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9f03f5a9a9
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26427 Commits

Author SHA1 Message Date
Andrew Tridgell
9f03f5a9a9 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4408eecb18 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
cc03255245 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
8c9663e47c AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c05e93e51e AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
f2668f8e8e AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
edb11d4d71 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
823ed4c309 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 16:01:00 +10:00
Andrew Tridgell
b6fb7383e7 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 16:01:00 +10:00
Andrew Tridgell
fa3f3dd218 HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 16:01:00 +10:00
Andrew Tridgell
a6c5b65f4a AP_NavEKF3: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
380b9b39ed AP_NavEKF2: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
10facfc519 AP_NavEKF: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
4dfa6258d9 AP_Mount: use ZERO_FARRAY() 2021-07-22 16:01:00 +10:00
Andrew Tridgell
26820c3a8c AP_Motors: fixup build for ftype conflict 2021-07-22 16:01:00 +10:00
Andrew Tridgell
425c8aafb1 AP_Common: added double methods for SITL 2021-07-22 16:01:00 +10:00
Andrew Tridgell
d698987070 SITL: fixup offset calls 2021-07-22 16:01:00 +10:00
Andrew Tridgell
e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
c6c197d4fb HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 16:01:00 +10:00
Andrew Tridgell
309500c84f AP_HAL: allow for double EKF build 2021-07-22 16:01:00 +10:00
Andrew Tridgell
ae013dd5e6 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-05 16:09:34 +10:00
Andrew Tridgell
2ac01f207a AP_Notify: disable DShot buzzer by default 2021-07-04 18:28:20 +10:00
Andy Piper
b5bb401b97 AP_Notify: re-enable display on 1Mb boards 2021-07-04 08:24:40 +10:00
Andrew Tridgell
2d4e77e9b1 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-04 08:24:17 +10:00
Andrew Tridgell
bf867fb792 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-04 08:23:29 +10:00
Randy Mackay
8722bb7ff9 GCS_MAVLink: send water depth and temp 2021-07-04 08:19:11 +10:00
Andrew Tridgell
937f316d14 AP_Common: use longitude scaling from definitions.h 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0e37a44942 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-07-04 08:19:11 +10:00
Peter Barker
3134e15c77 AP_BattMonitor: correct static_assert call 2021-07-04 08:19:11 +10:00
Peter Barker
6de7d1d1df AP_HAL_SITL: reduce scope of loop variable 2021-07-04 08:19:11 +10:00
Leonard Hall
e21b8a5b29 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-07-04 08:19:11 +10:00
Leonard Hall
68b882d404 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-07-04 08:19:11 +10:00
Andrew Tridgell
86e8731fc5 AP_Mount: fixed longitude subtraction 2021-07-04 08:19:11 +10:00
Peter Barker
b7b7c7d86b AP_Common: add test for longitude wrapping 2021-07-04 08:19:11 +10:00
Andrew Tridgell
17193d3175 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-07-04 08:19:11 +10:00
Leonard Hall
83b4616a7b AC_PosControl: fixup ekf reset 2021-07-04 08:19:11 +10:00
Andrew Tridgell
92e407a0bc AP_IRLock: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
a82890c0db AC_PrecLand: convert SITL backends to double precision position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f45ef772f3 AP_Math: added matrix3 tofloat and todouble 2021-07-04 08:19:11 +10:00
Andrew Tridgell
214d9ad0f8 AP_Common: added double methods for SITL 2021-07-04 08:19:11 +10:00
Andrew Tridgell
b0f2545a9f SITL: convert to double precision for positions 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d2e94a49b7 AC_WPNav: convert circle, loiter and WPNav to double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
0af57de50c AC_AttitudeControl: convert poscontrol to use double position 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e6a1cee08f AC_PID: convert AC_P_2D to double 2021-07-04 08:19:11 +10:00
Andrew Tridgell
c2211db91d AP_Math: implement double versions of some position control methods 2021-07-04 08:19:11 +10:00
Andrew Tridgell
d40475cf7b AP_Math: define postype_t and vectors 2021-07-04 08:19:11 +10:00
Andrew Tridgell
683f7949fd HAL_SITL: implement initial GPS position offsets 2021-07-04 08:19:11 +10:00
Andrew Tridgell
2f2d1c985a AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-07-04 08:19:11 +10:00
Andrew Tridgell
f73564f593 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-07-04 08:19:11 +10:00
Andrew Tridgell
e191c48d9f AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-07-04 08:19:11 +10:00