aepko/Ardupilot2
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42,003 Commits 72 Branches 509 Tags 683 MiB
f0e11d9a5c
Commit Graph

22522 Commits

Author SHA1 Message Date
Randy Mackay
f0e11d9a5c AP_VisualOdom: add IntelT265 backend 2020-04-09 19:41:08 +09:00
Randy Mackay
a41b169635 AP_VisualOdom: front-end implements handle_vision_position_estimate with eulers 2020-04-09 19:41:08 +09:00
Randy Mackay
3530d5b348 AP_VisualOdom: MAV driver implements handle_vision_position_estimate 2020-04-09 19:41:08 +09:00
Randy Mackay
c78b1ab3bf AP_VisualOdom: rename handle_vision_position_delta_msg 2020-04-09 19:41:08 +09:00
Randy Mackay
b519d285a6 AP_VisualOdom: get_orientation made public 
also remove unnecessary friends
 2020-04-09 19:41:08 +09:00
Randy Mackay
c36dfc448d AP_VisualOdom: handle_msg directly updates EKF 2020-04-09 19:41:08 +09:00
Randy Mackay
0eb1ef1f08 AP_VisualOdom: add handle_vision_position_estimate 
also add pre_arm_check
 2020-04-09 19:41:08 +09:00
Randy Mackay
1cf9655b4a AP_VisualOdom: TYPE param becomes enable flag and reboot required 2020-04-09 19:41:08 +09:00
Randy Mackay
61a06bbb04 AP_Math: add quaternion rotate, from_rotation and invert 2020-04-09 19:41:08 +09:00
Randy Mackay
338548c5eb AP_Math: move HALF_SQRT_2 def to rotation.h 
This allows it to be used by the Quaternion class
 2020-04-09 19:41:08 +09:00
Randy Mackay
b0b78e974b AP_AHRS: add get_quaternion 2020-04-09 19:41:08 +09:00
Randy Mackay
e1c623183e AP_AHRS: minor comment fix and move var_info lower 2020-04-09 19:41:08 +09:00
Randy Mackay
24bb4876a8 AP_AHRS: move is_ext_nav_used_for_yaw to parent 2020-04-09 19:41:08 +09:00
Randy Mackay
c0187fe05f AP_Logger: add log message description for VISO 2020-04-09 19:41:08 +09:00
Randy Mackay
f18be824ea AP_Logger: add VISP message 2020-04-09 19:41:08 +09:00
chobits
63320f140a AP_Logger: constraints time spend in header writing, more complete 2020-04-09 19:17:17 +10:00
chobits
b829384fdf AP_Logger: constraints time spended in header writing 2020-04-09 19:17:17 +10:00
Andrew Tridgell
dd4cf6ccdd AP_Compass: change RM3100 device ID 
changed scale factor means users need to recalibrate
 2020-04-08 11:21:51 +10:00
Andrew Tridgell
18c3efc377 AP_Compass: fixed scaling of RM3100 
scale factor was off by 200/256, resulting in COMPASS_SCALE of about
1.28

thanks to Arace for noticing
 2020-04-08 11:21:51 +10:00
Peter Barker
5e4cbb0a3f AP_EFI: correct duplicate-label problem in EFI2 log message 2020-04-08 11:17:41 +10:00
Samuel Tabor
4a39a43c10 AP_Soaring: Add log documentation. 2020-04-08 09:11:54 +10:00
Samuel Tabor
b9daae062c AP_Soaring: Use enum class rather than typedef enum for states and hide details of these. 2020-04-08 09:11:54 +10:00
Samuel Tabor
3228cc3309 AP_TECS: Update descriptions of pitch feed-forward parameters. 2020-04-08 09:11:54 +10:00
Samuel Tabor
6e75890bd9 AP_Soaring: Add a low pass of target position from EKF before using it. 2020-04-08 09:11:54 +10:00
Samuel Tabor
f23efdd13b AP_Soaring: Make vario time constant public. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d04c6cb02e TECS: Don't override the speedweight to 0 if synthetic airspeed is in use. 2020-04-08 09:11:54 +10:00
Samuel Tabor
56649fa8eb AP_Soaring: Fix too-long status message. 2020-04-08 09:11:54 +10:00
Samuel Tabor
d54c7f1b7a AP_Soaring: Fix bug when no soaring activation RC channel set. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fbd0df81a7 AP_Soaring: Report changes in active status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
e1f7122566 AP_Soaring: Improve tracking of enabled/disabled status. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5ac801b2ac AP_Soaring: Use 64 bit variable for time to avoid overflow. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2260fda4ec AP_Soaring: Detect changes in active parameter/switch position. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fdf7eae01c AP_Soaring: Adjust initial EKF values and limit R to 40.0m. 2020-04-08 09:11:54 +10:00
Samuel Tabor
ff1725b549 AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode. 2020-04-08 09:11:54 +10:00
Samuel Tabor
1160c59a89 AP_Soaring: Remove dsp bias and log this. 2020-04-08 09:11:54 +10:00
Samuel Tabor
c28c573da1 AP_Soaring: Also log acceleration. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7555f5abf8 AP_Soaring: Fix incorrect trig function and log the expected sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
17f1fa9600 AP_Soaring: Fix use of double precision sqrt. 2020-04-08 09:11:54 +10:00
Samuel Tabor
7d3ff28974 AP_Soaring: Correct bug with reversed arguments. 2020-04-08 09:11:54 +10:00
Samuel Tabor
16b7de4029 AP_Soaring: Cleanup variometer. 2020-04-08 09:11:54 +10:00
Samuel Tabor
62a34e0f8d AP_Soaring: Calculate filter time constant based on airspeed and loiter radius, using 3x circline rate. 2020-04-08 09:11:54 +10:00
Samuel Tabor
2b40182b34 AP_Soaring: Reduce drift feed-forward by ratio of climb rate to thermal core strength. This is consistent with assumption that each packet of air, rising at core strength, is convected with the ambient wind speed. 2020-04-08 09:11:54 +10:00
Samuel Tabor
15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction." 2020-04-08 09:11:54 +10:00
Samuel Tabor
8072f6b858 AP_Soaring: Make the trigger VSPEED take account of thermalling sink. 2020-04-08 09:11:54 +10:00
Samuel Tabor
650b464831 AP_Soaring: Move drift check to separate function and check drift with reference to mission segment, allowing drift in right direction. LOITER target, not current position, is now used. 2020-04-08 09:11:54 +10:00
Samuel Tabor
45cb663d73 AP_Math: Add template for Vector2f::projected. 2020-04-08 09:11:54 +10:00
Samuel Tabor
fab74f8927 AP_Soaring: Calculate expected thermalling sink live and avoid divide by zero by limiting airspeed to that corresponding to CL max (generously assumed 1.5 for glider). 2020-04-08 09:11:54 +10:00
Samuel Tabor
75f772b269 AP_Soaring: Add SOAR_MAX_RADIUS parameter, that defines when a RTL will be used when exiting LOITER. 2020-04-08 09:11:54 +10:00
Samuel Tabor
684ee11fc3 AP_TECS: Add flags to indicate gliding flight, and use these with AP_Soaring. 2020-04-08 09:11:54 +10:00
Samuel Tabor
dc8c062fbe AP_TECS: Correct an error in the SEBdot FF term. 2020-04-08 09:11:54 +10:00