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
Caio Marcelo de Oliveira Filho
9d2e3157fe
AP_AHRS: add a runtime flag for always using EKF
...
The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:10 +11:00
Andrew Tridgell
eac91430a2
AP_AHRS: update _dcm_attitude() on reset()
...
this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
2015-10-21 08:58:30 +11:00
Paul Riseborough
0722ebe8a0
AP_AHRS: Add EKF variance checks
2015-10-20 15:21:38 +11:00
Paul Riseborough
ae830b44c4
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
...
Updates arising from peer review.
2015-10-20 15:21:37 +11:00
Paul Riseborough
e8037f94ad
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
...
Updates arising from peer review
2015-10-20 15:21:37 +11:00
Paul Riseborough
58d57994f4
AP_AHRS: Rectify coding errors found during peer review
...
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
2015-10-20 15:21:36 +11:00
Paul Riseborough
e65ae51564
AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS
...
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
2015-10-20 15:21:36 +11:00
Andrew Tridgell
232fc8a64d
AP_AHRS: added send_ekf_status_report()
2015-09-29 10:58:54 +10:00
Randy Mackay
9f59b6f7b5
AP_AHRS: getLastYawResetAngle returns reset time
2015-09-24 16:57:41 +09:00
Paul Riseborough
f77bdd90fc
AP_AHRS: Update EKF2 data logging
2015-09-24 12:58:44 +10:00
Andrew Tridgell
dde8330077
AP_AHRS: rename using_EKF to active_EKF_type()
...
thanks to Randy for the suggestion
2015-09-23 17:53:44 +10:00
Andrew Tridgell
f9348887c5
AP_AHRS: added getLastYawResetAngle() and resetHeightDatum()
2015-09-23 17:46:51 +10:00
Andrew Tridgell
0677c2c80c
AP_AHRS: run astyle for formatting
2015-09-23 17:31:00 +10:00
Andrew Tridgell
7ba45444a2
AP_AHRS: added selection of EKF type using AHRS_EKF_TYPE
2015-09-23 11:57:18 +10:00
Andrew Tridgell
c18c6d894e
AP_AHRS: added prearm_failure_reason()
2015-09-08 15:50:22 +10:00
Randy Mackay
a7569e3a61
AHRS_NavEKF: integrate INS use_accel
2015-08-19 16:44:22 +09:00
Gustavo Jose de Sousa
54d5277842
AP_AHRS: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:42 +10:00
Randy Mackay
9067abc037
AHRS_NavEKF: fix blended accel to use primary accel
2015-08-01 17:19:45 +09:00
Andrew Tridgell
5514a9f690
AP_NavEKF: base EKF decisions on vehicle class
...
using the vehicle class rather than the build macros allows this to
work correctly in replay
2015-05-19 15:21:22 +10:00
Andrew Tridgell
92daa15ccc
AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised
...
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
2015-05-19 15:21:21 +10:00
Andrew Tridgell
29f0561ce4
AP_AHRS: reject EKF for plane when we have GPS and aren't fusing
...
plane users would prefer to use GPS in this case
2015-05-17 21:24:57 +10:00
Paul Riseborough
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
2015-05-13 16:11:13 +09:00
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
Paul Riseborough
7f1749dc1c
AP_AHRS: Allow EKF to pull data from range finder object
2015-04-24 10:56:58 +09:00
Paul Riseborough
405862bd8f
AP_AHRS: Reduce time delay for EKF initialisation
2015-04-23 20:35:52 +09:00
Randy Mackay
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
2015-04-21 22:42:17 +09:00
Andrew Tridgell
d7249cc1e6
AP_AHRS: only use EKF for plane and rover if all data available
...
we need position and velocity to be working for plane and rover
2015-04-14 09:57:45 +10:00
Paul Riseborough
ff9917d338
AP_AHRS: Fix bug preventing EKF from initialising
2015-04-10 11:07:42 +09:00
Jonathan Challinger
dc5bdd5ad8
AP_AHRS: use filtered INS output to compute _accel_ef_blended
2015-04-09 20:19:56 +09:00
Paul Riseborough
d44cf14178
AP_AHRS : Publish EKF learned compass offsets
2015-04-03 15:24:47 -07:00
Andrew Tridgell
8ba043e593
AP_AHRS: fixed EKF startup bug
...
This fixes the EKF for when GPS lock takes more than 10 seconds
fixes issue #2010
2015-03-28 10:52:22 -07:00
Randy Mackay
98efcd5f03
AHRS: always use EKF for copter
2015-03-19 15:15:51 +09:00
Andrew Tridgell
6781a8d329
AP_AHRS: fixed get_position for EKF to use correct relative altitude
...
we need to use the EKF relative height plus the current AHRS home
2015-02-21 10:12:53 +11:00
Andrew Tridgell
68f64fa11c
AP_AHRS: make the healthy() method const
2015-02-01 14:13:52 +11:00
priseborough
5b8265ad6f
AP_AHRS: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
83775554ea
AP_AHRS: Publish EKF ground speed limit
2014-12-06 18:16:50 +11:00
priseborough
5532750a99
AP_AHRS: Add public method to inhibit GPS useage when using EKF
...
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
2014-12-06 18:16:49 +11:00
priseborough
44e1695d5a
AP_AHRS : Enable EKF start without GPS
2014-12-06 18:16:46 +11:00
priseborough
a4984a1e76
AP_AHRS : Add range finder health status to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
12b012a00e
AP_AHRS : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
7b76fc29fb
AP_AHRS : EKF optical flow fusion support preliminary changes
2014-12-06 18:16:44 +11:00
Jonathan Challinger
9261dfdefb
AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions
2014-12-05 19:40:08 +09:00
priseborough
2c07299c04
AP_AHRS : Add reset of EKF gyro bias states
2014-10-29 15:32:18 +09:00
Randy Mackay
dffcfb42bc
AHRS: add reset_gyro_drift method
2014-10-28 20:25:33 +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
eec5cd5add
AP_AHRS: restore DCM attitude before update()
...
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
2014-10-15 11:15:33 +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
priseborough
7370e07c8d
AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS
2014-10-01 12:55:29 +10:00
Andrew Tridgell
e9a9e33280
AP_AHRS: use EKF use_compass() if EKF enabled
...
this allows magfailed status to show on console via SYS_STATUS health
bits
2014-08-24 21:00:56 +10:00
Andrew Tridgell
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
...
this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
2014-07-13 21:56:39 +10:00
Jonathan Challinger
966d66ef40
AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro
2014-07-13 21:34:44 +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
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
f07e4dee52
AP_AHRS: convert to new GPS API
2014-04-01 06:38:24 +11:00
Paul Riseborough
15a44571c2
AP_NavEKF : enable operation without a compass for planes
2014-03-09 20:01:45 +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
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
...
used by NavEKF to force static mode
2014-02-19 10:28:14 +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
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
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
9f130b40a0
AP_AHRS_NavEKF: override set_correct_centrifugal
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
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
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