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42,165 Commits 71 Branches 511 Tags 745 MiB
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22630 Commits

Author SHA1 Message Date
Andrew Tridgell
c0039c85e0 HAL_SITL: emulate sector size for flash storage properly 2020-04-14 10:02:51 +10:00
Peter Barker
2988c70627 AP_FlashStorage: clarify space-available-for-write check 2020-04-14 10:02:51 +10:00
Andy Piper
c4217f329b AP_RPM: allow harmonic notch driver to appear as RPM values. 2020-04-14 09:43:16 +10:00
Henry Wurzburg
e5319397b4 AP_HAL_ChibiOS: eliminate EKF2 from F4 builds not using HAL_MINIMIZE_FEATURES 2020-04-14 09:19:28 +10:00
Andrew Tridgell
5c399fce41 AP_AHRS: auto-switch to EK3/EK2 if selected option disabled 
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.

This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
 2020-04-14 09:15:43 +10:00
Peter Barker
c36e06e7fa AP_Compass: add documentation for COFS, compass-learning message 2020-04-14 07:34:59 +10:00
Peter Barker
54292c5443 AP_Tuning: add documentation for PRTN message 2020-04-14 07:34:59 +10:00
Peter Barker
061c3ecb7f AP_RCProtocol: add documentation for RCDA message 2020-04-14 07:34:59 +10:00
Peter Barker
767c010332 AP_Logger: add documentation for WENC, CESC, PRX, ADSB, BCN, BCL, OABR, OADF 2020-04-14 07:34:59 +10:00
murata
124d8c7fdf AP_HAL_ChibiOS: Changing the timeout detection 2020-04-14 07:32:46 +10:00
murata
10b7988092 AP_Baro: Fix timestamp wrapping 2020-04-14 07:30:58 +10:00
Randy Mackay
9f81da1bf9 AP_NavEKF2: minor comment fix 2020-04-13 14:39:53 +09:00
Andrew Tridgell
db4f1a1473 HAL_ChibiOS: enable ADIS16470 on SPI1 2020-04-13 15:26:02 +10:00
CUAVcaijie
942b2fd29f HAL_ChibiOS: Added support for CUAV X7 flight controller 2020-04-13 15:26:02 +10:00
Andrew Tridgell
d772289b0d AP_InertialSensor: added driver for ADIS16470 2020-04-13 11:57:04 +10:00
Peter Barker
ede87d49f6 AP_InternalError: add a bit for infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
a2b4713008 AP_FlashStorage: protect against infinite recursion in switch_full_sector 2020-04-12 09:43:13 +10:00
Peter Barker
851d9ae1ef AP_Compass: log message information for MMC3416 2020-04-12 08:36:48 +10:00
Peter Barker
c3b8db95b8 AP_Logger: add DSTL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
d23d4768f1 AP_Landing: add LAND log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
e5b634cdd0 AP_IOMCU: add IOMC log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
88d61b9d3c AP_Follow: add FOLL log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
194d3c280f AP_EFI: add EFI log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
f9c4976f93 AP_BoardConfig: add HEAT log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
1a148afe1b AC_AutoTune: add ATDE log message documentation 2020-04-12 08:36:48 +10:00
Peter Barker
afc0fbc516 AC_AttitudeControl: add CTRL log message documentation 2020-04-12 08:36:48 +10:00
Andrew Tridgell
1f8cd830ea AP_NavEKF3: fixed use of tabs 2020-04-11 21:14:31 +10:00
Paul Riseborough
f68f355852 AP_NavEKF3: Fix timestamp wrapping 2020-04-11 21:14:31 +10:00
Paul Riseborough
33ab1a7b15 AP_NavEKF3: Ensure yaw fusion commences when starting from rest 2020-04-11 21:14:31 +10:00
Paul Riseborough
a3725e2581 AP_NavEKF3: Fix bug in calculation of rotation order 2020-04-11 21:14:31 +10:00
Paul Riseborough
eeac0a05b9 AP_NavEKF3: Improvements to on ground movement check 
Reduce sensitivity and log test ratios.
Reduce base logging rate to 5Hz and log when status changes.
 2020-04-11 21:14:31 +10:00
Paul Riseborough
ebb8bb4f6f AP_NavEKF3: Enable use of yaw fusion before external yaw sensor starts 2020-04-11 21:14:31 +10:00
Andrew Tridgell
83ad1c17a8 AP_AHRS: disable DCM yaw consistency check when using external yaw 
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
3ae0b0d446 AP_NavEKF3: added using_external_yaw() method 
needed by AHRS for attitudes_consistent() check
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
6f04fae4a0 AP_NavEKF3: added fallback to mag option with external yaw 
this allows for a magnetometer to be used as a fallback yaw source in
flight when using an external yaw source such as a GPS. The
magnetometer bias is learned while the GPS yaw is available and
fallback is only done if the mag yaw and GPS yaw are consistent when
fallback is enabled

This also learns the Z gyro bias until first yaw alignment when
MAG_CAL is EXTERNAL_YAW_FALLBACK. This prevents large gyro bias
building while waiting for GPS lock
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
a3100251a8 AP_NavEKF3: use enum class for EK3_MAG_CAL values 
and use effective_magCal() everywhere for consistency
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
e8fb082a9a HAL_SITL: fixed simulation of roll/pitch of moving baseline ublox 2020-04-11 21:14:31 +10:00
Andrew Tridgell
b90b4f9157 HAL_SITL: implement moving baseline for ublox 
this allows testing of the moving baseline dual ublox code
 2020-04-11 21:14:31 +10:00
Andrew Tridgell
778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Andrew Tridgell
ff112a726b AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-04-10 11:46:01 +10:00
bugobliterator
a31f2e5d90 hwdef: add validation checks for CubeOrange 2020-04-10 07:04:21 +10:00
bugobliterator
ef91f1634b HAL_ChibiOS: add support for adding board validation test 2020-04-10 07:04:21 +10:00
bugobliterator
8a77ddf8c6 AP_BoardConfig: run validation test if declared under hwdef 2020-04-10 07:04:21 +10:00
Randy Mackay
1ba036169f AP_VisualOdom: align sensor displays yaw shift in 0 to 360 range 2020-04-09 19:41:08 +09:00
Randy Mackay
9fd39f3768 AP_Math: alternative quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
26e4dd6fef AP_Math: correct quaternion::from_rotation for pitch-180 2020-04-09 19:41:08 +09:00
Randy Mackay
dc2e0f328b AP_VisualOdom: fix handle_vision_position_delta_msg 
position and angle deltas were swapped when passed into the EKF
time passed into the EKF was scaled as usec when it should be sec
 2020-04-09 19:41:08 +09:00
Randy Mackay
c18fce6714 AP_Math: add quaternion rotation test 2020-04-09 19:41:08 +09:00
Randy Mackay
d1aa3858f0 AP_Vehicle: add visual odometry 2020-04-09 19:41:08 +09:00
Randy Mackay
1b1687f43d AP_Arming: integrate visual odometry pre_arm_check 2020-04-09 19:41:08 +09:00
Randy Mackay
2f5a8fd6b9 RC_Channel: add aux function for visodom-calibrate 2020-04-09 19:41:08 +09:00
Randy Mackay
9769f08fd9 GCS_MAVLink: visual odometry build fixes 2020-04-09 19:41:08 +09:00
Randy Mackay
a9c1eb5af4 GCS_MAVLink: fill in sys_status vision position bits 2020-04-09 19:41:08 +09:00
Randy Mackay
a1ddd55ea5 GCS_MAVlink: AP_integrate of rename to handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
728e8b45a9 GCS_MAVLink: use AP_VisualOdom to handle vision-position-estimate messages 2020-04-09 19:41:08 +09:00
Randy Mackay
aa720b0ae6 AP_VisualOdom: pre-arm failure string prefix moved to AP_Arming 2020-04-09 19:41:08 +09:00
Randy Mackay
3d75dc7815 AP_VisualOdom: add HAL_VISUALODOM_ENABLED 2020-04-09 19:41:08 +09:00
Randy Mackay
8f94a0cfb0 AP_VisualOdom: integrate IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
f0e11d9a5c AP_VisualOdom: add IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
a41b169635 AP_VisualOdom: front-end implements handle_vision_position_estimate with eulers 2020-04-09 19:41:08 +09:00
Randy Mackay
3530d5b348 AP_VisualOdom: MAV driver implements handle_vision_position_estimate 2020-04-09 19:41:08 +09:00
Randy Mackay
c78b1ab3bf AP_VisualOdom: rename handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
b519d285a6 AP_VisualOdom: get_orientation made public 
also remove unnecessary friends
 2020-04-09 19:41:08 +09:00
Randy Mackay
c36dfc448d AP_VisualOdom: handle_msg directly updates EKF 2020-04-09 19:41:08 +09:00
Randy Mackay
0eb1ef1f08 AP_VisualOdom: add handle_vision_position_estimate 
also add pre_arm_check
 2020-04-09 19:41:08 +09:00
Randy Mackay
1cf9655b4a AP_VisualOdom: TYPE param becomes enable flag and reboot required 2020-04-09 19:41:08 +09:00
Randy Mackay
61a06bbb04 AP_Math: add quaternion rotate, from_rotation and invert 2020-04-09 19:41:08 +09:00
Randy Mackay
338548c5eb AP_Math: move HALF_SQRT_2 def to rotation.h 
This allows it to be used by the Quaternion class
 2020-04-09 19:41:08 +09:00
Randy Mackay
b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Randy Mackay
e1c623183e AP_AHRS: minor comment fix and move var_info lower 2020-04-09 19:41:08 +09:00
Randy Mackay
24bb4876a8 AP_AHRS: move is_ext_nav_used_for_yaw to parent 2020-04-09 19:41:08 +09:00
Randy Mackay
c0187fe05f AP_Logger: add log message description for VISO 2020-04-09 19:41:08 +09:00
Randy Mackay
f18be824ea AP_Logger: add VISP message 2020-04-09 19:41:08 +09:00
chobits
63320f140a AP_Logger: constraints time spend in header writing, more complete 2020-04-09 19:17:17 +10:00
chobits
b829384fdf AP_Logger: constraints time spended in header writing 2020-04-09 19:17:17 +10:00
Andrew Tridgell
dd4cf6ccdd AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-04-08 11:21:51 +10:00
Andrew Tridgell
18c3efc377 AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-04-08 11:21:51 +10:00
Peter Barker
5e4cbb0a3f AP_EFI: correct duplicate-label problem in EFI2 log message 2020-04-08 11:17:41 +10:00
Samuel Tabor
4a39a43c10 AP_Soaring: Add log documentation. 2020-04-08 09:11:54 +10:00
Samuel Tabor
b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor
3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters. 2020-04-08 09:11:54 +10:00
Samuel Tabor
6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it. 2020-04-08 09:11:54 +10:00
Samuel Tabor
f23efdd13b AP_Soaring: Make vario time constant public. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use. 2020-04-08 09:11:54 +10:00
Samuel Tabor
56649fa8eb AP_Soaring: Fix too-long status message. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d54c7f1b7a AP_Soaring: Fix bug when no soaring activation RC channel set. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fbd0df81a7 AP_Soaring: Report changes in active status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ff1725b549 AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode. 2020-04-08 09:11:54 +10:00
Samuel Tabor
1160c59a89 AP_Soaring: Remove dsp bias and log this. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c28c573da1 AP_Soaring: Also log acceleration. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7555f5abf8 AP_Soaring: Fix incorrect trig function and log the expected sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
17f1fa9600 AP_Soaring: Fix use of double precision sqrt. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7d3ff28974 AP_Soaring: Correct bug with reversed arguments. 2020-04-08 09:11:54 +10:00
Samuel Tabor
16b7de4029 AP_Soaring: Cleanup variometer. 2020-04-08 09:11:54 +10:00
Samuel Tabor
62a34e0f8d AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2b40182b34 AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed. 2020-04-08 09:11:54 +10:00