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Commit Graph

26598 Commits

Author SHA1 Message Date
Randy Mackay
94ed5b876f AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs 2021-08-28 12:50:32 +10:00
mateksys
714d11863e Tools: added MatekF765-SE to autobuild 2021-08-25 18:54:05 +10:00
mateksys
97b6467075 AP_HAL_ChibiOS: add MatekF765-SE hwdef as a variant of MatekF765-Wing 2021-08-25 18:54:05 +10:00
Peter Barker
398f731442 AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX 
fixes regression from d1d790019c
 2021-08-25 18:34:07 +10:00
Andrew Tridgell
128c21cba2 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
 2021-08-16 15:05:24 +10:00
Andrew Tridgell
f858120069 SITL: prevent flip over of RF9 quadplanes on reboot 
send a zero channel mask until we are initialised
 2021-08-16 15:05:21 +10:00
Andrew Tridgell
10574f5188 AC_AttitudeControl: apply EKF Z gain scaler 
for flying with DCM
 2021-08-16 15:03:55 +10:00
Andrew Tridgell
a427abab0d AP_AHRS: allow for fallback to DCM in quadplanes 
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
 2021-08-16 15:03:55 +10:00
Hwurzburg
7fe77855e1 AP_OSD: fixes bug introduced by #16477 2021-08-14 16:41:52 +10:00
Pierre Kancir
90d345b64e AP_Beacon: fix comparison order to prevent using wrong beacon_instance first 2021-08-14 16:41:52 +10:00
Randy Mackay
837df29179 AP_NavEKF3: remove unused EK3_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Randy Mackay
78704a2f9c AP_NavEKF2: remove unused EK2_GSF_DELAY param 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi
e10f6e2a42 AC_Avoid: use proximity_avoidance_enabled function 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi
3d2290c4a3 AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled 2021-08-14 16:41:52 +10:00
Tatsuya Yamaguchi
ca5d307001 AC_Avoidance: handle upward proximity enable and disable 2021-08-14 16:41:52 +10:00
Andy Piper
67876e94e0 AP_Vehicle: output rcout banner when initialization is done 
move down ready message
 2021-08-14 16:41:52 +10:00
Andy Piper
1746ab3cfe AP_HAL_ChibiOS: output initializing from PWM banner when not available 2021-08-14 16:41:52 +10:00
Pierre Kancir
c36feb62f1 AP_ESC_Telem: prevent possible overrun 2021-08-14 16:41:52 +10:00
Pierre Kancir
3463bb24ae AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS 2021-08-14 16:41:52 +10:00
Pierre Kancir
92581d802b AP_ESC_Telem: fix out of bound access 2021-08-14 16:41:52 +10:00
Pierre Kancir
ba5323e78a AP_OSD: check for nullptr before using it 2021-08-14 16:41:52 +10:00
Leonard Hall
ce9be29980 AP_Math: Spelling fix 2021-08-14 16:41:52 +10:00
Leonard Hall
62c4a34660 AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
42d4a75d3b AC_WPNav: support Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
3d75c936f2 AP_Math: Control: Refactor to use Jerk 2021-08-14 16:41:52 +10:00
Leonard Hall
7e60feab4a AP_Math: Control: protect against divide by zero 2021-08-14 16:41:52 +10:00
Leonard Hall
551e5fe4dc AC_WPNav: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall
3f33ac0a82 AC_AttitudeControl: Fix Angle Vel units on function 2021-08-14 16:41:52 +10:00
Leonard Hall
b1cd9434a9 AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE 2021-08-14 16:41:52 +10:00
Leonard Hall
0d52cd4aeb AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-14 16:41:52 +10:00
Leonard Hall
a9fb5ceb5c 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 16:41:52 +10:00
Andrew Tridgell
a7c3b2244a AP_GPS: added doc message for bit 2 of DRV_OPTIONS 2021-08-14 16:41:52 +10:00
Andrew Tridgell
96580ee4f3 AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200 
this may help with some GPS modules
 2021-08-14 16:41:52 +10:00
Andy Piper
150290dd25 AP_HAL_ChibiOS: probe for compasses on FlywooF745 2021-08-14 16:41:52 +10:00
Randy Mackay
c1b67d295f AP_NavEKF3: skip GSF reset count check if source actively changed 
also only fail all compass on emergency reset
 2021-08-14 16:41:52 +10:00
Andrew Tridgell
ae725421bc AP_NavEKF3: fixed output LLH to account for IMU offset 
thanks to Paul and Randy
 2021-08-14 16:41:52 +10:00
Leonard Hall
628206b5e8 AC_AttitudeControl: Support thrust to weight of 10:1 2021-08-14 16:41:52 +10:00
Andy Piper
a1f0ad63a9 AP_Motors: remove tri yaw servo from motor mask 2021-08-14 16:41:52 +10:00
Andrew Tridgell
9ed2e35229 AP_GPS: added arming checks for yaw available on ublox RTK rover 2021-08-14 16:41:52 +10:00
bugobliterator
c539fe9bc2 AP_RangeFinder: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator
97a04c85f0 AP_EFI: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator
36b3fcc1a0 AP_BattMonitor: use separate register_driver method while contructing CAN Driver 2021-08-14 16:41:52 +10:00
bugobliterator
b6a86533fc AP_CANSensor: create a separate register driver method 2021-08-14 16:41:52 +10:00
Andrew Tridgell
6609faff9e APM_Control: new autotune scheme 
this separately tunes D and then P, which more closely follows the
technique used for a manual tune
 2021-07-25 09:30:25 +10:00
Andrew Tridgell
c63548a5f3 AP_Math: fixed expo_curve() 
doesn't make sense as constexpr
 2021-07-25 09:30:25 +10:00
Andrew Tridgell
506e03251a AP_AHRS: build fix 2021-07-25 09:30:25 +10:00
Paul Riseborough
998cad030e 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.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
73229371c7 AP_NavEKF3: retune wind process noise for better airspeed fault detection 2021-07-25 09:30:25 +10:00
Paul Riseborough
8744b0954f AP_NavEKF3: Fix bug preventing copter wind estimation at low speed 
Also re-tunes process noise default for smoother wind velocity state estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
6637d9dece 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.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
1d3ed8e9da AP_NavEKF3: Rework non-airspeed wind estimation 
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fb6de9ad9d AP_NAvEKF3: use #define value for bad IMU hold time 2021-07-25 09:30:25 +10:00
Paul Riseborough
ca00da81cd AP_NavEKF3: Increase lower state variance limit when vibration affected 
This makes state corrections from GPS and baro observations more aggressive
 2021-07-25 09:30:25 +10:00
Paul Riseborough
c3f38ec159 AP_NavEKF3: Use sensor variance when checking for bad IMU 2021-07-25 09:30:25 +10:00
Paul Riseborough
00b91b4799 AP_NavEKF3: Make bad IMU status more persistent 2021-07-25 09:30:25 +10:00
Paul Riseborough
14c2bb0c9b AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-25 09:30:25 +10:00
Paul Riseborough
fdea45a3e4 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-25 09:30:25 +10:00
Paul Riseborough
ace601f1dd AP_NavEKF3: Don't update accel bias states if vibration affected 2021-07-25 09:30:25 +10:00
Paul Riseborough
8b16d8dc4c AP_NavEKF3: Use large accel process noise when IMU data is bad 2021-07-25 09:30:25 +10:00
Paul Riseborough
eb5a82dd38 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
 2021-07-25 09:30:25 +10:00
Paul Riseborough
942a1f329f AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning 2021-07-25 09:30:25 +10:00
Paul Riseborough
ffce6fab70 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.
 2021-07-25 09:30:25 +10:00
Paul Riseborough
77082e414b AP_NavEKF3: Make gyro bias learning less noisy 2021-07-25 09:30:25 +10:00
Paul Riseborough
a32fd0a97c AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight 2021-07-25 09:30:25 +10:00
Paul Riseborough
90a8dc48d1 AP_NavEKF3: Change powf(x,2) to sq(x) 2021-07-25 09:30:25 +10:00
Paul Riseborough
bb88aef1b3 AP_NavEKF3: Update covariance prediction equations 2021-07-25 09:30:25 +10:00
Paul Riseborough
b6a2f4b4f5 AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation 2021-07-25 09:30:25 +10:00
Andrew Tridgell
36174d198f AP_Math: fix uses of single precision 2021-07-22 16:01:01 +10:00
Randy Mackay
b375fe291f 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 16:01:01 +10:00
Randy Mackay
6dd100df7b AC_WPNav_OA: minor formatting and comment fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
3242bd0ee8 AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler 
also bendy ruler uses pos controller
 2021-07-22 16:01:01 +10:00
Randy Mackay
6cbc62744b AC_Avoidance: BendyRuler returned destination are shortened 2021-07-22 16:01:01 +10:00
Randy Mackay
3177759a1d AC_Avoidance: bendy ruler format fixes 2021-07-22 16:01:01 +10:00
Randy Mackay
8d641e1bb3 AC_Avoidance: OA_PathPlanner returns which planner was used 
this replaces get_bendy_type
 2021-07-22 16:01:01 +10:00
Randy Mackay
6b74dd2ab4 AC_Avoidance: BendyRuler returns which type was used 
also make serach_xxx_path methods private
 2021-07-22 16:01:01 +10:00
Randy Mackay
7084009454 AP_Common: add Location::linear_interpolate_alt 2021-07-22 16:01:01 +10:00
Andy Piper
8cd3ae12a7 AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-22 16:01:01 +10:00
Pierre Kancir
62be72d3ba AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-22 16:01:01 +10:00
Leonard Hall
730ac9cb20 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-22 16:01:01 +10:00
Leonard Hall
5001f47313 WP_Nav: Return Crosstrack error 2021-07-22 16:01:01 +10:00
Leonard Hall
3d6dd8cff8 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-22 16:01:01 +10:00
Randy Mackay
b916f7742e AC_WPNav: use get_terrain_margin instead of constant 2021-07-22 16:01:01 +10:00
Randy Mackay
7a09ac1aa6 AC_WPNav: add TER_MARGIN param 2021-07-22 16:01:01 +10:00
Leonard Hall
2dea0fa966 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-22 16:01:01 +10:00
Leonard Hall
fc8242db68 AC_WPNav: Auto Terain following update 2021-07-22 16:01:01 +10:00
Andy Piper
19ae04f1b0 AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-22 16:01:01 +10:00
Leonard Hall
902560953b AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-22 16:01:01 +10:00
Hwurzburg
b59f5ec7a1 RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Hwurzburg
319cc7a199 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-22 16:01:01 +10:00
Andy Piper
4540244e2a AP_RCTelemetry: correct firmware string length for CRSF 2021-07-22 16:01:01 +10:00
Leonard Hall
14cfcf18c2 AC_WPNav: Remove unused function 2021-07-22 16:01:01 +10:00
Leonard Hall
fcca42410a AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-22 16:01:01 +10:00
Leonard Hall
c3c3a47e9a AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-22 16:01:01 +10:00
Leonard Hall
ebd8401652 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-22 16:01:01 +10:00
Leonard Hall
30aa636ba1 AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:01 +10:00
Leonard Hall
c1484f4b31 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-22 16:01:00 +10:00
Leonard Hall
9d8fdf3e85 AC_AttitudeControl: Add terain following to guided 2021-07-22 16:01:00 +10:00
Randy Mackay
3e2949ce98 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-22 16:01:00 +10:00
Leonard Hall
0269c49c14 AC_WPNav: move code to generate terrain following kinematic path 2021-07-22 16:01:00 +10:00
Leonard Hall
d5d7e3d5d3 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-22 16:01:00 +10:00