966deb1148
AP_NavEKF: sync for 4.1.0beta
4 years ago
5660d31ca2
AP_Math: sync for 4.1.0beta releases
4 years ago
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
4 years ago
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.
4 years ago
c4dbbfcc07
AP_NavEKF3: pass NavEKF failures back up to callers
4 years ago
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
4 years ago
93e1bd0160
AP_NavEKF3: fixed indentation in readGpsData()
4 years ago
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.
4 years ago
3df7c1a7c7
AP_NavEKF3: moved checkUpdateEarthField to be called less often
4 years ago
5543706626
AP_NavEKF3: update earth field at 1Hz
...
this prevents large mag errors on long distance flights
4 years ago
a8844a8428
AP_Common: added ftype precision offset call
...
# Conflicts:
# libraries/AP_Common/Location.cpp
# libraries/AP_Common/Location.h
4 years ago
87b4ca47e8
AP_NavEKF3: convert code_gen.py to ftype
4 years ago
7bb971f07d
AP_NavEKF3: convert powF(xx,2) calls to sq(xx)
4 years ago
395d2f1f7e
AP_NavEKF3: convert EKF3 derivation to ftype
4 years ago
63de37341c
HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777 and H7
4 years ago
4f0f4608b9
AP_NavEKF3: allow for double EKF build
4 years ago
601eb12efb
AP_NavEKF2: allow for double EKF build
4 years ago
78e87b32d6
AP_NavEKF: allow for double EKF build
4 years ago
557fee7add
AP_Mount: use ZERO_FARRAY()
4 years ago
045f8f2299
AP_Motors: fixup build for ftype conflict
4 years ago
9246442482
AP_Common: added double methods for SITL
4 years ago
c1012d69ab
SITL: fixup offset calls
4 years ago
dddd78daf7
AP_Math: allow for double EKF build
4 years ago
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.
4 years ago
4e4646d9d7
AP_HAL: allow for double EKF build
4 years ago
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
4 years ago
07acfd49b2
AP_Notify: disable DShot buzzer by default
4 years ago
1f324d7cbf
AP_Notify: re-enable display on 1Mb boards
4 years ago
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
4 years ago
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
4 years ago
3900a4f14a
GCS_MAVLink: send water depth and temp
4 years ago
a7f31929ea
AP_Common: use longitude scaling from definitions.h
4 years ago
978ea307b0
AP_Math: fixed the value LATLON_TO_CM
...
it didn't have enough digits of precision, and was inconsistent with
LOCATION_SCALING_FACTOR
4 years ago
819c331acd
AP_BattMonitor: correct static_assert call
4 years ago
67ebdc300b
AP_HAL_SITL: reduce scope of loop variable
4 years ago
fcde1e7370
AC_WPNav: use shaping_tc_z_s for terrain following time constant.
4 years ago
8f493e3021
AC_AttitudeControl: Add shaping_tc_z_s accessor
4 years ago
f12a7dd04b
AP_Mount: fixed longitude subtraction
4 years ago
f69e2a49f6
AP_Common: add test for longitude wrapping
4 years ago
77d83b9c77
AP_Common: fixed Location class for wrap at 180 degrees longitude
...
this allows us to fly missions across the date line
4 years ago
5475d1153c
AC_PosControl: fixup ekf reset
4 years ago
4895a08ab2
AP_IRLock: convert SITL backends to double precision position
4 years ago
f209504a12
AC_PrecLand: convert SITL backends to double precision position
4 years ago
aa03afafa7
AP_Math: added matrix3 tofloat and todouble
4 years ago
61faeb2d7f
AP_Common: added double methods for SITL
4 years ago
fb275c9874
SITL: convert to double precision for positions
4 years ago
1d00cab9e6
AC_WPNav: convert circle, loiter and WPNav to double position
4 years ago
66186e5221
AC_AttitudeControl: convert poscontrol to use double position
4 years ago
c8079a318c
AC_PID: convert AC_P_2D to double
4 years ago
9b91cfe4ee
AP_Math: implement double versions of some position control methods
4 years ago
Andrew Tridgell
Peter Barker
Andy Piper
Randy Mackay
Leonard Hall