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
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
Randy Mackay
aad2f883d6
AC_WPNav: use get_terrain_margin instead of constant
2021-07-22 19:07:36 +09:00
Randy Mackay
9775d23883
AC_WPNav: add TER_MARGIN param
2021-07-22 19:07:36 +09:00
Leonard Hall
dbf1020c16
AC_AttitudeControl: AC_PosControl: Auto Terain following update
2021-07-22 19:07:36 +09:00
Leonard Hall
185c6cf845
AC_WPNav: Auto Terain following update
2021-07-22 19:07:36 +09:00
Andy Piper
3efb3336a5
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-22 19:07:36 +09:00
Leonard Hall
b4277c49ca
AC_AttitudeControl: Allow yaw rate reset to be de-selected
2021-07-22 19:07:36 +09:00
Hwurzburg
e1cf91af15
RC_Channel: fix ELRS systems spamming CRSF mode/rate messages
2021-07-22 19:07:36 +09:00
Hwurzburg
f3e0a9e848
AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages
2021-07-22 19:07:36 +09:00
Andy Piper
dd69a9b5ba
AP_RCTelemetry: correct firmware string length for CRSF
2021-07-22 19:07:36 +09:00
Leonard Hall
49148f28e7
AC_WPNav: Remove unused function
2021-07-22 19:07:36 +09:00
Leonard Hall
3bf7e493b4
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-22 19:07:36 +09:00
Leonard Hall
370b980876
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-22 19:07:36 +09:00
Leonard Hall
a29794ab49
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-22 19:07:36 +09:00
Leonard Hall
23b7d1060d
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
731a6bcb31
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-22 19:07:36 +09:00
Leonard Hall
52166c94fe
AC_AttitudeControl: Add terain following to guided
2021-07-22 19:07:36 +09:00
Randy Mackay
f3c25397c7
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-22 19:07:36 +09:00
Leonard Hall
ec53ea7f8e
AC_WPNav: move code to generate terrain following kinematic path
2021-07-22 19:07:36 +09:00
Leonard Hall
b6b4d9869c
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-22 19:07:36 +09:00
Leonard Hall
91e22680a5
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-22 19:07:36 +09:00
Andrew Tridgell
aa4bbdfce1
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 19:07:36 +09:00
Andy Piper
e0bd344582
AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot
2021-07-22 19:07:36 +09:00
Randy Mackay
e139bfa1b8
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
2021-07-22 19:07:36 +09:00
Andrew Tridgell
f8e23f5d3d
AP_Common: update tests for 4.1
2021-07-22 19:07:36 +09:00
Andrew Tridgell
7e069b40eb
HAL_ChibiOS: raise DMA contention threshold for H7
2021-07-22 19:07:36 +09:00
Andrew Tridgell
a81ef9c272
AP_SerialManager: document DisableFIFO bit
2021-07-22 19:07:36 +09:00
Andrew Tridgell
fcc9e4627c
AP_SerialManager: call set_options() before first UART use
...
this ensures options are set before the first begin() call
2021-07-22 19:07:36 +09:00
Andrew Tridgell
126d5a8d23
HAL_ChibiOS: implement NOFIFO option for uarts
2021-07-22 19:07:36 +09:00
Andrew Tridgell
ae3b21b28a
AP_HAL: added serial option for disabling FIFO on uarts
2021-07-22 19:07:36 +09:00
Andrew Tridgell
9a469bdaa9
AP_Math: fixed build
2021-07-22 19:07:36 +09:00
Andrew Tridgell
d3163c8f48
HAL_SITL: update for changed SITL API
2021-07-22 19:07:36 +09:00
Andrew Tridgell
1f5d16bff8
SITL: added SIM2 message
...
useful for EKF debugging
# Conflicts:
# libraries/SITL/SIM_Aircraft.cpp
2021-07-22 19:07:36 +09:00
Andrew Tridgell
34eb9f7328
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 19:07:36 +09:00
Andrew Tridgell
da2b69d521
AP_DAL: update GPS yaw API to add timestamp
2021-07-22 19:07:36 +09:00
Andrew Tridgell
d7dea5c28c
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 19:07:36 +09:00
Andrew Tridgell
966deb1148
AP_NavEKF: sync for 4.1.0beta
2021-07-22 19:07:36 +09:00
Andrew Tridgell
5660d31ca2
AP_Math: sync for 4.1.0beta releases
2021-07-22 19:07:36 +09:00
