlaneswitch autotest 2021-07-23 10:19:50 +09:00
Paul Riseborough 9e48eb9ac8 Tools: Rework Copter VibrationFailsafe test to use commanded land 2021-07-23 10:19:50 +09:00
Paul Riseborough 28224c001a AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-23 10:19:50 +09:00
Paul Riseborough 5a3f785798 AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough f202b7944e Tool: Allow more time for quadplane autotest to land and disarm 2021-07-23 10:19:50 +09:00
Paul Riseborough 4b4bb18f50 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.
 2021-07-23 10:19:50 +09:00
Andrew Tridgell 1369f3b565 Plane: disable EKF3 default airspeed fusion by default 
this fusion can cause problems with wind estimation, disable by
default for now
 2021-07-23 10:19:50 +09:00
Paul Riseborough a98583e0ca AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 51a1b9ae9a AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-23 10:19:50 +09:00
Paul Riseborough 3da71c5de5 Copter: rework ekf_check to use the EKF vibration_affected status 2021-07-23 10:19:50 +09:00
Paul Riseborough edd75e3981 AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-23 10:19:50 +09:00
Paul Riseborough 6166b666b6 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-23 10:19:50 +09:00
Paul Riseborough 835b97f5e8 AP_NavEKF3: Make bad IMU status more persistent 2021-07-23 10:19:50 +09:00
Paul Riseborough 3ce5633701 AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-23 10:19:50 +09:00
Paul Riseborough a220ca20a6 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-23 10:19:50 +09:00
Paul Riseborough e7ff7f629d AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-23 10:19:50 +09:00
Paul Riseborough 82f585a515 AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-23 10:19:50 +09:00
Paul Riseborough 7b40e89463 AP_NavEKF3: Adjust gyro bias process noise tuning 
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
 2021-07-23 10:19:50 +09:00
Paul Riseborough b6bbaed0db Tools: relax navigation test accuracy 2021-07-23 10:19:50 +09:00
Paul Riseborough 082f8e42f6 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-23 10:19:50 +09:00
Paul Riseborough 315d9ef9d8 AP_NavEKF3: Retune IMU process noise 
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
 2021-07-23 10:19:50 +09:00
Paul Riseborough e13e888c31 Tools: Fix AIRSPEED_AUTOCAL test failure 
The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
 2021-07-23 10:19:50 +09:00
Paul Riseborough 344f2d0eb7 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-23 10:19:50 +09:00
Paul Riseborough fcf7a7c8f7 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-23 10:19:49 +09:00
Paul Riseborough 4096e75b15 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-23 10:19:49 +09:00
Paul Riseborough 5cb4cf870d AP_NavEKF3: Update covariance prediction equations 2021-07-23 10:19:49 +09:00
Paul Riseborough 14edac7e5c AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-23 10:19:49 +09:00
Peter Barker a298480207 Tools: split yaw-vehicle-for-mount-roi test out 2021-07-23 10:19:49 +09:00
Andrew Tridgell c2e221dd09 AP_Math: fix uses of single precision 2021-07-23 10:19:49 +09:00
Randy Mackay e4684f65dc AR_WPNav: integrate PathPlanner returning path_planner_used 
Rover does not need to handle the results differently based on the planner used
 2021-07-23 10:19:49 +09:00
Randy Mackay 0c9fbf9456 AC_WPNav_OA: minor formatting and comment fixes 2021-07-23 10:19:49 +09:00
Randy Mackay b95c6b5e5d AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-23 10:19:49 +09:00
Randy Mackay c991ff4318 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-23 10:19:49 +09:00
Randy Mackay 075c05baea AC_Avoidance: bendy ruler format fixes 2021-07-23 10:19:49 +09:00
Randy Mackay 0b26bace7f AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-23 10:19:49 +09:00
Randy Mackay 980909deb5 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-23 10:19:49 +09:00
Randy Mackay 400731df1b AP_Common: add Location::linear_interpolate_alt 2021-07-23 10:19:49 +09:00