da86e29c27
AP_AHRS: remove check for AVR CPUs
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Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
0677c2c80c
AP_AHRS: run astyle for formatting
2015-09-23 17:31:00 +10:00
7a76f72bf5
AP_AHRS: added uptime_ms() interface
2015-05-20 15:22:14 +10:00
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
2015-04-28 14:07:39 +10:00
e28c555889
AHRS_DCM: fix compile warnings re float constants
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Also fix example sketch
2015-04-24 12:26:08 +09:00
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
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this makes them usable by multiple consumers, and allows use by EKF
2015-04-21 21:42:17 +10:00
68f64fa11c
AP_AHRS: make the healthy() method const
2015-02-01 14:13:52 +11:00
4452aa8448
AP_AHRS_DCM: compile error fix for low speed CPUs
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Also correct initialisatoin order to remove compiler warning
2014-12-05 19:43:05 +09:00
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
2014-12-05 19:40:06 +09:00
dffcfb42bc
AHRS: add reset_gyro_drift method
2014-10-28 20:25:33 +09:00
270bac4472
AP_AHRS: make get_position() const
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This allows use from within AP_Mission
2014-10-20 08:36:20 +11:00
85eee31510
AHRS: rename ekfNotStarted method to initialised
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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
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
2014-10-02 14:38:29 +09:00
a6de3283b6
AHRS_DCM: init members to resolve compiler warnings
2014-08-14 11:27:31 +09:00
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
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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
61987f6655
AP_AHRS: Fixed DCM get_gyro function
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Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
2014-07-13 21:19:29 +10:00
1a05c27bbb
AP_AHRS: added healthy() function
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this will be used to report when the AHRS subsystem becomes unhealthy
2014-05-15 21:14:21 +10:00
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
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used by EKF to control use of get_fly_forward()
2014-04-21 18:13:12 +10:00
f07e4dee52
AP_AHRS: convert to new GPS API
2014-04-01 06:38:24 +11:00
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
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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
0b45d2bc06
AP_AHRS: removed the AHRS_GPS_DELAY parameter
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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
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
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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
eedd88c2ec
AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM
2014-02-15 09:25:40 +11:00
25ef0d5a7b
AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
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this avoids some linking issues, plus the functions are inaccurate
without EKF
2014-02-15 05:48:24 +11:00
c62ccce9d8
AP_AHRS: make estimate_wind() public
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this avoids it linking into copter
2014-02-15 05:48:24 +11:00
08267cea87
AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight
2014-02-15 05:48:22 +11:00
5d43a1d704
AP_AHRS: added inertial nav interfaces to AHRS
2014-02-15 05:48:16 +11:00
392995ef84
AP_AHRS: make AHRS handle altitude
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AHRS now holds the home position
2014-02-15 05:29:47 +11:00
1e476e511a
AP_AHRS: pass baro into AP_AHRS
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first step in making AHRS handle altitude
2014-02-15 05:29:47 +11:00
f2c2811ef3
AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters
2014-01-19 07:19:43 +11:00
6ed493b10f
AP_AHRS: added attitude_reset() method for HIL_SENSORS
2013-11-23 18:50:56 +11:00
02d6f012ce
AP_AHRS: added accel sum delay buffer to account for GPS lag
2013-11-04 21:21:42 +11:00
d31e557983
AP_AHRS: save memory and reduce pointer references
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use a refence for ins, and don't save gyro and accel between updates
2013-11-04 21:21:37 +11:00
d305dd5946
AP_AHRS: debounce the GPS/compass consistency test
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we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
2013-10-23 09:40:42 +11:00
97b7130bb9
libraries: update license header to GPLv3
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we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
0d36832b82
AP_AHRS: use const reference not pointers for locations
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this makes life easier for the new AP_Mission library
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:12 +10:00
1bf135b36f
AP_AHRS: make some more functions const
2013-07-08 12:07:50 +10:00
7d42a0562d
AP_AHRS: cope better with large GPS yaw changes
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this should cope better with bungee launches when using only GPS for
yaw.
2013-06-25 12:44:26 +10:00
38fc0e61c6
AP_AHRS: optimise yaw drift correction
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use new vector2 cross product, and factor out the z component of a dcm
mul_transpose() to reduce the number of floating point operations for
a yaw drift correction cycle
2013-05-05 13:51:45 +10:00
ee2daf25b6
AHRS: perf improvement by caching declination vector
2013-05-05 12:58:43 +10:00
014c9376e7
AP_AHRS: use const references where possible
2013-04-22 13:26:49 +10:00
7ad293e270
AP_AHRS: made a few methods const
2013-04-20 13:52:36 +10:00
8459da202c
AP_AHRS: prevents compass flyaways for plane and rover
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this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
2013-03-29 13:48:25 +11:00
9bf69d4e0d
AP_AHRS: port to AP_HAL
2012-12-20 14:51:29 +11:00
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
2be785899b
AHRS: added airspeed_estimate() function
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this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
2012-08-21 19:19:51 -07:00
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
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this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
48e275e22d
AHRS: avoid a compiler bug in quaternion code
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Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
f5b7ae213c
AHRS: added AHRS_GPS_USE parameter
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this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
2012-08-11 22:06:03 +10:00
779dacfd24
AHRS: added wind estimation code
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this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
af4071894e
AHRS: added long-term dead-reckoning
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this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
52b2aacf28
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
898a5af692
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00
468170b589
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
2012-07-28 14:16:15 +09:00
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
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this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
2012-07-10 16:22:48 +10:00
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
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this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
2012-07-04 17:00:40 +10:00
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
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this is to make it easier for Craig and Alan to tune
2012-07-04 12:42:46 +10:00
136c03c3c0
AHRS: include the P terms in get_gyro()
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this makes it more useful for navigation controllers
2012-06-29 21:54:09 +10:00
58c4d458dc
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
fd241692d0
AHRS: revert to the old drift correction algorithm
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we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
8e044a560b
AHRS: include P term in omega
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thanks to Jon for suggesting this
2012-06-27 16:01:50 +10:00
37e2f2ee2c
AHRS: implement spin rate limits
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this follows the method that Bill developed in his fastRotations
paper. We've demonstrated that this is indeed needed in APM, as we
were able to produce the 'dizzy' effects in both the ArduPlane and
ArduCopter simulator
2012-06-27 16:01:50 +10:00
3a41ad8e7c
AHRS: normalize the ge vector in drift correction, and use barometer
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The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
d230690b7b
AHRS: brought DCM more inline with Bill's implementation
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omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20
The key change was the scaling of ge to ensure the error is not
quadratic
2012-06-27 16:01:49 +10:00
d4c8041c51
AHRS: first successful version of Bills new drift correction system
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This makes 3 major changes:
1) fixes the scaling of the yaw drift correction term to fix the time
constant
2) don't integrate the mag vector over multiple readings
3) accumulate omega_I changes over 15 seconds before applying, to try
to prevent omega_I picking up short term responses
2012-06-27 16:01:49 +10:00
0f5c22bd8e
AHRS: implement Bills new drift correction algorithm
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this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
6e1798b104
AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4)
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This reduces the compass's default authority over the yaw direction by half
2012-04-30 17:29:45 +09:00
2a3af369b6
DCM: buffer omega_I changes over 10 seconds
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this buffers up _omega_I changes in _omega_I_sum over a period of 10
seconds, applying the slope limit only when _omega_I_sum is
transferred to _omega_I.
The result is a huge improvement in the ability of _omega_I to track
gyro drift over the long term.
2012-04-23 12:13:25 +10:00
8e90aeea4e
AHRS: added AHRS_YAW_P parameter
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this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
b549b88e5e
AHRS: fixed error_yaw reporting with 2 MAVLink connections
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when a user first connects with USB, and later switches to the
telemetry port without restarting we were getting zero for error_yaw
in the logs, as AHRS.get_error_yaw() was being called twice.
This ensures we give the last value after the counter is reset
2012-03-29 12:39:53 +11:00
d4bb068d5b
AHRS: adapt the DCM library to the AHRS framework
2012-03-19 17:29:02 +11:00
9d75ffeba1
AHRS: rename DCM and Quaternion implementions ready for AHRS class
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this is the first step to creating a general AHRS class for ArduPilot
2012-03-19 17:29:01 +11:00
Lucas De Marchi
Andrew Tridgell
Tom Pittenger
Randy Mackay
Jonathan Challinger
Andrew Tridgell
priseborough
tobias
Pat Hickey
uncrustify
Jason Short