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48535 Commits

Author SHA1 Message Date
Andrew Tridgell d7dea5c28c 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
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 966deb1148 AP_NavEKF: sync for 4.1.0beta 2021-07-22 19:07:36 +09:00
Andrew Tridgell 5660d31ca2 AP_Math: sync for 4.1.0beta releases 2021-07-22 19:07:36 +09:00
Andrew Tridgell 6ee9e445a9 AP_Common: make longitude_scale() a static 
this changes the use of longitude_scale() to use the average latitude
instead of the lattitude at one end of the line when calculating
positions and distances. It means we obey the basic geometry rule
that:

 pos1 + offs = pos2
 pos2 - offs == pos1
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 0a04bb4b05 HAL_ChibiOS: run storage writes at 1kHz not 100Hz 
The 100Hz update rate means there is a significant chance of an arming
failure after mission upload if you try to arm shortly after the
update.

Each mission item is 15 bytes, so with a 1200 item mission we need to
write 18000 bytes to storage. At 100Hz, with 8 bytes per storage line,
that takes over 22 seconds.
 2021-07-22 19:07:36 +09:00
Peter Barker c4dbbfcc07 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-22 19:07:36 +09:00
Andrew Tridgell aadf179286 AP_NavEKF3: process GPS yaw independently of GPS fix 
this processes GPS yaw with its own timestamp and as a separated step
from fusing position and velocity. This makes the yaw time handling
more accurate as yaw for moving baseline GPS comes in as a separate
piece of data from the position and velocity
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 93e1bd0160 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-22 19:07:36 +09:00
Andrew Tridgell 9acb16acca AP_NavEKF3: implement moving origin 
this shifts EKF_origin to the current location at 1Hz, while leaving
public_origin alone. All output APIs and logging are relative to
public_origin.

The effect of this change is to remove the distortion caused by a
spherical earth, which allows the EKF to operate without errors at
very long distances from the public_origin.
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 3df7c1a7c7 AP_NavEKF3: moved checkUpdateEarthField to be called less often 2021-07-22 19:07:36 +09:00
Andrew Tridgell 5543706626 AP_NavEKF3: update earth field at 1Hz 
this prevents large mag errors on long distance flights
 2021-07-22 19:07:36 +09:00
Andrew Tridgell a8844a8428 AP_Common: added ftype precision offset call 
# Conflicts:
#	libraries/AP_Common/Location.cpp
#	libraries/AP_Common/Location.h
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 87b4ca47e8 AP_NavEKF3: convert code_gen.py to ftype 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7bb971f07d AP_NavEKF3: convert powF(xx,2) calls to sq(xx) 2021-07-22 19:07:36 +09:00
Andrew Tridgell 395d2f1f7e AP_NavEKF3: convert EKF3 derivation to ftype 2021-07-22 19:07:36 +09:00
Andrew Tridgell 63de37341c HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4f0f4608b9 AP_NavEKF3: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 601eb12efb AP_NavEKF2: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 78e87b32d6 AP_NavEKF: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 557fee7add AP_Mount: use ZERO_FARRAY() 2021-07-22 19:07:36 +09:00
Andrew Tridgell 045f8f2299 AP_Motors: fixup build for ftype conflict 2021-07-22 19:07:36 +09:00
Andrew Tridgell 9246442482 AP_Common: added double methods for SITL 2021-07-22 19:07:36 +09:00
Andrew Tridgell c1012d69ab SITL: fixup offset calls 2021-07-22 19:07:36 +09:00
Andrew Tridgell dddd78daf7 AP_Math: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 3239caf852 HAL_ChibiOS: use SRAM1 as first ram segment on H7 
this is needed to give the linker more than 128k for static variables
with double precision maths.
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4e4646d9d7 AP_HAL: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell df9950fbb3 Tools: allow for double EKF build 2021-07-22 19:07:36 +09:00
Andrew Tridgell 5bccdf5e5a waf: added --ekf-double configure option 2021-07-22 19:07:36 +09:00
Andrew Tridgell 4ed4adacfa Plane: prepare for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell 14c006bb1a Plane: updated release notes for 4.1.0beta3 2021-07-22 19:07:36 +09:00
Andrew Tridgell 3b64d41408 APM_Control: adjust fixed wing filter defaults 
adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 07acfd49b2 AP_Notify: disable DShot buzzer by default 2021-07-22 19:07:36 +09:00
Andrew Tridgell ff93999a94 Plane: fixed motor test with DShot VTOL motors 
need to arm when running the motor test
 2021-07-22 19:07:36 +09:00
Andy Piper 1f324d7cbf AP_Notify: re-enable display on 1Mb boards 2021-07-22 19:07:36 +09:00
Andrew Tridgell 7cd3c29ab2 HAL_ChibiOS: always send zero DShot when disarmed 
this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
 2021-07-22 19:07:36 +09:00
Andrew Tridgell 1b44375eea AP_Logger: fixed log creation on forced arm 
when we force arm we need to ask the IO thread to create the log, not
create it ourselves
 2021-07-22 19:07:36 +09:00
Andrew Tridgell c53eacf73d Plane: prepare for 4.1.0beta2 release 2021-07-22 19:07:36 +09:00
Andrew Tridgell f4974107e1 Plane: prepare for 4.1.0beta1 release 2021-07-22 19:07:36 +09:00
Randy Mackay 98c73a0b05 Copter: version to 4.1.0-beta5 2021-06-30 13:47:51 +09:00
Randy Mackay 97db237b96 Copter: 4.1.0-beta5 release notes 2021-06-30 13:45:03 +09:00
Randy Mackay cb0cb38949 mavlink: move submodule reference forward to latest 2021-06-30 12:05:09 +09:00
Randy Mackay 8c5eecf84e Rover: call send-water-depth 2021-06-30 12:05:09 +09:00
Randy Mackay 3900a4f14a GCS_MAVLink: send water depth and temp 2021-06-30 12:05:09 +09:00
Andrew Tridgell 5eb1d4a5a9 Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-06-30 11:52:55 +09:00
Hwurzburg 4c7a9146c6 Rover: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg 8eaf45f185 Blimp: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg ac76a63931 ArduPlane: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg e6c80744db ArduCopter: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Hwurzburg 106e5e0115 AntennaTracker: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Shiv 4a39424d6b Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-06-30 09:23:24 +09:00