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48277 Commits

Author SHA1 Message Date
Paul Riseborough 3714c1b2e2 AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-22 19:07:36 +09:00
Paul Riseborough a24df9d633 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.
 2021-07-22 19:07:36 +09:00
Paul Riseborough 8db073a8d6 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.
 2021-07-22 19:07:36 +09:00
Paul Riseborough 5a3e0e7f17 AP_NavEKF3: Make gyro bias learning less noisy 2021-07-22 19:07:36 +09:00
Paul Riseborough 827d871c85 AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-22 19:07:36 +09:00
Paul Riseborough aa13e86ac9 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-22 19:07:36 +09:00
Paul Riseborough cb6371e952 AP_NavEKF3: Update covariance prediction equations 2021-07-22 19:07:36 +09:00
Paul Riseborough 4f8f187b81 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-22 19:07:36 +09:00
Peter Barker 65d0dcf3b7 Tools: split yaw-vehicle-for-mount-roi test out 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7f3bc8ba1f AP_Math: fix uses of single precision 2021-07-22 19:07:36 +09:00
Randy Mackay 92008ebb8f 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 19:07:36 +09:00
Randy Mackay cca86c7a24 AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 19:07:36 +09:00
Randy Mackay 0a5d6c48e6 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 19:07:36 +09:00
Randy Mackay 55e23d7230 AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 19:07:36 +09:00
Randy Mackay ae81e8ab2b AC_Avoidance: bendy ruler format fixes 2021-07-22 19:07:36 +09:00
Randy Mackay f98efd7ef8 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 19:07:36 +09:00
Randy Mackay 1536249b33 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 19:07:36 +09:00
Randy Mackay d946a2c95d AP_Common: add Location::linear_interpolate_alt 2021-07-22 19:07:36 +09:00
Andy Piper b6ce206c3d AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 19:07:36 +09:00
Pierre Kancir 9f2bfd330d AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 19:07:36 +09:00
Leonard Hall 9d1a51969b AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 19:07:36 +09:00
Leonard Hall 0211676b90 Copter: Guided and Loiter mode returns Crosstrack error 2021-07-22 19:07:36 +09:00
Leonard Hall efd854562f WP_Nav: Return Crosstrack error 2021-07-22 19:07:36 +09:00
Leonard Hall 8e31de412c AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 19:07:36 +09:00
Randy Mackay aad2f883d6 AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 19:07:36 +09:00
Andrew Tridgell c737e0cc47 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 
# Conflicts:
#	ArduCopter/Parameters.cpp
#	ArduCopter/Parameters.h
#	ArduCopter/terrain.cpp
 2021-07-22 19:07:36 +09:00
Randy Mackay 9775d23883 AC_WPNav: add TER_MARGIN param 2021-07-22 19:07:36 +09:00
Leonard Hall dbf1020c16 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 19:07:36 +09:00
Leonard Hall 185c6cf845 AC_WPNav: Auto Terain following update 2021-07-22 19:07:36 +09:00
Andrew Tridgell b032b812ce Copter: Fix guided yaw bug. 
# Conflicts:
#	ArduCopter/GCS_Mavlink.cpp
 2021-07-22 19:07:36 +09:00
Peter Barker e4392e3ce6 Copter: simplify throttle-is-unlimited check 
Now not the same pattern as the other checks - but it is much shorter
 2021-07-22 19:07:36 +09:00
Peter Barker c131d3b1a5 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 19:07:36 +09:00
Peter Barker 77148ae853 Copter: constify some ModeThrow methods 2021-07-22 19:07:36 +09:00
Andy Piper e2bf62e7fe iomcu: update for pulse width changes 2021-07-22 19:07:36 +09:00
Andy Piper 3efb3336a5 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 19:07:36 +09:00
Tal Bass 5b3515a1c2 Copter: reset land_repo_active flag in RTL mode 2021-07-22 19:07:36 +09:00
Leonard Hall b4277c49ca AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 19:07:36 +09:00
Leonard Hall 45677288bb Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro 2021-07-22 19:07:36 +09:00
Hwurzburg e1cf91af15 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 19:07:36 +09:00
Hwurzburg f3e0a9e848 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 19:07:36 +09:00
Andy Piper dd69a9b5ba AP_RCTelemetry: correct firmware string length for CRSF 2021-07-22 19:07:36 +09:00
Randy Mackay 17b4f5914c Copter: add TERRAIN_MARGIN parameter 2021-07-22 19:07:36 +09:00
Randy Mackay e78fcb834e Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-22 19:07:36 +09:00
Leonard Hall 7ec82a49bc Copter: Guided: move to zero velocity after takeoff 2021-07-22 19:07:36 +09:00
Leonard Hall f359d7beac Copter: Auto Yaw variable names and comments 2021-07-22 19:07:36 +09:00
Leonard Hall 8755c59345 Copter: Guided Angle init Z controller on time out 2021-07-22 19:07:36 +09:00
Leonard Hall 49148f28e7 AC_WPNav: Remove unused function 2021-07-22 19:07:36 +09:00
Leonard Hall be079bfc9c Copter: additional yaw modes and fixes 2021-07-22 19:07:36 +09:00
Leonard Hall 3bf7e493b4 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 19:07:36 +09:00
Leonard Hall 370b980876 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 19:07:36 +09:00