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44601 Commits

Author SHA1 Message Date
Andrew Tridgell 9b81c5a1e0 AP_NavEKF3: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 5f0e943f0f AP_NavEKF2: use dal reference in EKF backends 
saves a bit of flash space
 2020-11-10 16:15:45 +11:00
Andrew Tridgell e273f73cb4 AP_DAL: fixed shadowed variable 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1bdf6173ec AP_NavEKF3: removed have_ekf_logging 2020-11-10 16:15:45 +11:00
Andrew Tridgell 21dfdc2192 AP_NavEKF3: use DAL for body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell 8591b31665 AP_NavEKF2: cleanup unused code 2020-11-10 16:15:45 +11:00
Andrew Tridgell 9635231088 AP_DAL: added body frame odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell 6c4e552a0b AP_GPS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell 353ec29ab6 AP_Compass: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell b0ec4f8b93 AP_Baro: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1bc82d3118 AP_AHRS: removed have_ekf_logging() 2020-11-10 16:15:45 +11:00
Andrew Tridgell 403275beea autotest: added RBOH message 2020-11-10 16:15:45 +11:00
Andrew Tridgell 3d2f07e757 Replay: support body frame odometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell 851cb30e0d AP_Logger: speed up startup with replay if LOG_DISARMED=0 2020-11-10 16:15:45 +11:00
Andrew Tridgell 29ab747982 AP_DAL: fixed navio build 2020-11-10 16:15:45 +11:00
Andrew Tridgell c7cc26d9bc AP_DAL: rename xxprintf() to rprintf() 2020-11-10 16:15:45 +11:00
Andrew Tridgell 9542f365f6 AP_DAL: fixed range beacon handling 2020-11-10 16:15:45 +11:00
Andrew Tridgell d01534c7c6 AP_DAL: remove unnecessary variables 2020-11-10 16:15:45 +11:00
Andrew Tridgell a0de6c620f AP_NavEKF3: use selected GPS for gps_yaw_deg() 
more than one GPS could provide yaw
 2020-11-10 16:15:45 +11:00
Andrew Tridgell f4c3d7286c AP_NavEKF3: support replay with wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell b8a3413f5e AP_DAL: support wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell 4a06641048 autotest: added RWOH message 2020-11-10 16:15:45 +11:00
Andrew Tridgell afb11cf29b Replay: support wheel odomotry 2020-11-10 16:15:45 +11:00
Andrew Tridgell e87f98066f AP_NavEKF3: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell bec095d661 AP_NavEKF2: support replay with external navigation data 2020-11-10 16:15:45 +11:00
Andrew Tridgell c068da154a AP_DAL: support external pos and velocity data 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7f0113b82d autotest: added REPH and REVH 2020-11-10 16:15:45 +11:00
Andrew Tridgell 0ee8b415f2 Replay: support external position and velocity data 2020-11-10 16:15:45 +11:00
Andrew Tridgell 5260d677ef AP_DAL: fixed optical flow replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7bbbbd314c AP_NavEKF3: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell 224792b8b8 AP_NavEKF2: added optflow support for AP_DAL 2020-11-10 16:15:45 +11:00
Andrew Tridgell dab9d824fd AP_DAL: added optflow support 2020-11-10 16:15:45 +11:00
Andrew Tridgell a56f07b74d AP_Math: allow build without other headers for vector2.h 2020-11-10 16:15:45 +11:00
Andrew Tridgell ef5baaf482 autotest: added ROFH msg 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1fb421ae6a Replay: handle optical flow 
and move frame processing to AP_DAL
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 614a77d2c9 Replay: allow for early log end in check_replay.py 
when session is killed we can lose one frame worth of EKF msgs
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 4cd5ac5164 Replay: add call to RFRF handler 2020-11-10 16:15:45 +11:00
Andrew Tridgell 31091d6307 AP_NavEKF3: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell 90a8c5cb1a AP_NavEKF2: use ekf_low_time_remaining for core scheduling 2020-11-10 16:15:45 +11:00
Andrew Tridgell 47c3fadc17 AP_DAL: added ekf_low_time_remaining() 
used by EKF for inter-lane scheduling
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1848491ac2 AP_DAL: fixed GPS backend for multiple sensors 2020-11-10 16:15:45 +11:00
Andrew Tridgell bf61910c7c AP_DAL: fixed shadowed variable 
found by semaphore build
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 50d03571da AP_DAL: fixed build without VisualOdometry 2020-11-10 16:15:45 +11:00
Andrew Tridgell b7d60b1d97 AP_Logger: added C field to EKF msgs 2020-11-10 16:15:45 +11:00
Andrew Tridgell 8ba067608b autotest: cope with LogStructure.h in multiple places 
and allow for no docs in replay msgs
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 09265a8a9b Replay: improved failure reporting in check_replay.py 2020-11-10 16:15:45 +11:00
Andrew Tridgell f3c3778169 prevent duplicate EKF logging 
vehicle code sometimes tries to log the same data twice
 2020-11-10 16:15:45 +11:00
Andrew Tridgell fa75824948 AP_DAL: added standalone link test 
useful to check for clean linking of EKF2/EKF3

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 42d62e138b Tools: updated test helpers to assist in replay testing 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 3ae237b652 autotest: started work on replay testing 2020-11-10 16:15:45 +11:00