this allows a lot more drivers to use the GPS_DRV_OPTION but to use
ellisoid height. Particularly useful for DroneCAN GPS modules
using ellisoid height instead of AMSL is useful in some specialised
application
these undocumented bits in register 0x4d control the "adaptive full
scale range" mode of the ICM42688. The feature is enabled by default
but has a bug where it gives "stuck" gyro values for short periods
(between 1ms and 2ms):, leading to a significant gyro bias at longer
time scales, enough to in some cases cause a vehicle to crash if it is
unable to switch to an alternative IMU
this fixes https://github.com/ArduPilot/ardupilot/issues/25025
an incorrectly configured ESC telemetry source can lead to a notch
running at very low frequencies. A simple example is a lua script like
this:
function update()
esc_telem:update_rpm(12, 0, 0)
return update, 10
end
return update()
where motor 12 is unused.
with that script in place we get a 1.0078 Hz filter which leads to
massive phase lag and a crashed aircraft
this is a safety protection. We should also try to find out why the
INS_HNTCH_FREQ lower limit is not working
users with busy CAN bus often get significiantly lower GPS rates on a
moving baseline rover, preventing arming. This PR relaxes the required
frame rate as the EKF is quite happy with 3Hz yaw and the yaw is the
only data consumed from a moving baseline rover
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain
The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.
fixes https://github.com/ArduPilot/ardupilot/issues/25157
the bad value is -32768 not 0xffff (which is -1)
-32768 badly corrupts the low-pass filter, and is what we see in logs
(a large negative spike on all 3 axes)
update to bug fix from:
https://github.com/ArduPilot/ardupilot/pull/23033
