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Author SHA1 Message Date
Andrew Tridgell
a75e2e1c0e AP_NavEKF2: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-07-29 10:44:26 +10:00
Andrew Tridgell
1fd6c0c00c AP_Airspeed: enable MS4525 on 4th I2C bus (for Pixhawk4) 2019-07-26 19:02:47 +10:00
Andrew Tridgell
243d8fcb95 AP_RangeFinder: added a 1.5 delay to probe of LW20 I2C 
the LW20 takes a long time to boot and be ready to probe
 2019-07-19 17:02:50 +10:00
Andrew Tridgell
37c0666969 Plane: prepare for 3.9.9beta2 2019-07-11 05:36:32 +10:00
Andrew Tridgell
60001cac05 Plane: updated release notes for 3.9.9beta2 2019-07-11 05:36:04 +10:00
Andrew Tridgell
bdf63b5420 Plane: enable mixer setup with ChibiOS fw 
allows for pass-thu on FMU failure
 2019-07-10 21:56:13 +10:00
Andrew Tridgell
f8c5f7ca9c autotest: added plane-jet parameters 2019-07-10 17:56:20 +10:00
Andrew Tridgell
e52d447c08 SITL: fixed pitch constraint on fixed wing takeoff 
fixes issue with jet takeoff
 2019-07-10 17:56:03 +10:00
Andrew Tridgell
6ff94c1022 SITL: simple implementation of a fast jet 
just increase the weight and the rest can be done with params
 2019-07-10 17:55:56 +10:00
Andrew Tridgell
5e420e2adf AP_IneertialSensor: fixed startup race in SITL 2019-07-10 11:14:59 +10:00
Andrew Tridgell
cd178a6c4f AP_Compass: backport master AK09916 driver 
this allows mRoControlZeroF7 to work in copter stable
 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
3011bc1930 AP_Baro.cpp: support DPS280 on SPI 2019-07-09 16:23:45 +10:00
Andrew Tridgell
aee7740ae9 AP_InertialSensor: fixes for backport of BMI088 driver 2019-07-09 16:23:45 +10:00
Andrew Tridgell
9a3ce35d7b AP_HAL: added Invensensev2 defines 2019-07-09 16:23:45 +10:00
Andrew Tridgell
9773f841b8 AP_InertialSensor: add drivers for register bank based Invensense Sensors 2019-07-09 16:23:45 +10:00
Andrew Tridgell
99bbcddc26 AP_InertialSensor: added driver for BMI088 
setup for 1600 Hz accel sample, 2kHz gyro sample, 24g accel range
 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
d484e9300a AP_InertialSensor: probe IMUs for mRoControlZeroF7 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
90a7d1dd6a AP_Baro: support DPS280 on SPI 2019-07-09 16:23:45 +10:00
Andrew Tridgell
f825487b57 AP_HAL: added DPS280 on SPI / added board type for mRoControlZeroF7 2019-07-09 16:23:45 +10:00
Phillip Kocmoud
37429901ab HAL_ChibiOS: added hwdef for mRoControlZeroF7 2019-07-09 16:23:45 +10:00
Andrew Tridgell
b18d7cfc3d HAL_ChibiOS: added missing pins for F777 2019-07-09 16:23:45 +10:00
Andrew Tridgell
092c31f370 Tools: added mRoControlZeroF7 bootloader 2019-07-09 16:23:45 +10:00
Andrew Tridgell
85b5223be1 Plane: decay fw rate integrators when at low airspeed 
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
 2019-07-09 16:23:45 +10:00
Andrew Tridgell
3f765d8bbe APM_Control: added decay_I() function 
used by VTOL planes to decay integrator on fixed wing components when
at very low airspeed
 2019-07-09 16:23:44 +10:00
Andrew Tridgell
f5bf610b9a Plane: reset rate controller integrators if not run for 2s 
this prevents a bug where integrator buildup can happen from a
previous flight mode
 2019-07-09 16:23:44 +10:00
Andrew Tridgell
f0a02bb6ba AP_NavEKF3: origin handling fixes from Francisco 2019-07-09 16:23:44 +10:00
Andrew Tridgell
450224b420 AP_NavEKF2: origin handling fixes from Francisco 2019-07-09 16:23:44 +10:00
Robin Hilliard
49d9f57c85 AP_HAL_SITL: Fix build on OSX 
include pthread.h missing from Scheduler.h, similar to PR 11281.
 2019-07-09 15:23:15 +10:00
Andrew Tridgell
bd5d11ca82 Plane: update version for 3.9.9beta1 2019-07-08 11:41:59 +10:00
Andrew Tridgell
7e43101dbd Plane: prepare for 3.9.9beta1 release 2019-07-08 11:40:53 +10:00
Andrew Tridgell
5fde4cde06 Tools: removed unused io firmware 2019-07-08 10:37:24 +10:00
Andrew Tridgell
3293ae4c65 HAL_ChibiOS: switch to new IO firmware for fmuv5 2019-07-08 10:37:22 +10:00
Andrew Tridgell
715e167557 RC_Channel: added get_type() method 2019-07-08 10:37:19 +10:00
Andrew Tridgell
8d076ded1e AP_IOMCU: fixup 2019-07-08 10:37:16 +10:00
Andrew Tridgell
3ce762ab7c HAL_ChibiOS: support DSM bind on IOMCU 2019-07-08 10:37:13 +10:00
Andrew Tridgell
4378d92c6e Tools: update IO firmware binary 2019-07-08 10:37:11 +10:00
Andrew Tridgell
5056fa68c7 AP_IOMCU: sync with master IOMCU firmware 2019-07-08 10:37:04 +10:00
Andrew Tridgell
e2155ad02d AP_NavEKF3: don't allow height datum reset when not on ground 2019-07-06 15:50:34 +10:00
Andrew Tridgell
6c54ba3e7a AP_NavEKF2: don't allow height datum reset when not on ground 2019-07-06 15:50:34 +10:00
Andrew Tridgell
f44e5b4afb AP_NavEKF3: set terrainState to zero on height datum reset 2019-07-06 15:50:34 +10:00
Andrew Tridgell
befefc152a AP_NavEKF2: set terrainState to zero on height datum reset 2019-07-06 15:50:34 +10:00
Andrew Tridgell
6efccab94c AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
358aaab472 AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
64ba098c57 AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
2fc28e2eae AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
f52ccd9982 Plane: fixed home reset alt bias 
this fixes a bug in the set of home alt while disarmed. The set had a
circular dependency which could cause a large bias to build up between
home alt and gps alt due to small fluctuations in barometer data

Thanks to Nick Allen for spotting this
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
f6004ddfe3 AP_RCProtocol: fixed a overflow in SRXL decoder 
thanks to coverity 343308 and Peter for noticing
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
c452486f0a AP_NavEKF3: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
760bbf9921 AP_NavEKF2: force first EKF lane when disarmed 
this ensures we consistently fly with EKF lane1 if it is healthy at
the point we arm. Otherwise the choice of lane will be a lottery.

This is important as many systems have quite different filtering and
vibration characteristics on their different IMUs. We by default
enable fast sampling only on the first IMU for example, which means
the 2nd and 3rd IMUs are more vulnerable to high freq causing
aliasing.
 2019-07-06 15:50:34 +10:00
Andrew Tridgell
1de946b29e AP_NavEKF2: default EK2_MAG_EF_LIM to 50 
this was supposed to be part of the original PR (agreed with Paul to
enable by default)
 2019-07-06 15:50:34 +10:00