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86 Commits

Author SHA1 Message Date
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 c8c6e05a4a AP_AHRS: added vehicle class to AHRS 
used by EKF to control use of get_fly_forward()
 2014-04-21 18:13:12 +10:00
Andrew Tridgell f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +11:00
Randy Mackay efd4058e8b AHRS: interate move of p1 from Location to mission cmd 2014-03-19 12:10:51 +09:00
Andrew Tridgell aaaae9a222 AP_AHRS: added get_fly_forward() method 
will be used to detect a copter
 2014-02-27 17:39:49 +11:00
Andrew Tridgell 9a5ecc9541 AP_AHRS: use primary accel for accel_ef 
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
 2014-02-27 16:28:37 +11:00
Andrew Tridgell b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
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
Andrew Tridgell 3b1f9a4bbf AP_AHRS: added get_armed() and set_armed() calls 
will be used by NavEKF to determine static mode
 2014-02-19 10:52:24 +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
Randy Mackay a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +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
Randy Mackay 8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 2014-02-15 05:48:20 +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 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 6e5077b60b AP_AHRS: removed unused AP_AHRS_HIL 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
Andrew Tridgell c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +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
Andrew Tridgell 410d356979 AP_AHRS: make airspeed_estimate const 2013-12-29 18:39:01 +11:00
Michael Day e5addf86c1 AP_AHRS: Added getters for compass and GPS. 2013-12-11 17:29:14 +11:00
Andrew Tridgell 6ed493b10f AP_AHRS: added attitude_reset() method for HIL_SENSORS 2013-11-23 18:50:56 +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
Andrew Tridgell d31e557983 AP_AHRS: save memory and reduce pointer references 
use a refence for ins, and don't save gyro and accel between updates
 2013-11-04 21:21:37 +11:00
Andrew Tridgell d305dd5946 AP_AHRS: debounce the GPS/compass consistency test 
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
Randy Mackay 8306d74da0 AHRS: remove DMP as an ahrs 2013-09-27 10:42:46 +09:00
Andrew Tridgell c044385fff AP_AHRS: added groundspeed() method 
this gives ground speed in m/s from GPS
 2013-09-09 18:04:41 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
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
Andrew Tridgell 57d2dd814d AP_AHRS: added get_position_lag() call 
provide position lag to libraries
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations 
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
Andrew Tridgell ec73fadc45 AP_AHRS: added true airspeed support in AHRS 
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
 2013-07-22 12:50:01 +10:00
Andrew Tridgell b721bcc129 AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth() 
these are not used any more
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 80e0f8044c AP_AHRS: added airspeed_sensor_enabled() function 2013-07-04 16:56:57 +10:00
Andrew Tridgell aaaa5247e3 AP_AHRS: make it possible to setup board orientation at runtime 2013-06-03 16:52:28 +10:00
Andrew Tridgell 14628990e6 AP_AHRS: make wind estimation configurable 
rover doesn't want it
 2013-05-24 11:21:42 +10:00
Andrew Tridgell c08c084191 AP_AHRS: added get_projected_position() 
this is used to project the position forward by the GPS lag
 2013-05-17 08:32:21 +10:00
Andrew Tridgell a17b85c661 AP_AHRS: use vectors for ground vector complimentary filter 2013-05-13 11:27:55 +10:00
Randy Mackay ceda7d26b0 AHRS: add correct_centrifugal and flags structure 2013-05-06 15:32:06 +09:00
Andrew Tridgell 943a1d8c8d AP_AHRS: added AHRS_GPS_MINSATS option 
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
 2013-05-05 12:48:01 +10:00
Andrew Tridgell 014c9376e7 AP_AHRS: use const references where possible 2013-04-22 13:26:49 +10:00
Andrew Tridgell 7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00
Andrew Tridgell a4d25f5a82 AHRS: removed AHRS_BARO_USE option 
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
 2013-04-15 10:52:31 +10:00
priseborough b63d0969b7 AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector 
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
 2013-04-12 12:48:09 +10:00
Andrew Tridgell ee81b0f729 AP_AHRS: added wind_correct_bearing() and groundspeed_vector() 
these are very useful for navigation libraries
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 896fd52aa1 AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-03-29 18:35:10 +11:00
Andrew Tridgell 8459da202c AP_AHRS: prevents compass flyaways for plane and rover 
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
Randy Mackay 24044dc0c4 AHRS: add support for GPS fix type 2D 2013-03-27 11:41:43 +09:00