Tom Pittenger
f128d8c549
gitignore: ignore .pydevproject from Eclipse Python plugin
2020-11-23 14:55:01 -08:00
Jacob Walser
c2e3520add
Sub: update release notes for 4.0.2
2020-11-23 12:41:39 -05:00
Willian Galvani
4415d4ed56
Sub: update release notes for 4.0.1
2020-11-23 12:41:30 -05:00
Peter Barker
200b085eea
AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write)
2020-11-22 20:47:29 +11:00
Peter Barker
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
2020-11-22 20:47:29 +11:00
Peter Barker
914629351f
AP_NavEKF3: use scalar rather than array for state-prediction-allowed
...
EKF2 needs this for choosing alternate cores. EKF3 does not.
2020-11-22 14:09:48 +11:00
QioTek
e4f4868d9b
HAL_ChibiOS: add QMC5883L on QioTekZealotF427
...
add QMC5883L on QioTekZealotF427
2020-11-22 06:10:34 +11:00
Jacob Walser
35c2d13e2f
HAL_Linux_Class: specify per board external clock frequency for RCOutput_PCA9685 drivers
2020-11-21 00:25:19 -08:00
Jacob Walser
e64d9816ce
RCOutput_PCA9685: allow different external clock frequencies
...
The PCA9685 may use an external clock 0~50MHz
Specify the external clock frequency in constructor arguments for each board HAL
2020-11-21 00:25:19 -08:00
Paul Riseborough
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
2020-11-21 12:56:10 +11:00
Andrew Tridgell
fe81387433
AP_NavEKF: allow init twice
...
this can happen if setup_core() fails with low mem and is called again
2020-11-20 21:56:32 +11:00
Andrew Tridgell
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
Andrew Tridgell
39ba8a8c83
AP_NavEKF2: convert to using common buffer classes
...
this saves a considerable amount of flash
2020-11-20 21:56:32 +11:00
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
