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10832 Commits

Author SHA1 Message Date
Andrew Tridgell 47f541e143 AP_InertialNav: implement InertialNav in terms of AHRS when available 2014-02-15 05:48:16 +11:00
Andrew Tridgell 5d43a1d704 AP_AHRS: added inertial nav interfaces to AHRS 2014-02-15 05:48:16 +11:00
Andrew Tridgell 99b3517a47 Copter: use AP_InertialNav_NavEKF when available 2014-02-15 05:48:15 +11:00
Andrew Tridgell 658110dd8c AP_InertialNav: added AP_InertialNav_NavEKF wrapper class 2014-02-15 05:48:15 +11:00
Andrew Tridgell 686d1b9124 Copter: changes set_home_position() to setup_home_position() for Inav 2014-02-15 05:48:15 +11:00
Andrew Tridgell 99097d80a1 AP_InertialNav: use AHRS home location 2014-02-15 05:48:15 +11:00
Andrew Tridgell c6e25483b4 Copter: use a common home with AHRS 2014-02-15 05:48:15 +11:00
Andrew Tridgell 57e0eb4db5 Plane: use a const reference for home 2014-02-15 05:48:15 +11:00
Andrew Tridgell c493d980d8 AP_NavEKF: fixed check for airspeed sensor available 2014-02-15 05:48:15 +11:00
Andrew Tridgell 2dbfed19b8 AP_NavEKF: fixed airspeed estimate check 2014-02-15 05:48:15 +11:00
Paul Riseborough e69eea3086 AP_NavEKF: Bug fix in covariance error correction 2014-02-15 05:48:15 +11:00
Paul Riseborough 43dc9bc055 AP_NavEKF: Added improved covariance matrix error fix 2014-02-15 05:48:15 +11:00
Paul Riseborough 4a56ea84b5 AP_NavEKF: Removed accel bias states 2014-02-15 05:48:15 +11:00
Andrew Tridgell 093481786e AP_NavEKF: added SIM state to playback tool 2014-02-15 05:48:15 +11:00
Andrew Tridgell 2817a11f23 Plane: added AHR2 and SIM logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell fcd9041e62 SITL: added dataflash logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell d0a25b53f2 DataFlash: added logging of AHRS2 2014-02-15 05:48:09 +11:00
Andrew Tridgell 5578552574 AP_NavEKF: fixed example for new API 2014-02-15 05:29:48 +11:00
Andrew Tridgell 2acf1e7ce5 AP_NavEKF: allow filter to run as single or double precision 
useful for checking if there are numerical precision issues
 2014-02-15 05:29:48 +11:00
Paul Riseborough efd444b02e AP_NavEKF: covariance protection (not enabled) and tuning changes for stability 2014-02-15 05:29:48 +11:00
Andrew Tridgell 9cc00d20eb Copter: fixed for removed DCM blowup counts 2014-02-15 05:29:48 +11:00
Andrew Tridgell 155d751e80 Rover: fixed build 2014-02-15 05:29:48 +11:00
Paul Riseborough be9f276f45 AP_NavEKF: fixed compass offset sign error 2014-02-15 05:29:48 +11:00
Andrew Tridgell ee774f69d0 AP_NavEKF: fixed some time handling bugs 
use get_delta_time() and removed broken time wrap code
 2014-02-15 05:29:48 +11:00
Andrew Tridgell b1c5f23bbd AP_InertialSensor: make get_delta_time() const 
allows use from AP_NavEKF
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 95c5aeaa43 AP_NavEKF: removed more unused variables 2014-02-15 05:29:47 +11:00
Andrew Tridgell a53fc0636a AP_NavEKF: zero more variables on filter re-init 2014-02-15 05:29:47 +11:00
Andrew Tridgell 11337ab2df Plane: updates for AHRS holding home position 2014-02-15 05:29:47 +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 b9128a932f AP_L1_Control: no need to project position for lag 
now handled by AHRS
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 91cbad52a1 AP_NavEKF: handle conversion of AHRS to handle altitude 
fixed accuracy of position for cm level lat/lng
 2014-02-15 05:29:47 +11:00
Andrew Tridgell 804c43216b VARTest: fixed build 2014-02-15 05:29:47 +11:00
Andrew Tridgell 79a29d12f2 Copter: fixed build for new AHRS API 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 df5195e2c9 Plane: change for new AHRS API 2014-02-15 05:29:47 +11:00
Andrew Tridgell af5a3dff93 Copter: enable use of AHRS_NavEKF 2014-02-15 05:29:47 +11:00
Andrew Tridgell e315c5f28e Rover: enable use of AHRS_NavEKF 2014-02-15 05:29:46 +11:00
Andrew Tridgell 6e5077b60b AP_AHRS: removed unused AP_AHRS_HIL 2014-02-15 05:29:46 +11:00
Andrew Tridgell 082a3561c4 build: make hil equal hilsensors 2014-02-15 05:29:46 +11:00
Andrew Tridgell f64488e2cf VARTest: cleanup HIL defines 2014-02-15 05:29:46 +11:00
Andrew Tridgell ec913df7a9 Rover: cleanup HIL defines 2014-02-15 05:29:46 +11:00
Andrew Tridgell e39247868c Plane: cleanup HIL defines 2014-02-15 05:29:46 +11:00
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