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22913 Commits

Author SHA1 Message Date
Paul Riseborough 8f1b732d79 AP_NavEKF2: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough 1720c8de0f AP_NavEKF3: Add documentation for GSF logging 2020-04-24 09:43:23 +10:00
Paul Riseborough 9bdb89474a AP_NavEKF3: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Paul Riseborough 49e4c799d3 AP_NavEKF2: Use unique names for EKF2 logging 2020-04-24 09:43:23 +10:00
Andrew Tridgell 080f555b16 AP_NavEKF3: remove unused isDeltaYaw param from resetQuatStateYawOnly 2020-04-24 09:43:23 +10:00
Andrew Tridgell 197d31e9cc AP_NavEKF3: fixed in-flight yaw reset 2020-04-24 09:43:23 +10:00
Randy Mackay 86d221708c AP_NavEKF3: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay 4d7e7a960a AP_NavEKF2: more white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay a43beaaa23 AP_NavEKF: GSF white space fixes 2020-04-24 09:43:23 +10:00
Randy Mackay 0fb233ed4b AP_NavEKF2: minor comment fixes 2020-04-24 09:43:23 +10:00
Randy Mackay c1ef894a30 AP_NavEKF3: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay a9cbd5aa29 AP_NavEKF2: getDataEKFGSF and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay 1ee9f3a6de AP_NavEKF: GSF getLogData and getYawData pass by reference 2020-04-24 09:43:23 +10:00
Randy Mackay 8a8271c2c7 AP_NavEKF3: minor format fixes 2020-04-24 09:43:23 +10:00
Randy Mackay d61c517e76 AP_NavEKF2: minor format fix 2020-04-24 09:43:23 +10:00
Randy Mackay ed3d072318 AP_NavEKF3: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Randy Mackay 91ef87064a AP_NavEKF2: rename GSF_RUN_MASK, GSF_USE_MASK, GSF_RST_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough 7ba39c844c AP_NavEKF3: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to
 2020-04-24 09:43:23 +10:00
Paul Riseborough abc821ad36 AP_NavEKF2: Split GSF yaw estimator processing 
Separate prediction and correction steps are required to provide an up to date yaw estimate using IMU prediction before it may be required by SelectMagFusion() whilst still doing the velocity update after GPS data haw been pulled from the buffer by SelectVelPosFusion()
 2020-04-24 09:43:23 +10:00
Andrew Tridgell 216935c1f2 AP_NavEKF3: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell c83e2d7c0e AP_NavEKF2: fixed loss of GPS fusion 
we must not do a storedGPS.recall unless we will be using the data,
otherwise we will lose GPS samples and risk stopping GPS fusion
 2020-04-24 09:43:23 +10:00
Andrew Tridgell 6c3889b04f AP_NavEKF2: fixed typos 2020-04-24 09:43:23 +10:00
Andrew Tridgell 3edbe81b1e AP_NavEKF2: removed 2nd set of imuSampleTime_ms 2020-04-24 09:43:23 +10:00
Paul Riseborough 9f5e037015 AP_NavEKF3: Restore bug fix lost during rebase 2020-04-24 09:43:23 +10:00
Paul Riseborough 6952d83f00 AP_NavEKF2: Fix casting build error 2020-04-24 09:43:23 +10:00
Paul Riseborough 53df8a0238 AP_NavEKF3: Fix timer wrapping bug 2020-04-24 09:43:23 +10:00
Paul Riseborough 0d965d2a1c AP_NavEKF2: Fix timer wrapping bugs 
Also replaces tab characters
 2020-04-24 09:43:23 +10:00
Paul Riseborough 12d639fc17 AP_NavEKF3: Misc changes arising from review 
AP_NavEKF3: Fix typo in comment

AP_NavEKF3: Use uint32_t data type for msec timers

AP_NavEKF3: Misc msec timer fixes

Fix wrapping bug.
Use common timestamp.

AP_NavEKF3: Format fixes - remove tabs

AP_NavEKF3: Fix typing and wrap issue on time comparison
 2020-04-24 09:43:23 +10:00
Paul Riseborough 51b62a34b9 AP_NavEKF: Use better type for array index 2020-04-24 09:43:23 +10:00
Paul Riseborough 4b3952bd15 AP_NavEKF3: Eliminate unnecessary function call 2020-04-24 09:43:23 +10:00
Paul Riseborough 6ec69e6ed1 AP_NavEKF3: Update EK3_MAG_CAL parameter advice 2020-04-24 09:43:23 +10:00
Paul Riseborough a66479104d AP_AHRS: fix failure to arm when not using compass for yaw 2020-04-24 09:43:23 +10:00
Andrew Tridgell 6b6f083bf2 RC_Channel: added lane switch RCn_OPTION=103 
RC_Channel: added yaw reset switch RCn_OPTION=104
 2020-04-24 09:43:23 +10:00
Paul Riseborough 22c2ea7cbf AP_AHRS: Add accessor function for EKF yaw reset request 
AP_AHRS: Send yaw reset request to EKF2
 2020-04-24 09:43:23 +10:00
Paul Riseborough 9cf75bf22e AP_AHRS: Enable EKF3 default airspeed to be set 
AP_AHRS: Send default airspeed to EKF2
 2020-04-24 09:43:23 +10:00
Paul Riseborough de0040ad69 AP_NavEKF2: Enable use of EKF-GSF yaw estimate 
Enables the yaw to be reset in flight to a value estimated from a specialised yaw estimator. This allows faster recovery if taking off with a bad magnetometer and also allows yaw alignment and GPS use to commence in-air when operating without any yaw sensing.

AP_NavEKF2: Add missing accesor functions for default airspeed
 2020-04-24 09:43:23 +10:00
Paul Riseborough 863f989130 AP_NavEKF3: Fix integration of GPS yaw options 
AP_NavEKF3: fix failure to arm with EK3_MAG_CAL = 7

AP_NavEKF3: Fix failure to arm when not using magnetometer

AP_NavEKF3: Reduce yaw drift when EK3_MAG_CAL = 7
 2020-04-24 09:43:22 +10:00
Paul Riseborough 410b5825fb AP_NavEKF3: Enable use of EKF-GSF yaw estimate 
AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate

AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters

Enables fail-safe to be set with more sensitivity and improves tracking accuracy.
Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then.

AP_NavEKF3: Prevent constant mag anomaly yaw resets

Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference.
Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required.

AP_NavEKF3: Add option to fly without magnetometer

AP_NavEKF3: Rework emergency yaw reset logic

Use a separate external accessor function to request the yaw reset.
Allow reset requests to remain active for a defined period of time.
Tidy up reset function to split out accuracy check.

AP_NavEKF3: Fix vulnerability to lane switch race condition

Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react.

AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours

Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate.
Fix bug causing emergency yaw message to be output for a normal reset.
Fix vulnerability to reported negative yaw variance.
Remove duplicate timer checks.

AP_NavEKF3: Update EK3_MAG_CAL documentation

AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag

AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor

Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
 2020-04-24 09:43:22 +10:00
Paul Riseborough 6bb7c55bba AP_NavEKF: Add yaw estimator class using Gaussian Sum Filter 
AP_NavEKF: Simplify centripetal accel correction
 2020-04-24 09:43:22 +10:00
Peter Barker eee0f028ba AP_Logger: fix examples 
Having a valid AP_Scheduler is now a requirement
 2020-04-23 11:33:41 +09:00
Andrew Tridgell 4ec1717361 HAL_ChibiOS: enable IMU temp control on CUAV-X7 2020-04-23 09:05:52 +10:00
Andrew Tridgell 56b0dddb7c HAL_ChibiOS: set IMU temp on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell 5892e6421e HAL_ChibiOS: enable DRDY on ADIS16470 on CUAV-X7 2020-04-23 07:28:13 +10:00
Andrew Tridgell ffe773ff6f HAL_ChibiOS: use DRDY pin for ADIS16470 on mRoNexus 2020-04-23 07:28:13 +10:00
Andrew Tridgell 5c6749ee54 AP_InertialSensor: use wait_pin() to wait for DRDY pin if available 2020-04-23 07:28:13 +10:00
Andrew Tridgell 450871cde1 HAL_ChibiOS: added wait_pin() implementation 2020-04-23 07:28:13 +10:00
Andrew Tridgell 34df438560 AP_HAL: added wait_pin() API 
for waiting on data-ready lines
 2020-04-23 07:28:13 +10:00
Andrew Tridgell 8e977183fe HAL_ChibiOS: added mRoNexus 2020-04-23 07:28:13 +10:00
Randy Mackay 6f8176c71e GCS_MAVLink: remove ahrs3 2020-04-22 14:11:17 +09:00
Mark Whitehorn dbfbe50737 SITL: update flightaxis defaults 2020-04-22 12:36:03 +10:00
Randy Mackay 47c7c8fb53 RC_Channel: rover option param desc gets Viso Align 2020-04-22 10:34:18 +09:00
Peter Barker 653b554a31 SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Peter Barker 185bc68476 AP_HAL_SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Andrew Tridgell 6be519fb0d HAL_ChibiOS: added alt-config for UART4 on omnibusf4pro 2020-04-21 18:42:12 +10:00
Andrew Tridgell 6347d0adb0 AP_GPS: leave uart2 config enabled when using uart2 MB setup 2020-04-21 15:30:54 +10:00
Andrew Tridgell f3a5d915f3 AP_GPS: allow for larger average delta on MB rover than normal 2020-04-21 15:30:54 +10:00
Andrew Tridgell 36098c3221 AP_GPS: improved delay health threshold 
allow for missing frames without showing unhealthy on GCS
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 3397ed766d AP_GPS: enable ublox moving baseline compilation option 
disable for HAL_MINIMIZE_FEATURES and if max receivers 1. This fixes
the f103-GPS AP_Periph build
 2020-04-21 15:30:54 +10:00
Andrew Tridgell ae2132d861 AP_GPS: added check for Z error in moving baseline ublox 
this ensures we don't get bad yaw from having the right distance but
incorrect Z offset for the currently expected roll/pitch
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 7027eecd34 AP_GPS: added GPS_DRV_OPTIONS 
this allows for configuration of moving baseline with either uart1 or
uart2 for the RTCM data. Using uart2 requires an extra cable between
the two modules, but requires less uart bandwidth which is good when
DMA channels are low. Using uart2 also avoids the rtcmv3 parser, which
saves memory
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 9a6de209ab AP_GPS: ensure that PVT and RELPOSNED msgs time align 
this ensures we wait until we have a matching PVT and RELPOSNED
message before we report new data. If we stop receiving RELPOSNED
messages then disable yaw support
 2020-04-21 15:30:54 +10:00
Andrew Tridgell 3fbeae613b AP_GPS: fixed moving baseline yaw calculation 
this reverts #13955 and instead applies the correct fix, which is to
subtract the angle instead of adding.
 2020-04-21 15:30:54 +10:00
Randy Mackay 3195a7cccd AC_Circle: z-axis target only updated during terrain following 
This allows the circle flight mode to externally control the altitude target
 2020-04-21 11:39:38 +09:00
murata 2af70f5e60 AP_Arming: Display mag field value 2020-04-21 10:51:48 +09:00
Randy Mackay 35dcb0d752 AP_NavEKF2: CorrectExtNavForSensorOffset made const 2020-04-21 10:21:23 +10:00
Randy Mackay 7470bc9994 AP_NavEKF3: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Randy Mackay 85704e4989 AP_NavEKF2: CorrectGPSForAntennaOffset made const 
also reduce scope of call to slightly reduce CPU load
 2020-04-21 10:21:23 +10:00
Peter Barker 87108b86c8 AP_NavEKF3: add documentation for XKFM message 2020-04-21 09:48:43 +10:00
Peter Barker a83c25cfa7 AP_Logger: add documentation for EKF messages 
NKF0, NKF1, NKF2, NKF3, NKF4, NKF5, NKQ

XKF0, XKF1, XKF2, XKF3, XKF4, XKF5, XKFD, XKQ, XKV1, XKV2
 2020-04-21 09:48:43 +10:00
Peter Barker cda0d14f57 SITL: add documentation for SITL and SMOO message 2020-04-21 09:48:43 +10:00
Rishabh 6a98ab569e AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller() 2020-04-21 09:22:45 +10:00
Andrew Tridgell 7e835d1037 AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-04-21 06:02:29 +10:00
Peter Barker 59c02816b8 AP_HAL_SITL: find dumpstack when run from vehicle subdirectory 2020-04-20 14:25:08 +10:00
murata bd688ef412 AP_ToshibaCAN: Using the maximum number of ESCs definition 
AP_ToshibaCAN: Using the maximum number of ESCs definition
 2020-04-20 10:12:57 +09:00
Andrew Tridgell 02aebfcd6f AP_Baro: fixed build warning 2020-04-20 07:10:21 +10:00
Andrew Tridgell 6dafa82c7c AP_FlashStorage: fixed build warning 2020-04-19 13:36:24 +10:00
Peter Barker b490f20f3d AP_Param: panic if defaults file load fails 2020-04-18 21:51:16 +10:00
Andy Piper f3b240533f AP_HAL_ChibiOS: eliminate EKF2 from fmuv2 build 2020-04-18 20:18:30 +10:00
Mark Whitehorn 874c293911 AP_Logger: expand description of GPS.spd 2020-04-18 15:33:43 +10:00
Randy Mackay 33d29feab9 AP_VisualOdom: T265 supports vision-position-delta 
implementation is the same for both backends so move to AP_VisualOdom_Backend
 2020-04-18 08:07:20 +09:00
Peter Barker 870159c14f AP_Logger: add times-full to MAV log structure 2020-04-17 22:21:14 +10:00
Peter Barker 8b9281eaa1 GCS_MAVLink: log number of times message not sent due to no space 2020-04-17 22:21:14 +10:00
Peter Barker 908dfa58f3 AP_Logger: remove unused FORMATS stage in DFLogStart messagewriter 2020-04-17 21:42:15 +10:00
Andrew Tridgell db8fdeebeb HAL_ChibiOS: fixed Hott telem half duplex handling 
this fixes an issue with single byte writes with half duplex. It isn't
an elegent solution, but nicely separates the different types of half
duplex operation
 2020-04-17 17:52:28 +10:00
Patrick José Pereira 6672155e24 AP_FlashStorage: Fix test for AP_FLASHSTORAGE_MULTI_WRITE 
AP_FLASHSTORAGE_MULTI_WRITE is not defined

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 16:00:39 +10:00
Patrick José Pereira c83ce93165 AP_HAL_Linux: Add missing wscript for GPIOTest 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:59:25 +10:00
Patrick José Pereira 4018a79f83 AP_Baro: Fix scope of HAL_INS_MPU60x0_NAME 
`read_calibration_data` is defined but only used inside the
definition scope.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-04-17 15:58:38 +10:00
Andrew Tridgell cac455ff2d HAL_ChibiOS: added another uart to omnibusf4v6 
for RC telemetry such as Hott telem
 2020-04-17 11:23:06 +10:00
Andrew Tridgell f721fb1743 AP_Hott_Telem: fixed GPS display for mz-32 
thanks to Ralf Helbing
 2020-04-17 11:23:06 +10:00
Peter Barker 41ada7f8f4 GCS_MAVLink: document the payload-space macros 2020-04-17 10:20:49 +10:00
Randy Mackay 03441f2250 AC_Circle: remove _rangefinder_use parameter 
We will reuse the WPNAV_RFND_USE parameter indirectly
 2020-04-16 17:30:29 +09:00
Randy Mackay f3e2b182a1 AC_WPNav: add rangefinder_used accessor 2020-04-16 17:30:29 +09:00
Randy Mackay 658bb646ca AC_Circle: support terrain altitudes 2020-04-16 17:30:29 +09:00
vierfuffzig 7c7b199bbd AP_HAL_ChibiOS: add I2C / USART3 ALT_CONFIG for omnibusf4pro 2020-04-16 08:42:24 +10:00
Randy Mackay 22c9081c83 AP_NavEKF3: minor comment fix 2020-04-15 19:35:30 +09:00
Peter Barker 678d6f43c5 AP_Logger: use existing LoggerMessageWriter to log uploaded missions 
Instead of creating a MessageWriter explicitly to log uploaded missions
we fiddle the state of the one stored in the startup message writer.

This has the advantage of being much more likely to log the entire
mission (as the buffer constraint is removed), and with the addition of
a time-remaining check much less likely to cause a timing glitch.
 2020-04-15 16:24:40 +10:00
Peter Barker 856b635e89 AP_Mount: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker d8582d864a AP_Logger: convert Solo gimbal messages to TimeUS from TimeMS 
Also remove unused gimbal3 message entirely
 2020-04-15 16:11:04 +10:00
Peter Barker acba2a78f6 AP_Logger: add message validation check against duplicate labels 2020-04-14 12:30:58 +10:00
Peter Barker ec7bde2be4 SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker 4245ee6543 RC_Channel: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker 1b99cfb10a AP_Vehicle: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker b7a03ae5ad AP_RangeFinder: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker d390126b93 AP_Rally: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker d19f8db06f AP_NavEKF3: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker f1fc05d357 AP_NavEKF2: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker efbf929bc0 AP_InertialSensor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker e67347f011 AP_HAL_SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker 7d7a7d126c AP_Follow: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker e1f8af1653 AP_BattMonitor: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker 6046aa3625 AP_Airspeed: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker e545a429a0 AC_Fence: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker 002d47447e AC_Avoidance: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay 3ccb3c69a6 SITL: add vicon position offsets 2020-04-14 10:28:03 +10:00
Randy Mackay 2164293cc0 AP_VisualOdom: remove sensor position from call to ahrs writeExtNavData 2020-04-14 10:28:03 +10:00
Randy Mackay 79afc70cdb AP_AHRS: remove writeExtNavData sensOffset argument 
EKF pulls this directly from AP_VisualOdom
 2020-04-14 10:28:03 +10:00
Randy Mackay 8749f30c64 AP_NavEKF2: external nav pos offsets from AP_VisualOdom library 2020-04-14 10:28:03 +10:00
Randy Mackay c39fef6c56 GCS_MAVLink: pass vision-position-estimate reset_counter to AP_VisualOdom handler 2020-04-14 10:28:03 +10:00
Randy Mackay 3557104787 AP_VisualOdom: log corrected position instead of raw position 2020-04-14 10:28:03 +10:00
Randy Mackay 6622927a23 AP_VisualOdom: support position resets 2020-04-14 10:28:03 +10:00
Randy Mackay 83e48b575e AP_VisualOdom: add SCALE parameter 
Applied to positions from vision-position-estimate messages
 2020-04-14 10:28:03 +10:00
Randy Mackay 852325c8e4 AP_VisualOdom: remove unused method declarations 2020-04-14 10:28:03 +10:00
Randy Mackay ccf96cf0a5 AP_VisualOdom: rename MAV to MAVLink in TYPE param desc 2020-04-14 10:28:03 +10:00
Randy Mackay 4f639481c1 AP_Logger: VISP msg adds reset_counter 2020-04-14 10:28:03 +10:00
Randy Mackay fb7e68c53a AP_NavEKF2: writeExtNavData reset handles system time wrap 2020-04-14 10:28:03 +10:00
Andrew Tridgell 74f33d57c5 HAL_ChibiOS: avoid unnecessary H7 flash writes 2020-04-14 10:02:51 +10:00
Andrew Tridgell 8dabd6cefc HAL_ChibiOS: expect a long delay on flash page erase 
this prevents the display of errors on flash page erase
 2020-04-14 10:02:51 +10:00
Andrew Tridgell 4b236e52b2 HAL_ChibiOS: added MatekH743 port 2020-04-14 10:02:51 +10:00
Andrew Tridgell 2165fd66f1 HAL_ChibiOS: define FLASH_RESERVE_END_KB 2020-04-14 10:02:51 +10:00
Andrew Tridgell 8e83783b18 AP_FlashStorage: support H7 flash storage 
this generalises AP_FlashStorage to support the 32 byte write
restrictions of the STM32H7
 2020-04-14 10:02:51 +10:00
Andrew Tridgell 5125fc1a64 HAL_SITL: added checks for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell efe78fe3e1 AP_HAL: allow SITL to emulate 3 different types of flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell e1792f89db AP_HAL: fixed default HAL_STORAGE_SIZE for flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell c0039c85e0 HAL_SITL: emulate sector size for flash storage properly 2020-04-14 10:02:51 +10:00
Peter Barker 2988c70627 AP_FlashStorage: clarify space-available-for-write check 2020-04-14 10:02:51 +10:00
Andy Piper c4217f329b AP_RPM: allow harmonic notch driver to appear as RPM values. 2020-04-14 09:43:16 +10:00
Henry Wurzburg e5319397b4 AP_HAL_ChibiOS: eliminate EKF2 from F4 builds not using HAL_MINIMIZE_FEATURES 2020-04-14 09:19:28 +10:00
Andrew Tridgell 5c399fce41 AP_AHRS: auto-switch to EK3/EK2 if selected option disabled 
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.

This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
 2020-04-14 09:15:43 +10:00
Peter Barker c36e06e7fa AP_Compass: add documentation for COFS, compass-learning message 2020-04-14 07:34:59 +10:00
Peter Barker 54292c5443 AP_Tuning: add documentation for PRTN message 2020-04-14 07:34:59 +10:00
Peter Barker 061c3ecb7f AP_RCProtocol: add documentation for RCDA message 2020-04-14 07:34:59 +10:00
Peter Barker 767c010332 AP_Logger: add documentation for WENC, CESC, PRX, ADSB, BCN, BCL, OABR, OADF 2020-04-14 07:34:59 +10:00
murata 124d8c7fdf AP_HAL_ChibiOS: Changing the timeout detection 2020-04-14 07:32:46 +10:00
murata 10b7988092 AP_Baro: Fix timestamp wrapping 2020-04-14 07:30:58 +10:00
Randy Mackay 9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell db4f1a1473 HAL_ChibiOS: enable ADIS16470 on SPI1 2020-04-13 15:26:02 +10:00
CUAVcaijie 942b2fd29f HAL_ChibiOS: Added support for CUAV X7 flight controller 2020-04-13 15:26:02 +10:00
Andrew Tridgell d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Peter Barker ede87d49f6 AP_InternalError: add a bit for infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker a2b4713008 AP_FlashStorage: protect against infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker 851d9ae1ef AP_Compass: log message information for MMC3416 2020-04-12 08:36:48 +10:00
Peter Barker c3b8db95b8 AP_Logger: add DSTL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker d23d4768f1 AP_Landing: add LAND log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker e5b634cdd0 AP_IOMCU: add IOMC log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker 88d61b9d3c AP_Follow: add FOLL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker 194d3c280f AP_EFI: add EFI log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker f9c4976f93 AP_BoardConfig: add HEAT log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker 1a148afe1b AC_AutoTune: add ATDE log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker afc0fbc516 AC_AttitudeControl: add CTRL log message documentation 2020-04-12 08:36:48 +10:00
Andrew Tridgell 1f8cd830ea AP_NavEKF3: fixed use of tabs 2020-04-11 21:14:31 +10:00
Paul Riseborough f68f355852 AP_NavEKF3: Fix timestamp wrapping 2020-04-11 21:14:31 +10:00
Paul Riseborough 33ab1a7b15 AP_NavEKF3: Ensure yaw fusion commences when starting from rest 2020-04-11 21:14:31 +10:00
Paul Riseborough a3725e2581 AP_NavEKF3: Fix bug in calculation of rotation order 2020-04-11 21:14:31 +10:00
Paul Riseborough eeac0a05b9 AP_NavEKF3: Improvements to on ground movement check 
Reduce sensitivity and log test ratios.
Reduce base logging rate to 5Hz and log when status changes.
 2020-04-11 21:14:31 +10:00
Paul Riseborough ebb8bb4f6f AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts 2020-04-11 21:14:31 +10:00
Andrew Tridgell 83ad1c17a8 AP_AHRS: disable DCM yaw consistency check when using external yaw 
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell 3ae0b0d446 AP_NavEKF3: added using_external_yaw() method 
needed by AHRS for attitudes_consistent() check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell 6f04fae4a0 AP_NavEKF3: added fallback to mag option with external yaw 
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled

This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
 2020-04-11 21:14:31 +10:00
Andrew Tridgell a3100251a8 AP_NavEKF3: use enum class for EK3_MAG_CAL values 
and use effective_magCal() everywhere for consistency
 2020-04-11 21:14:31 +10:00
Andrew Tridgell e8fb082a9a HAL_SITL: fixed simulation of roll/pitch of moving baseline ublox 2020-04-11 21:14:31 +10:00
Andrew Tridgell b90b4f9157 HAL_SITL: implement moving baseline for ublox 
this allows testing of the moving baseline dual ublox code
 2020-04-11 21:14:31 +10:00
Andrew Tridgell 778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Andrew Tridgell ff112a726b AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-04-10 11:46:01 +10:00
bugobliterator a31f2e5d90 hwdef: add validation checks for CubeOrange 2020-04-10 07:04:21 +10:00
bugobliterator ef91f1634b HAL_ChibiOS: add support for adding board validation test 2020-04-10 07:04:21 +10:00
bugobliterator 8a77ddf8c6 AP_BoardConfig: run validation test if declared under hwdef 2020-04-10 07:04:21 +10:00
Randy Mackay 1ba036169f AP_VisualOdom: align sensor displays yaw shift in 0 to 360 range 2020-04-09 19:41:08 +09:00
Randy Mackay 9fd39f3768 AP_Math: alternative quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay 26e4dd6fef AP_Math: correct quaternion::from_rotation for pitch-180 2020-04-09 19:41:08 +09:00
Randy Mackay dc2e0f328b AP_VisualOdom: fix handle_vision_position_delta_msg 
position and angle deltas were swapped when passed into the EKF
time passed into the EKF was scaled as usec when it should be sec
 2020-04-09 19:41:08 +09:00
Randy Mackay c18fce6714 AP_Math: add quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay d1aa3858f0 AP_Vehicle: add visual odometry 2020-04-09 19:41:08 +09:00
Randy Mackay 1b1687f43d AP_Arming: integrate visual odometry pre_arm_check 2020-04-09 19:41:08 +09:00
Randy Mackay 2f5a8fd6b9 RC_Channel: add aux function for visodom-calibrate 2020-04-09 19:41:08 +09:00
Randy Mackay 9769f08fd9 GCS_MAVLink: visual odometry build fixes 2020-04-09 19:41:08 +09:00
Randy Mackay a9c1eb5af4 GCS_MAVLink: fill in sys_status vision position bits 2020-04-09 19:41:08 +09:00
Randy Mackay a1ddd55ea5 GCS_MAVlink: AP_integrate of rename to handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay 728e8b45a9 GCS_MAVLink: use AP_VisualOdom to handle vision-position-estimate messages 2020-04-09 19:41:08 +09:00
Randy Mackay aa720b0ae6 AP_VisualOdom: pre-arm failure string prefix moved to AP_Arming 2020-04-09 19:41:08 +09:00
Randy Mackay 3d75dc7815 AP_VisualOdom: add HAL_VISUALODOM_ENABLED 2020-04-09 19:41:08 +09:00
Randy Mackay 8f94a0cfb0 AP_VisualOdom: integrate IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay f0e11d9a5c AP_VisualOdom: add IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay a41b169635 AP_VisualOdom: front-end implements handle_vision_position_estimate with eulers 2020-04-09 19:41:08 +09:00
Randy Mackay 3530d5b348 AP_VisualOdom: MAV driver implements handle_vision_position_estimate 2020-04-09 19:41:08 +09:00
Randy Mackay c78b1ab3bf AP_VisualOdom: rename handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay b519d285a6 AP_VisualOdom: get_orientation made public 
also remove unnecessary friends
 2020-04-09 19:41:08 +09:00
Randy Mackay c36dfc448d AP_VisualOdom: handle_msg directly updates EKF 2020-04-09 19:41:08 +09:00
Randy Mackay 0eb1ef1f08 AP_VisualOdom: add handle_vision_position_estimate 
also add pre_arm_check
 2020-04-09 19:41:08 +09:00
Randy Mackay 1cf9655b4a AP_VisualOdom: TYPE param becomes enable flag and reboot required 2020-04-09 19:41:08 +09:00
Randy Mackay 61a06bbb04 AP_Math: add quaternion rotate, from_rotation and invert 2020-04-09 19:41:08 +09:00
Randy Mackay 338548c5eb AP_Math: move HALF_SQRT_2 def to rotation.h 
This allows it to be used by the Quaternion class
 2020-04-09 19:41:08 +09:00
Randy Mackay b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Randy Mackay e1c623183e AP_AHRS: minor comment fix and move var_info lower 2020-04-09 19:41:08 +09:00
Randy Mackay 24bb4876a8 AP_AHRS: move is_ext_nav_used_for_yaw to parent 2020-04-09 19:41:08 +09:00
Randy Mackay c0187fe05f AP_Logger: add log message description for VISO 2020-04-09 19:41:08 +09:00
Randy Mackay f18be824ea AP_Logger: add VISP message 2020-04-09 19:41:08 +09:00
chobits 63320f140a AP_Logger: constraints time spend in header writing, more complete 2020-04-09 19:17:17 +10:00
chobits b829384fdf AP_Logger: constraints time spended in header writing 2020-04-09 19:17:17 +10:00
Andrew Tridgell dd4cf6ccdd AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-04-08 11:21:51 +10:00
Andrew Tridgell 18c3efc377 AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-04-08 11:21:51 +10:00
Peter Barker 5e4cbb0a3f AP_EFI: correct duplicate-label problem in EFI2 log message 2020-04-08 11:17:41 +10:00
Samuel Tabor 4a39a43c10 AP_Soaring: Add log documentation. 2020-04-08 09:11:54 +10:00
Samuel Tabor b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor 3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters. 2020-04-08 09:11:54 +10:00
Samuel Tabor 6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it. 2020-04-08 09:11:54 +10:00
Samuel Tabor f23efdd13b AP_Soaring: Make vario time constant public. 2020-04-08 09:11:54 +10:00
Samuel Tabor d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use. 2020-04-08 09:11:54 +10:00
Samuel Tabor 56649fa8eb AP_Soaring: Fix too-long status message. 2020-04-08 09:11:54 +10:00
Samuel Tabor d54c7f1b7a AP_Soaring: Fix bug when no soaring activation RC channel set. 2020-04-08 09:11:54 +10:00
Samuel Tabor fbd0df81a7 AP_Soaring: Report changes in active status. 2020-04-08 09:11:54 +10:00
Samuel Tabor e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor 5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow. 2020-04-08 09:11:54 +10:00
Samuel Tabor 2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m. 2020-04-08 09:11:54 +10:00
Samuel Tabor ff1725b549 AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode. 2020-04-08 09:11:54 +10:00
Samuel Tabor 1160c59a89 AP_Soaring: Remove dsp bias and log this. 2020-04-08 09:11:54 +10:00
Samuel Tabor c28c573da1 AP_Soaring: Also log acceleration. 2020-04-08 09:11:54 +10:00
Samuel Tabor 7555f5abf8 AP_Soaring: Fix incorrect trig function and log the expected sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor 17f1fa9600 AP_Soaring: Fix use of double precision sqrt. 2020-04-08 09:11:54 +10:00
Samuel Tabor 7d3ff28974 AP_Soaring: Correct bug with reversed arguments. 2020-04-08 09:11:54 +10:00
Samuel Tabor 16b7de4029 AP_Soaring: Cleanup variometer. 2020-04-08 09:11:54 +10:00
Samuel Tabor 62a34e0f8d AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate. 2020-04-08 09:11:54 +10:00
Samuel Tabor 2b40182b34 AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed. 2020-04-08 09:11:54 +10:00
Samuel Tabor 15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction." 2020-04-08 09:11:54 +10:00
Samuel Tabor 8072f6b858 AP_Soaring: Make the trigger VSPEED take account of thermalling sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor 650b464831 AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used. 2020-04-08 09:11:54 +10:00
Samuel Tabor 45cb663d73 AP_Math: Add template for Vector2f::projected. 2020-04-08 09:11:54 +10:00
Samuel Tabor fab74f8927 AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider). 2020-04-08 09:11:54 +10:00
Samuel Tabor 75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor 684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term. 2020-04-08 09:11:54 +10:00
Samuel Tabor 247738518e AP_TECS: Add a feed-forward term from adjusted demanded airspeed to nav pitch. 2020-04-08 09:11:54 +10:00
Samuel Tabor a27c99fab9 AP_TECS: Return the adjusted demanded airspeed. The aspd_error mavlink message now shows the rate-limited airspeed. 2020-04-08 09:11:54 +10:00
Samuel Tabor ae27f96361 SITL: Make soaring thermals slanted. 2020-04-08 09:11:54 +10:00
Samuel Tabor 013628bd1d Plane: Soaring - better reporting of exit due to drift. 2020-04-08 09:11:54 +10:00
Samuel Tabor e1b2360781 AP_Soaring: Add a maximum allowable drift distance when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor 936d4232c9 AP_Soaring: Add a 60s first order filter on climb rate. If this becomes negative exit thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor 30249e8006 AP_Soaring: Add a check of whether altitude has been lost overall when thermalling. 2020-04-08 09:11:54 +10:00
Samuel Tabor 5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings. 2020-04-08 09:11:54 +10:00
Tom Pittenger f24095e9ed AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up 2020-04-08 09:11:54 +10:00