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131 Commits

Author SHA1 Message Date
Andrew Tridgell 27a098be9f AP_AHRS: use delta_velocity and delta_angle in DCM 
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
 2015-08-19 20:03:27 +09:00
Andrew Tridgell 7a76f72bf5 AP_AHRS: added uptime_ms() interface 2015-05-20 15:22:14 +10:00
Andrew Tridgell 3529e02675 AP_AHRS: if we have 3 gyros then only use first two 
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
 2015-05-09 21:00:49 +10:00
Peter Barker 463270e0ee AP_AHRS: avoid FPE when we don't have a compass reading 2015-05-05 15:02:35 +10:00
Andrew Tridgell 4d4a607b80 AP_AHRS: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Tom Pittenger 20f47417d5 AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Andrew Tridgell 6bfca648b9 AP_AHRS: raise DCM P gains when disarmed for first 20 seconds 2015-04-28 14:07:39 +10:00
Tom Pittenger e28c555889 AHRS_DCM: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:26:08 +09:00
Paul Riseborough 5184bca87f AP_AHRS: Prevent DCM reporting good tilt error when inverted 2015-04-23 20:35:39 +09:00
Paul Riseborough ea8217bd3a AP_AHRS: Reduce time constant on filtering of DCM error reporting 
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
 2015-04-23 20:35:35 +09:00
Andrew Tridgell a0969905ce AP_AHRS: make get_error_rp() and get_error_yaw() const 
this makes them usable by multiple consumers, and allows use by EKF
 2015-04-21 21:42:17 +10:00
Andrew Tridgell 585a105128 AP_AHRS: use compass->last_update_usec() 2015-03-14 12:31:50 +11:00
Andrew Tridgell 68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Andrew Tridgell ed0a56cc3c AP_AHRS: cope with the changed semantics of airspeed.use() 2015-01-20 11:27:58 +11:00
Jonathan Challinger 4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
Randy Mackay dffcfb42bc AHRS: add reset_gyro_drift method 2014-10-28 20:25:33 +09:00
Randy Mackay 39c8535223 AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P 2014-10-21 21:41:41 +09:00
Andrew Tridgell 270bac4472 AP_AHRS: make get_position() const 
This allows use from within AP_Mission
 2014-10-20 08:36:20 +11:00
Andrew Tridgell 4ad643b233 AP_AHRS: use a common function for updating the CD values 
this ensures the wrapping of yaw is consistent between the 3 use cases
 2014-10-15 13:18:08 +11:00
Andrew Tridgell 63c06ea2af AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 10:12:50 +11:00
Randy Mackay 85eee31510 AHRS: rename ekfNotStarted method to initialised 
Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
 2014-10-02 14:40:54 +09:00
priseborough 7cea7c6a18 AP_AHRS : add method to report if EKF is waiting to start 2014-10-02 14:38:29 +09:00
Przemek Lekston ae4814a773 AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind 2014-08-07 12:34:30 +10:00
Andrew Tridgell 6a275372dd AP_AHRS: ensure get_position() fills in flags 2014-07-25 11:40:16 +10:00
Andrew Tridgell b3c1e515dc AP_AHRS: when no accel info available in buffer use current value 
this prevents an initialisation error, and is reasonable in flight too

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 22:19:54 +10:00
Andrew Tridgell 315290029a AP_AHRS: fixed check of accel sensor health 
we need to check health of each accelerometer separately
 2014-05-15 22:18:56 +10:00
Andrew Tridgell 1a05c27bbb AP_AHRS: added healthy() function 
this will be used to report when the AHRS subsystem becomes unhealthy
 2014-05-15 21:14:21 +10:00
Andrew Tridgell 4d24a86088 AP_AHRS: prevent a infinity value 2014-04-21 15:37:07 +10:00
Andrew Tridgell f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
 2014-02-27 09:41:28 +11:00
Andrew Tridgell 0b45d2bc06 AP_AHRS: removed the AHRS_GPS_DELAY parameter 
the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
 2014-02-27 08:57:44 +11:00
Jonathan Challinger f321a5f241 AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS 
Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
 2014-02-25 18:49:16 +11:00
Andrew Tridgell eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Andrew Tridgell 25ef0d5a7b AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF 
this avoids some linking issues, plus the functions are inaccurate
without EKF
 2014-02-15 05:48:24 +11:00
Andrew Tridgell c62ccce9d8 AP_AHRS: make estimate_wind() public 
this avoids it linking into copter
 2014-02-15 05:48:24 +11:00
Paul Riseborough 08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +11:00
Andrew Tridgell 5d43a1d704 AP_AHRS: added inertial nav interfaces to AHRS 2014-02-15 05:48:16 +11:00
Andrew Tridgell 392995ef84 AP_AHRS: make AHRS handle altitude 
AHRS now holds the home position
 2014-02-15 05:29:47 +11:00
Randy Mackay 6946d68318 AHRS_DCM: call update_trig 2014-02-08 18:16:42 +09:00
Paul Riseborough f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Andrew Tridgell baa4ecc2ea APA_AHRS: update for compass API change 2013-12-09 17:34:07 +11:00
Andrew Tridgell b248cc0868 AP_AHRS: fixed a build warning 2013-11-23 21:44:56 +11:00
Andrew Tridgell 6ed493b10f AP_AHRS: added attitude_reset() method for HIL_SENSORS 2013-11-23 18:50:56 +11:00
Andrew Tridgell 4f871c87f1 AP_AHRS: detect and try to cope with bad accels 2013-11-07 13:54:16 +11:00
Andrew Tridgell 02d6f012ce AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-04 21:21:42 +11:00
Andrew Tridgell d31e557983 AP_AHRS: save memory and reduce pointer references 
use a refence for ins, and don't save gyro and accel between updates
 2013-11-04 21:21:37 +11:00
Andrew Tridgell cb52b6f367 AP_AHRS: removed limit on normalisation of accel reference vectors 
this could lead to a bias in the accel drift correction
 2013-11-04 21:20:41 +11:00
Andrew Tridgell 31eaaada62 AP_AHRS: removed vertical G limit on GPS velocity correction 
this limit could lead to a bias in the accel drift correction, and is
frequenctly exceeded
 2013-11-04 21:20:41 +11:00
Andrew Tridgell a7931b1581 AP_AHRS: fixed wrapping bug in GPS based heading error 
this bug could cause the GPS based yaw to use an expensive reset far
too often
 2013-11-04 21:20:41 +11:00
Andrew Tridgell 17b27a47de AP_AHRS: prevent GPS yaw resets on compass errors 
when we switch from compass heading to GPS heading we don't want to
trigger a sudden GPS yaw reset
 2013-11-04 21:20:41 +11:00