Andrew Tridgell
e4a9497942
AP_NavEKF: added common EKF buffer classes
2020-11-20 21:56:32 +11:00
Pierre Kancir
b1594f96c0
.github: move periph test out of copter file
2020-11-20 21:27:15 +11:00
Pierre Kancir
f40a5b978e
.github: reduce duplicate for GCC and Clang build
2020-11-20 21:27:15 +11:00
Randy Mackay
d1983b0b77
AP_NavEKF3: fixup source param conversion
...
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
2020-11-20 16:43:44 +09:00
Randy Mackay
0119c48e1e
AP_NavEKF_Source: add mark_configured_in_storage
2020-11-20 16:43:44 +09:00
Randy Mackay
50b2cf136f
AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)
2020-11-20 16:43:44 +09:00
Randy Mackay
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
...
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
2020-11-20 16:43:44 +09:00
Andrew Tridgell
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
...
if we get to this point we must be using the compass fallback logic,
and should do the reset
2020-11-20 16:43:44 +09:00
Randy Mackay
f257dc20d0
Tools: add test.Copter.GPSViconSwitching to CopterTests1d
2020-11-20 16:43:44 +09:00
Randy Mackay
bf5c74dbdb
AP_Scripting: ahrs-source example script
...
switches automatically between gps, external nav and optical flow
2020-11-20 16:43:44 +09:00
Randy Mackay
2b9fb79d72
AP_Scripting: add bindings for set_posvelyaw_source and get_vel_innovations
2020-11-20 16:43:44 +09:00
Randy Mackay
b6fe039a9f
Tools: autotest for beacon sets EK3_SRC params
2020-11-20 16:43:44 +09:00
Randy Mackay
9dbfb99cc3
AP_VisualOdom: add align_position_to_ahrs
2020-11-20 16:43:44 +09:00
Randy Mackay
04655d9698
RC_Channel: add aux switch to change the EKF's sensor sources
2020-11-20 16:43:44 +09:00
Randy Mackay
4b542aa714
AP_AHRS: add get_vel_innovations_and_variances_for_source
2020-11-20 16:43:44 +09:00
Randy Mackay
dc5d1d099b
AP_AHRS: add set_posvelyaw_source_set
2020-11-20 16:43:44 +09:00
Randy Mackay
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
2020-11-20 16:43:44 +09:00
Randy Mackay
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
2020-11-20 16:43:44 +09:00
Randy Mackay
f88364d653
AP_NavEKF3: use_compass minor order fixup
2020-11-20 16:43:44 +09:00
Randy Mackay
b475f01b25
AP_NavEKF3: update comments
2020-11-20 16:43:44 +09:00
Randy Mackay
0f8d0ef11b
AP_NavEKF3: move sources to 2nd bank of parameters
2020-11-20 16:43:44 +09:00
Randy Mackay
33b6212cce
AP_NavEKF3: rename _sources to sources
2020-11-20 16:43:44 +09:00
Randy Mackay
9716b09cad
AP_NavEKF3: minor indenting fix
2020-11-20 16:43:44 +09:00
Randy Mackay
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
2020-11-20 16:43:44 +09:00
Andrew Tridgell
72ee7d15e1
AP_NavEKF3: fixup for AP_DAL
2020-11-20 16:43:44 +09:00
Randy Mackay
73835f0c11
AP_NavEKF3: pre_arm_check includes sources
2020-11-20 16:43:44 +09:00
Randy Mackay
6c0bb6a198
AP_NavEKF3: add convert_params for source
2020-11-20 16:43:44 +09:00
Randy Mackay
849e94cc24
AP_NavEKF3: call sources align inactive sources
2020-11-20 16:43:44 +09:00
Randy Mackay
ba9f60abc7
AP_NavEKF3: add getVelInnovationsAndVariancesForSource
2020-11-20 16:43:44 +09:00
Randy Mackay
58aa6086df
AP_NavEKF3: always calculate GPS innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
e7e91b1c3b
AP_NavEKF3: always calculate extNav innovations and variances
2020-11-20 16:43:44 +09:00
Randy Mackay
6b2b5c4ca0
AP_NavEKF3: add CalculateVelInnovationsAndVariances
2020-11-20 16:43:44 +09:00
Randy Mackay
2505fd5c1c
AP_NavEKF3: body and wheel odometry check source
2020-11-20 16:43:44 +09:00
Randy Mackay
1263648d88
AP_NavEKF3: beacon fusion checks source
2020-11-20 16:43:44 +09:00
Randy Mackay
8a56ce49be
AP_NavEKF3: optical flow fusion checks source
2020-11-20 16:43:44 +09:00
Randy Mackay
4cadaa5194
AP_NavEKF3: readyToUseOptFlow, Beacon, ExtNav check source
2020-11-20 16:43:44 +09:00
Randy Mackay
faed58a027
AP_NavEKF3: integrate Source for yaw
2020-11-20 16:43:44 +09:00
Randy Mackay
8931e50166
AP_NavEKF3: integrate Source for alt
2020-11-20 16:43:44 +09:00
Randy Mackay
c21d58ebea
AP_NavEKF3: integrate Source for position
2020-11-20 16:43:44 +09:00
Randy Mackay
9b84abecaa
AP_NavEKF_Source: enables dynamically changing sensor sources
2020-11-20 16:43:44 +09:00
Andrew Tridgell
9e5e49cd13
AP_DAL: added methods to support EKF sources selection
2020-11-20 16:43:44 +09:00
Peter Barker
d50e4d03f4
AP_Logger: remove time_us parameter to several sensor logging methods
...
These were used by the old Replay code to try to provide a frame of
sensor data by correlating the timestamps. That Replay code has been
removed.
2020-11-20 16:59:09 +11:00
Peter Barker
e257dd9fee
AP_GPS: correct logging for GPS blending
2020-11-20 09:45:57 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
58f0c34612
AP_GPS: fix dataflash logging of blended GPS instance
2020-11-20 09:45:57 +11:00
Peter Barker
a12c2a6b87
AP_Logger: use instance numbers for logging GPS data
2020-11-20 09:45:57 +11:00
Rishabh
f57082a2e0
AR_WPNav: Add note to WP_PIVOT_ANGLE
2020-11-19 16:46:27 +09:00
Michael du Breuil
f9b4e81702
Copter: Add ignore pilot yaw to guided, auto and RTL options
2020-11-19 07:22:54 +09:00
Peter Barker
58c23e618e
AP_Logger: remove unused IMUDT code
...
Unused since we've moved to new Replay code
2020-11-19 08:31:49 +11:00
Rishabh
888967fb14
mavlink: Add OBSTACLE_AVOIDANCE_3D mavlink message
2020-11-18 20:23:45 +11:00
Rishabh
c1d67705ce
AP_Proximity: Remove Morse backend
2020-11-18 20:23:45 +11:00
