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Author SHA1 Message Date
Randy Mackay
cb570c06ec Copter: version to 3.6.12 2019-12-13 15:12:23 +09:00
Randy Mackay
9706a0d242 Copter: 3.6.12 release notes 2019-12-13 15:11:37 +09:00
Randy Mackay
fe5288b155 Copter: version to 3.6.12-rc1 2019-12-06 10:27:26 +09:00
Randy Mackay
72e8615e0a Copter: 3.6.12-rc1 release notes 2019-12-06 10:25:50 +09:00
Andrew Tridgell
217c72d6fa AP_Compass: added COMPASS_SCALE* parameters 
This allows users to manually correct the scale factor of compasses
 2019-12-05 18:06:13 +11:00
Andrew Tridgell
cc71efbca1 SITL: added SIM_MAG_SCALING for testing scale factor errors 2019-12-05 17:59:24 +11:00
Andrew Tridgell
9ae5ffa215 ChibiOS: I2C ISR handling fixes 2019-12-05 17:58:11 +11:00
Randy Mackay
f0d5929408 Copter: version to 3.6.11 2019-10-01 19:25:42 +09:00
Randy Mackay
a15eb834db Copter: 3.6.11 release notes 2019-10-01 19:24:51 +09:00
Randy Mackay
79fbaade17 AP_RangeFinder: add BenewakeTFminiPlus to Type param desc 2019-10-01 19:22:23 +09:00
Randy Mackay
7aeef43ea3 Copter: version to 3.6.11-rc1 2019-09-23 13:35:00 +09:00
Randy Mackay
4d765c0569 Copter: update 3.6.11-rc1 release notes 2019-09-23 13:30:52 +09:00
Lucas De Marchi
abdc3311f0 AP_RangeFinder: update minimum fw version of TFMiniPlus 
Version 2.0.3 has important fixes to avoid having the sensor to lock up.
Let's make sure we check for it and warn on console.
 2019-09-23 13:30:16 +09:00
Lucas De Marchi
63b4112f1e AP_RangeFinder: TFMiniPlus: enforce minimum version 1.7.6 
On this version of the firmware the command changed - support the new
command and only that one: it's not expected to have devices with the
older versions.
 2019-09-23 13:30:16 +09:00
Lucas De Marchi
389009f98e AP_RangeFinder: add support for Benewake TFMini Plus on I2C 
This was tested with firmware 1.7.0 on the sensor.
 2019-09-23 13:30:16 +09:00
Andrew Tridgell
89b6026cf9 AP_NavEKF3: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
cf1d3eac35 AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE 
when on the ground without a position source we would disable the
innovation gate for the barometer. This meant that a single (or small
number of) really bad baro readings would be fused into the EKF,
causing it to destabilise

Fixes #11903
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
6f9553479b AP_NavEKF3: review fixes 
thanks Paul!
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
056b96ab7a AP_NavEKF3: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
045518631b AP_NavEKF3: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
494ca7b186 AP_NavEKF3: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
a4d4c62c45 AP_NavEKF3: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
25ee6de4bd AP_NavEKF3: origin handling fixes from Francisco 2019-09-23 11:56:23 +09:00
Andrew Tridgell
7bd2e3c392 AP_NavEKF3: don't allow height datum reset when not on ground 2019-09-23 11:56:23 +09:00
Andrew Tridgell
bd5c5b6a03 AP_NavEKF3: set terrainState to zero on height datum reset 2019-09-23 11:56:23 +09:00
Andrew Tridgell
07702cee35 AP_NavEKF3: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
e64fe33e1c AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
7b0cf32ae3 AP_NavEKF2: review fixes 
thanks Paul!
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
b7c6267ec6 AP_NavEKF2: ensure that EKF origin stays in sync on all cores 
this prevents the EKF origin on different cores from being initialised
to different values. A common value is stored in the frontend and used
by a core if it doesn't have an origin
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
9c1eca5415 AP_NavEKF2: use origin lat for earth rates 
home may not yet be set when this code is run, so using home may be
invalid
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
beaaa5a7f5 AP_NavEKF2: set origin on all cores 
when EKF origin is set, make sure it is set on all cores
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
6e803a148e AP_NavEKF2: restrict setting of EKF origin 
only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is
used for indoor operation
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
d6edab35e4 AP_NavEKF2: origin handling fixes from Francisco 2019-09-23 11:56:23 +09:00
Andrew Tridgell
bca5dbaaa8 AP_NavEKF2: don't allow height datum reset when not on ground 2019-09-23 11:56:23 +09:00
Andrew Tridgell
dedbfccb5a AP_NavEKF2: set terrainState to zero on height datum reset 2019-09-23 11:56:23 +09:00
Andrew Tridgell
4d2e25fe5b AP_NavEKF2: continuously update gpsGoodToAlign 
use it to determine how to handle a height datum reset
 2019-09-23 11:56:23 +09:00
Andrew Tridgell
0ec6c5f7f9 AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset 
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
 2019-09-23 11:56:23 +09:00
Randy Mackay
11d0a6cb95 Copter: 3.6.11-rc1 release notes 2019-09-16 14:26:23 +09:00
Randy Mackay
d57c2b79c6 Copter: land mode inits auto yaw 2019-09-16 14:14:45 +09:00
Andrew Tridgell
14fcbfd1be Tools: added MatekF405-STD to autobuild 2019-09-16 13:30:23 +09:00
Randy Mackay
374d457a0c AP_InertialSensor: switched on fast sampling on IMU3 by default on Pixhawk2 2019-09-16 11:41:35 +09:00
Randy Mackay
3be85b2afa AP_RangeFinder: LightwareSerial driver handles invalid distances 
reports the longer of 100m or RNGFNDx_MAX_CM+1m
 2019-09-16 11:32:15 +09:00
Phillip Kocmoud
a4a331f4c5 hwdef: Correct typo for mRo x2.1-777 USB PID 
This needed to match the firmware directory which contains the compiled binaries hosted at http://firmware.ardupilot.org so that MissionPlanner can automatically download and update firmware.
 2019-09-16 11:29:56 +09:00
Randy Mackay
9c7c6d41e3 AP_Motors: add support for Hexa-H frame 
same as X frame except that middle motors are closer to center
 2019-09-16 11:23:03 +09:00
Andrew Tridgell
a64984eac8 ChibiOS: fixed i2c storm 2019-09-11 16:59:55 +09:00
Andrew Tridgell
45523c86ec AP_Compass: fixed uninitialised CAN device ID bits 2019-09-11 16:59:55 +09:00
Andrew Tridgell
595d8cb4a6 Tools: update IO firmware 2019-08-20 07:32:31 +09:00
Andrew Tridgell
6aa667753b AP_IOMCU: update to latest IO firmware handling 2019-08-20 07:32:31 +09:00
Andrew Tridgell
7e981a6a59 HAL_ChibiOS: allow for blocking unbuffered uarts 
this is used by AP_IOMCU to avoid a race condition where the mutex is
busy on write() causing a zero-length write and delayed output
 2019-08-20 07:32:31 +09:00
Andrew Tridgell
a1785cfdff HAL_ChibiOS: fixed a bug in wait_timeout() on UARTs 
wait_timeout() could return true on a read of less bytes than are
expected.
 2019-08-20 07:32:31 +09:00