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48277 Commits

Author SHA1 Message Date
Leonard Hall 452bf51c90 Copter: Guided: make aircraft stop on accel time out 2021-07-23 10:19:48 +09:00
Leonard Hall 3f7957418c Copter: Guided add terrain failsafe 2021-07-23 10:19:48 +09:00
Leonard Hall 6ff5913aa1 Copter: Guided: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall fa0442f565 Copter: Guided: fix waypoint track reporting 2021-07-23 10:19:48 +09:00
Leonard Hall b43f5cb2a3 Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 2021-07-23 10:19:48 +09:00
Leonard Hall 4995add509 Copter: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:48 +09:00
Leonard Hall 029f5d23a4 Plane: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall e0ae24c428 Sub: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 72e23cfb8c Copter: Guided: use common initialisation 2021-07-23 10:19:47 +09:00
Leonard Hall 73a500db4d Copter: Guided prevent takeoff without takeoff command. 2021-07-23 10:19:47 +09:00
Leonard Hall 2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Randy Mackay f79e20ab67 Copter: guided accepts terrain alt position targets 2021-07-23 10:19:47 +09:00
Randy Mackay d22f8fbc35 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-23 10:19:47 +09:00
Leonard Hall 80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall d365a85c69 Sub: adjust for AttitudeControl library changes 2021-07-23 10:19:47 +09:00
Leonard Hall a71793efcf Tools: Autotest update guided bitbask to include acceleration 2021-07-23 10:19:47 +09:00
Leonard Hall 9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall 612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Leonard Hall e49f3d0fcf Copter: support for acceleration-based AttitudeControl 2021-07-23 10:19:47 +09:00
Andrew Tridgell cb14275e43 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-23 10:19:47 +09:00
Andy Piper 35d34ee9ae AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-23 10:19:47 +09:00
Randy Mackay 0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Leonard Hall 85798e96c7 Copter: Correct yaw expo range limit 2021-07-23 10:19:47 +09:00
Andrew Tridgell 0e4e6b8075 autotest: adjust test_altitude_types for small change in longitude_scale 2021-07-23 10:19:47 +09:00
Andrew Tridgell 4384b9ea36 AP_Common: update tests for 4.1 2021-07-23 10:19:47 +09:00
Andrew Tridgell c636f1ab6e CI: removed test_size.yml 
testing size against master doesn't work for 4.1
 2021-07-23 10:19:47 +09:00
Andrew Tridgell 4218452475 HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-23 10:19:47 +09:00
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