28288a7329
BoardConfig_CAN: remove singleton interface for slcan_router
6 years ago
7c00aa6477
modules: update ChibiOS
6 years ago
3e194903cc
AP_UAVCAN: add Flow message to the sniffer test
6 years ago
67c925865c
HAL_ChibiOS: add support for CAN on STM32H7 boards
6 years ago
1cd8e0e237
BoardConfig: set slcan can port to 0 as default
...
This is to ensure that can bus filters are actually used
6 years ago
8de169b1ce
waf: remove redundant src includes for libuavcan drivers
6 years ago
b123abbe90
AP_Notify: add SITL Notify display
6 years ago
cd2ec1f57f
Copter: remove set_default_dead_zone statement with no effect
...
This is immediately undone in the unconditional code below the #if
6 years ago
ebbd2b971b
Copter: correct compilation under toymode
6 years ago
a61028c55d
AP_HAL_ChibiOS: disable scripting if USE_FATFS=no
6 years ago
306783211b
Tools: waf: understand DISABLE_SCRIPTING from the board configuration
6 years ago
6dd906f07f
HAL_SITL: Integrating Silent Wings SITL with the sim_vehicle
6 years ago
3330b62d3c
SITL: aded support for SilentWings simulator
6 years ago
bd3d352554
AC_Avoidance: remove comment from Dijkstra's
6 years ago
655ddd4ab3
AC_Avoidance: Dijkstra's ignores invalid polygon fences
6 years ago
614b0f6dc8
AP_Math: Polygon_intersects handles unclosed polygons
6 years ago
7441dcddfa
Tools: updated IO firmware for IBUS support
6 years ago
bad5fb418d
AP_RCProtocol: added ibus RX support to recieve channel data from ibus transmitters.
6 years ago
92783bccfa
AP_NavEKF3: don't allow height datum reset when not on ground
6 years ago
e8d9a1fae9
AP_NavEKF2: don't allow height datum reset when not on ground
6 years ago
3f9e48951b
AP_NavEKF3: set terrainState to zero on height datum reset
6 years ago
f5fd38aef2
AP_NavEKF2: set terrainState to zero on height datum reset
6 years ago
f3fc910abe
AP_NavEKF3: continuously update gpsGoodToAlign
...
use it to determine how to handle a height datum reset
6 years ago
9372073f63
AP_NavEKF2: continuously update gpsGoodToAlign
...
use it to determine how to handle a height datum reset
6 years ago
b9a5794671
AP_NavEKF3: ensure that both AMSL and relative alt are correct after a reset
...
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
6 years ago
20ebb2500b
AP_NavEKF2: ensure that both AMSL and relative alt are correct after a reset
...
this forces the EKF origin to the GPS alt on a height datum reset if
we have GPS lock. If we don't do this then the reported AMSL alt will
drift over time away from the GPS alt when we reset while on the
ground
6 years ago
ff08de033e
Plane: fixed home reset alt bias
...
this fixes a bug in the set of home alt while disarmed. The set had a
circular dependency which could cause a large bias to build up between
home alt and gps alt due to small fluctuations in barometer data
Thanks to Nick Allen for spotting this
6 years ago
a38b030c41
RC_Channel: disable kill IMU with HAL_MINIMIZE_FEATURES
6 years ago
8e5c0fa32b
AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES
6 years ago
2208689893
AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection
6 years ago
ddef40fa3d
AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection
6 years ago
a45e364252
AP_Mount: don't use disabled IMUs in solo gimbal code
6 years ago
3dd7e7e83a
AP_AHRS: only use enabled IMUs in DCM
...
honor the INS_USE parameters for DCM
6 years ago
09d3392aee
AP_InertialSensor: zero accumulators on time step
...
this zeros the delta angle and delta velocity accumulators when a
sensor is unavailable for a period of 0.1s. This prevents garbage
values being passed into the EKF when a sensor dies and then becomes
available again some time later
6 years ago
3444e82ef9
AP_InertialSensor: added RC switch for killing IMUs
6 years ago
30d27147a8
RC_Channel: added RC switch for killing IMUs
6 years ago
898150e460
HAL_ChibiOS: cope with calling delay_microseconds_boost() multiple times
...
needed for updated IMU wait code
6 years ago
053f0cb689
AP_InertialSensor: try much harder to get all IMU samples
...
this we ensures we get new data for all active IMUs on each loop,
rather than sometimes returning with some IMUs not having data.
This matters as not having a sample on an IMU for a single loop can
cause an EKF IMU failover, which will degrade the learned bias
variances
The issue is usually only seen under high load, such as requesting a
loop rate beyond what the hardware is capable of
6 years ago
209bca162c
AP_NavEKF3: added inactive bias learning
...
this allows for biases on inactive IMUs to be learned so that an IMU
switch within an EKF lane does not cause a jump in the IMU data
6 years ago
1c4c5a6850
AP_NavEKF2: learn gyro biases for inactive gyros
...
this allows us to learn the gyro biases each lane would need if it had
to switch to another gyro due to a sensor failure. This prevents a
sudden change in gyro bias on IMU failure
6 years ago
aa18c75689
Plane: decay fw rate integrators when at low airspeed
...
this prevents large fixed wing control surface integrators from
causing issues when we have wind from behind in hover
6 years ago
05bd0cb9f4
APM_Control: added decay_I() function
...
used by VTOL planes to decay integrator on fixed wing components when
at very low airspeed
6 years ago
ebe2278f5d
Plane: reset rate controller integrators if not run for 2s
...
this prevents a bug where integrator buildup can happen from a
previous flight mode
6 years ago
030eab0f86
AR_WPNav: stop vehicle if OA processing fails
6 years ago
951ded1f51
AP_OAPathPlanner: report errors to caller
6 years ago
104164d2e4
AP_Scripting: Tighten range checks on library calls
6 years ago
bb677756a0
Tools: Replay: EKF logging moved to AHRS from logger
6 years ago
ce45baa034
AP_NavEKF3: factor out and logging functions, reuse for 2nd core
6 years ago
6a0a466f42
AP_NavEKF2: factor out and logging functions, reuse for 2nd core
6 years ago
b6efd0bea1
Sub: EKF logging moved into EKF from logger
6 years ago
Siddharth Purohit
Peter Barker
U-REDMOND\akolobov
Randy Mackay
Andrew Tridgell
PraiseSatan
Michael du Breuil