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221 Commits

Author SHA1 Message Date
Peter Barker 4d944da530 AP_AHRS: add a singleton-getter cast into AP_AHRS_NavEKF 
This will allow libraries which absolutely require the EKF to easily get
a cast copy of the singleton.
 2018-06-01 16:12:45 +01:00
Peter Barker 3cbb88ae20 AP_AHRS: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Andrew Tridgell 5ae410f7ca AP_AHRS: called boost_end() on AHRS update 2018-05-05 07:45:53 +10:00
Andrew Tridgell 0b03562cf2 AP_AHRS: fix for mavlink update 2018-04-30 15:39:43 +10:00
Peter Barker 355752ebb8 AP_AHRS: remove pointless initialisations 
These are either in bss or new'd.

Saves ~130 bytes
 2018-04-04 10:14:40 +01:00
Peter Barker aae4ed2553 AP_AHRS_NavEKF: accept external position estimates into AHRS 2018-03-27 20:28:00 +09:00
Peter Barker 1dabcc473d AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker 024b29858d AP_AHRS: use baro singleton 2018-03-08 21:20:05 -08:00
Andrew Tridgell 504e231ba2 AP_AHRS: reverted UAVCAN PR 7827 2018-03-05 14:16:54 +11:00
DOMINATOR\Eugene 2f7196d71f AP_AHRS: UAVCAN publishing of attitude and location 2018-03-03 12:59:14 +12:00
Andrew Tridgell 55358459c7 AP_AHRS: fixed AP_MODULE_SUPPORTED 2018-02-10 10:50:22 +11:00
Andrew Tridgell e2d91535d0 AP_AHRS: fill in have_pos_abs 2018-02-08 17:36:33 +11:00
Peter Barker e15442355a AP_AHRS: use GPS singleton 2017-12-27 00:58:02 +00:00
khancyr 2732226664 AP_AHRS: use direct assignation and correct some style 2017-12-18 22:43:59 +00:00
khancyr dae636b39e AP_AHRS: correct some constcorrectness 2017-12-18 22:43:59 +00:00
khancyr d89d496c8f AP_AHRS: make getter const 2017-12-18 22:43:59 +00:00
Andrew Tridgell 7a6ab4ac44 AP_AHRS: fixed a bug with startup ordering of SITL 
this fixes a crash that can happen with SITL
 2017-12-13 14:09:39 +11:00
Peter Barker 89e12163cd AP_AHRS: correct comment 2017-12-08 11:27:37 +09:00
Lucas De Marchi 40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Peter Barker 97b6ca218b AP_AHRS: send ekf status reports even when EKF inactive 2017-09-06 10:50:49 +10:00
chobits d6845a911a AP_AHRS: fix get_relative_position_NE_home calcalation 2017-08-19 10:23:24 +09:00
Randy Mackay 1ddf38869a AP_AHRS: set AP_Notify gps_glitching flag 2017-07-27 14:16:23 +09:00
priseborough a3483d0d34 AP_AHRS: Update for compatibility with EKF interface change 2017-06-14 12:44:41 +01:00
Randy Mackay 3e130273a9 AP_AHRS: do not fallback to DCM if EKF can provide relative position 2017-06-14 09:12:20 +09:00
Matt 6354ca7096 AP_AHRS: Set the new gps_fusion notify flag 
Uses EKF filter state to set the new gps_fusion notify flag. This allows
the GCS and notify devices to specifically be notified if the GPS is or
is not usable.
 2017-06-06 10:38:42 +09:00
Andrew Tridgell b6568b1c7e AP_AHRS: support set_origin and get_origin for EKF 10 2017-05-08 13:38:10 +10:00
Andrew Tridgell d9223165c7 AP_AHRS: fixed get_accel_ef_blended() for SITL EKF 10 2017-05-07 09:10:44 +10:00
Andrew Tridgell 28030dd85c AP_AHRS: use SIM_ODOM_ENABLE to enable visual odom in SITL 2017-05-01 15:06:46 +10:00
Andrew Tridgell e78f55ef9b AP_AHRS: change order of EK2/EK3 update 
if EK3 is our primary estimator when we want to run the EK3 update
first, so it gets time priority for inter-EKF scheduling.
 2017-05-01 14:24:55 +10:00
Randy Mackay 0af9433c8e AP_AHRS: add set_origin 2017-04-22 10:37:31 +09:00
priseborough 90cd46f4d7 AP_AHRS: simulate body frame odometry sensor 2017-04-19 11:04:40 +09:00
priseborough 3b82f60b08 AP_AHRS: add interface for use of visual odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell 5758532326 AP_AHRS: make AHRS2 quaternion available 2017-04-16 14:01:36 +10:00
Michael du Breuil 33d0fa3e82 AP_AHRS: Fix an index out of bounds 
Coverity 137817, getPrimaryCoreIMUIndex() can return -1, which is then invalid to pass to get_delta_velocity_dt
 2017-04-06 08:44:57 +10:00
Andrew Tridgell a11dca5229 AP_AHRS: added optional skip_ins_update to AHRS::update() 
avoid the ins update if already done in copter fast_loop()
 2017-04-03 13:04:11 +09:00
Randy Mackay d3aca5544e AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction 
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
 2017-03-03 13:14:28 +11:00
Andrew Tridgell c62c64d27b AP_AHRS: added support for AP_AHRS_View 2017-02-18 17:26:43 +11:00
Michael du Breuil 3274f1dbb1 AP_AHRS: Split all NED methods into a collection of NED relative to home vs origin 2017-02-13 09:23:14 +11:00
priseborough 93aa40a9e0 AP_AHRS: Fix EKF3 gyro bias reporting and improve code clarity 2017-02-08 19:11:08 +00:00
priseborough e2757c17c8 AP_AHRS_NavEKF: fix ekf variable naming and initialisation 2017-01-27 16:57:42 +09:00
Andrew Tridgell 33a84624c6 AP_AHRS: use const reference 
save a bit of stack and CPU
 2017-01-23 21:36:34 +11:00
Julien Beraud d2afa1cac8 AP_AHRS_NavEKF: Push gyro bias for optical flow 
Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
 2017-01-23 21:23:16 +11:00
Andrew Tridgell 09c969477f AP_AHRS: fixed fallback to DCM for get_position 
this fixes dead-reckoning on fixed wing on GPS loss, and fallback to
DCM on loss of EKF position in fixed wing

This was broken by the EKF3 merge
 2017-01-22 13:40:46 +11:00
Andrew Tridgell 7a5ee29b6e AP_AHRS: fixed a build warning 2016-12-31 08:53:16 +11:00
Andrew Tridgell ad518f0cc7 AP_AHRS: fixed EKF type 10 EKF nav scaler return 2016-12-29 18:43:32 +11:00
murata 4c320373eb AP_AHRS: Change indentation. 
AP_AHRS: Delete inserted message "no break"
 2016-12-24 11:30:37 +09:00
Andrew Tridgell 22fd2025de AP_AHRS: fixed EKF type 10 2016-12-21 10:52:12 +11:00
Peter Barker 802206baed AP_AHRS: remove use of uninitialised value 2016-12-19 19:51:16 -08:00
priseborough 33a7c682a3 AP_AHRS: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Andrew Tridgell ab05472e0e AP_AHRS: added EKF3 for EKF experimentation 
Conflicts:
	libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
 2016-12-18 10:28:04 +11:00
Randy Mackay c615bac1cd AP_AHRS: add getLastPosDownReset accessor 2016-11-24 19:57:53 +09:00
Andrew Tridgell 772209b3f3 AP_AHRS: make posOffset a const reference 2016-10-27 15:45:24 +11:00
priseborough 6069c37b19 AP_AHRS: add position offset to optical flow interface 2016-10-27 14:54:42 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Jonathan Challinger 25a14fe0dc AP_AHRS: add interface to retrieve corrected delta velocities in NED frame 2016-10-14 10:45:58 +09:00
Jonathan Challinger 5ff78b8e47 AP_AHRS: fix rotation of acceleration into earth frame 2016-10-13 10:02:13 +11:00
Andrew Tridgell 334db0a1a5 AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index() 2016-09-05 12:56:36 +10:00
Andrew Tridgell c62fc336cb AP_AHRS: use current EKF2 IMU core in gyro estimate 
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate

This affects all multi-IMU systems using EKF2
 2016-09-05 12:54:53 +10:00
Andrew Tridgell bf1e0e1536 AP_AHRS: fixed EKF GPS arming check for fixed wing 
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
 2016-09-02 11:12:19 +10:00
Peter Barker 78fa23440c AP_AHRS: remove use of uninitialised variable 
clang told us:

../../libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:695:35: fatal error: variable 'posD' is used uninitialized whenever '&&' condition is false [-Wsometimes-uninitialized]
 2016-07-20 00:06:49 -03:00
priseborough 01ce3e7f1e AP_AHRS: fix documentation errors 2016-07-19 12:16:49 +10:00
priseborough 5454f76702 AP_AHRS: Add separate interfaces for local horizontal and vertical position 2016-07-19 12:16:49 +10:00
Andrew Tridgell e82468a529 AP_AHRS: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell 36181b78de AP_AHRS: fixed build for px4 2016-07-14 13:39:46 +10:00
Andrew Tridgell 15a01eefb1 AP_AHRS: added AHRS_update hook 2016-07-14 13:39:46 +10:00
Andrew Tridgell 2db2486b3a AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10 2016-06-19 22:02:25 +10:00
Andrew Tridgell d17e3b17bf AP_AHRS: special handling for flying fixed wing with no compass 
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
 2016-05-27 10:18:53 +10:00
Paul Riseborough 597ec61673 AP_AHRS: extend ekf fault status reporting coverage 2016-05-21 15:13:50 +10:00
Ricardo de Almeida Gonzaga 2bf9aa94ad AP_AHRS: Fix typos 2016-05-13 19:20:06 -03:00
Andrew Tridgell 73d3797a7e AP_AHRS: finish implementing have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell 795080742e AP_AHRS: added have_ekf_logging() API 2016-05-07 18:27:19 +10:00
Andrew Tridgell 07060051cf AP_AHRS: added API for forcing EKF to start 
used by Replay to sync start times
 2016-05-07 18:27:18 +10:00
Andrew Tridgell 664ce5c16e AP_AHRS: don't use disabled gyro in rate controllers 
obey INS_USE* parameters in gyro estimate
 2016-05-01 22:16:06 +10:00
Randy Mackay 4419b3c617 AHRS_NavEKF: fix get_position by using ekf origin 
The EKF's getPosNED returns a vertical position relative to the EKF origin but previously this function was using it as if it was relative to ahrs's home
 2016-04-21 11:23:07 +10:00
Jonathan Challinger 6a5f1c0bec AP_AHRS_NavEKF: reflect changes to getMagOffsets 2016-04-21 09:53:03 +10:00
Jonathan Challinger 18240107f0 AP_AHRS_NavEKF: add getGpsGlitchStatus 2016-04-14 12:24:04 +09:00
Andrew Tridgell 9db618c73c AP_AHRS: disable EKF1 for plane 
we are running too close to the 1MByte limit for pixhawk. This
recovers nearly 100kbyte of flash
 2016-04-04 11:08:03 +10:00
Andrew Tridgell d0b67ce007 AP_AHRS: allow for EKF without GPS on plane in VTOL modes 
this allows for testing quadplanes indoors
 2016-03-05 08:58:08 +11:00
Jonathan Challinger cbf2309023 AP_AHRS: add get_mag_field_NED and get_mag_field_correction 2016-01-23 10:35:36 +09:00
Randy Mackay f6b909d0a5 AHRS_NavEKF: resolve compiler warning re signed vs unsigned comparison 2016-01-07 12:31:47 +09:00
Andrew Tridgell f8b52c6a67 AP_AHRS: try to start EKF2 slightly before EKF2 
this gives priority to EKF2 on memory
 2016-01-07 08:34:32 +11:00
Jonathan Challinger a2999ece54 AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected 2015-12-28 13:51:24 +09:00
Jonathan Challinger 6682b27456 AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned 2015-12-18 18:08:37 +11:00
Andrew Tridgell 1e8c391024 AP_AHRS: fixed float exception on start in SITL 
zero DCM matrix
 2015-12-01 15:19:45 +11:00
Andrew Tridgell b3e6129fd4 AP_AHRS: added EKF type 10 for SITL 
this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
 2015-11-22 17:30:28 +11:00
Andrew Tridgell 7b38f2185f AP_AHRS: use the right DCM matrix for right EKF 
this fixes a bug where the EKF2 DCM matrix would be used for
get_dcm_matrix() when EKF1 was active
 2015-11-20 18:34:08 +11:00
Caio Marcelo de Oliveira Filho 4ea45b8df1 AP_AHRS_NavEKF: use millis/micros/panic functions 2015-11-20 12:28:53 +09:00
Paul Riseborough 803817821d AP_AHRS: Support changes to EKF2 interfaces that specify the instance 
An instance of -1 is specified which causes data for the primary instance to be returned.
 2015-11-08 15:37:28 +11:00
Paul Riseborough 7ed36d8e65 AP_AHRS: Enable pre-flight GPS check status reporting for EKF2 2015-11-02 14:12:17 +11:00
Randy Mackay 4e959ef6f9 AP_AHRS: constify getLastPosNorthEastReset 
Also constify getLastVelNortEastReset
 2015-10-30 12:24:13 +09:00
Randy Mackay 7c20577ee0 AP_AHRS: constify getLastYawResetAngle 2015-10-30 12:24:10 +09:00
Paul Riseborough f67f6b01f4 AP_AHRS: Publish the EKF position and velocity reset deltas 2015-10-30 12:24:05 +09:00
Caio Marcelo de Oliveira Filho 9d2e3157fe AP_AHRS: add a runtime flag for always using EKF 
The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
 2015-10-21 11:01:10 +11:00
Andrew Tridgell eac91430a2 AP_AHRS: update _dcm_attitude() on reset() 
this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
 2015-10-21 08:58:30 +11:00
Paul Riseborough 0722ebe8a0 AP_AHRS: Add EKF variance checks 2015-10-20 15:21:38 +11:00
Paul Riseborough ae830b44c4 AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review.
 2015-10-20 15:21:37 +11:00
Paul Riseborough e8037f94ad AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions 
Updates arising from peer review
 2015-10-20 15:21:37 +11:00
Paul Riseborough 58d57994f4 AP_AHRS: Rectify coding errors found during peer review 
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
 2015-10-20 15:21:36 +11:00
Paul Riseborough e65ae51564 AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS 
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
 2015-10-20 15:21:36 +11:00
Andrew Tridgell 232fc8a64d AP_AHRS: added send_ekf_status_report() 2015-09-29 10:58:54 +10:00