Peter Barker
935d39322c
autotest: correct test for mode-change-reason change
2020-11-24 10:09:37 +11:00
Peter Barker
f0c22244a5
GCS_MAVLink: correct response codes when mode change fails
...
Was "UNSUPPORTED", which is supposed to mean, "Command is not supported"
Now is either "DENIED" (Command is invalid (is supported but has invalid
parameters)) or "FAILED" (Command is valid, but execution has failed.)
We should probably returned DENIED if we try to change to a mode which
doesn't exist, but that would require another callback on AP_Vehicle.
It would also lead to questions around what a valid mode is - so
QSTABILIZE if quadplane is disabled in Plane, for example.
2020-11-24 10:09:37 +11:00
Tom Pittenger
f128d8c549
gitignore: ignore .pydevproject from Eclipse Python plugin
2020-11-23 14:55:01 -08:00
Jacob Walser
c2e3520add
Sub: update release notes for 4.0.2
2020-11-23 12:41:39 -05:00
Willian Galvani
4415d4ed56
Sub: update release notes for 4.0.1
2020-11-23 12:41:30 -05:00
Peter Barker
200b085eea
AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write)
2020-11-22 20:47:29 +11:00
Peter Barker
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
2020-11-22 20:47:29 +11:00
Peter Barker
914629351f
AP_NavEKF3: use scalar rather than array for state-prediction-allowed
...
EKF2 needs this for choosing alternate cores. EKF3 does not.
2020-11-22 14:09:48 +11:00
QioTek
e4f4868d9b
HAL_ChibiOS: add QMC5883L on QioTekZealotF427
...
add QMC5883L on QioTekZealotF427
2020-11-22 06:10:34 +11:00
Jacob Walser
35c2d13e2f
HAL_Linux_Class: specify per board external clock frequency for RCOutput_PCA9685 drivers
2020-11-21 00:25:19 -08:00
Jacob Walser
e64d9816ce
RCOutput_PCA9685: allow different external clock frequencies
...
The PCA9685 may use an external clock 0~50MHz
Specify the external clock frequency in constructor arguments for each board HAL
2020-11-21 00:25:19 -08:00
Paul Riseborough
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
2020-11-21 12:56:10 +11:00
Andrew Tridgell
fe81387433
AP_NavEKF: allow init twice
...
this can happen if setup_core() fails with low mem and is called again
2020-11-20 21:56:32 +11:00
Andrew Tridgell
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
Andrew Tridgell
39ba8a8c83
AP_NavEKF2: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
Andrew Tridgell
e4a9497942
AP_NavEKF: added common EKF buffer classes
2020-11-20 21:56:32 +11:00
Pierre Kancir
b1594f96c0
.github: move periph test out of copter file
2020-11-20 21:27:15 +11:00
Pierre Kancir
f40a5b978e
.github: reduce duplicate for GCC and Clang build
2020-11-20 21:27:15 +11:00
Randy Mackay
d1983b0b77
AP_NavEKF3: fixup source param conversion
...
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
2020-11-20 16:43:44 +09:00
Randy Mackay
0119c48e1e
AP_NavEKF_Source: add mark_configured_in_storage
2020-11-20 16:43:44 +09:00
Randy Mackay
50b2cf136f
AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)
2020-11-20 16:43:44 +09:00
Randy Mackay
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
...
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
2020-11-20 16:43:44 +09:00
Andrew Tridgell
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
...
if we get to this point we must be using the compass fallback logic,
and should do the reset
2020-11-20 16:43:44 +09:00
Randy Mackay
f257dc20d0
Tools: add test.Copter.GPSViconSwitching to CopterTests1d
2020-11-20 16:43:44 +09:00
Randy Mackay
bf5c74dbdb
AP_Scripting: ahrs-source example script
...
switches automatically between gps, external nav and optical flow
2020-11-20 16:43:44 +09:00
Randy Mackay
2b9fb79d72
AP_Scripting: add bindings for set_posvelyaw_source and get_vel_innovations
2020-11-20 16:43:44 +09:00
Randy Mackay
b6fe039a9f
Tools: autotest for beacon sets EK3_SRC params
2020-11-20 16:43:44 +09:00
Randy Mackay
9dbfb99cc3
AP_VisualOdom: add align_position_to_ahrs
2020-11-20 16:43:44 +09:00
Randy Mackay
04655d9698
RC_Channel: add aux switch to change the EKF's sensor sources
2020-11-20 16:43:44 +09:00
Randy Mackay
4b542aa714
AP_AHRS: add get_vel_innovations_and_variances_for_source
2020-11-20 16:43:44 +09:00
Randy Mackay
dc5d1d099b
AP_AHRS: add set_posvelyaw_source_set
2020-11-20 16:43:44 +09:00
Randy Mackay
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
2020-11-20 16:43:44 +09:00
Randy Mackay
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
2020-11-20 16:43:44 +09:00
Randy Mackay
f88364d653
AP_NavEKF3: use_compass minor order fixup
2020-11-20 16:43:44 +09:00
Randy Mackay
b475f01b25
AP_NavEKF3: update comments
2020-11-20 16:43:44 +09:00
Randy Mackay
0f8d0ef11b
AP_NavEKF3: move sources to 2nd bank of parameters
2020-11-20 16:43:44 +09:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
9716b09cad
AP_NavEKF3: minor indenting fix
2020-11-20 16:43:44 +09:00
Randy Mackay
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
2020-11-20 16:43:44 +09:00
Andrew Tridgell
72ee7d15e1
AP_NavEKF3: fixup for AP_DAL
2020-11-20 16:43:44 +09:00
Randy Mackay
73835f0c11
AP_NavEKF3: pre_arm_check includes sources
2020-11-20 16:43:44 +09:00
Randy Mackay
6c0bb6a198
AP_NavEKF3: add convert_params for source
2020-11-20 16:43:44 +09:00
Randy Mackay
849e94cc24
AP_NavEKF3: call sources align inactive sources
2020-11-20 16:43:44 +09:00
Randy Mackay
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
2020-11-20 16:43:44 +09:00
Randy Mackay
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
2020-11-20 16:43:44 +09:00
Randy Mackay
2505fd5c1c
AP_NavEKF3: body and wheel odometry check source
2020-11-20 16:43:44 +09:00
Randy Mackay
1263648d88
AP_NavEKF3: beacon fusion checks source
2020-11-20 16:43:44 +09:00
Randy Mackay
8a56ce49be
AP_NavEKF3: optical flow fusion checks source
2020-11-20 16:43:44 +09:00
