Hwurzburg
a09f38b195
AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages
2021-07-23 10:19:48 +09:00
Andy Piper
2ef5a9170e
AP_RCTelemetry: correct firmware string length for CRSF
2021-07-23 10:19:48 +09:00
Leonard Hall
82ba9e06a1
AC_WPNav: Remove unused function
2021-07-23 10:19:48 +09:00
Leonard Hall
05f21d7665
AC_AttitudeControl: Add accessor for yaw slew limit
2021-07-23 10:19:48 +09:00
Leonard Hall
49da46af16
AC_AttitudeControl: AC_PosControl: support accel only input in the vertical
2021-07-23 10:19:48 +09:00
Leonard Hall
b2032ee2e3
AC_AttitudeControl: AC_PosControl: support terrain following
2021-07-23 10:19:48 +09:00
Leonard Hall
d9c0670dcd
AC_WPNav: seperate kinimatic shaping from pid limit setting
2021-07-23 10:19:47 +09:00
Leonard Hall
5f7607bbf0
AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting
2021-07-23 10:19:47 +09:00
Leonard Hall
2075e2ffc4
AC_AttitudeControl: Add terain following to guided
2021-07-23 10:19:47 +09:00
Randy Mackay
d22f8fbc35
AC_WPNav: get_terrain_offset and get_vector_NEU made public
2021-07-23 10:19:47 +09:00
Leonard Hall
80b90a7ac3
AC_WPNav: move code to generate terrain following kinematic path
2021-07-23 10:19:47 +09:00
Leonard Hall
9244183798
AC_AttitudeControl: AC_PosControl: Support Accel only input
2021-07-23 10:19:47 +09:00
Leonard Hall
612b00ef00
AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name
2021-07-23 10:19:47 +09:00
Andrew Tridgell
cb14275e43
AP_Math: added test for SCurve::calculate_path
...
this was the values shown in the core dump for failing guided mode
test in CI
2021-07-23 10:19:47 +09:00
Andy Piper
35d34ee9ae
AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot
2021-07-23 10:19:47 +09:00
Randy Mackay
0cbcb9dc91
AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ
2021-07-23 10:19:47 +09:00
Andrew Tridgell
4384b9ea36
AP_Common: update tests for 4.1
2021-07-23 10:19:47 +09:00
Andrew Tridgell
4218452475
HAL_ChibiOS: raise DMA contention threshold for H7
2021-07-23 10:19:47 +09:00
Andrew Tridgell
aab77f7046
AP_SerialManager: document DisableFIFO bit
2021-07-23 10:19:47 +09:00
Andrew Tridgell
eafd3c2952
AP_SerialManager: call set_options() before first UART use
...
this ensures options are set before the first begin() call
2021-07-23 10:19:47 +09:00
Andrew Tridgell
91afec69dc
HAL_ChibiOS: implement NOFIFO option for uarts
2021-07-23 10:19:47 +09:00
Andrew Tridgell
2cc98114a4
AP_HAL: added serial option for disabling FIFO on uarts
2021-07-23 10:19:47 +09:00
Andrew Tridgell
c9403afc75
AP_Math: fixed build
2021-07-23 10:19:47 +09:00
Andrew Tridgell
1a7ee954a6
HAL_SITL: update for changed SITL API
2021-07-23 10:19:46 +09:00
Andrew Tridgell
70d540127c
SITL: added SIM2 message
...
useful for EKF debugging
# Conflicts:
# libraries/SITL/SIM_Aircraft.cpp
2021-07-23 10:19:46 +09:00
Andrew Tridgell
05fbe78b9f
SITL: separate origin and home in SITL
...
this allows for accurate sensor data when flying a very long distance
from the takeoff location
2021-07-23 10:19:46 +09:00
Andrew Tridgell
a43bd0ae18
AP_DAL: update GPS yaw API to add timestamp
2021-07-23 10:19:46 +09:00
Andrew Tridgell
f1cbfb3e46
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
2021-07-23 10:19:46 +09:00
Andrew Tridgell
faec3e1a8a
AP_NavEKF: sync for 4.1.0beta
2021-07-23 10:19:46 +09:00
Andrew Tridgell
f60c592af3
AP_Math: sync for 4.1.0beta releases
2021-07-23 10:19:46 +09:00
Andrew Tridgell
01156ed348
AP_Common: make longitude_scale() a static
...
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:
pos1 + offs = pos2
pos2 - offs == pos1
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c9b9a6a616
HAL_ChibiOS: run storage writes at 1kHz not 100Hz
...
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.
Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
2021-07-23 10:19:46 +09:00
Peter Barker
304927a41e
AP_NavEKF3: pass NavEKF failures back up to callers
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c31de1a5ca
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
2021-07-23 10:19:46 +09:00
Andrew Tridgell
56ddaa1a99
AP_NavEKF3: fixed indentation in readGpsData()
2021-07-23 10:19:46 +09:00
Andrew Tridgell
579e4566c6
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.
2021-07-23 10:19:46 +09:00
Andrew Tridgell
d43e95a39a
AP_NavEKF3: moved checkUpdateEarthField to be called less often
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e409202bef
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
2021-07-23 10:19:46 +09:00
Andrew Tridgell
399cd4ea03
AP_Common: added ftype precision offset call
...
# Conflicts:
# libraries/AP_Common/Location.cpp
# libraries/AP_Common/Location.h
2021-07-23 10:19:46 +09:00
Andrew Tridgell
163a37efa7
AP_NavEKF3: convert code_gen.py to ftype
2021-07-23 10:19:46 +09:00
Andrew Tridgell
5531703548
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
2021-07-23 10:19:46 +09:00
Andrew Tridgell
c988f23389
AP_NavEKF3: convert EKF3 derivation to ftype
2021-07-23 10:19:46 +09:00
Andrew Tridgell
e11c94602b
HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7
2021-07-23 10:19:46 +09:00
Andrew Tridgell
1119ffe6ba
AP_NavEKF3: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
edbaf9f3c1
AP_NavEKF2: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
d31ca6ca8c
AP_NavEKF: allow for double EKF build
2021-07-23 10:19:46 +09:00
Andrew Tridgell
6484a9666c
AP_Mount: use ZERO_FARRAY()
2021-07-23 10:19:45 +09:00
Andrew Tridgell
6bcc0737ae
AP_Motors: fixup build for ftype conflict
2021-07-23 10:19:45 +09:00
Andrew Tridgell
9629b19ec1
AP_Common: added double methods for SITL
2021-07-23 10:19:45 +09:00
Andrew Tridgell
970ae3dd76
SITL: fixup offset calls
2021-07-23 10:19:45 +09:00