8647dda8a9
AP_Airspeed: add and use instance number to ARSP message
4 years ago
c291107f50
Filter: correct grammar on HNTCH docs
4 years ago
726307cb31
Filter: correct harmonic notch docs and provide better defaults.
4 years ago
3baaa84de1
AP_OSD: remove duplicate parameter definition
4 years ago
6c3948f417
AP_NavEKF_Source: optimise configured_in_storage
...
This small CPU optimisation takes advantage of the fact that once configured in storage is true it will always remain true
4 years ago
bce4fd43a3
SITL: fixed GPS POS parameters
...
SIM_GPS2_POS1_* makes no sense
4 years ago
05194ed8b6
AP_GPS: don't accept infinite accuracies for blending
...
these result in NaN values for velocities
4 years ago
83c479bcc2
AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values
...
this can happen due to the complex encodings of accuracies in UAVCAN
4 years ago
a762926526
AP_GPS: fixed constrained NaN in EKF3 caused by bad GPS blending
...
if the accuracies reported are very low then we can do a division by
zero and this results in a constraining NaN for GPS vertical velocity
filter in NavEKF3_core::calcGpsGoodToAlign
4 years ago
6534557832
Tools: fix replay build on build_ci.sh
4 years ago
935d39322c
autotest: correct test for mode-change-reason change
4 years ago
f0c22244a5
GCS_MAVLink: correct response codes when mode change fails
...
Was "UNSUPPORTED", which is supposed to mean, "Command is not supported"
Now is either "DENIED" (Command is invalid (is supported but has invalid
parameters)) or "FAILED" (Command is valid, but execution has failed.)
We should probably returned DENIED if we try to change to a mode which
doesn't exist, but that would require another callback on AP_Vehicle.
It would also lead to questions around what a valid mode is - so
QSTABILIZE if quadplane is disabled in Plane, for example.
4 years ago
f128d8c549
gitignore: ignore .pydevproject from Eclipse Python plugin
4 years ago
c2e3520add
Sub: update release notes for 4.0.2
4 years ago
4415d4ed56
Sub: update release notes for 4.0.1
4 years ago
200b085eea
AP_NavEKF3: move XKY0 and XKY1 to be normal log structures (from Log_Write)
4 years ago
e1a033b296
AP_NavEKF3: make logging a core concern
...
Also dissolve some methods only used for logging
4 years ago
914629351f
AP_NavEKF3: use scalar rather than array for state-prediction-allowed
...
EKF2 needs this for choosing alternate cores. EKF3 does not.
4 years ago
e4f4868d9b
HAL_ChibiOS: add QMC5883L on QioTekZealotF427
...
add QMC5883L on QioTekZealotF427
4 years ago
35c2d13e2f
HAL_Linux_Class: specify per board external clock frequency for RCOutput_PCA9685 drivers
4 years ago
e64d9816ce
RCOutput_PCA9685: allow different external clock frequencies
...
The PCA9685 may use an external clock 0~50MHz
Specify the external clock frequency in constructor arguments for each board HAL
4 years ago
8561f5239d
AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate
4 years ago
fe81387433
AP_NavEKF: allow init twice
...
this can happen if setup_core() fails with low mem and is called again
4 years ago
1e4b1d7563
AP_NavEKF3: convert to using common buffer classes
...
this saves a considerable amount of flash
4 years ago
39ba8a8c83
AP_NavEKF2: convert to using common buffer classes
...
this saves a considerable amount of flash
4 years ago
e4a9497942
AP_NavEKF: added common EKF buffer classes
4 years ago
b1594f96c0
.github: move periph test out of copter file
4 years ago
f40a5b978e
.github: reduce duplicate for GCC and Clang build
4 years ago
d1983b0b77
AP_NavEKF3: fixup source param conversion
...
shorten param conversion config error
if gps and optical flow are enabled we default SRC2_VELXY to optflow
convert_params run from InitialiseFilter
ensure param conversion only run once
4 years ago
0119c48e1e
AP_NavEKF_Source: add mark_configured_in_storage
4 years ago
50b2cf136f
AP_NavEKF_Source: default OPTIONS to 1 (fuse all velocities)
4 years ago
04e3623620
AP_NavEKF3: improve MAG_CAL vs EK3_SRCn_YAW checks
...
MAG_CAL param description include deprecated values
Pre-arm check of MAG_CAL using deprecated values
effective_magCal interprets 5 (was EXTERNAL_YAW) as Never, 6 (was EXTERNAL_YAW_FALLBACK) as WhenFlying
Update comments in param conversion from MAG_CAL to EK3_SRC1_YAW
4 years ago
36c946113d
AP_NavEKF3: handle compass fallback in yaw source reset
...
if we get to this point we must be using the compass fallback logic,
and should do the reset
4 years ago
f257dc20d0
Tools: add test.Copter.GPSViconSwitching to CopterTests1d
4 years ago
bf5c74dbdb
AP_Scripting: ahrs-source example script
...
switches automatically between gps, external nav and optical flow
4 years ago
2b9fb79d72
AP_Scripting: add bindings for set_posvelyaw_source and get_vel_innovations
4 years ago
b6fe039a9f
Tools: autotest for beacon sets EK3_SRC params
4 years ago
9dbfb99cc3
AP_VisualOdom: add align_position_to_ahrs
4 years ago
04655d9698
RC_Channel: add aux switch to change the EKF's sensor sources
4 years ago
4b542aa714
AP_AHRS: add get_vel_innovations_and_variances_for_source
4 years ago
dc5d1d099b
AP_AHRS: add set_posvelyaw_source_set
4 years ago
8895d20c45
AP_NavEKF3: rename setPosVelYawSourceSet
4 years ago
5eb3875ebb
AP_NavEKF3: rename posxy_source_last and posxy_source_reset
4 years ago
f88364d653
AP_NavEKF3: use_compass minor order fixup
4 years ago
b475f01b25
AP_NavEKF3: update comments
4 years ago
0f8d0ef11b
AP_NavEKF3: move sources to 2nd bank of parameters
4 years ago
33b6212cce
AP_NavEKF3: rename _sources to sources
4 years ago
9716b09cad
AP_NavEKF3: minor indenting fix
4 years ago
6daaa06317
AP_NavEKF3: integrate AP_NavEKF_Source::useVelXYSource
...
also integrate useVelZSource
4 years ago
72ee7d15e1
AP_NavEKF3: fixup for AP_DAL
4 years ago
Peter Barker
Andy Piper
Randy Mackay
Andrew Tridgell
Pierre Kancir
Tom Pittenger
Jacob Walser
Willian Galvani
QioTek
Paul Riseborough