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e4684f65dc
Commit Graph

26480 Commits

Author SHA1 Message Date
Randy Mackay
e4684f65dc AR_WPNav: integrate PathPlanner returning path_planner_used 
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 
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 
this replaces get_bendy_type
 2021-07-23 10:19:49 +09:00
Randy Mackay
980909deb5 AC_Avoidance: BendyRuler returns which type was used 
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
Randy Mackay
33ec14ce70 AC_WPNav: add TER_MARGIN param 2021-07-23 10:19:49 +09:00
Leonard Hall
767281dc76 AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-23 10:19:49 +09:00
Leonard Hall
4bbc69ef6e AC_WPNav: Auto Terain following update 2021-07-23 10:19:49 +09:00
Andy Piper
a9187a50cf AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-23 10:19:48 +09:00
Leonard Hall
a765e266f4 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-23 10:19:48 +09:00
Hwurzburg
4664ed6d7d RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Hwurzburg
a09f38b195 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Andy Piper
2ef5a9170e AP_RCTelemetry: correct firmware string length for CRSF 2021-07-23 10:19:48 +09:00
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