21dfefa5f2
Tool: Allow more time for quadplane autotest to land and disarm
4 years ago
84693ea3c4
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.
4 years ago
645386cba6
Plane: disable EKF3 default airspeed fusion by default
...
this fusion can cause problems with wind estimation, disable by
default for now
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
3e4375e453
Copter: rework ekf_check to use the EKF vibration_affected status
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
ed30a7ce35
Tools: relax navigation test accuracy
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
8db073a8d6
Tools: Fix AIRSPEED_AUTOCAL test failure
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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.
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
65d0dcf3b7
Tools: split yaw-vehicle-for-mount-roi test out
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
0211676b90
Copter: Guided and Loiter mode returns Crosstrack error
4 years ago
efd854562f
WP_Nav: Return Crosstrack error
4 years ago
8e31de412c
AC_AttitudeControl: AC_PosControl: calculate cross track
4 years ago
aad2f883d6
AC_WPNav: use get_terrain_margin instead of constant
4 years ago
c737e0cc47
Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN
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# Conflicts:
# ArduCopter/Parameters.cpp
# ArduCopter/Parameters.h
# ArduCopter/terrain.cpp
4 years ago
9775d23883
AC_WPNav: add TER_MARGIN param
4 years ago
dbf1020c16
AC_AttitudeControl: AC_PosControl: Auto Terain following update
4 years ago
185c6cf845
AC_WPNav: Auto Terain following update
4 years ago
b032b812ce
Copter: Fix guided yaw bug.
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# Conflicts:
# ArduCopter/GCS_Mavlink.cpp
4 years ago
e4392e3ce6
Copter: simplify throttle-is-unlimited check
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Now not the same pattern as the other checks - but it is much shorter
4 years ago
c131d3b1a5
Copter: wait for motors to spool up before trying to upright vehicle
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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.
4 years ago
77148ae853
Copter: constify some ModeThrow methods
4 years ago
e2bf62e7fe
iomcu: update for pulse width changes
4 years ago
3efb3336a5
AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot
4 years ago
Paul Riseborough
Andrew Tridgell
Paul Riseborough
Peter Barker
Randy Mackay
Andy Piper
Pierre Kancir
Leonard Hall