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
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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
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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