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Author SHA1 Message Date
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
Andrew Tridgell
8d5d699998 AP_InertialSensor: special check for CubeBlack to force INS_USE3=1 
this will cope with users loading old parameter files
 2019-08-06 10:42:36 +09:00
Andrew Tridgell
10ed84f17c AP_Baro: check for all 1 ADC read on MS5611 2019-08-06 10:42:36 +09:00
Andrew Tridgell
49f7e22c72 AP_Baro: consider a baro unhealthy when outside of -200 to 200 C 
this helps detects unhealthy baros on SPI where we can't detect comms
failure
 2019-08-06 10:42:36 +09:00
Andrew Tridgell
ecd9c88003 AP_InertialSensor: default INS_USE3 to 1 2019-08-06 10:42:36 +09:00
Pierre Kancir
c55d19b287 ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-07-30 14:06:27 +09:00
Pierre Kancir
99e04e5861 ArduCopter: respect yaw orientation on LAND 2019-07-30 14:06:27 +09:00
Randy Mackay
1c04a91efb Copter: version to 3.6.10 2019-07-29 12:22:52 +09:00
Randy Mackay
48bbe6d128 Copter: 3.6.10 release notes 2019-07-29 12:21:47 +09:00
Randy Mackay
ce39cd0e03 Copter: version to 3.6.10-rc2 2019-07-22 17:39:24 +09:00
Randy Mackay
29ca62ab74 Copter: 3.6.10-rc2 release notes 2019-07-22 17:38:51 +09:00
Randy Mackay
af98ff99fd Copter: esc cal startup check moved outside rc output init 
this ensures we don't accidentally enter esc calibration during motor test
 2019-07-22 17:34:33 +09:00
Andrew Tridgell
413f60ebb8 HAL_ChibiOS: fixed revo-mini build 2019-07-22 16:59:56 +09:00
Andrew Tridgell
1189123068 HAL_ChibiOS: fixed typos in hwdef.dat files 2019-07-22 16:59:52 +09:00
Andrew Tridgell
06d92ec8f2 AP_IneertialSensor: fixed startup race in SITL 2019-07-10 17:00:40 +10:00
Andrew Tridgell
2dc0c0b860 AP_Compass: backport master AK09916 driver 
this allows mRoControlZeroF7 to work in copter stable
 2019-07-10 17:00:40 +10:00
Phillip Kocmoud
a361c9a80a AP_Baro.cpp: support DPS280 on SPI 2019-07-10 17:00:40 +10:00