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26518 Commits

Author SHA1 Message Date
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