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26756 Commits

Author SHA1 Message Date
Paul Riseborough
8f1b98a0cb AP_AHRS: Add accessor function for vibration affected status 
AP_AHRS: fix rebase build error
 2021-07-22 18:20:45 +10:00
Paul Riseborough
ccc95d8726 AP_NavEKF3: Add accessor function for vibration affected status 2021-07-22 18:20:45 +10:00
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
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
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 
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
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 
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
Peter Barker
b450a96698 AP_AHRS: shuffle AP_AHRS classes 2021-07-21 21:01:39 +10:00
Peter Barker
e1b839f739 GCS_MAVLink: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
1ae7d68988 AP_VisualOdom: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
7cca7513a1 AP_Vehicle: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
e1162f0a66 AP_SmartRTL: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ed5303d1b8 AP_OpticalFlow: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
48e9fa7ebd AP_NMEA_Output: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ee069a081b AP_Mount: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
da11b6be77 AP_Module: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
b1bd699a73 AP_Logger: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
dbc24d5cd3 AP_InertialNav: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
2bd8a45c58 AP_Common: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
8396925ece AC_WPNav: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
63015e9e9a AC_PrecLand: fixes 2021-07-21 21:01:39 +10:00
Peter Barker
6aba6c83c6 AC_PrecLand: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
5046083863 AC_AttitudeControl: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker
ec17abce2e GCS_MAVLink: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
2926ffcd2f AP_Vehicle: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
b9c4d40c46 AP_NMEA_Output: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
85bd9de903 AP_Mount: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
a3ee979b9c AP_InertialNav: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Peter Barker
0d391533b0 AP_AHRS: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Pierre Kancir
a7f14efef2 AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076 2021-07-21 19:00:15 +10:00
Peter Barker
d2102ce9b7 APM_Control: stop taking references to ahrs in APM_Control 2021-07-21 18:27:23 +10:00
Andrew Tridgell
cbf549b1eb AP_Airspeed: fixed display of ARSPD_DEVID when ARSPD2_TYPE=0 2021-07-21 18:22:11 +10:00
Peter Barker
795f412264 AP_NavEKF3: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker
b5f165ce2e AP_NavEKF2: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Peter Barker
141e2aae91 AP_AHRS: pass NavEKF failures back up to callers 2021-07-21 18:02:26 +10:00
Andrew Tridgell
fc2118f42b 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
 2021-07-21 17:59:49 +10:00
Andrew Tridgell
17f93b8a94 AP_DAL: update GPS yaw API to add timestamp 2021-07-21 17:59:49 +10:00
Andrew Tridgell
e5d878eebd 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
 2021-07-21 17:59:49 +10:00
Andrew Tridgell
0b9cde5812 AP_NavEKF3: fixed indentation in readGpsData() 2021-07-21 17:59:49 +10:00
Andy Piper
ca477d09ed AP_BLHeli: ensure correct rotation through telemetry ESCs 2021-07-21 17:18:12 +10:00
bugobliterator
48b8fdfd48 AP_HAL_ChibiOS: make linecoding objects static arrays 2021-07-21 17:06:41 +10:00
bugobliterator
4b8b0f834d AP_HAL: add support for usb passthrough with baud changes 2021-07-21 17:06:41 +10:00
bugobliterator
d1b0438412 AP_HAL_ChibiOS: add support for usb passthrough with baud changes 2021-07-21 17:06:41 +10:00
bugobliterator
f3bc75c538 GCS_MAVLink: add support for passthrough with baud changes 2021-07-21 17:06:41 +10:00
Michael Oborne
d622aad592 AP_HAL_ChibiOS: add get_usb_baud - support for usb baudrate 2021-07-21 17:06:41 +10:00
Willian Galvani
57c6f54a51 AP_LeakDetector: update leak pin for navigator r3 in metadata 
follow-up to 397def7b9e
 2021-07-21 17:04:27 +10:00
Randy Mackay
c55c160f48 AC_WPNav: use get_terrain_margin instead of constant 2021-07-21 16:03:44 +09:00
Randy Mackay
fb5c458132 AC_WPNav: add TER_MARGIN param 2021-07-21 16:03:44 +09:00
Leonard Hall
ff1843a79c AC_AttitudeControl: AC_PosControl: Auto Terain following update 2021-07-21 16:03:44 +09:00
Leonard Hall
5dcfee07d9 AC_WPNav: Auto Terain following update 2021-07-21 16:03:44 +09:00
Leonard Hall
9d845759f8 AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe 2021-07-21 15:40:41 +09:00
Leonard Hall
ce254153c1 WP_Nav: Return Crosstrack error 2021-07-21 15:40:41 +09:00
Leonard Hall
f130503cc7 AC_AttitudeControl: AC_PosControl: calculate cross track 2021-07-21 15:40:41 +09:00
Peter Barker
b89824b3ba AP_NavEKF: log EKF data source set in XKFS 2021-07-21 16:31:53 +10:00
Peter Barker
a4410a4b2e AP_NavEKF3: log EKF data source set in XKFS 2021-07-21 16:31:53 +10:00
bugobliterator
6988bf862b AP_NavEKF: fix running out of max stack limit on debug builds 2021-07-21 11:27:52 +10:00
Peter Barker
a92fc7845c AP_AHRS: remove unused active_accel_instance 
Not a great member function as only DCM updates this
 2021-07-20 20:37:40 +10:00
Peter Barker
b185d84dc5 AP_AHRS: remove unused _gps_delay variable 2021-07-20 15:24:45 +09:00
honglang
ef109721fe AP_HAL_ChibiOS: hwdef: reorder CUAV-X7 IMUs 
adjust the sequence of IMU sensors to have good performance.
 2021-07-20 16:10:50 +10:00