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44,371 Commits 71 Branches 510 Tags 771 MiB
9168d0cd19
Commit Graph

24097 Commits

Author SHA1 Message Date
Paul Riseborough
9168d0cd19 AP_NavEKF3: Initialise mag field variances to non zero values 2020-10-26 11:03:50 +11:00
Paul Riseborough
0b96f046c2 AP_NavEKF3: Unblock initial yaw alignment message 2020-10-26 11:03:50 +11:00
Paul Riseborough
f81abd73d6 AP_NavEKF3: Update covariance prediction to yse SymPy generated equations 
Saves flash and variable space.
 2020-10-26 11:03:50 +11:00
Michael du Breuil
a61444cec0 AP_GPS: Don't reset the entire buffer when handling RTCM data 
This is a micro optimization intended to just make handling GPS
corrections a bit faster.
 2020-10-25 14:21:39 +11:00
Andrew Tridgell
acdc939946 AP_WheelEncoder: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
9a244eef29 APM_Control: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
0a7c628355 AC_AttitudeControl: added SMAX param docs 2020-10-25 10:32:48 +11:00
Andrew Tridgell
739410953b AC_PID: added slew limiter AC_PID 
this adds the fixed wing slew limiter as an optional part of
AC_PID. It allows the user to configure a maximum slew limit to
prevent oscillations in PIDs when gains are too high
 2020-10-25 10:32:48 +11:00
Andrew Tridgell
709e1f8f93 Filter: added slew rate filter 2020-10-25 10:32:48 +11:00
Andrew Tridgell
d2a4505184 APM_Control: fixed bug in slew filter 2020-10-25 10:32:48 +11:00
Andrew Tridgell
a4716fb9bf AP_NavEKF3: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell
dc32f7a12f AP_NavEKF2: fixed multi-core yaw reset 
thanks to Alex Burka for finding this
 2020-10-24 19:35:30 +11:00
Andrew Tridgell
fcccdcc936 AP_NavEKF3: fixed bug in external yaw for fixed wing 
when we are on the ground we should not chang to AID_NONE if we have
an external yaw source

this fixes an EKF3 error loop on the ground found by Michael
 2020-10-24 13:50:33 +11:00
Randy Mackay
c3fd82b6d7 AP_NavEKF3: minor spelling fix 2020-10-24 12:35:58 +11:00
Randy Mackay
2f1ae29a9c AP_NavEKF3: extnav data gets corrected boolean 
CorrectExtNavForSensorOffset and CorrectExtNavVelForSensorOffset use
corrected boolean to avoid correcting twice
 2020-10-24 12:35:58 +11:00
Randy Mackay
a16de76f57 AP_NavEKF3: correct extnav position as it is recalled from the buffer 
This makes extnav position correction consistent with the velocity correction
 2020-10-24 12:35:58 +11:00
Randy Mackay
71487e9c10 AP_NavEKF3: gps_elements gets corrected flag 
CorrectGPSForAntennaOffset uses this flag to ensure position and velocity are only corrected once
 2020-10-24 08:49:33 +09:00
Randy Mackay
3d4e1cd5c5 AP_NavEKF3: CorrectGPSForAntennaOffset always corrects vel 2020-10-24 08:49:33 +09:00
Randy Mackay
e25579cc00 AP_NavEKF3: correct GPS for position as it is recalled from buffer 2020-10-24 08:49:33 +09:00
Michael du Breuil
c86dcf91d6 AP_InertialSensor: Run vibration monitoring on all instances 2020-10-24 09:54:04 +11:00
Andrew Tridgell
96f7397099 HAL_ChibiOS: make PowerC primary power on CUAV-X7 
CUAV considers the CAN power to be the main power for this board
 2020-10-24 08:27:21 +11:00
Michael Oborne
b383db15c7 ChibiOS: fix cubeblack+ name and usbid 2020-10-24 08:26:55 +11:00
Peter Barker
0496ecc4f6 AP_NavEKF2: remove unused state variables 2020-10-22 08:47:08 +11:00
Peter Barker
a1e7c91f8e AP_NaveEKF3: reduce code duplication in setup_core 
Less code.

Saves 40 bytes on PixRacer
 2020-10-22 08:47:08 +11:00
Peter Barker
74f75dcd31 GCS_MAVLink: fill AUTOPILOT_VERSION.uid2 from get_system_id_unformatted 2020-10-21 18:26:12 +11:00
murata
9714d8dde9 AP_MAth: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
murata
4c835a0df9 AP_GPS: Move the CRC24 to the AP_Math class 2020-10-21 18:24:07 +11:00
Peter Barker
7c8df47ac9 GCS_MAVLink: process messages sent to broadcast system 
.... even if we've forwarded them to someone else.
 2020-10-21 18:22:48 +11:00
Peter Barker
d3ba7a8409 GCS_MAVLink: don't learn a route to the broadcast component 
Using a component ID of 0 for your source is invalid according to
common.xml

However, some clients do use it.

This stops us learning a route to that client for the broadcast client
for our own system ID.
 2020-10-21 18:22:48 +11:00
bugobliterator
308bc64f35 AP_Filesystem: add support for listing @SYS files 2020-10-21 18:16:50 +11:00
Randy Mackay
e4056086e0 AP_NavEKF3: minor format and spelling fixes 2020-10-21 13:54:22 +09:00
Randy Mackay
231a958e51 AP_NavEKF3: minor comment fix 2020-10-21 11:40:35 +09:00
Randy Mackay
8aba1655a2 AP_Scripting: add ahrs-print-variances example 2020-10-21 08:58:45 +09:00
Randy Mackay
5eae007d49 AP_Scripting: add binding for ahrs get_variances 2020-10-21 08:58:45 +09:00
Randy Mackay
bb25e4f6a3 AP_RCTelemetry: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Randy Mackay
6a72805f07 AP_AHRS: get_variances does not return offset 
the offset is not a variance and is not actually used by any callers of this function
 2020-10-21 08:58:45 +09:00
Patrick José Pereira
375fe22dff AP_Mount: Improve instance validation check 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-21 08:55:33 +09:00
Randy Mackay
b0363a01b0 AP_Scripting: add copter-wall-climber example script 2020-10-20 23:04:45 +09:00
Randy Mackay
e4ccd21dd7 AP_NavEKF3: consolidate extNav height source timeouts 2020-10-20 17:11:26 +09:00
Randy Mackay
6989a28bfc AP_NavEKF3: allow alt from other sources when using ExtNav 
also allows using ExtNav alt when not using it for XY position
removes redundant and incorrect setting of activeHgtSource from ExtNav
which was always being overwritten by the correct value later in selectHeightForFusion
 2020-10-20 17:11:26 +09:00
Randy Mackay
0cebde0632 AP_NavEKF3: minor restructure of how fusePosData and fuseVelData are set 
this non-functional change slightly reduces the number of places we set these variables
 2020-10-20 17:11:26 +09:00
Peter Barker
ef505df78a AP_NavEKF3: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
53305ba2a4 AP_NavEKF2: remove unused quat2Tbn method 2020-10-20 11:40:54 +11:00
Peter Barker
0eafe4b662 AP_NavEKF3: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
312cf725aa AP_NavEKF2: remove dangling method declarations 2020-10-20 11:40:54 +11:00
Peter Barker
83d784c22d AP_NavEKF3: fix includes 2020-10-20 11:40:54 +11:00
Peter Barker
c90265f94d AP_NavEKF2: fix includes 2020-10-20 11:40:54 +11:00
Peter Barker
d4cb14b262 AP_AHRS: remove magic resetting of EKF type 1 to 2 
If EKF2 is not compiled in the current compatability code will not work
so well.

Throw the user over to the config error loop and they can fix it there.
 2020-10-20 11:32:57 +11:00
Peter Barker
565b29a72c AP_AHRS: remove FLAG_NONE; it's not a flag, it's a bitmask value 2020-10-20 11:24:34 +11:00
Peter Barker
1ef92bb691 AP_AHRS: remove un-needed initialisations 2020-10-20 11:24:34 +11:00