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46050 Commits

Author SHA1 Message Date
Andrew Tridgell 6163659887 AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 
This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
 2021-01-27 09:47:55 +11:00
Pierre Kancir 2b71bf8e99 Autotest: fix subtests completion 2021-01-27 08:27:54 +11:00
Andrew Tridgell b20604bb59 Plane: update release notes for 4.0.8 2021-01-26 17:17:40 +11:00
Iampete1 ebfe593e38 AP_Scripting: add example script setting up a custom MotorMatrix 2021-01-26 11:07:36 +09:00
Iampete1 643966fb3e Copter: add SCRIPTING_MATRIX frame class 2021-01-26 11:07:36 +09:00
Iampete1 004f873dc7 Plane: update Quadplane FRAME_CLASS description 2021-01-26 11:07:36 +09:00
Iampete1 5c397d4674 AP_Scripting: add MotorMatrix bindings 2021-01-26 11:07:36 +09:00
Iampete1 fca6f7027b AP_Motors: allow Matrix config from scripting 2021-01-26 11:07:36 +09:00
Peter Hall d0e1e85b9e AP_Motors: add get_frame_mav_type 2021-01-26 11:07:36 +09:00
Iampete1 0a23084d43 Copter: move get_frame_mav_type to motors 2021-01-26 11:07:36 +09:00
Andrew Tridgell 5f4b5c4b94 Plane: prevent failsafe from changing mode during landing 
this prevents RC or GCS failsafe from triggering a mode change during
a landing
 2021-01-26 11:17:10 +11:00
Peter Barker 87486739d1 Plane: disallow changing to INITIALISING mode 2021-01-26 10:47:27 +11:00
Randy Mackay d487d6152e Plane: ahrs pre-arm always runs position checks 2021-01-26 10:46:49 +11:00
Randy Mackay e7c2eb1705 Sub: ahrs pre-arm skips position checks 2021-01-26 10:46:49 +11:00
Randy Mackay f6da769de8 Rover: ahrs only checks position in modes that require it 2021-01-26 10:46:49 +11:00
Randy Mackay dc515b87df Copter: ahrs only checks position in modes that require it 2021-01-26 10:46:49 +11:00
Randy Mackay f6cb0819ef AP_NavEKF3: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay 8ecac27777 AP_NavEKF_Source; pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Randy Mackay 62932f884f AP_AHRS: pre_arm_check may skip position checks 2021-01-26 10:46:49 +11:00
Andrew Tridgell 49e2a0caed Tools: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell 1716fcf995 GCS_MAVLink: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell ac35867c17 AP_Param: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell 12b93e2922 AP_OSD: fixed valgrind errors with AP_Param::ParamToken 2021-01-26 10:43:09 +11:00
Andrew Tridgell 6c684538d3 AP_Param: greatly speed up param download with disabled parameters 
allows fast skip over disabled subgroups. This removes a long delay
with param download on a MatekF405-STD where the final parameters
associated with the OSD took 80ms to fetch, causing a long loop delay
 2021-01-26 10:43:09 +11:00
Bill Geyer d19dca37d5 Copter: 4.0.6 release notes 2021-01-25 18:39:39 -05:00
Peter Barker 95bc9cca79 ArduPlane: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker d426d8e1f8 AP_GPS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Peter Barker 358069df24 AP_AHRS: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
WillyZehnder 2e2ec79992 RC_Channel: reserve AUX_FUNC for MISSION_RELATIVE 2021-01-26 10:14:11 +11:00
Pierre Kancir a62dc3b3e0 Rover: disable switching and arming in INITIALIZING mode 2021-01-26 08:10:50 +09:00
Andrew Tridgell d47afb2406 autotest: added AHRSTrim test and add trim to accel cal test 
this ensures the handling of AHRS trim is correct
 2021-01-25 16:24:50 +11:00
Andrew Tridgell 2843cfa42d AP_InertialSensor: use mavlink statustext for cal info 2021-01-25 16:24:50 +11:00
Andrew Tridgell b542f947f7 AP_InertialSensor: don't mark accels as calibrating during trim 
we need the accels with offsets applied when doing accel trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell e908a996af AP_InertialSensor: support SIM_ACC_TRIM 
and cleanup vector maths
 2021-01-25 16:24:50 +11:00
Andrew Tridgell 7292b4f260 SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim 
this will enable an autotest for AHRS trim
 2021-01-25 16:24:50 +11:00
murata 2ae57f8861 Rover: Change delay method to HAL scheduler's delay 2021-01-25 08:12:36 +09:00
murata d533d289da Rover: Change delay method to HAL scheduler's delay 2021-01-25 08:12:36 +09:00
Andrew Tridgell ddc4d08e8f AP_NavEKF3: make drag fusion optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 1ccda938cb AP_NavEKF3: make external navigation optional 2021-01-24 11:56:52 +11:00
Andrew Tridgell 8da511f039 AP_NavEKF3: make body odomotry build depend on vehicle type 
saves about 11k of flash
 2021-01-24 11:56:52 +11:00
Andrew Tridgell 3c825bdffc waf: make AP_NavEKF3_core.h a vehicle dependent include 2021-01-24 11:56:52 +11:00
Peter Barker ad2ab333f9 Tools: autotest: allow autotest to connect directly to SITL 2021-01-24 09:25:45 +11:00
Peter Barker 8c7d63433c autotest: clear mission ourselves rather than with MAVProxy at end of test 2021-01-24 09:25:45 +11:00
E Thomas 2ee052b36e AP_GPS: Made GPS_DISABLE prevent last_fix_time_ms updates 2021-01-23 17:25:00 +11:00
Peter Barker ade1c487d8 AP_Logger: remove default reason argument for Write_Mode 
All callers now supply this
 2021-01-22 17:27:26 +11:00
Leonard Hall 25fff17e48 AC_AttitudeControl: constify some local variables 2021-01-22 14:22:18 +09:00
Peter Barker 9e7a0e6267 Copter: use iterators in parameter conversion 2021-01-22 11:25:32 +09:00
Peter Barker 3582b69e9c AP_NavEKF3: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker 445a461f12 AP_NavEKF2: remove getFilterTimeouts access methods 2021-01-22 13:04:36 +11:00
Peter Barker 30836535d0 autotest: retry dynamic notch test up to 3 times 2021-01-22 11:17:42 +11:00