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93 Commits

Author SHA1 Message Date
Andrew Tridgell 09dde518df AP_AHRS: fixed dead-reckoning groundspeed vector 
this is essential for RTL in planes on GPS loss
 2018-11-19 07:32:20 +11:00
Andrew Tridgell 33b26da2eb AP_AHRS: small cleanups 
always pass the pitch trim, and removed unusued variables
 2018-11-12 17:05:04 +11:00
IamPete1 e1cdf9fe0a AP_AHRS: add trimed view 2018-11-12 17:05:04 +11:00
Peter Barker 9793703a76 AP_AHRS: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Jacob Walser 74be9f0bda AP_AHRS: Add support for custom board orientations 2018-04-24 13:04:37 +01:00
Jacob Walser b820da5c6f AP_AHRS: update AHRS_ORIENTATION metadata 2018-04-24 13:04:37 +01:00
Peter Barker 1dabcc473d AP_AHRS: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker dc30197ca7 AP_AHRS: add AP::ahrs() singleton 2018-03-07 12:34:39 +00:00
Andrew Tridgell 0b5e3936fe AP_AHRS: added earth to body 2D rotations 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
Samuel Tabor 05492be269 AP_AHRS: clarify scope of AHRS_GPS_USE parameter 2017-11-20 13:53:36 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 98a43cc4b5 AP_AHRS: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Eugene Shamaev 5c080ce875 AP_AHRS: calculation and reporting of AOA and SSA 2017-04-19 20:48:42 +10:00
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
mirkix d2431dafd0 AP_AHRS: fix description 2017-01-17 18:55:46 +00:00
priseborough 33a7c682a3 AP_AHRS: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Peter Barker 9a8d3d6e7c AP_AHRS: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Jonathan Challinger e20687fbce AP_AHRS: cache trim rotation 2016-10-13 10:02:14 +11:00
Jonathan Challinger a03fa2d3cf AP_AHRS: use exact matrix for trim rotations 2016-10-13 10:02:13 +11:00
Andrew Tridgell ea823a818c AP_AHRS: enable EKF2 by default in AHRS 2016-01-05 16:42:01 +11:00
Jonathan Challinger 6682b27456 AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned 2015-12-18 18:08:37 +11:00
Lucas De Marchi dd784189a1 AP_AHRS: remove comment about avr-libc 2015-11-04 12:14:16 +11:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
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
Grant Morphett b2751d876c AP_AHRS: Fixed spelling error in parameter desc. 2015-09-16 09:33:30 +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
Andrew Tridgell 00ca493860 AP_AHRS: prevent a floating exception in update_trig 2015-05-27 22:10:39 +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
Randy Mackay 6e30093924 AP_AHRS: correct sanity checks on update_trig 2015-04-23 09:45:43 +09:00
Jonathan Challinger 6a6ccb4f32 AP_AHRS: add sanity checks 2015-04-22 21:50:51 +09:00
Randy Mackay 98efcd5f03 AHRS: always use EKF for copter 2015-03-19 15:15:51 +09:00
Andrew Tridgell ed0a56cc3c AP_AHRS: cope with the changed semantics of airspeed.use() 2015-01-20 11:27:58 +11:00
Randy Mackay 9e731550fd AHRS: default EKF on for copter 2014-12-01 17:29:39 +09:00
Andrew Tridgell 26de54c29a AP_AHRS: cope with 90 degree pitch in update_trig() 
this prevents a numerical error in Replay
 2014-10-25 11:21:04 +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 f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +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 392995ef84 AP_AHRS: make AHRS handle altitude 
AHRS now holds the home position
 2014-02-15 05:29:47 +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
Randy Mackay 3dc6ea682c AHRS: add update_trig 
Calculates helper trig values including cos_roll, cos_pitch
 2014-02-08 18:16:39 +09:00
Paul Riseborough f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Andrew Tridgell a96840e194 AP_AHRS: changed default GPS lag to 1 sample 
this is based on detailed logs from a LEA-6H and NEO-7N
 2013-12-30 10:33:48 +11:00
Andrew Tridgell 410d356979 AP_AHRS: make airspeed_estimate const 2013-12-29 18:39:01 +11:00
Andrew Tridgell 56bcda7252 AP_AHRS: lower default roll and yaw drift correction speed 
the gyros sustain accuracy over much longer time periods than
previously expected
 2013-11-05 14:52:39 +11:00
Andrew Tridgell 02d6f012ce AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-04 21:21:42 +11:00