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Author SHA1 Message Date
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
ab71cac503 Sub: fixes for use of longitude_scale() 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
Andrew Tridgell
c05e93e51e AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f2668f8e8e AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
edb11d4d71 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
823ed4c309 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 16:01:00 +10:00
Andrew Tridgell
b6fb7383e7 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
fa3f3dd218 HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell
a6c5b65f4a AP_NavEKF3: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
380b9b39ed AP_NavEKF2: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
10facfc519 AP_NavEKF: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4dfa6258d9 AP_Mount: use ZERO_FARRAY() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
26820c3a8c AP_Motors: fixup build for ftype conflict 2021-07-22 16:01:00 +10:00
Andrew Tridgell
425c8aafb1 AP_Common: added double methods for SITL 2021-07-22 16:01:00 +10:00
Andrew Tridgell
d698987070 SITL: fixup offset calls 2021-07-22 16:01:00 +10:00
Andrew Tridgell
e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c6c197d4fb HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
309500c84f AP_HAL: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
6171006579 Tools: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c659352ebe waf: added --ekf-double configure option 2021-07-22 16:01:00 +10:00
Andrew Tridgell
db37898e36 Plane: prepare for 4.1.0beta3 2021-07-05 16:23:07 +10:00
Andrew Tridgell
136c6a509c Plane: updated release notes for 4.1.0beta3 2021-07-05 16:22:27 +10:00
Andrew Tridgell
ae013dd5e6 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 16:09:34 +10:00
Andrew Tridgell
2ac01f207a AP_Notify: disable DShot buzzer by default 2021-07-04 18:28:20 +10:00
Andrew Tridgell
002bc51fd5 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-04 18:20:29 +10:00
Andy Piper
b5bb401b97 AP_Notify: re-enable display on 1Mb boards 2021-07-04 08:24:40 +10:00
Andrew Tridgell
2d4e77e9b1 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-04 08:24:17 +10:00
Andrew Tridgell
bf867fb792 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-04 08:23:29 +10:00
Randy Mackay
008b17eb6e Copter: version to 4.1.0-beta5 2021-07-04 08:19:11 +10:00
Randy Mackay
e0e7af1e76 Copter: 4.1.0-beta5 release notes 2021-07-04 08:19:11 +10:00
Randy Mackay
c5db503e47 mavlink: move submodule reference forward to latest 2021-07-04 08:19:11 +10:00