Paul Riseborough
ad15d62941
Tools: Rework Plane.EKFlaneswitch autotest
2021-07-22 19:07:36 +09:00
Paul Riseborough
697cc5cb44
Tools: Rework Copter VibrationFailsafe test to use commanded land
2021-07-22 19:07:36 +09:00
Paul Riseborough
762529a987
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-22 19:07:36 +09:00
Paul Riseborough
dd9cc70ad4
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
21dfefa5f2
Tool: Allow more time for quadplane autotest to land and disarm
2021-07-22 19:07:36 +09:00
Paul Riseborough
84693ea3c4
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-22 19:07:36 +09:00
Andrew Tridgell
645386cba6
Plane: disable EKF3 default airspeed fusion by default
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this fusion can cause problems with wind estimation, disable by
default for now
2021-07-22 19:07:36 +09:00
Paul Riseborough
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
1812d8ea3a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-22 19:07:36 +09:00
Paul Riseborough
3e4375e453
Copter: rework ekf_check to use the EKF vibration_affected status
2021-07-22 19:07:36 +09:00
Paul Riseborough
6d6699f9f9
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
2021-07-22 19:07:36 +09:00
Paul Riseborough
7abecb4e0e
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-22 19:07:36 +09:00
Paul Riseborough
1cc7dc59a1
AP_NavEKF3: Make bad IMU status more persistent
2021-07-22 19:07:36 +09:00
Paul Riseborough
6907fa8e88
AP_AHRS: Add accessor function for vibration affected status
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AP_AHRS: fix rebase build error
2021-07-22 19:07:36 +09:00
Paul Riseborough
662bda1bbd
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-22 19:07:36 +09:00
Paul Riseborough
f37caffb31
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-22 19:07:36 +09:00
Paul Riseborough
36ead940d6
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-22 19:07:36 +09:00
Paul Riseborough
82ed96a927
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-22 19:07:36 +09:00
Paul Riseborough
ed30a7ce35
Tools: relax navigation test accuracy
2021-07-22 19:07:36 +09:00
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
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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
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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
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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
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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
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this replaces get_bendy_type
2021-07-22 19:07:36 +09:00
Randy Mackay
1536249b33
AC_Avoidance: BendyRuler returns which type was used
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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
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# 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.
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# Conflicts:
# ArduCopter/GCS_Mavlink.cpp
2021-07-22 19:07:36 +09:00
Peter Barker
e4392e3ce6
Copter: simplify throttle-is-unlimited check
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Now not the same pattern as the other checks - but it is much shorter
2021-07-22 19:07:36 +09:00
