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
6f08adc52a
Sub: fixes for use of longitude_scale()
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
Andrew Tridgell
232ccfe477
AP_Math: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
712fbd08dc
HAL_ChibiOS: use SRAM1 as first ram segment on H7
...
this is needed to give the linker more than 128k for static variables
with double precision maths.
2021-07-23 10:19:45 +09:00
Andrew Tridgell
53ecf048d1
AP_HAL: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
21bd2b7008
Tools: allow for double EKF build
2021-07-23 10:19:45 +09:00
Andrew Tridgell
41154e0f1b
waf: added --ekf-double configure option
2021-07-23 10:19:45 +09:00
Andrew Tridgell
a4693d191c
Plane: prepare for 4.1.0beta3
2021-07-23 10:19:45 +09:00
Andrew Tridgell
01b6eaf200
Plane: updated release notes for 4.1.0beta3
2021-07-23 10:19:45 +09:00
Andrew Tridgell
079577a6e5
APM_Control: adjust fixed wing filter defaults
...
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
2021-07-23 10:19:45 +09:00
Andrew Tridgell
36b22cffb6
AP_Notify: disable DShot buzzer by default
2021-07-23 10:19:45 +09:00
Andrew Tridgell
06066c1af2
Plane: fixed motor test with DShot VTOL motors
...
need to arm when running the motor test
2021-07-23 10:19:45 +09:00
Andy Piper
c265d70d3d
AP_Notify: re-enable display on 1Mb boards
2021-07-23 10:19:45 +09:00
Andrew Tridgell
3a683be219
HAL_ChibiOS: always send zero DShot when disarmed
...
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.
See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
2021-07-23 10:19:45 +09:00
Andrew Tridgell
a757706797
AP_Logger: fixed log creation on forced arm
...
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
2021-07-23 10:19:45 +09:00
Andrew Tridgell
080ebe9cb2
Plane: prepare for 4.1.0beta2 release
2021-07-23 10:19:45 +09:00
Andrew Tridgell
5132442b1e
Plane: prepare for 4.1.0beta1 release
2021-07-23 10:19:45 +09:00
Randy Mackay
6668c072f6
Copter: version to 4.1.0-beta5
2021-07-23 10:19:45 +09:00
Randy Mackay
4acdce2a8b
Rover: version to 4.1.0-beta5
2021-06-30 14:40:15 +09:00