Paul Riseborough
8b16d8dc4c
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-25 09:30:25 +10:00
Paul Riseborough
eb5a82dd38
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
2021-07-25 09:30:25 +10:00
Paul Riseborough
942a1f329f
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-25 09:30:25 +10:00
Paul Riseborough
ffce6fab70
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.
2021-07-25 09:30:25 +10:00
Paul Riseborough
77082e414b
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-25 09:30:25 +10:00
Paul Riseborough
a32fd0a97c
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-25 09:30:25 +10:00
Paul Riseborough
90a8dc48d1
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-25 09:30:25 +10:00
Paul Riseborough
bb88aef1b3
AP_NavEKF3: Update covariance prediction equations
2021-07-25 09:30:25 +10:00
Paul Riseborough
b6a2f4b4f5
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-25 09:30:25 +10:00
Andrew Tridgell
36174d198f
AP_Math: fix uses of single precision
2021-07-22 16:01:01 +10:00
Randy Mackay
b375fe291f
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 16:01:01 +10:00
Randy Mackay
6dd100df7b
AC_WPNav_OA: minor formatting and comment fixes
2021-07-22 16:01:01 +10:00
Randy Mackay
3242bd0ee8
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
...
also bendy ruler uses pos controller
2021-07-22 16:01:01 +10:00
Randy Mackay
6cbc62744b
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-22 16:01:01 +10:00
Randy Mackay
3177759a1d
AC_Avoidance: bendy ruler format fixes
2021-07-22 16:01:01 +10:00
Randy Mackay
8d641e1bb3
AC_Avoidance: OA_PathPlanner returns which planner was used
...
this replaces get_bendy_type
2021-07-22 16:01:01 +10:00
Randy Mackay
6b74dd2ab4
AC_Avoidance: BendyRuler returns which type was used
...
also make serach_xxx_path methods private
2021-07-22 16:01:01 +10:00
Randy Mackay
7084009454
AP_Common: add Location::linear_interpolate_alt
2021-07-22 16:01:01 +10:00
Andy Piper
8cd3ae12a7
AP_BLHeli: ensure correct rotation through telemetry ESCs
2021-07-22 16:01:01 +10:00
Pierre Kancir
62be72d3ba
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-22 16:01:01 +10:00
Leonard Hall
730ac9cb20
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-22 16:01:01 +10:00
Leonard Hall
5001f47313
WP_Nav: Return Crosstrack error
2021-07-22 16:01:01 +10:00
Leonard Hall
3d6dd8cff8
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-22 16:01:01 +10:00
Randy Mackay
b916f7742e
AC_WPNav: use get_terrain_margin instead of constant
2021-07-22 16:01:01 +10:00
Randy Mackay
7a09ac1aa6
AC_WPNav: add TER_MARGIN param
2021-07-22 16:01:01 +10:00
Leonard Hall
2dea0fa966
AC_AttitudeControl: AC_PosControl: Auto Terain following update
2021-07-22 16:01:01 +10:00
Leonard Hall
fc8242db68
AC_WPNav: Auto Terain following update
2021-07-22 16:01:01 +10:00
Andy Piper
19ae04f1b0
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-22 16:01:01 +10:00
Leonard Hall
902560953b
AC_AttitudeControl: Allow yaw rate reset to be de-selected
2021-07-22 16:01:01 +10:00
Hwurzburg
b59f5ec7a1
RC_Channel: fix ELRS systems spamming CRSF mode/rate messages
2021-07-22 16:01:01 +10:00
Hwurzburg
319cc7a199
AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages
2021-07-22 16:01:01 +10:00
Andy Piper
4540244e2a
AP_RCTelemetry: correct firmware string length for CRSF
2021-07-22 16:01:01 +10:00
Leonard Hall
14cfcf18c2
AC_WPNav: Remove unused function
2021-07-22 16:01:01 +10:00
Leonard Hall
fcca42410a
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-22 16:01:01 +10:00
Leonard Hall
c3c3a47e9a
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-22 16:01:01 +10:00
Leonard Hall
ebd8401652
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-22 16:01:01 +10:00
Leonard Hall
30aa636ba1
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-22 16:01:01 +10:00
Leonard Hall
c1484f4b31
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-22 16:01:00 +10:00
Leonard Hall
9d8fdf3e85
AC_AttitudeControl: Add terain following to guided
2021-07-22 16:01:00 +10:00
Randy Mackay
3e2949ce98
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-22 16:01:00 +10:00
Leonard Hall
0269c49c14
AC_WPNav: move code to generate terrain following kinematic path
2021-07-22 16:01:00 +10:00
Leonard Hall
d5d7e3d5d3
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-22 16:01:00 +10:00
Leonard Hall
a546a9ac14
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-22 16:01:00 +10:00
Andrew Tridgell
3fd0bf734b
AP_Math: added test for SCurve::calculate_path
...
this was the values shown in the core dump for failing guided mode
test in CI
2021-07-22 16:01:00 +10:00
Andy Piper
560a5ea225
AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot
2021-07-22 16:01:00 +10:00
Randy Mackay
5697e5616c
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
2021-07-22 16:01:00 +10:00
Andrew Tridgell
8165a81256
AP_Common: update tests for 4.1
2021-07-22 16:01:00 +10:00
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
