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26508 Commits

Author SHA1 Message Date
Leonard Hall 82ba9e06a1 AC_WPNav: Remove unused function 2021-07-23 10:19:48 +09:00
Leonard Hall 05f21d7665 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-23 10:19:48 +09:00
Leonard Hall 49da46af16 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-23 10:19:48 +09:00
Leonard Hall b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Randy Mackay d22f8fbc35 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-23 10:19:47 +09:00
Leonard Hall 80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall 9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall 612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Andrew Tridgell cb14275e43 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-23 10:19:47 +09:00
Andy Piper 35d34ee9ae AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-23 10:19:47 +09:00
Randy Mackay 0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Andrew Tridgell 4384b9ea36 AP_Common: update tests for 4.1 2021-07-23 10:19:47 +09:00
Andrew Tridgell 4218452475 HAL_ChibiOS: raise DMA contention threshold for H7 2021-07-23 10:19:47 +09:00
Andrew Tridgell aab77f7046 AP_SerialManager: document DisableFIFO bit 2021-07-23 10:19:47 +09:00
Andrew Tridgell eafd3c2952 AP_SerialManager: call set_options() before first UART use 
this ensures options are set before the first begin() call
 2021-07-23 10:19:47 +09:00
Andrew Tridgell 91afec69dc HAL_ChibiOS: implement NOFIFO option for uarts 2021-07-23 10:19:47 +09:00
Andrew Tridgell 2cc98114a4 AP_HAL: added serial option for disabling FIFO on uarts 2021-07-23 10:19:47 +09:00
Andrew Tridgell c9403afc75 AP_Math: fixed build 2021-07-23 10:19:47 +09:00
Andrew Tridgell 1a7ee954a6 HAL_SITL: update for changed SITL API 2021-07-23 10:19:46 +09:00
Andrew Tridgell 70d540127c SITL: added SIM2 message 
useful for EKF debugging

# Conflicts:
#	libraries/SITL/SIM_Aircraft.cpp
 2021-07-23 10:19:46 +09:00
Andrew Tridgell 05fbe78b9f SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-23 10:19:46 +09:00
Andrew Tridgell a43bd0ae18 AP_DAL: update GPS yaw API to add timestamp 2021-07-23 10:19:46 +09:00
Andrew Tridgell f1cbfb3e46 AP_GPS: change handling of moving baseline yaw 
this changes yaw handling in a few ways:

 - GPS yaw now has a timestamp associated with the yaw separate from
   the timestamp associated with the GPS fix

 - we no longer force the primary to change to the UBLOX MB rover when
   it has a GPS yaw. This means we don't change GPS primary due to GPS
   loss, which keeps the GPS more stable. It also increases accuracy
   as the rover is always less accurate in position and velocity than
   the base

 - now we force the primary to be the MB base if the other GPS is a
   rover and the base has GPS lock
 2021-07-23 10:19:46 +09:00
Andrew Tridgell faec3e1a8a AP_NavEKF: sync for 4.1.0beta 2021-07-23 10:19:46 +09:00
Andrew Tridgell f60c592af3 AP_Math: sync for 4.1.0beta releases 2021-07-23 10:19:46 +09:00
Andrew Tridgell 01156ed348 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-23 10:19:46 +09:00
Andrew Tridgell c9b9a6a616 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-23 10:19:46 +09:00
Peter Barker 304927a41e AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-23 10:19:46 +09:00
Andrew Tridgell c31de1a5ca AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-23 10:19:46 +09:00
Andrew Tridgell 56ddaa1a99 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-23 10:19:46 +09:00
Andrew Tridgell 579e4566c6 AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-23 10:19:46 +09:00
Andrew Tridgell d43e95a39a AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-23 10:19:46 +09:00
Andrew Tridgell e409202bef AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-23 10:19:46 +09:00
Andrew Tridgell 399cd4ea03 AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-23 10:19:46 +09:00
Andrew Tridgell 163a37efa7 AP_NavEKF3: convert code_gen.py to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell 5531703548 AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-23 10:19:46 +09:00
Andrew Tridgell c988f23389 AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-23 10:19:46 +09:00
Andrew Tridgell e11c94602b HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-23 10:19:46 +09:00
Andrew Tridgell 1119ffe6ba AP_NavEKF3: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell edbaf9f3c1 AP_NavEKF2: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell d31ca6ca8c AP_NavEKF: allow for double EKF build 2021-07-23 10:19:46 +09:00
Andrew Tridgell 6484a9666c AP_Mount: use ZERO_FARRAY() 2021-07-23 10:19:45 +09:00
Andrew Tridgell 6bcc0737ae AP_Motors: fixup build for ftype conflict 2021-07-23 10:19:45 +09:00
Andrew Tridgell 9629b19ec1 AP_Common: added double methods for SITL 2021-07-23 10:19:45 +09:00
Andrew Tridgell 970ae3dd76 SITL: fixup offset calls 2021-07-23 10:19:45 +09:00
Andrew Tridgell 232ccfe477 AP_Math: allow for double EKF build 2021-07-23 10:19:45 +09:00
Andrew Tridgell 712fbd08dc HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-23 10:19:45 +09:00
Andrew Tridgell 53ecf048d1 AP_HAL: allow for double EKF build 2021-07-23 10:19:45 +09:00
Andrew Tridgell 079577a6e5 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-23 10:19:45 +09:00
Andrew Tridgell 36b22cffb6 AP_Notify: disable DShot buzzer by default 2021-07-23 10:19:45 +09:00
Andy Piper c265d70d3d AP_Notify: re-enable display on 1Mb boards 2021-07-23 10:19:45 +09:00
Andrew Tridgell 3a683be219 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-23 10:19:45 +09:00
Andrew Tridgell a757706797 AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-23 10:19:45 +09:00
Randy Mackay 3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00
Andrew Tridgell a7f31929ea AP_Common: use longitude scaling from definitions.h 2021-06-29 17:26:34 +09:00
Andrew Tridgell 978ea307b0 AP_Math: fixed the value LATLON_TO_CM 
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
 2021-06-29 17:26:34 +09:00
Peter Barker 819c331acd AP_BattMonitor: correct static_assert call 2021-06-28 11:05:00 +09:00
Peter Barker 67ebdc300b AP_HAL_SITL: reduce scope of loop variable 2021-06-27 10:57:07 +10:00
Leonard Hall fcde1e7370 AC_WPNav: use shaping_tc_z_s for terrain following time constant. 2021-06-25 16:54:05 +09:00
Leonard Hall 8f493e3021 AC_AttitudeControl: Add shaping_tc_z_s accessor 2021-06-25 16:54:05 +09:00
Andrew Tridgell f12a7dd04b AP_Mount: fixed longitude subtraction 2021-06-25 15:33:55 +10:00
Peter Barker f69e2a49f6 AP_Common: add test for longitude wrapping 2021-06-25 15:33:55 +10:00
Andrew Tridgell 77d83b9c77 AP_Common: fixed Location class for wrap at 180 degrees longitude 
this allows us to fly missions across the date line
 2021-06-25 15:33:55 +10:00
Leonard Hall 5475d1153c AC_PosControl: fixup ekf reset 2021-06-25 10:01:49 +09:00
Andrew Tridgell 4895a08ab2 AP_IRLock: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell f209504a12 AC_PrecLand: convert SITL backends to double precision position 2021-06-24 21:34:30 +10:00
Andrew Tridgell aa03afafa7 AP_Math: added matrix3 tofloat and todouble 2021-06-24 21:34:30 +10:00
Andrew Tridgell 61faeb2d7f AP_Common: added double methods for SITL 2021-06-24 21:34:30 +10:00
Andrew Tridgell fb275c9874 SITL: convert to double precision for positions 2021-06-24 21:34:30 +10:00
Andrew Tridgell 1d00cab9e6 AC_WPNav: convert circle, loiter and WPNav to double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell 66186e5221 AC_AttitudeControl: convert poscontrol to use double position 2021-06-24 21:34:30 +10:00
Andrew Tridgell c8079a318c AC_PID: convert AC_P_2D to double 2021-06-24 21:34:30 +10:00
Andrew Tridgell 9b91cfe4ee AP_Math: implement double versions of some position control methods 2021-06-24 21:34:30 +10:00
Andrew Tridgell 3a3a30ab22 AP_Math: define postype_t and vectors 2021-06-24 21:34:30 +10:00
Andrew Tridgell 3fc88b19b8 HAL_SITL: implement initial GPS position offsets 2021-06-24 21:34:30 +10:00
Andrew Tridgell 3315ec5acc AP_Math: added tofloat() and todouble() methods to Vector2 and Vector3 2021-06-24 21:34:30 +10:00
Andrew Tridgell cf149a9d18 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-06-24 21:34:30 +10:00
Andrew Tridgell 7819cc6400 AC_AttitudeControl: cleanup poscontrol comments with input from Leonard 2021-06-24 20:28:45 +10:00
Andrew Tridgell 639570505b AP_Math: cleanups from Leonards feedback 2021-06-24 20:28:45 +10:00
Andrew Tridgell 5f053bd53a AC_AttitudeControl: fixed comment 2021-06-24 20:28:45 +10:00
Andrew Tridgell 566dd8ca8b AP_Math: cleanup API comments on control code 2021-06-24 20:28:45 +10:00
Andrew Tridgell bf91168cd6 AC_WPNav: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell fd68233fed AC_AttitudeControl: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell 86f09cad09 AP_Math: cleanup position control APIs 
use Vector2 for xy, float for z
 2021-06-24 20:28:45 +10:00
Andrew Tridgell fe4abc521a AP_Math: make vector3 xy() method return a reference 2021-06-24 20:28:45 +10:00
Siddharth Purohit 43bb543aff AP_PiccoloCAN: fix missing _telem_sem 2021-06-24 17:15:08 +10:00
Oliver 9aba85dadc AP_PiccoloCAN: Explicit initialization of AP_HAL::CANFrame instances 2021-06-24 15:51:21 +10:00
Oliver dade859ff9 AP_PiccoloCAN: Remove unncessary floating point operations 2021-06-24 15:51:21 +10:00
Oliver 06eb844ede AP_PiccoloCAN: Update code to match new esc telemetry / logging architecture 2021-06-24 15:51:21 +10:00
Oliver Walters de3c4cc9da AP_PiccoloCAN: Increase number of supported channels from 12 -> 16 2021-06-24 15:51:21 +10:00
Oliver Walters fb16b085c0 AP_PiccoloCAN: Record servo telemetry information to log 
- Servo position
- Servo speed
- Servo force / torque
- Servo duty cycle

Updated servo protocol file to accommodate extra variable data
 2021-06-24 15:51:21 +10:00
Oliver Walters 115c1224de AP_PiccoloCAN: Send servo commands for active channels 
- For each channel, check if a non-motor function is assigned
- If so, send the function value out to the servo
 2021-06-24 15:51:21 +10:00
Oliver Walters 7b0da02a18 AP_PiccoloCAN: Framework for CAN servo outputs 2021-06-24 15:51:21 +10:00
Oliver Walters 43b7b4eb3b AP_PiccoloCAN: Add support for CBS servo protocol 
- Adds protocol files for the servo protocol
- Generated using Protogen tool
 2021-06-24 15:51:21 +10:00
Siddharth Purohit 9494a439ec AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 69cc0b4615 SRV_Channel: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00
Siddharth Purohit 02c74a8fa1 GCS_MAVLink: Use HAL_CANMANAGER_ENABLED instead of HAL_ENABLE_LIBUAVCAN_DRIVERS 2021-06-24 09:02:42 +10:00