Paul Riseborough
4b4bb18f50
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
...
These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
2021-07-23 10:19:50 +09:00
Andrew Tridgell
1369f3b565
Plane: disable EKF3 default airspeed fusion by default
...
this fusion can cause problems with wind estimation, disable by
default for now
2021-07-23 10:19:50 +09:00
Paul Riseborough
a98583e0ca
AP_NavEKF3: Rework non-airspeed wind estimation
...
Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
2021-07-23 10:19:50 +09:00
Paul Riseborough
51a1b9ae9a
AP_NAvEKF3: use #define value for bad IMU hold time
2021-07-23 10:19:50 +09:00
Paul Riseborough
3da71c5de5
Copter: rework ekf_check to use the EKF vibration_affected status
2021-07-23 10:19:50 +09:00
Paul Riseborough
edd75e3981
AP_NavEKF3: Increase lower state variance limit when vibration affected
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This makes state corrections from GPS and baro observations more aggressive
2021-07-23 10:19:50 +09:00
Paul Riseborough
6166b666b6
AP_NavEKF3: Use sensor variance when checking for bad IMU
2021-07-23 10:19:50 +09:00
Paul Riseborough
835b97f5e8
AP_NavEKF3: Make bad IMU status more persistent
2021-07-23 10:19:50 +09:00
Paul Riseborough
3ce5633701
AP_AHRS: Add accessor function for vibration affected status
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AP_AHRS: fix rebase build error
2021-07-23 10:19:50 +09:00
Paul Riseborough
a220ca20a6
AP_NavEKF3: Add accessor function for vibration affected status
2021-07-23 10:19:50 +09:00
Paul Riseborough
e7ff7f629d
AP_NavEKF3: Don't update accel bias states if vibration affected
2021-07-23 10:19:50 +09:00
Paul Riseborough
82f585a515
AP_NavEKF3: Use large accel process noise when IMU data is bad
2021-07-23 10:19:50 +09:00
Paul Riseborough
7b40e89463
AP_NavEKF3: Adjust gyro bias process noise tuning
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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
2021-07-23 10:19:50 +09:00
Paul Riseborough
b6bbaed0db
Tools: relax navigation test accuracy
2021-07-23 10:19:50 +09:00
Paul Riseborough
082f8e42f6
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
2021-07-23 10:19:50 +09:00
Paul Riseborough
315d9ef9d8
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.
2021-07-23 10:19:50 +09:00
Paul Riseborough
e13e888c31
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.
2021-07-23 10:19:50 +09:00
Paul Riseborough
344f2d0eb7
AP_NavEKF3: Make gyro bias learning less noisy
2021-07-23 10:19:50 +09:00
Paul Riseborough
fcf7a7c8f7
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
2021-07-23 10:19:49 +09:00
Paul Riseborough
4096e75b15
AP_NavEKF3: Change powf(x,2) to sq(x)
2021-07-23 10:19:49 +09:00
Paul Riseborough
5cb4cf870d
AP_NavEKF3: Update covariance prediction equations
2021-07-23 10:19:49 +09:00
Paul Riseborough
14edac7e5c
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
2021-07-23 10:19:49 +09:00
Peter Barker
a298480207
Tools: split yaw-vehicle-for-mount-roi test out
2021-07-23 10:19:49 +09:00
Andrew Tridgell
c2e221dd09
AP_Math: fix uses of single precision
2021-07-23 10:19:49 +09:00
Randy Mackay
e4684f65dc
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
2021-07-23 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
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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
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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
2e314a00b2
Copter: Guided and Loiter mode returns Crosstrack error
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
Andrew Tridgell
61b72cd50d
Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN
...
# Conflicts:
# ArduCopter/Parameters.cpp
# ArduCopter/Parameters.h
# ArduCopter/terrain.cpp
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
Andrew Tridgell
f3f1e72b0b
Copter: Fix guided yaw bug.
...
# Conflicts:
# ArduCopter/GCS_Mavlink.cpp
2021-07-23 10:19:48 +09:00
Peter Barker
aa05bdde0f
Copter: simplify throttle-is-unlimited check
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Now not the same pattern as the other checks - but it is much shorter
2021-07-23 10:19:48 +09:00
Peter Barker
e120b75aa4
Copter: wait for motors to spool up before trying to upright vehicle
...
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
2021-07-23 10:19:48 +09:00
Peter Barker
b52ec7978b
Copter: constify some ModeThrow methods
2021-07-23 10:19:48 +09:00
Andy Piper
f2e22cf8e5
iomcu: update for pulse width changes
2021-07-23 10:19:48 +09:00
Andy Piper
a9187a50cf
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
2021-07-23 10:19:48 +09:00
Tal Bass
f4abb80aaf
Copter: reset land_repo_active flag in RTL mode
2021-07-23 10:19:48 +09:00