0ee9dbc059
AC_AttitudeControl: Fix Angle Vel units on function
4 years ago
988f2dbb7e
AP_Hal_ChibiOS: Skyviper Parameters PSC_VELXY_FLTE
4 years ago
2e6e3d7b89
AC_AttitudeControl: AC_PosControl: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
4 years ago
b3a10e45ba
AC_PID: fix PID filter names FILT -> FLTE, D_FILT -> FLTD
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Follow used guided but references the maximum velocity settings. As Guided does not set maximum velocities these values come back as zero. So we need to reference WP_Nav to get safe maximums.
4 years ago
516df460b8
AP_GPS: added doc message for bit 2 of DRV_OPTIONS
4 years ago
f735804035
AP_GPS: added GPS_DRV_OPTIONS bit for forcing ublox GPS to 115200
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this may help with some GPS modules
4 years ago
796fdab984
AP_HAL_ChibiOS: probe for compasses on FlywooF745
4 years ago
3c5bd942a6
AP_NavEKF3: skip GSF reset count check if source actively changed
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also only fail all compass on emergency reset
4 years ago
c00fa705b7
AP_NavEKF3: fixed output LLH to account for IMU offset
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thanks to Paul and Randy
4 years ago
8d41b2225b
AC_AttitudeControl: Support thrust to weight of 10:1
4 years ago
d2c084bf69
AP_Motors: remove tri yaw servo from motor mask
4 years ago
d7c72af849
AP_GPS: added arming checks for yaw available on ublox RTK rover
4 years ago
62d89e840f
AP_RangeFinder: use separate register_driver method while contructing CAN Driver
4 years ago
f33188b95f
AP_EFI: use separate register_driver method while contructing CAN Driver
4 years ago
b8c2a18eaf
AP_BattMonitor: use separate register_driver method while contructing CAN Driver
4 years ago
cf535481e9
AP_CANSensor: create a separate register driver method
4 years ago
c1f72d6683
AP_AHRS: build fix
4 years ago
b2c24a0b58
AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults
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These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
4 years ago
762529a987
AP_NavEKF3: retune wind process noise for better airspeed fault detection
4 years ago
dd9cc70ad4
AP_NavEKF3: Fix bug preventing copter wind estimation at low speed
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Also re-tunes process noise default for smoother wind velocity state estimates.
4 years ago
84693ea3c4
AP_NavEKF3: Revert EK3_BETA_MASK parameter extension
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These are not required due to use of bit 7 in FLIGHT_OPTIONS to achieve the same function.
4 years ago
d841615710
AP_NavEKF3: Rework non-airspeed wind estimation
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Faster wind estimation when not using airspeed with acceptable noise in wind velocity estimates.
4 years ago
1812d8ea3a
AP_NAvEKF3: use #define value for bad IMU hold time
4 years ago
6d6699f9f9
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
4 years ago
7abecb4e0e
AP_NavEKF3: Use sensor variance when checking for bad IMU
4 years ago
1cc7dc59a1
AP_NavEKF3: Make bad IMU status more persistent
4 years ago
6907fa8e88
AP_AHRS: Add accessor function for vibration affected status
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AP_AHRS: fix rebase build error
4 years ago
662bda1bbd
AP_NavEKF3: Add accessor function for vibration affected status
4 years ago
f37caffb31
AP_NavEKF3: Don't update accel bias states if vibration affected
4 years ago
36ead940d6
AP_NavEKF3: Use large accel process noise when IMU data is bad
4 years ago
82ed96a927
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
4 years ago
3714c1b2e2
AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning
4 years ago
a24df9d633
AP_NavEKF3: Retune IMU process noise
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Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
4 years ago
5a3e0e7f17
AP_NavEKF3: Make gyro bias learning less noisy
4 years ago
827d871c85
AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight
4 years ago
aa13e86ac9
AP_NavEKF3: Change powf(x,2) to sq(x)
4 years ago
cb6371e952
AP_NavEKF3: Update covariance prediction equations
4 years ago
4f8f187b81
AP_NavEKF3: Use alternate form for quaternion to rotmat equations in derivation
4 years ago
7f3bc8ba1f
AP_Math: fix uses of single precision
4 years ago
92008ebb8f
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
4 years ago
cca86c7a24
AC_WPNav_OA: minor formatting and comment fixes
4 years ago
0a5d6c48e6
AC_WPNav_OA: separate handlers for results from Dijkstra's and BendyRuler
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also bendy ruler uses pos controller
4 years ago
55e23d7230
AC_Avoidance: BendyRuler returned destination are shortened
4 years ago
ae81e8ab2b
AC_Avoidance: bendy ruler format fixes
4 years ago
f98efd7ef8
AC_Avoidance: OA_PathPlanner returns which planner was used
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this replaces get_bendy_type
4 years ago
1536249b33
AC_Avoidance: BendyRuler returns which type was used
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also make serach_xxx_path methods private
4 years ago
d946a2c95d
AP_Common: add Location::linear_interpolate_alt
4 years ago
b6ce206c3d
AP_BLHeli: ensure correct rotation through telemetry ESCs
4 years ago
9f2bfd330d
AC_WPNav: remove unused variable following https://github.com/ArduPilot/ardupilot/pull/18076
4 years ago
9d1a51969b
AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe
4 years ago
Leonard Hall
Andrew Tridgell
Andy Piper
Randy Mackay
bugobliterator
Paul Riseborough
Paul Riseborough
Pierre Kancir