Add UAVCAN IMU support#118

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tridge wants to merge 155 commits intomttr-rebase-4.0from

pr-can-imu-4.0

Commits on Apr 3, 2020

build: switched to MttrCubeBlack for travis testing

jschall
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AC_PrecLand: add send_landing_target

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AC_PrecLand: add acceleration bias learning

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AC_PrecLand: account for vertical offset of camera when computing depth

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AC_PrecLand: add get_height_above_target_cm

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AC_PrecLand: add initialization period

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AC_PrecLand: fix bug in target acquired logic

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AC_PrecLand: remove check that prevents rejection of more than 3 outliers in a row

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AC_PrecLand: add smoothing to output predictor

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AC_PrecLand: increase pixycam measurement variance to 20 mrad

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AC_PrecLand: log raw los measurement

jschall
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AC_PrecLand: rebase fixes
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AC_PrecLand: added distance to target in SITL backend
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AC_PrecLand: added debug for PL in SITL
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AC_PrecLand: use internal quaternion for SITL precland
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AC_PrecLand: rebase fixes
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AP_Motors: simplify current limiting feature

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AP_Motors: add frame type MATTERNET_M2

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AP_Motors: add power limiting option

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AP_RangeFinder: add retries to MaxsonarI2CXL init

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AP_RangeFinder: check if a configured rangefinder is not giving data
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AP_GPS: Fixed issue: gps2 not logging data when unplugged

Aksellence
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AP_GPS: Changed the switch logic: switch only if the other GPS has 4

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AP_GPS: add tracking of position change since arming
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AP_GPS: Added hardware_version method

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AP_GPS: Prefer u-blox F9P

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AP_GPS: prefer UAVCAN status 3 over M8 status 4
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AP_GPS: added zero yaw value for new mavlink GPS msgs
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AP_UAVCAN: removed ArduPilot TrafficReport DSDL
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AP_UAVCAN: added Matternet TrafficReport message
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AP_UAVCAN: added DSDL for GNSS Inject message
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AP_UAVCAN: change to MatterNet TrafficReport namespace
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GCS_MAVLink: add MSG_LANDING_TARGET to enum

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AP_Logger: re-write system IDs and params when disarming
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AC_PosControl: change hard-coded tuning values

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AP_SerialManager: add Matternet_FTS protocol

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AP_Parachute: add TRIGGER_TYPE_MATTERNET_FTS

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AC_PosControl: add get_vel_error_z

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AC_WPNav: fix sudden jump in throttle when switching from modes with vertical velocity feedforward

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GCS_MAVLink: provide matternet FTS version alongside autopilot version message

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GCS_MAVLink: FTS message rebase fixes
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AP_Arming: added arming check type FTS
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GCS_MAVLink: break out MTTR_FTS_VER string send
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SITL: added SIM_PLAND_OFS vector
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SITL: support FlightAxis for PrecLand
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SITL: added SIM_GPS_DRIFT_S parameter
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HAL_SITL: use SIM_GPS_DRIFT_S
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Tools: add a useful SITL test script
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AP_Arming: allow for disabling RC arming checks on some modes
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Tools: updated runcoptertest.py
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Tools: added bootloader for MttrCubeBlack
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Tools: update MttrCubeBlack bootloader to not listen on any port but telem1
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AP_Mission: added MIS_FLIGHT_ID
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mavlink: added MAV_SYS_STATUS_PREARM_CHECK
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GCS_MAVLink: fixes for updated mavlink xml
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AP_AHRS: fixed getCorrectedDeltaVelocityNED() for SITL AHRS
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AC_AttitudeControl: make get_tilt_limit_rad public

jschall
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AC_AttitudeControl: constrain tilt limit to not exceed ANGLE_MAX

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AC_AttitudeControl: fix to backported patches

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AP_Notify: change compass calibration tone

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AP_Notify: don't play any tones while armed

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AP_Notify: updated buzzer tones to match previous master-0.4
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AP_BattMonitor: prevent voltage failsafe from triggering on extremely low voltages

jschall
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AP_BattMonitor: added LandIfManual battery failsafe option
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AP_BattMonitor: added battery monitor backend based on SoC table
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AP_NavEKF2: change priority of statustext messages

jschall
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AP_NavEKF2: increase baro floor limit to 8

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AP_NavEKF2: use max of all lanes for EKF_STATUS_REPORT
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AP_NavEKF3: use max of all lanes for EKF_STATUS_REPORT
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AP_NavEKF2: added EK2_MAG_LRN_LIM
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HAL_ChibiOS: added MttrCubeBlack build
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HAL_ChibiOS: disable transmitter ESC cal in MttrCubeBlack
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HAL_ChibiOS: enable new table based battery SoC system
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HAL_ChibiOS: default LOG_FILE_DSRMROT=1 for MatterNet
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HAL_ChibiOS: enable logging of ADSB vehicles
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HAL_ChibiOS: adjust defaults for CAN2
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HAL_ChibiOS: fixed default for COMPASS_TYPEMASK
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HAL_ChibiOS: raise ARMING_DELAY_SEC on MttrCubeBlack
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HAL_ChibiOS: log for 60s after disarm for MttrCubeBlack
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Copter: disable surface tracking

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Copter: send LANDING_TARGET message

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Copter: call parachute.init

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Copter: eliminate minimum altitude for manual parachute release

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Copter: add info messages to AUTO mode

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Copter: increase ARMING_DELAY_SEC to 3 to avoid failure to arm ESCs

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Copter: don't set auto_armed on throttle up in auto mode

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Copter: slow auto descent sets throttle mix to minimum

jschall
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Copter: reduce deceleration to LAND_SPEED

jschall
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Copter: set RANGEFINDER_WPNAV_FILT_HZ to 3

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Copter: move update_precland into fast_loop

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Copter: don't set auto_armed on throttle up in GUIDED mode

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Copter: re-work parachute deployment criteria

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Copter: add parachute deployment option to EKF failsafe

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Copter: disallow pilot yaw in AUTO mode

jschall
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Copter: disallow switch to guided mode when armed

jschall
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Copter: replace hard-coded vertical velocity limit for chute deploy

jschall
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Copter: add arming check for matternet FTS

jschall
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Copter: reset position control during liftoff

jschall
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Copter: call auto_takeoff_set_start_alt while waiting to take off

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Copter: add FS_THR_ENABLED_CONTINUE_MISSION_ALWAYS_LAND

jschall
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Copter: prevent switches out of manual modes via GCS

jschall
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Copter: remove pre-arm check on FS_THR_VALUE parameter

jschall
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Copter: prevent descent while centering for precision landing

jschall
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Copter: reduce land detector trigger time to 0.5 seconds

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Copter: run compass_checks in arming checks

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Copter: use ARMING_CHECK_FTS
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Copter: display an error msg on manual mode refusal
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Copter: added max navigation alt WP_NAVALT_MAX
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Copter: added Matternet specific GPS pre-takeoff and pre-arm checks
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Copter: zero rate integrators below WP_NAVALT_MIN on takeoff
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Copter: added a liftoff detector in auto takeoff
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Copter: fixed takeoff checks
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Copter: added ARMED_PIN
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Copter: disable RC arming check in GUIDED mode
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Copter: prevent double arm with RC failsafe off
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Copter: don't show failed system status with RC off in GUIDED or AUTO
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Copter: notify logging of arming failure
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Copter: implement LandIfManual battery failsafe option
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Copter: Prevent from going to Radio failsafe if in BRAKE mode

Aksellence
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Copter: add clearer message on takeoff attempt while disarmed
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Copter: set MAV_SYS_STATUS_PREARM_CHECK
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Copter: fixed new mode number style
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Copter: fixed parachute checks
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Copter: fixed max nav alt check
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Copter: fixed land if manual failsafe
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Copter: added rangefinder height interpolated using inertial alt
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Copter: smoothly slow for precision landing

jschall
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HAL_ChibiOS: updated MttrCubeBlack defaults for 4.0
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HAL_ChibiOS: added MttrCubeOrange build
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Tools: update MttrCubeOrange bootloader
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Commits on Apr 6, 2020

Commits on Apr 13, 2020

HAL_ChibiOS: updated MttrCube parms to better match mate parms
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Commits on Apr 29, 2020

HAL_ChibiOS: adjust filter params for MttrCubeOrange based on flight test
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Commits on May 20, 2020

Commits on May 27, 2020

Commits on Jun 1, 2020

AP_Terrain: fixed bug in disk offset calculation

tridge
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Aksellence
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AP_Terrain: added script for creating terrain *.dat files

tridge
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Commits

Commits on Apr 3, 2020

Commits on Apr 6, 2020

Commits on Apr 13, 2020

Commits on Apr 26, 2020