Andrew Tridgell
1680e6e7d6
AP_HAL: expose load_persistent_params() in hal.util
2021-01-21 13:09:21 +11:00
Andrew Tridgell
c9a83c8127
AP_InertialSensor: added INS_TCAL_OPTIONS
...
make persistent params optional, and allow save of accelcal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
5c823debc0
HAL_ChibiOS: support saving persistent parameters to bootloader sector
...
when we flash the bootloader we can save key peristent parameters to
the end of the bootloader sector, allowing them to persistent across
changes of firmware type
This allows for factory temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
504f500fae
AP_Common: added get_writeable_string to ExpandingString
2021-01-21 13:09:21 +11:00
Andrew Tridgell
1ddc21c9bb
AP_InertialSensor: support saving tempcal params persistently
2021-01-21 13:09:21 +11:00
Andrew Tridgell
84dda13b42
autotest: use new learn param setup
2021-01-21 13:09:21 +11:00
Andrew Tridgell
8caea96ab1
AP_InertialSensor: start auto-learning at boot
...
This makes it easier to setup the params. The ENABLE=2 value only
takes effect at boot
2021-01-21 13:09:21 +11:00
Andrew Tridgell
e8ab8ed29e
Tools: improve tempcal script
...
- allow display of log corrections
- added online estimator
- allow learning using TCLR records
2021-01-21 13:09:21 +11:00
Andrew Tridgell
30385fb8cb
autotest: use set_parameters() in IMU temp cal test
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0c3655b01f
autotest: fixed epsilon handling in set_parameters
2021-01-21 13:09:21 +11:00
Andrew Tridgell
7cb7ad3636
AP_InertialSensor: fixed build error
2021-01-21 13:09:21 +11:00
Andrew Tridgell
2e9f61fe49
AP_InertialSensor: fixed IMU index display in msgs
...
start at 1 for users
2021-01-21 13:09:21 +11:00
Andrew Tridgell
d5b511f4a0
AP_InertialSensor: fixed start timer for temperature in SITL
...
when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
2021-01-21 13:09:21 +11:00
Andrew Tridgell
30e55d8dfc
AP_InertialSensor: cope with user changing TMAX while calibrating
2021-01-21 13:09:21 +11:00
Andrew Tridgell
68526262b7
AP_Arming: don't allow arming during IMU temp cal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
e2e97c67ce
AP_InertialSensor: catch user attempt to change TMAX during cal
2021-01-21 13:09:21 +11:00
Andrew Tridgell
73e53369e8
AP_Notify: added notify events for temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
3fb720354d
AP_InertialSensor: added notify events for temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
cc3579ea5d
AP_InertialSensor: change TCAL sampling to be even in temperature
2021-01-21 13:09:21 +11:00
Andrew Tridgell
cf47c19c0d
Filter: fixed low pass 2p filter to auto-init
...
this prevents the init to zero for temperature filters
2021-01-21 13:09:21 +11:00
Andrew Tridgell
4495414d05
Filter: added reset with value to LowPassFilter2p
2021-01-21 13:09:21 +11:00
Andrew Tridgell
327db46c15
autotest: added automatic testing of IMU Temperature calibration
2021-01-21 13:09:21 +11:00
Andrew Tridgell
fc0f8b990a
AP_InertialSensor: added online learning of temp cal
...
use INS_TCAL1_ENABLE=2 to start learning
2021-01-21 13:09:21 +11:00
Andrew Tridgell
64d9f43d94
AP_Math: added polygon fitting code
2021-01-21 13:09:21 +11:00
Andrew Tridgell
720f9a1de0
AP_Math: cleanup maths functions
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use class template instantiation, and cleanup const in matrix code
2021-01-21 13:09:21 +11:00
Andrew Tridgell
6f6f89e5aa
AP_InertialSensor: enable temperature sensor on LSM9DS0
...
this allows for temperature calibration of the LSM303D in CubeBlack
and Pixhawk1
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0c156e324b
AP_Compass: enable temperature on lsm303d
2021-01-21 13:09:21 +11:00
Andrew Tridgell
c0ba7c29ca
SITL: use TCal class for temp adjustment in SITL
2021-01-21 13:09:21 +11:00
Andrew Tridgell
4bdf506d10
AP_InertialSensor: apply 1e-5 scale factor
...
this keeps the params in a reasonable range for parameter editors
2021-01-21 13:09:21 +11:00
Andrew Tridgell
0f6f6bac6b
AP_InertialSensor: expose TCal class for use in SITL
2021-01-21 13:09:21 +11:00
Andrew Tridgell
7921e042f1
AP_InertialSensor: added IMU temperature calibration support
...
this adds parameters that can be setup by an external script for
compensating for temperature variation in gyros and accels using a 3rd
order polynomial
2021-01-21 13:09:21 +11:00
Andrew Tridgell
c4664d8e32
Tools: added script to calculate IMU temp compensation parameters
...
this is run over an onboard log to calculate the INS_TCAL parameters
to enable temperature compensation for gyro and accel
2021-01-21 13:09:21 +11:00
Andrew Tridgell
580cd143b8
AP_AccelCal: added active() method
2021-01-21 13:09:21 +11:00
Siddharth Purohit
f53d80374b
SITL: fix build for macos systems
2021-01-21 13:09:21 +11:00
Peter Barker
e58d2ecf2f
GCS_MAVLink: add mavlink command option to create a 250ms long loop
2021-01-21 11:35:57 +11:00
Peter Barker
c7a6047904
autotest: add option to retry tests / create and use Test definition object
2021-01-21 10:23:17 +11:00
Andrew Tridgell
d81c2ee407
HAL_ChibiOS: allow for some embedded parameters on AP_Periph builds
2021-01-21 06:19:46 +11:00
murata
fd91cb03b4
SITL: Change the Kelvin value to a defined name
2021-01-20 20:27:19 +11:00
Peter Barker
03b2473c61
autotest: correct get_parameter_direct attempts decrement
2021-01-20 20:06:46 +11:00
bugobliterator
8b90eb23e0
AP_HAL_ChibiOS: distcc doesn't like lst generation commands
2021-01-20 19:21:14 +11:00
bugobliterator
9e15b5785b
ardupilotwaf: fix spec args as distcc doesn't like it
2021-01-20 19:21:14 +11:00
Randy Mackay
0d0ff63242
Plane: ensure wp_nav::wp_and_spline_init is called at least once
2021-01-20 18:22:44 +11:00
Randy Mackay
031be010ac
AC_AttitudeControl: tailsitter sets target rates more efficiently
2021-01-20 18:21:12 +11:00
Leonard Hall
5efe94a771
Copter: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Leonard Hall
4e2c7880c5
AC_Avoidance: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Leonard Hall
e2308e9414
AC_Loiter: use AP_Math control tools common functions
2021-01-20 18:19:40 +11:00
Randy Mackay
6320338771
AC_PosControl: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Leonard Hall
1129a3fd59
AC_AttitudeControl: use AP_Math control functions
2021-01-20 18:19:40 +11:00
Leonard Hall
1e38440c83
AP_Math: add control common functions
2021-01-20 18:19:40 +11:00
Andy Piper
2fadcf6ba0
AP_HAL_ChibiOS: handle UP/CH channel sharing on H7 correctly
2021-01-20 18:15:17 +11:00
