Paul Riseborough
ed61287410
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-22 18:20:45 +10:00
Paul Riseborough
62d70a628e
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-22 18:20:45 +10:00
Paul Riseborough
5eb7751682
AP_NavEKF3: Adjust gyro bias process noise tuning
...
NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-22 18:20:45 +10:00
Paul Riseborough
ff1c465a17
Tools: relax navigation test accuracy
2021-07-22 18:20:45 +10:00
Paul Riseborough
72dc998509
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-22 18:20:45 +10:00
Paul Riseborough
0f2661c31c
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.
2021-07-22 18:20:45 +10:00
Paul Riseborough
a0ae998a4d
Tools: Fix AIRSPEED_AUTOCAL test failure
...
The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
2021-07-22 18:20:45 +10:00
Paul Riseborough
171eed5d85
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-22 18:20:45 +10:00
Paul Riseborough
ce4d13091a
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-22 18:20:45 +10:00
Paul Riseborough
6242ce19fa
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-22 18:20:45 +10:00
Paul Riseborough
bb9eed28a9
AP_NavEKF3: Update covariance prediction equations
2021-07-22 18:20:45 +10:00
Paul Riseborough
7b8e935880
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-22 18:20:45 +10:00
Andrew Tridgell
0048167f16
SITL: added SIM2 message
...
useful for EKF debugging
2021-07-22 10:19:02 +10:00
Randy Mackay
e9f6a5afdf
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
2021-07-22 08:51:41 +09:00
Randy Mackay
83e85c7125
AC_WPNav_OA: minor formatting and comment fixes
2021-07-22 08:51:41 +09:00
Randy Mackay
cf797dfca9
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
...
also bendy ruler uses pos controller
2021-07-22 08:51:41 +09:00
Randy Mackay
dd4b3295f4
AC_Avoidance: BendyRuler returned destination are shortened
2021-07-22 08:51:41 +09:00
Randy Mackay
faadaafd53
AC_Avoidance: bendy ruler format fixes
2021-07-22 08:51:41 +09:00
Randy Mackay
6d6324a328
AC_Avoidance: OA_PathPlanner returns which planner was used
...
this replaces get_bendy_type
2021-07-22 08:51:41 +09:00
Randy Mackay
d7d41aea38
AC_Avoidance: BendyRuler returns which type was used
...
also make serach_xxx_path methods private
2021-07-22 08:51:41 +09:00
Randy Mackay
70c6694798
AP_Common: add Location::linear_interpolate_alt
2021-07-22 08:51:41 +09:00
Randy Mackay
7daacfd63e
AP_Math: vector2f gets float.h include
2021-07-22 08:51:41 +09:00
Randy Mackay
52bb8112b3
AP_Math: control.h needs vector2/3 includes
2021-07-22 08:51:41 +09:00
Andrew Tridgell
95cbb69d3c
AP_Parachute: added CHUTE_OPTIONS
...
allow for servo release forever to cope with high altitude drops where
servo may be frozen
2021-07-22 07:49:14 +10:00
Andrew Tridgell
f91e995e98
AP_Arming: check pin arming_checks
2021-07-22 07:48:12 +10:00
Andrew Tridgell
8660e98b57
AP_Parachute: added arming_checks()
2021-07-22 07:48:12 +10:00
Andrew Tridgell
09ad43dea3
AP_Relay: added arming_checks
2021-07-22 07:48:12 +10:00
Andrew Tridgell
d827b35e57
AP_RPM: implement arming_checks()
2021-07-22 07:48:12 +10:00
Andrew Tridgell
9b78fa7fb8
HAL_SITL: implement valid_pin()
2021-07-22 07:48:12 +10:00
Andrew Tridgell
d302d3c90a
HAL_ChibiOS: implement valid_pin()
2021-07-22 07:48:12 +10:00
Andrew Tridgell
4dcff3d900
AP_HAL: added valid_pin() GPIO API
2021-07-22 07:48:12 +10:00
Andrew Tridgell
8f9929c6c2
Rover: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Andrew Tridgell
8e6abf5976
ArduPlane: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Andrew Tridgell
a0ef4f76e2
AP_RangeFinder: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Andrew Tridgell
6888ddc4cc
AP_LeakDetector: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Andrew Tridgell
b6dbc618dc
AP_Compass: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Andrew Tridgell
fdd294b0f3
AP_BoardConfig: replaced Pixhawk with more appropriate wording in docs
2021-07-22 07:48:12 +10:00
Andrew Tridgell
b0fc5c3041
AP_WindVane: replaced PixhawkAUX1 with AUX1
...
not everything is a pixhawk
2021-07-22 07:48:12 +10:00
Andrew Tridgell
8b388f80c5
AP_WheelEncoder: replaced PixhawkAUX1 with AUX1
...
not everything is a pixhawk
2021-07-22 07:48:12 +10:00
Andrew Tridgell
9691581c81
AP_RSSI: replaced PixhawkAUX1 with AUX1
...
not everything is a pixhawk
2021-07-22 07:48:12 +10:00
Andrew Tridgell
095ab7c9d7
AP_RPM: replaced PixhawkAUX1 with AUX1
...
not everything is a pixhawk
2021-07-22 07:48:12 +10:00
Andrew Tridgell
25057d26a0
AP_WindVane: default pins to -1
2021-07-22 07:48:12 +10:00
Andrew Tridgell
d0a26b6dc6
AP_WheelEncoder: default pins to -1
2021-07-22 07:48:12 +10:00
Andrew Tridgell
958843c0a9
AP_RSSI: default RSSI pin to -1
2021-07-22 07:48:12 +10:00
Andrew Tridgell
7eaab583d4
AP_RPM: stop defaulting RPM_PIN to 54
2021-07-22 07:48:12 +10:00
Andrew Tridgell
bbcce717dc
HAL_ChibiOS: stop defaulting relay pins to 54 and 55
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this just leads to confusion
2021-07-22 07:48:12 +10:00
Andrew Tridgell
0f70b4d8e3
AP_BoardConfig: removed BRD_PWM_COUNT
2021-07-22 07:48:12 +10:00
Andrew Tridgell
54e53ed71c
HAL_ChibiOS: use is_GPIO() instead of BRD_PWM_COUNT
2021-07-22 07:48:12 +10:00
Andrew Tridgell
874757a955
SRV_Channel: added k_GPIO and is_GPIO()
2021-07-22 07:48:12 +10:00
Peter Barker
a6a18fe193
AP_AHRS: punt to correct parent class when no index for getCorrectedDeltaVelocityNED
2021-07-21 21:01:39 +10:00