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Author SHA1 Message Date
Andrew Tridgell
7eaab583d4 AP_RPM: stop defaulting RPM_PIN to 54 2021-07-22 07:48:12 +10:00
Andrew Tridgell
bbcce717dc HAL_ChibiOS: stop defaulting relay pins to 54 and 55 
this just leads to confusion
 2021-07-22 07:48:12 +10:00
Andrew Tridgell
0f70b4d8e3 AP_BoardConfig: removed BRD_PWM_COUNT 2021-07-22 07:48:12 +10:00
Andrew Tridgell
54e53ed71c HAL_ChibiOS: use is_GPIO() instead of BRD_PWM_COUNT 2021-07-22 07:48:12 +10:00
Andrew Tridgell
874757a955 SRV_Channel: added k_GPIO and is_GPIO() 2021-07-22 07:48:12 +10:00
Peter Barker
a6a18fe193 AP_AHRS: punt to correct parent class when no index for getCorrectedDeltaVelocityNED 2021-07-21 21:01:39 +10:00
Peter Barker
b450a96698 AP_AHRS: shuffle AP_AHRS classes 2021-07-21 21:01:39 +10:00
Peter Barker
5c7d5a048f Rover: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
106534a654 Blimp: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e98af90749 ArduSub: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
06c2faaec5 ArduPlane: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e74a8e28af ArduCopter: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
d74bb146f1 AntennaTracker: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e1b839f739 GCS_MAVLink: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
1ae7d68988 AP_VisualOdom: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
7cca7513a1 AP_Vehicle: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e1162f0a66 AP_SmartRTL: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ed5303d1b8 AP_OpticalFlow: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
48e9fa7ebd AP_NMEA_Output: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ee069a081b AP_Mount: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
da11b6be77 AP_Module: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
b1bd699a73 AP_Logger: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
dbc24d5cd3 AP_InertialNav: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
2bd8a45c58 AP_Common: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
8396925ece AC_WPNav: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
63015e9e9a AC_PrecLand: fixes 2021-07-21 21:01:39 +10:00
Peter Barker
6aba6c83c6 AC_PrecLand: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
5046083863 AC_AttitudeControl: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
3b15ff0d42 Rover: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
271519f6e2 Blimp: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
e3b8fc6646 ArduPlane: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
f0e660db51 ArduCopter: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
ec17abce2e GCS_MAVLink: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
2926ffcd2f AP_Vehicle: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
b9c4d40c46 AP_NMEA_Output: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
85bd9de903 AP_Mount: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
a3ee979b9c AP_InertialNav: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
0d391533b0 AP_AHRS: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Pierre Kancir
a7f14efef2 AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-21 19:00:15 +10:00
Peter Barker
f848f7d3b2 Rover: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Peter Barker
354c1091f8 ArduPlane: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Peter Barker
d2102ce9b7 APM_Control: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Andrew Tridgell
cbf549b1eb AP_Airspeed: fixed display of ARSPD_DEVID when ARSPD2_TYPE=0 2021-07-21 18:22:11 +10:00
Peter Barker
795f412264 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker
b5f165ce2e AP_NavEKF2: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker
141e2aae91 AP_AHRS: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Andrew Tridgell
fc2118f42b 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
 2021-07-21 17:59:49 +10:00
Andrew Tridgell
17f93b8a94 AP_DAL: update GPS yaw API to add timestamp 2021-07-21 17:59:49 +10:00
Andrew Tridgell
e5d878eebd 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
 2021-07-21 17:59:49 +10:00
Andrew Tridgell
0b9cde5812 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-21 17:59:49 +10:00