bugobliterator
f33188b95f
AP_EFI: use separate register_driver method while contructing CAN Driver
2021-08-14 10:44:08 +09:00
bugobliterator
b8c2a18eaf
AP_BattMonitor: use separate register_driver method while contructing CAN Driver
2021-08-14 10:44:08 +09:00
bugobliterator
cf535481e9
AP_CANSensor: create a separate register driver method
2021-08-14 10:44:08 +09:00
Randy Mackay
d94fe1e6c8
Copter: version to 4.1.0-beta6
2021-07-23 12:06:59 +09:00
Randy Mackay
0733a39fee
Copter: 4.1.0-beta6 release notes
2021-07-23 12:05:12 +09:00
Andrew Tridgell
c1f72d6683
AP_AHRS: build fix
2021-07-22 19:07:36 +09:00
Paul Riseborough
b2c24a0b58
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.
2021-07-22 19:07:36 +09:00
Paul Riseborough
ad15d62941
Tools: Rework Plane.EKFlaneswitch autotest
2021-07-22 19:07:36 +09:00
Paul Riseborough
697cc5cb44
Tools: Rework Copter VibrationFailsafe test to use commanded land
2021-07-22 19:07:36 +09:00
Paul Riseborough
762529a987
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-22 19:07:36 +09:00
Paul Riseborough
dd9cc70ad4
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
...
Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
21dfefa5f2
Tool: Allow more time for quadplane autotest to land and disarm
2021-07-22 19:07:36 +09:00
Paul Riseborough
84693ea3c4
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.
2021-07-22 19:07:36 +09:00
Andrew Tridgell
645386cba6
Plane: disable EKF3 default airspeed fusion by default
...
this fusion can cause problems with wind estimation, disable by
default for now
2021-07-22 19:07:36 +09:00
Paul Riseborough
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
1812d8ea3a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-22 19:07:36 +09:00
Paul Riseborough
3e4375e453
Copter: rework ekf_check to use the EKF vibration_affected status
2021-07-22 19:07:36 +09:00
Paul Riseborough
6d6699f9f9
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
This makes state corrections from GPS and baro observations more aggressive
2021-07-22 19:07:36 +09:00
Paul Riseborough
7abecb4e0e
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-22 19:07:36 +09:00
Paul Riseborough
1cc7dc59a1
AP_NavEKF3: Make bad IMU status more persistent
2021-07-22 19:07:36 +09:00
Paul Riseborough
6907fa8e88
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
2021-07-22 19:07:36 +09:00
Paul Riseborough
662bda1bbd
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-22 19:07:36 +09:00
Paul Riseborough
f37caffb31
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-22 19:07:36 +09:00
Paul Riseborough
36ead940d6
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-22 19:07:36 +09:00
Paul Riseborough
82ed96a927
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
2021-07-22 19:07:36 +09:00
Paul Riseborough
ed30a7ce35
Tools: relax navigation test accuracy
2021-07-22 19:07:36 +09:00
Paul Riseborough
3714c1b2e2
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-22 19:07:36 +09:00
Paul Riseborough
a24df9d633
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.
2021-07-22 19:07:36 +09:00
Paul Riseborough
8db073a8d6
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.
2021-07-22 19:07:36 +09:00
Paul Riseborough
5a3e0e7f17
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-22 19:07:36 +09:00
Paul Riseborough
827d871c85
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-22 19:07:36 +09:00
Paul Riseborough
aa13e86ac9
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-22 19:07:36 +09:00
Paul Riseborough
cb6371e952
AP_NavEKF3: Update covariance prediction equations
2021-07-22 19:07:36 +09:00
Paul Riseborough
4f8f187b81
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-22 19:07:36 +09:00
Peter Barker
65d0dcf3b7
Tools: split yaw-vehicle-for-mount-roi test out
2021-07-22 19:07:36 +09:00
Andrew Tridgell
7f3bc8ba1f
AP_Math: fix uses of single precision
2021-07-22 19:07:36 +09:00
Randy Mackay
92008ebb8f
AR_WPNav: integrate PathPlanner returning path_planner_used
...
Rover does not need to handle the results differently based on the planner used
2021-07-22 19:07:36 +09:00
Randy Mackay
cca86c7a24
AC_WPNav_OA: minor formatting and comment fixes
2021-07-22 19:07:36 +09:00
Randy Mackay
0a5d6c48e6
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
...
also bendy ruler uses pos controller
2021-07-22 19:07:36 +09:00
Randy Mackay
55e23d7230
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-22 19:07:36 +09:00
Randy Mackay
ae81e8ab2b
AC_Avoidance: bendy ruler format fixes
2021-07-22 19:07:36 +09:00
Randy Mackay
f98efd7ef8
AC_Avoidance: OA_PathPlanner returns which planner was used
...
this replaces get_bendy_type
2021-07-22 19:07:36 +09:00
Randy Mackay
1536249b33
AC_Avoidance: BendyRuler returns which type was used
...
also make serach_xxx_path methods private
2021-07-22 19:07:36 +09:00
Randy Mackay
d946a2c95d
AP_Common: add Location::linear_interpolate_alt
2021-07-22 19:07:36 +09:00
Andy Piper
b6ce206c3d
AP_BLHeli: ensure correct rotation through telemetry ESCs
2021-07-22 19:07:36 +09:00
Pierre Kancir
9f2bfd330d
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-22 19:07:36 +09:00
Leonard Hall
9d1a51969b
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-22 19:07:36 +09:00
Leonard Hall
0211676b90
Copter: Guided and Loiter mode returns Crosstrack error
2021-07-22 19:07:36 +09:00
Leonard Hall
efd854562f
WP_Nav: Return Crosstrack error
2021-07-22 19:07:36 +09:00
Leonard Hall
8e31de412c
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-22 19:07:36 +09:00