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Author SHA1 Message Date
Andrew Tridgell
24f2ac20de Copter: removed HIL_MODE_ATTITUDE 
this really can't work any more, as AHRS can't support it
 2014-02-15 05:29:46 +11:00
Andrew Tridgell
84c7b0d7fd AP_AHRS: check for NavEKF health 2014-02-15 05:29:46 +11:00
Andrew Tridgell
9ef71a9dec AP_NavEKF: added healthy() API 2014-02-15 05:29:46 +11:00
Andrew Tridgell
644bf71f56 Copter: fixed build for InertialNav change 2014-02-15 05:29:46 +11:00
Andrew Tridgell
cfc612b251 AP_InertialNav: use references to AHRS and baro 2014-02-15 05:29:45 +11:00
Andrew Tridgell
18aa08d5c3 GCS_MAVLink: added AHRS2 mavlink msg 2014-02-15 05:29:45 +11:00
Andrew Tridgell
154eb76f4f GCS_MAVLink: new MAVLink headers 2014-02-15 05:29:45 +11:00
Andrew Tridgell
bfd48a95b7 AP_NavEKF: fixed example build 2014-02-15 05:29:45 +11:00
Andrew Tridgell
b39a5062e9 AP_AHRS: use NavEKF for ground vector when available 2014-02-15 05:29:45 +11:00
Andrew Tridgell
2cd6efa23e Plane: added DF logging of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell
b6bc50051f AP_AHRS: allow reporting of secondary AHRS solution 2014-02-15 05:29:45 +11:00
Andrew Tridgell
99cfaf6097 Plane: switched to AHRS2 message for reporting 2014-02-15 05:29:45 +11:00
Andrew Tridgell
ea0f9392ef AP_NavEKF: don't report altitude yet, and removed debug code 2014-02-15 05:29:45 +11:00
Andrew Tridgell
a1aebc0c15 GCS_MAVLink: update from upstream 2014-02-15 05:29:23 +11:00
Andrew Tridgell
0e10554dc0 GCS_MAVLink: rename EKF message to AHRS2 2014-02-15 05:28:10 +11:00
Andrew Tridgell
33673c954d AP_NavEKF: implemented getRotationBodyToNED() 2014-02-15 05:28:10 +11:00
Andrew Tridgell
8c5cde4efd AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1 2014-02-15 05:28:10 +11:00
Andrew Tridgell
9ac886f58d Plane: use AP_AHRS_NavEKF when available 2014-02-15 05:28:09 +11:00
Andrew Tridgell
7ac78ff991 AP_AHRS: create AP_AHRS_NavEKF class 
subclass of AP_AHRS_DCM, just a wrapper for now, will add EKF calls
next
 2014-02-15 05:28:09 +11:00
Andrew Tridgell
2c86a490ed AP_NavEKF: make it possible for NavEKF to be a AHRS member 
ready for AHRS integration
 2014-02-15 05:28:09 +11:00
Paul Riseborough
6f31961fb5 AP_NavEKF: Added height rate adaptive wind speed process noise 2014-02-15 05:28:09 +11:00
Paul Riseborough
de884dabab AP_NavEKF: brought some tuning parameters out to header 2014-02-15 05:28:09 +11:00
Paul Riseborough
e0e4b1aefa Plane : Updated NavEKF flash data logging 2014-02-15 05:28:09 +11:00
Paul Riseborough
3ee5ef852b AP_NavEKF : improved On Ground check 2014-02-15 05:28:09 +11:00
Paul Riseborough
8bc14d09b2 AP_NavEKF : remove onGround airspeed detect bug 2014-02-15 05:28:09 +11:00
Paul Riseborough
a507fa7570 AP_NavEKF : remove debug code 2014-02-15 05:28:09 +11:00
Paul Riseborough
2f95685bfc Plane : EKF data logging fixes 2014-02-15 05:28:09 +11:00
Paul Riseborough
6b9733c013 AP_NavEKF : Additional flash logging 2014-02-15 05:28:09 +11:00
Paul Riseborough
d6ead64083 Plane : Additional NavEKF flash logging 2014-02-15 05:28:08 +11:00
Paul Riseborough
c28e89e4b7 AP_NavEKF: bug fixes for height fusion and covariance initialisation 2014-02-15 05:28:08 +11:00
Paul Riseborough
aed6c79135 AP_NavEKF: Added gyro bias variance scale for on-ground 2014-02-15 05:28:08 +11:00
Paul Riseborough
cb42e1e490 AP_NavEKF: Added public function to get NED position 2014-02-15 05:28:08 +11:00
Paul Riseborough
2c567cd721 AP_NavEKF: Added tuning parameter for onGround yaw gyro variance 2014-02-15 05:28:08 +11:00
Paul Riseborough
9515f6c745 AP_NavEKF: Cleaned up on-ground state and covariance update logic 2014-02-15 05:28:08 +11:00
Andrew Tridgell
9c5647eef3 AP_NavEKF: stop log for gdb friendly playback 2014-02-15 05:28:08 +11:00
Andrew Tridgell
117b77460e HAL_Linux: added stop_clock hack! 2014-02-15 05:28:08 +11:00
Andrew Tridgell
006b9da6be Plane: only include NavEKF on fast CPUs 2014-02-15 05:28:08 +11:00
Andrew Tridgell
4adf6000f3 AP_NavEKF: only build on fast CPUs 2014-02-15 05:28:08 +11:00
Paul Riseborough
1647ba9bd0 AP_NavEKF: Reduced heading drift on ground 2014-02-15 05:28:08 +11:00
Paul Riseborough
63d8b1bb0b AP_NavEKF: Scheduler Improvements 2014-02-15 05:28:07 +11:00
Andrew Tridgell
ce9047cec5 Plane: added dataflash logging of EKF data 2014-02-15 05:28:07 +11:00
Andrew Tridgell
df42dd691c AP_NavEKF: added perf counters on PX4 2014-02-15 05:28:07 +11:00
Andrew Tridgell
3d6cb9eade AP_NavEKF: use float arrays when not doing bounds checking 
g++ is doing a lousy job of inlining VectorN, so avoid it when we
don't need bounds checking for production code
 2014-02-15 05:28:07 +11:00
Andrew Tridgell
c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +11:00
Andrew Tridgell
010250a966 AP_NavEKF: use quaternion normalize and cleanup sqrt calls 2014-02-15 05:28:07 +11:00
Paul Riseborough
406fb31a57 AP_NavEKF: Load levelling scheduler - first attempt 2014-02-15 05:28:07 +11:00
Andrew Tridgell
68283b7aa1 GCS_MAVLink: new ekf header 2014-02-15 05:28:07 +11:00
Andrew Tridgell
163cfd839d AP_NavEKF: enable airspeed and fix getLLH() 2014-02-15 05:28:07 +11:00
Andrew Tridgell
1fbae4dd44 Plane: enable NavEKF logging in plane 2014-02-15 05:28:07 +11:00
Andrew Tridgell
b4153c4d32 GCS_MAVLink: added EKF message for debugging 2014-02-15 05:27:54 +11:00