Randy Mackay
ba02894734
AP_AHRS: attitude pre-arm check skips yaw if no compass
...
Also provides better feedback on the axis and angular difference
2019-03-07 09:34:39 +09:00
Randy Mackay
f1a023c872
AP_AHRS: add attitudes_consistent pre-arm check
2019-02-22 13:00:07 +09:00
Peter Barker
7406c5be37
AP_AHRS: adjust for Location_Class and Location unification
2019-01-16 11:45:29 +11:00
Michael du Breuil
c02863e001
AP_AHRS: Internalize EKF getLLH altitude management
2018-09-21 00:18:49 +01:00
Peter Barker
306a40bb77
AP_AHRS: fix writeOptFlowMeas signature
...
const some of the vectors, stop taking references to scalars that aren't
being changed
2018-09-11 09:03:22 +10:00
Andrew Tridgell
9897bf6127
AP_AHRS: support locked access to AHRS data
2018-08-25 15:44:36 +10:00
Andrew Tridgell
9a6113e5d8
AP_AHRS: fixed tailsitters in RealFlight
...
we need to use the rotated accel for the earth-frame accel
2018-07-20 14:21:06 +10:00
Andrew Tridgell
63d385ffb1
AP_AHRS: fixed arming with no compass in plane
...
allow arming if the GPS quality is good, the yaw alignment and
position will fix itself once the vehicle starts moving
2018-07-14 17:49:52 +10:00
Patrick José Pereira
819f08b7f7
AP_AHRS: Use SITL singleton
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2018-06-26 00:02:01 +01:00
Andrew Tridgell
520e33261a
AP_AHRS: fixed EKF type 10 for SITL
...
this fixes the use of EKF type 10 in SITL, preventing it from using
the DCM attitude estimate.
This is especially important for RealFlight and XPlane
2018-06-07 11:22:57 +10:00
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