Andrew Tridgell
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
...
used by EKF to control use of get_fly_forward()
2014-04-21 18:13:12 +10:00
Andrew Tridgell
4d24a86088
AP_AHRS: prevent a infinity value
2014-04-21 15:37:07 +10:00
Andrew Tridgell
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:49 +10:00
Andrew Tridgell
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
...
the EKF does not estimate wind without an airspeed sensor
2014-04-10 06:49:23 +10:00
Andrew Tridgell
35c111a63a
AP_AHRS: fixed example build
2014-04-01 06:38:25 +11:00
Andrew Tridgell
f07e4dee52
AP_AHRS: convert to new GPS API
2014-04-01 06:38:24 +11:00
Andrew Tridgell
afab8a9c5b
AP_AHRS: fixed example build
2014-03-19 12:14:02 +09:00
Randy Mackay
efd4058e8b
AHRS: interate move of p1 from Location to mission cmd
2014-03-19 12:10:51 +09:00
Paul Riseborough
15a44571c2
AP_NavEKF : enable operation without a compass for planes
2014-03-09 20:01:45 +11:00
Andrew Tridgell
aaaae9a222
AP_AHRS: added get_fly_forward() method
...
will be used to detect a copter
2014-02-27 17:39:49 +11:00
Andrew Tridgell
9a5ecc9541
AP_AHRS: use primary accel for accel_ef
...
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
2014-02-27 16:28:37 +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
Andrew Tridgell
6fc5c12f1d
AP_AHRS: remove unused variable
2014-02-26 10:28:12 +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
Paul Riseborough
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
2014-02-23 19:50:34 +11:00
Andrew Tridgell
b434c11215
AP_AHRS: removed empty file
2014-02-19 22:00:25 +11:00
Andrew Tridgell
3b1f9a4bbf
AP_AHRS: added get_armed() and set_armed() calls
...
will be used by NavEKF to determine static mode
2014-02-19 10:52:24 +11:00
Andrew Tridgell
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
...
used by NavEKF to force static mode
2014-02-19 10:28:14 +11:00
Andrew Tridgell
ee37bc3d27
AP_AHRS: ensure we have HAL_CPU_CLASS available
2014-02-16 17:57:09 +11:00
Randy Mackay
a021d0ca31
AHRS: fix compiler warning
2014-02-16 13:35:37 +11:00
Andrew Tridgell
be33a9634e
AP_AHRS: move using_EKF to .cpp to make it easier in gdb
2014-02-15 09:25:40 +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
Randy Mackay
5bdc564191
AP_AHRS: fix example sketch
2014-02-15 06:09:08 +11:00
Andrew Tridgell
801ceacaf2
AP_AHRS: re-run update_trig() after EKF AHRS update
2014-02-15 05:48:24 +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
Andrew Tridgell
f09ae0c2d0
AP_AHRS: expose get_NavEKF as non-const
...
better than having two methods
2014-02-15 05:48:22 +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
Paul Riseborough
b4171853b1
AP_NavEKF: allow initialisation before GPS lock to aid indoor testing
2014-02-15 05:48:21 +11:00
Paul Riseborough
0599817aa9
AP_AHRS : EKF initialisation changed to use bootstrap method
2014-02-15 05:48:21 +11:00
Randy Mackay
f068d0ff7e
AP_AHRS_NavEKF: expose non-const EKF for tuning
2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0
AP_AHRS_NavEKF: override set_correct_centrifugal
2014-02-15 05:48:20 +11:00
Randy Mackay
8f6fd86f69
AP_AHRS: make set_correct_centrifugal virtual
2014-02-15 05:48:20 +11:00
Paul Riseborough
a87df0ad56
AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual
2014-02-15 05:48:20 +11:00
Paul Riseborough
ab08a5c7d6
AP_AHRS : altered NavEKF set home to reset position instead of reset filter
2014-02-15 05:48:18 +11:00
Andrew Tridgell
574946f0aa
AP_AHRS: start EKF 5 seconds after getting GPS lock
2014-02-15 05:48:17 +11:00
Andrew Tridgell
df271fbd59
AP_AHRS: fill in _dcm_matrix whenever EKF started
...
this ensures get_dcm_matrix() always returns valid data
2014-02-15 05:48:17 +11:00
Andrew Tridgell
ada7d4fb98
AP_AHRS: use the right DCM matrix when EKF not enabled
2014-02-15 05:48:17 +11:00
Andrew Tridgell
a74fcc5a93
AP_AHRS: added set_ekf_use()
2014-02-15 05:48:17 +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
Andrew Tridgell
1e476e511a
AP_AHRS: pass baro into AP_AHRS
...
first step in making AHRS handle altitude
2014-02-15 05:29:47 +11:00
Andrew Tridgell
6e5077b60b
AP_AHRS: removed unused AP_AHRS_HIL
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
b39a5062e9
AP_AHRS: use NavEKF for ground vector when available
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
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
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
c7533579ac
AP_AHRS: added get_airspeed() interface to AHRS
2014-02-15 05:28:07 +11:00