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Author SHA1 Message Date
Andrew Tridgell
8d5d699998 AP_InertialSensor: special check for CubeBlack to force INS_USE3=1 
this will cope with users loading old parameter files
 2019-08-06 10:42:36 +09:00
Andrew Tridgell
10ed84f17c AP_Baro: check for all 1 ADC read on MS5611 2019-08-06 10:42:36 +09:00
Andrew Tridgell
49f7e22c72 AP_Baro: consider a baro unhealthy when outside of -200 to 200 C 
this helps detects unhealthy baros on SPI where we can't detect comms
failure
 2019-08-06 10:42:36 +09:00
Andrew Tridgell
ecd9c88003 AP_InertialSensor: default INS_USE3 to 1 2019-08-06 10:42:36 +09:00
Pierre Kancir
c55d19b287 ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-07-30 14:06:27 +09:00
Pierre Kancir
99e04e5861 ArduCopter: respect yaw orientation on LAND 2019-07-30 14:06:27 +09:00
Randy Mackay
1c04a91efb Copter: version to 3.6.10 2019-07-29 12:22:52 +09:00
Randy Mackay
48bbe6d128 Copter: 3.6.10 release notes 2019-07-29 12:21:47 +09:00
Randy Mackay
ce39cd0e03 Copter: version to 3.6.10-rc2 2019-07-22 17:39:24 +09:00
Randy Mackay
29ca62ab74 Copter: 3.6.10-rc2 release notes 2019-07-22 17:38:51 +09:00
Randy Mackay
af98ff99fd Copter: esc cal startup check moved outside rc output init 
this ensures we don't accidentally enter esc calibration during motor test
 2019-07-22 17:34:33 +09:00
Andrew Tridgell
413f60ebb8 HAL_ChibiOS: fixed revo-mini build 2019-07-22 16:59:56 +09:00
Andrew Tridgell
1189123068 HAL_ChibiOS: fixed typos in hwdef.dat files 2019-07-22 16:59:52 +09:00
Andrew Tridgell
06d92ec8f2 AP_IneertialSensor: fixed startup race in SITL 2019-07-10 17:00:40 +10:00
Andrew Tridgell
2dc0c0b860 AP_Compass: backport master AK09916 driver 
this allows mRoControlZeroF7 to work in copter stable
 2019-07-10 17:00:40 +10:00
Phillip Kocmoud
a361c9a80a AP_Baro.cpp: support DPS280 on SPI 2019-07-10 17:00:40 +10:00
Andrew Tridgell
3f0e85210c AP_InertialSensor: fixes for backport of BMI088 driver 2019-07-10 17:00:40 +10:00
Andrew Tridgell
d640bb15e5 AP_HAL: added Invensensev2 defines 2019-07-10 17:00:40 +10:00
Andrew Tridgell
18956afb3c AP_InertialSensor: add drivers for register bank based Invensense Sensors 2019-07-10 17:00:40 +10:00
Andrew Tridgell
fb20d032eb AP_InertialSensor: added driver for BMI088 
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
 2019-07-10 17:00:40 +10:00
Phillip Kocmoud
a90089652c AP_InertialSensor: probe IMUs for mRoControlZeroF7 2019-07-10 17:00:40 +10:00
Phillip Kocmoud
da8ecbe389 AP_Baro: support DPS280 on SPI 2019-07-10 17:00:40 +10:00
Andrew Tridgell
14ea46eaba AP_HAL: added DPS280 on SPI / added board type for mRoControlZeroF7 2019-07-10 17:00:40 +10:00
Phillip Kocmoud
46fca0d94c HAL_ChibiOS: added hwdef for mRoControlZeroF7 2019-07-10 17:00:40 +10:00
Andrew Tridgell
0cdd41cb35 HAL_ChibiOS: added missing pins for F777 2019-07-10 17:00:40 +10:00
Andrew Tridgell
c1d2d1632b Tools: added mRoControlZeroF7 bootloader 2019-07-10 17:00:40 +10:00
Randy Mackay
4cd315aadc Copter: version to 3.6.10-rc1 2019-07-08 10:56:44 +09:00
Randy Mackay
0ea296c6b7 Copter: 3.6.10-rc2 release notes 2019-07-08 10:54:29 +09:00
Andrew Tridgell
cf87e7b911 Tools: removed unused io firmware 2019-07-08 10:18:09 +09:00
Andrew Tridgell
2123117fe7 HAL_ChibiOS: switch to new IO firmware for fmuv5 2019-07-08 10:18:09 +09:00
Andrew Tridgell
45e994c1fb RC_Channel: added get_type() method 2019-07-08 10:18:09 +09:00
Andrew Tridgell
eaeebeba53 AP_IOMCU: fixup 2019-07-08 10:18:09 +09:00
Andrew Tridgell
7382fc6316 HAL_ChibiOS: support DSM bind on IOMCU 2019-07-08 10:18:09 +09:00
Andrew Tridgell
f82c173065 Tools: update IO firmware binary 2019-07-08 10:18:09 +09:00
Andrew Tridgell
604da2d63e AP_IOMCU: sync with master IOMCU firmware 
this has been well tested on master, and gives us support for DSM bind
among other things
 2019-07-08 10:18:09 +09:00
Andrew Tridgell
62cef6201a Copter: added auxsw support for killing IMUs 2019-07-08 09:16:22 +09:00
Andrew Tridgell
c75862d0e6 AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection 2019-07-08 09:16:22 +09:00
Andrew Tridgell
0e4aad27c5 AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection 2019-07-08 09:16:22 +09:00
Andrew Tridgell
b74ae60058 AP_Mount: don't use disabled IMUs in solo gimbal code 2019-07-08 09:16:22 +09:00
Andrew Tridgell
33d0c5c08f AP_AHRS: only use enabled IMUs in DCM 
honor the INS_USE parameters for DCM
 2019-07-08 09:16:22 +09:00
Andrew Tridgell
00fa6b3666 AP_InertialSensor: zero accumulators on time step 
this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
 2019-07-08 09:16:22 +09:00
Andrew Tridgell
e77471e2b3 AP_InertialSensor: added RC switch for killing IMUs 2019-07-08 09:16:22 +09:00
Andrew Tridgell
04e7baa4cd HAL_ChibiOS: cope with calling delay_microseconds_boost() multiple times 
needed for updated IMU wait code
 2019-07-08 09:16:22 +09:00
Andrew Tridgell
cfa0ccf672 AP_InertialSensor: try much harder to get all IMU samples 
this we ensures we get new data for all active IMUs on each loop,
rather than sometimes returning with some IMUs not having data.

This matters as not having a sample on an IMU for a single loop can
cause an EKF IMU failover, which will degrade the learned bias
variances

The issue is usually only seen under high load, such as requesting a
loop rate beyond what the hardware is capable of
 2019-07-08 09:16:22 +09:00
Andrew Tridgell
dbe09d68c2 AP_NavEKF3: added inactive bias learning 
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
 2019-07-08 09:16:22 +09:00
Andrew Tridgell
c53aaab0ca AP_NavEKF2: learn gyro biases for inactive gyros 
this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
 2019-07-08 09:16:22 +09:00
Andrew Tridgell
7d4adf21eb AP_GPS: fixed u-blox F9 auto configuration 
# Conflicts:
#	libraries/AP_GPS/AP_GPS_UBLOX.cpp
 2019-07-06 08:42:37 +10:00
Andrew Tridgell
a53877ac43 AP_GPS_UBLOX: add support for TIMEGPS message. used to get gps week 2019-07-06 08:42:34 +10:00
Andrew Tridgell
eaa391d5bc AP_NavEKF3: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 09:51:13 +10:00
Andrew Tridgell
04602180ef AP_NavEKF2: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-04 09:51:13 +10:00