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48432 Commits

Author SHA1 Message Date
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 21c4058acf Tools: relax navigation test accuracy 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 c087be94cb Tools: Fix AIRSPEED_AUTOCAL test failure 
The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
 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
Peter Barker 0761aeff5a Tools: split yaw-vehicle-for-mount-roi test out 2021-07-25 09:30:25 +10:00
WillyZehnder 8f0d04ad68 Plane: GCS_Plane.cpp Fix chronological sequence 
to avoid inappropriate critical warning CRT:NoRCReceiver by ensuring the
call of plane.failsafe.last_valid_rc_ms before calling millis()
 2021-07-22 16:01:01 +10:00
Peter Barker 5f3f5e9d75 Plane: do not run any prearm checks if we are armed or arming is not required 
Co-authored-by: TunaLobster <unknown>
 2021-07-22 16:01:01 +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 6606ab4996 Copter: Guided and Loiter mode returns Crosstrack error 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
Andrew Tridgell efed331f8b Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 
# Conflicts:
#	ArduCopter/Parameters.cpp
#	ArduCopter/Parameters.h
#	ArduCopter/terrain.cpp
 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
Andrew Tridgell 3fb09de378 Copter: Fix guided yaw bug. 
# Conflicts:
#	ArduCopter/GCS_Mavlink.cpp
 2021-07-22 16:01:01 +10:00
Andrew Tridgell 8b3e389112 autotest: add test for two consecutive drops with no reboot 2021-07-22 16:01:01 +10:00
Peter Barker 9aa033d84a Copter: simplify throttle-is-unlimited check 
Now not the same pattern as the other checks - but it is much shorter
 2021-07-22 16:01:01 +10:00
Peter Barker ce408ca58b Copter: wait for motors to spool up before trying to upright vehicle 
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
 2021-07-22 16:01:01 +10:00
Peter Barker 952c8f7ff5 Copter: constify some ModeThrow methods 2021-07-22 16:01:01 +10:00
Andy Piper b16d86ebbe iomcu: update for pulse width changes 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
Tal Bass 8bc65e4ea1 Copter: reset land_repo_active flag in RTL mode 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
Leonard Hall 2d2f1dd23d Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro 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
Randy Mackay f3c00024bc Copter: add TERRAIN_MARGIN parameter 2021-07-22 16:01:01 +10:00
Randy Mackay c9d256b45b Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-22 16:01:01 +10:00
Leonard Hall 24f57b1daa Copter: Guided: move to zero velocity after takeoff 2021-07-22 16:01:01 +10:00
Leonard Hall d4610974e2 Copter: Auto Yaw variable names and comments 2021-07-22 16:01:01 +10:00