Randy Mackay
655ddd4ab3
AC_Avoidance: Dijkstra's ignores invalid polygon fences
6 years ago
Randy Mackay
614b0f6dc8
AP_Math: Polygon_intersects handles unclosed polygons
6 years ago
Andrew Tridgell
7441dcddfa
Tools: updated IO firmware for IBUS support
6 years ago
PraiseSatan
bad5fb418d
AP_RCProtocol: added ibus RX support to recieve channel data from ibus transmitters.
6 years ago
Andrew Tridgell
92783bccfa
AP_NavEKF3: don't allow height datum reset when not on ground
6 years ago
Andrew Tridgell
e8d9a1fae9
AP_NavEKF2: don't allow height datum reset when not on ground
6 years ago
Andrew Tridgell
3f9e48951b
AP_NavEKF3: set terrainState to zero on height datum reset
6 years ago
Andrew Tridgell
f5fd38aef2
AP_NavEKF2: set terrainState to zero on height datum reset
6 years ago
Andrew Tridgell
f3fc910abe
AP_NavEKF3: continuously update gpsGoodToAlign
...
use it to determine how to handle a height datum reset
6 years ago
Andrew Tridgell
9372073f63
AP_NavEKF2: continuously update gpsGoodToAlign
...
use it to determine how to handle a height datum reset
6 years ago
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
a38b030c41
RC_Channel: disable kill IMU with HAL_MINIMIZE_FEATURES
6 years ago
Andrew Tridgell
8e5c0fa32b
AP_InertialSensor: disable kill IMUs with HAL_MINIMIZE_FEATURES
6 years ago
Andrew Tridgell
2208689893
AP_NavEKF3: don't use disabled gyros in opticalflow takeoff detection
6 years ago
Andrew Tridgell
ddef40fa3d
AP_NavEKF2: don't use disabled gyros in opticalflow takeoff detection
6 years ago
Andrew Tridgell
a45e364252
AP_Mount: don't use disabled IMUs in solo gimbal code
6 years ago
Andrew Tridgell
3dd7e7e83a
AP_AHRS: only use enabled IMUs in DCM
...
honor the INS_USE parameters for DCM
6 years ago
Andrew Tridgell
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
Andrew Tridgell
3444e82ef9
AP_InertialSensor: added RC switch for killing IMUs
6 years ago
Andrew Tridgell
30d27147a8
RC_Channel: added RC switch for killing IMUs
6 years ago
Andrew Tridgell
898150e460
HAL_ChibiOS: cope with calling delay_microseconds_boost() multiple times
...
needed for updated IMU wait code
6 years ago
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Randy Mackay
030eab0f86
AR_WPNav: stop vehicle if OA processing fails
6 years ago
Randy Mackay
951ded1f51
AP_OAPathPlanner: report errors to caller
6 years ago
Michael du Breuil
104164d2e4
AP_Scripting: Tighten range checks on library calls
6 years ago
Peter Barker
bb677756a0
Tools: Replay: EKF logging moved to AHRS from logger
6 years ago
Peter Barker
ce45baa034
AP_NavEKF3: factor out and logging functions, reuse for 2nd core
6 years ago
Peter Barker
6a0a466f42
AP_NavEKF2: factor out and logging functions, reuse for 2nd core
6 years ago
Peter Barker
b6efd0bea1
Sub: EKF logging moved into EKF from logger
6 years ago
Peter Barker
1674cb0a85
Plane: EKF logging moved into EKF from logger
6 years ago
Peter Barker
40a3bf94f4
Copter: EKF logging moved into EKF from logger
6 years ago
Peter Barker
befc150d0e
Tracker: EKF logging moved into EKF from logger
6 years ago
Peter Barker
ca03c5b2a9
Rover: EKF logging moved into EKF from logger
6 years ago
Peter Barker
9732940220
AP_AHRS: navekf: add Log_Write access point
6 years ago
Peter Barker
f3f364de26
AP_NavEKF3: move logging in from AP_Logger
6 years ago
Peter Barker
5175d23cc1
AP_NavEKF2: move logging in from AP_Logger
6 years ago
Peter Barker
e009b7aee5
AP_Logger: move logging of EKF packets out to EKF
6 years ago
Peter Barker
c6533723de
GCS_Param: correct sending of parameters of length 16
6 years ago
Andrew Tridgell
5ffb8bb546
AP_HAL: enable GPIO scripting on the Disco
6 years ago
Andrew Tridgell
ea212af2e5
Tools: added an example gpio.sh for the disco
...
trigger camera actions
6 years ago
Andrew Tridgell
2bab0efc41
HAL_Linux: implement HAL_GPIO_SCRIPT support
...
this allows Linux boards to trigger an external script on GPIO
writes. This can be hooked up to relays with either RC options or
mavlink or mission items to trigger actions that can be scripted
6 years ago
Andrew Tridgell
8a49c84d57
AP_Motors: fixed col max and min for dual heli
...
fixes H_SV_MAN behaviour
6 years ago
Andrew Tridgell
0f4c54aaa6
AP_RCProtocol: fixed a overflow in SRXL decoder
...
thanks to coverity 343308 and Peter for noticing
6 years ago