Leonard Hall
b6c4ccb683
AC_AttitudeControl: AC_PosControl: Non functional clean up
2021-08-28 14:41:27 +09:00
Leonard Hall
283c83fb6e
AC_WPNav: Fix Jerk units
2021-08-28 14:41:27 +09:00
Leonard Hall
bb5b00d920
AC_AttitudeControl: AC_PosControl: limit initial acceleration
2021-08-28 14:41:27 +09:00
Leonard Hall
feafbe81a3
AC_AttitudeControl: AC_PosControl: fix stopping point initialization
2021-08-28 14:41:27 +09:00
Iampete1
e1972c7132
AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator
2021-08-28 14:41:27 +09:00
Randy Mackay
61cf45c944
AP_Scripting: copter-fast-descent.lua example script
2021-08-28 14:41:27 +09:00
Randy Mackay
400c9ee6b0
AP_Vehicle: add virtual set_target methods
2021-08-28 14:41:27 +09:00
Randy Mackay
ee81583669
AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings
2021-08-28 14:41:27 +09:00
Randy Mackay
08c2508e0c
AP_Scripting: minor reorder of AP_Vehicle bindings
...
this is a slightly better grouping
2021-08-28 14:41:27 +09:00
Randy Mackay
a4664cc388
AP_Scripting: add AHRS:get_relative_position_NED_origin binding
2021-08-28 14:41:27 +09:00
Randy Mackay
93b7e614f6
AP_Scripting: add copter-circle-speed.lua example
...
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
2021-08-28 14:41:27 +09:00
Randy Mackay
a2a732c91c
AP_Scripting: add bindings for get_circle_radius, set_circle_rate
2021-08-28 14:41:27 +09:00
Randy Mackay
3bebd0bfaa
AP_Vehicle: add get_circle_radius, set_circle_rate
2021-08-28 14:41:27 +09:00
Iampete1
2868128847
AP_Vehicle: #ifdef scripting specific functions
2021-08-28 14:41:27 +09:00
Iampete1
ac70c38187
AC_AttitudeControl: check for zero rate Y max before taking min
2021-08-28 14:41:27 +09:00
Randy Mackay
cede4bb028
AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero
2021-08-28 14:41:27 +09:00
Pierre Kancir
fad42e8c9c
AP_InertialSensor: fix externalAHRS detection
...
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-28 14:41:27 +09:00
Pierre Kancir
3043ab6b01
AP_Baro: fix externalAHRS detection
...
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-28 14:41:27 +09:00
Pierre Kancir
adb82e13ee
AP_Compass: fix externalAHRS detection
...
'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-28 14:41:27 +09:00
Andrew Tridgell
84d9ff108e
HAL_ChibiOS: switch to minimum scheduling delta of 10us
...
this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.
Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.
Fixes issue #18383
2021-08-28 14:41:27 +09:00
Andy Piper
3c8dbf8e30
AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it
...
change mamba F405 to active high as per betaflight
2021-08-28 14:41:27 +09:00
Randy Mackay
945600a49e
AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs
2021-08-28 14:41:27 +09:00
Andrew Tridgell
cc5bfc8375
AC_AttitudeControl: this fixes an issue with Z accel initialisation
...
tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
2021-08-28 14:41:27 +09:00
Andrew Tridgell
7ae696340a
SITL: prevent flip over of RF9 quadplanes on reboot
...
send a zero channel mask until we are initialised
2021-08-28 14:41:27 +09:00
Hwurzburg
8b484738a5
AP_OSD: fixes bug introduced by #16477
2021-08-14 10:44:08 +09:00
Pierre Kancir
ae59533af1
AP_Beacon: fix comparison order to prevent using wrong beacon_instance first
2021-08-14 10:44:08 +09:00
Randy Mackay
a3c658ea01
AP_NavEKF3: remove unused EK3_GSF_DELAY param
2021-08-14 10:44:08 +09:00
Randy Mackay
25af40adde
AP_NavEKF2: remove unused EK2_GSF_DELAY param
2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
7b77dd39e0
AC_Avoid: use proximity_avoidance_enabled function
2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
4044ea1a42
AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled
2021-08-14 10:44:08 +09:00
Tatsuya Yamaguchi
03e382b1e3
AC_Avoidance: handle upward proximity enable and disable
2021-08-14 10:44:08 +09:00
Andy Piper
d6b991768e
AP_Vehicle: output rcout banner when initialization is done
...
move down ready message
2021-08-14 10:44:08 +09:00
Andy Piper
87018b859e
AP_HAL_ChibiOS: output initializing from PWM banner when not available
2021-08-14 10:44:08 +09:00
Pierre Kancir
aad2733d06
AP_ESC_Telem: prevent possible overrun
2021-08-14 10:44:08 +09:00
Pierre Kancir
2c62d32ca8
AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS
2021-08-14 10:44:08 +09:00
Pierre Kancir
04a4a27a14
AP_ESC_Telem: fix out of bound access
2021-08-14 10:44:08 +09:00
Pierre Kancir
61a50c5481
AP_OSD: check for nullptr before using it
2021-08-14 10:44:08 +09:00
Leonard Hall
ba70c50a07
AP_Math: Spelling fix
2021-08-14 10:44:08 +09:00
Leonard Hall
a363468281
AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk
2021-08-14 10:44:08 +09:00
Leonard Hall
eb652b71f9
AC_WPNav: support Control: Refactor to use Jerk
2021-08-14 10:44:08 +09:00
Leonard Hall
eff91e87ca
AP_Math: Control: Refactor to use Jerk
2021-08-14 10:44:08 +09:00
Leonard Hall
397cd8cbe0
AP_Math: Control: protect against divide by zero
2021-08-14 10:44:08 +09:00
Leonard Hall
8cd70f2569
AC_WPNav: Fix Angle Vel units on function
2021-08-14 10:44:08 +09:00
Leonard Hall
0ee9dbc059
AC_AttitudeControl: Fix Angle Vel units on function
2021-08-14 10:44:08 +09:00
Leonard Hall
988f2dbb7e
AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE
2021-08-14 10:44:08 +09:00
Leonard Hall
2e6e3d7b89
AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-14 10:44:08 +09:00
Leonard Hall
b3a10e45ba
AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
...
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
2021-08-14 10:44:08 +09:00
Andrew Tridgell
516df460b8
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
2021-08-14 10:44:08 +09:00
Andrew Tridgell
f735804035
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
...
this may help with some GPS modules
2021-08-14 10:44:08 +09:00
Andy Piper
796fdab984
AP_HAL_ChibiOS: probe for compasses on FlywooF745
2021-08-14 10:44:08 +09:00
Randy Mackay
3c5bd942a6
AP_NavEKF3: skip GSF reset count check if source actively changed
...
also only fail all compass on emergency reset
2021-08-14 10:44:08 +09:00
Andrew Tridgell
c00fa705b7
AP_NavEKF3: fixed output LLH to account for IMU offset
...
thanks to Paul and Randy
2021-08-14 10:44:08 +09:00
Leonard Hall
8d41b2225b
AC_AttitudeControl: Support thrust to weight of 10:1
2021-08-14 10:44:08 +09:00
Andy Piper
d2c084bf69
AP_Motors: remove tri yaw servo from motor mask
2021-08-14 10:44:08 +09:00
Andrew Tridgell
d7c72af849
AP_GPS: added arming checks for yaw available on ublox RTK rover
2021-08-14 10:44:08 +09:00
bugobliterator
62d89e840f
AP_RangeFinder: use separate register_driver method while contructing CAN Driver
2021-08-14 10:44:08 +09:00
bugobliterator
f33188b95f
AP_EFI: use separate register_driver method while contructing CAN Driver
2021-08-14 10:44:08 +09:00
bugobliterator
b8c2a18eaf
AP_BattMonitor: use separate register_driver method while contructing CAN Driver
2021-08-14 10:44:08 +09:00
bugobliterator
cf535481e9
AP_CANSensor: create a separate register driver method
2021-08-14 10:44:08 +09:00
Andrew Tridgell
c1f72d6683
AP_AHRS: build fix
2021-07-22 19:07:36 +09:00
Paul Riseborough
b2c24a0b58
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
...
These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
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
...
Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-22 19:07:36 +09:00
Paul Riseborough
84693ea3c4
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
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
Paul Riseborough
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
...
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
6d6699f9f9
AP_NavEKF3: Increase lower state variance limit when vibration affected
...
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
...
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
...
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
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
...
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
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
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
...
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
...
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
...
this replaces get_bendy_type
2021-07-22 19:07:36 +09:00
Randy Mackay
1536249b33
AC_Avoidance: BendyRuler returns which type was used
...
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
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
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
Andy Piper
3efb3336a5
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-22 19:07:36 +09:00
