QioTek
ce7d5341eb
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
...
AP_HAL_ChibiOS: add Icm42605 as a backup to replace icm20649
2021-08-28 17:10:29 +09:00
Hwurzburg
3cf3ed8fff
AP_HAL_Chibios: Change RC in to RCINT to free a DMA channel
2021-08-28 17:10:29 +09:00
Andrew Tridgell
72d115bec4
HAL_ChibiOS: allow FlywooF745 to build again
2021-08-28 17:10:29 +09:00
Andy Piper
7698a006ad
AP_HAL_ChibiOS: add FlywooF745Nano board definition
2021-08-28 17:10:29 +09:00
Leonard Hall
f9452ec17a
AC_AttitudeControl: AC_PosControl: Non functional clean up
2021-08-28 17:10:29 +09:00
Leonard Hall
a1975d7535
AC_WPNav: Fix Jerk units
2021-08-28 17:10:29 +09:00
Leonard Hall
70d2062809
AC_AttitudeControl: AC_PosControl: limit initial acceleration
2021-08-28 17:10:29 +09:00
Leonard Hall
d0521e6906
AC_AttitudeControl: AC_PosControl: fix stopping point initialization
2021-08-28 17:10:29 +09:00
Iampete1
c47bc995d1
AC_PosControl: init_z_controller_stopping_point: remove duplicate set_integrator
2021-08-28 17:10:29 +09:00
Randy Mackay
9a26509eee
AP_Scripting: copter-fast-descent.lua example script
2021-08-28 17:10:29 +09:00
Randy Mackay
4a05d7a05a
AP_Vehicle: add virtual set_target methods
2021-08-28 17:10:29 +09:00
Randy Mackay
e5b3596831
AP_Scripting: add AP_Vehicle set_target_pos_NED and posvelaccel_NED bindings
2021-08-28 17:10:29 +09:00
Randy Mackay
79f0a02675
AP_Scripting: minor reorder of AP_Vehicle bindings
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this is a slightly better grouping
2021-08-28 17:10:29 +09:00
Randy Mackay
d61c16d83c
AP_Scripting: add AHRS:get_relative_position_NED_origin binding
2021-08-28 17:10:29 +09:00
Randy Mackay
07e875aba2
AP_Scripting: add copter-circle-speed.lua example
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Co-authored-by: Iampete1 <iampete@hotmail.co.uk>
2021-08-28 17:10:29 +09:00
Randy Mackay
9638755b0f
AP_Scripting: add bindings for get_circle_radius, set_circle_rate
2021-08-28 17:10:29 +09:00
Randy Mackay
1f63a1a63c
AP_Vehicle: add get_circle_radius, set_circle_rate
2021-08-28 17:10:29 +09:00
Iampete1
9bf151fcd7
AP_Vehicle: #ifdef scripting specific functions
2021-08-28 17:10:29 +09:00
Iampete1
a1e96f7d17
AC_AttitudeControl: check for zero rate Y max before taking min
2021-08-28 17:10:29 +09:00
Randy Mackay
54d6cf15e5
AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero
2021-08-28 17:10:29 +09:00
Pierre Kancir
e5ea7e6196
AP_InertialSensor: fix externalAHRS detection
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'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-28 17:10:29 +09:00
Pierre Kancir
c4b7f6ddcf
AP_Baro: fix externalAHRS detection
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'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-28 17:10:29 +09:00
Pierre Kancir
4866ffc597
AP_Compass: fix externalAHRS detection
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'A = B >= C' kind. The expression is calculated as following: 'A = (B >= C)'
2021-08-28 17:10:29 +09:00
Andrew Tridgell
659c9fb10d
HAL_ChibiOS: switch to minimum scheduling delta of 10us
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this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.
Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.
Fixes issue #18383
2021-08-28 17:10:29 +09:00
Andy Piper
eebcfb78c1
AP_HAL_ChibiOS: use hardware serial inversion pins on F4 boards that support it
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change mamba F405 to active high as per betaflight
2021-08-28 17:10:29 +09:00
Randy Mackay
b1e5e21d6d
AP_HAL_ChibiOS: swap Pixhawk4 blue and red LEDs
2021-08-28 17:10:29 +09:00
Andrew Tridgell
70e041d611
AC_AttitudeControl: this fixes an issue with Z accel initialisation
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tailsitter quadplanes were climbing a lot on transition from fixed
wing to Q modes. Leonard tracked it down to a bug in the Z accel init
2021-08-28 17:10:29 +09:00
Andrew Tridgell
03de8e752a
SITL: prevent flip over of RF9 quadplanes on reboot
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send a zero channel mask until we are initialised
2021-08-28 17:10:29 +09:00
Hwurzburg
bd583452c7
AP_OSD: fixes bug introduced by #16477
2021-08-14 11:05:38 +09:00
Pierre Kancir
2a808dc53c
AP_Beacon: fix comparison order to prevent using wrong beacon_instance first
2021-08-14 11:05:38 +09:00
Randy Mackay
87212e0fbf
AP_NavEKF3: remove unused EK3_GSF_DELAY param
2021-08-14 11:05:38 +09:00
Randy Mackay
6ec43eefff
AP_NavEKF2: remove unused EK2_GSF_DELAY param
2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
b584adff59
AC_Avoid: use proximity_avoidance_enabled function
2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
8eda43e697
AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled
2021-08-14 11:05:38 +09:00
Tatsuya Yamaguchi
2bebd8341f
AC_Avoidance: handle upward proximity enable and disable
2021-08-14 11:05:38 +09:00
Andy Piper
c6247433df
AP_Vehicle: output rcout banner when initialization is done
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move down ready message
2021-08-14 11:05:38 +09:00
Andy Piper
761fc57a18
AP_HAL_ChibiOS: output initializing from PWM banner when not available
2021-08-14 11:05:38 +09:00
Pierre Kancir
53d69de164
AP_ESC_Telem: prevent possible overrun
2021-08-14 11:05:38 +09:00
Pierre Kancir
050e18cd03
AP_ESC_TELEM: prevent overrun, esc_index should be < to ESC_TELEM_MAX_ESCS
2021-08-14 11:05:38 +09:00
Pierre Kancir
2d0e359065
AP_ESC_Telem: fix out of bound access
2021-08-14 11:05:38 +09:00
Pierre Kancir
6e9e529967
AP_OSD: check for nullptr before using it
2021-08-14 11:05:38 +09:00
Leonard Hall
0c48848d31
AP_Math: Spelling fix
2021-08-14 11:05:38 +09:00
Leonard Hall
f5dd8a9982
AC_AttitudeControl: AC_PosControl: support Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
b25dab9c9b
AC_WPNav: support Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
dac064e51c
AP_Math: Control: Refactor to use Jerk
2021-08-14 11:05:38 +09:00
Leonard Hall
61982815cd
AP_Math: Control: protect against divide by zero
2021-08-14 11:05:38 +09:00
Leonard Hall
b8cc90688e
AC_WPNav: Fix Angle Vel units on function
2021-08-14 11:05:38 +09:00
Leonard Hall
dfcc6ce612
AC_AttitudeControl: Fix Angle Vel units on function
2021-08-14 11:05:38 +09:00
Leonard Hall
2436330da1
AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE
2021-08-14 11:05:38 +09:00
Leonard Hall
6b72b1fd31
AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
2021-08-14 11:05:37 +09:00
Leonard Hall
51dbf271f9
AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
...
Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
2021-08-14 11:05:37 +09:00
Andrew Tridgell
1422c283b0
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
2021-08-14 11:05:37 +09:00
Andrew Tridgell
74f89cfbce
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
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this may help with some GPS modules
2021-08-14 11:05:37 +09:00
Andy Piper
91d0a44524
AP_HAL_ChibiOS: probe for compasses on FlywooF745
2021-08-14 11:05:37 +09:00
Randy Mackay
6670a48811
AP_NavEKF3: skip GSF reset count check if source actively changed
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also only fail all compass on emergency reset
2021-08-14 11:05:37 +09:00
Andrew Tridgell
37533db6f1
AP_NavEKF3: fixed output LLH to account for IMU offset
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thanks to Paul and Randy
2021-08-14 11:05:37 +09:00
Leonard Hall
5c16e81f8f
AC_AttitudeControl: Support thrust to weight of 10:1
2021-08-14 11:05:37 +09:00
Andy Piper
7bad54f638
AP_Motors: remove tri yaw servo from motor mask
2021-08-14 11:05:37 +09:00
Andrew Tridgell
d88d811ab3
AP_GPS: added arming checks for yaw available on ublox RTK rover
2021-08-14 11:05:37 +09:00
bugobliterator
cc4fc42ed0
AP_RangeFinder: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
d27acbce2d
AP_EFI: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
ae0d11a26d
AP_BattMonitor: use separate register_driver method while contructing CAN Driver
2021-08-14 11:05:37 +09:00
bugobliterator
1bac7283ab
AP_CANSensor: create a separate register driver method
2021-08-14 11:05:37 +09:00
Andrew Tridgell
ddbcfafe30
AP_AHRS: build fix
2021-07-23 10:19:50 +09:00
Paul Riseborough
d90c67a079
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
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These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
2021-07-23 10:19:50 +09:00
Paul Riseborough
28224c001a
AP_NavEKF3: retune wind process noise for better airspeed fault detection
2021-07-23 10:19:50 +09:00
Paul Riseborough
5a3f785798
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
4b4bb18f50
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-23 10:19:50 +09:00
Paul Riseborough
a98583e0ca
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
51a1b9ae9a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-23 10:19:50 +09:00
Paul Riseborough
edd75e3981
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8
AP_NavEKF3: Make bad IMU status more persistent
2021-07-23 10:19:50 +09:00
Paul Riseborough
3ce5633701
AP_AHRS: Add accessor function for vibration affected status
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AP_AHRS: fix rebase build error
2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8
AP_NavEKF3: Retune IMU process noise
...
Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d
AP_NavEKF3: Update covariance prediction equations
2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-23 10:19:49 +09:00
Andrew Tridgell
c2e221dd09
AP_Math: fix uses of single precision
2021-07-23 10:19:49 +09:00
Randy Mackay
e4684f65dc
AR_WPNav: integrate PathPlanner returning path_planner_used
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Rover does not need to handle the results differently based on the planner used
2021-07-23 10:19:49 +09:00
Randy Mackay
0c9fbf9456
AC_WPNav_OA: minor formatting and comment fixes
2021-07-23 10:19:49 +09:00
Randy Mackay
b95c6b5e5d
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
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also bendy ruler uses pos controller
2021-07-23 10:19:49 +09:00
Randy Mackay
c991ff4318
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-23 10:19:49 +09:00
Randy Mackay
075c05baea
AC_Avoidance: bendy ruler format fixes
2021-07-23 10:19:49 +09:00
Randy Mackay
0b26bace7f
AC_Avoidance: OA_PathPlanner returns which planner was used
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this replaces get_bendy_type
2021-07-23 10:19:49 +09:00
Randy Mackay
980909deb5
AC_Avoidance: BendyRuler returns which type was used
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also make serach_xxx_path methods private
2021-07-23 10:19:49 +09:00
Randy Mackay
400731df1b
AP_Common: add Location::linear_interpolate_alt
2021-07-23 10:19:49 +09:00
Andy Piper
74a8891099
AP_BLHeli: ensure correct rotation through telemetry ESCs
2021-07-23 10:19:49 +09:00
Pierre Kancir
3cee86e63f
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
2021-07-23 10:19:49 +09:00
Leonard Hall
6f5d2008e3
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
2021-07-23 10:19:49 +09:00
Leonard Hall
6f26ca6b65
WP_Nav: Return Crosstrack error
2021-07-23 10:19:49 +09:00
Leonard Hall
d6df47fd06
AC_AttitudeControl: AC_PosControl: calculate cross track
2021-07-23 10:19:49 +09:00
Randy Mackay
fce7db0d18
AC_WPNav: use get_terrain_margin instead of constant
2021-07-23 10:19:49 +09:00