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738 Commits

Author SHA1 Message Date
Eugene Shamaev
5c080ce875 AP_AHRS: calculation and reporting of AOA and SSA 2017-04-19 20:48:42 +10:00
priseborough
90cd46f4d7 AP_AHRS: simulate body frame odometry sensor 2017-04-19 11:04:40 +09:00
priseborough
3b82f60b08 AP_AHRS: add interface for use of visual odometry data 2017-04-19 11:04:40 +09:00
Andrew Tridgell
6b6ad6ddf2 AP_AHRS: fixed wrap of yaw in AHRS_View 2017-04-17 12:15:19 +10:00
Andrew Tridgell
5758532326 AP_AHRS: make AHRS2 quaternion available 2017-04-16 14:01:36 +10:00
Pierre Kancir
fede727d38 AP_AHRS: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Michael du Breuil
33d0fa3e82 AP_AHRS: Fix an index out of bounds 
Coverity 137817, getPrimaryCoreIMUIndex() can return -1, which is then invalid to pass to get_delta_velocity_dt
 2017-04-06 08:44:57 +10:00
Andrew Tridgell
a11dca5229 AP_AHRS: added optional skip_ins_update to AHRS::update() 
avoid the ins update if already done in copter fast_loop()
 2017-04-03 13:04:11 +09:00
Andrew Tridgell
5f02b7eddb AP_AHRS: added get_error_rp and get_error_yaw to AHRS_View 2017-03-31 11:30:44 +11:00
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
Randy Mackay
a74833a04a AP_AHRS: fix example sketch 2017-02-27 15:18:13 +09:00
Peter Barker
e744460ff5 AP_AHRS: mark many functions as override 
Also take the opportunity to remove void parameter
 2017-02-24 21:13:08 +11:00
Peter Barker
6ee4045878 AP_AHRS: mark new relative position functions override 2017-02-24 21:13:08 +11:00
Peter Barker
35f876f853 AP_AHRS: examples: correct AHRS_Test 
This is required so gcs() returns an object
 2017-02-24 21:13:08 +11:00
Peter Barker
4ed7fb154f AP_AHRS: supply missing get_relative_position_D_home 
Simply returns the baro altitude (like EKF does if it lacks
position)
 2017-02-24 21:13:08 +11:00
Peter Barker
24647fb2b0 AP_AHRS: make get_relative_position_D_home pure virtual 
Having a void function with a return parameter that isn't
filled in by the base class function seems like a bad idea
 2017-02-24 21:13:08 +11:00
Jacob Walser
8c87868b5c AP_AHRS: Add submarine vehicle class 2017-02-21 11:26:14 +11:00
Peter Barker
1217256898 AP_AHRS: correct infinite recursion in AP_AHRS_View 2017-02-21 09:03:03 +11:00
Andrew Tridgell
7845181f4b AP_AHRS: fixes for changes in AP_AHRS API from Michael 2017-02-18 17:26:43 +11:00
Andrew Tridgell
c62c64d27b AP_AHRS: added support for AP_AHRS_View 2017-02-18 17:26:43 +11:00
Andrew Tridgell
1345bf8737 AC_AttitudeControl: added support for AP_AHRS_View 
this allows for tailsitters with a different attitude view
 2017-02-18 17:26:43 +11:00
Michael du Breuil
3274f1dbb1 AP_AHRS: Split all NED methods into a collection of NED relative to home vs origin 2017-02-13 09:23:14 +11:00
priseborough
93aa40a9e0 AP_AHRS: Fix EKF3 gyro bias reporting and improve code clarity 2017-02-08 19:11:08 +00:00
priseborough
e2757c17c8 AP_AHRS_NavEKF: fix ekf variable naming and initialisation 2017-01-27 16:57:42 +09:00
Andrew Tridgell
33a84624c6 AP_AHRS: use const reference 
save a bit of stack and CPU
 2017-01-23 21:36:34 +11:00
Julien Beraud
d2afa1cac8 AP_AHRS_NavEKF: Push gyro bias for optical flow 
Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
 2017-01-23 21:23:16 +11:00
Andrew Tridgell
09c969477f AP_AHRS: fixed fallback to DCM for get_position 
this fixes dead-reckoning on fixed wing on GPS loss, and fallback to
DCM on loss of EKF position in fixed wing

This was broken by the EKF3 merge
 2017-01-22 13:40:46 +11:00
mirkix
d2431dafd0 AP_AHRS: fix description 2017-01-17 18:55:46 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Andrew Tridgell
7a5ee29b6e AP_AHRS: fixed a build warning 2016-12-31 08:53:16 +11:00
Andrew Tridgell
ad518f0cc7 AP_AHRS: fixed EKF type 10 EKF nav scaler return 2016-12-29 18:43:32 +11:00
murata
4c320373eb AP_AHRS: Change indentation. 
AP_AHRS: Delete inserted message "no break"
 2016-12-24 11:30:37 +09:00
Andrew Tridgell
22fd2025de AP_AHRS: fixed EKF type 10 2016-12-21 10:52:12 +11:00
Peter Barker
802206baed AP_AHRS: remove use of uninitialised value 2016-12-19 19:51:16 -08:00
Andrew Tridgell
0870e02584 AP_AHRS: fixed example build 2016-12-19 08:07:13 +11:00
priseborough
33a7c682a3 AP_AHRS: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Andrew Tridgell
ab05472e0e AP_AHRS: added EKF3 for EKF experimentation 
Conflicts:
	libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
 2016-12-18 10:28:04 +11:00
jinchengde@gmail.com
efd0f0b832 modify NavEKF2 for AHRS Test 2016-12-05 17:10:23 -08:00
priseborough
b4961971e0 AP_AHRS: add beacon object to ahrs 2016-11-30 17:56:42 +09:00
Randy Mackay
c615bac1cd AP_AHRS: add getLastPosDownReset accessor 2016-11-24 19:57:53 +09:00
murata
c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Peter Barker
9a8d3d6e7c AP_AHRS: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Andrew Tridgell
772209b3f3 AP_AHRS: make posOffset a const reference 2016-10-27 15:45:24 +11:00
priseborough
6069c37b19 AP_AHRS: add position offset to optical flow interface 2016-10-27 14:54:42 +11:00
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
25a14fe0dc AP_AHRS: add interface to retrieve corrected delta velocities in NED frame 2016-10-14 10:45:58 +09:00
Jonathan Challinger
e20687fbce AP_AHRS: cache trim rotation 2016-10-13 10:02:14 +11:00
Jonathan Challinger
5ff78b8e47 AP_AHRS: fix rotation of acceleration into earth frame 2016-10-13 10:02:13 +11:00
Jonathan Challinger
a03fa2d3cf AP_AHRS: use exact matrix for trim rotations 2016-10-13 10:02:13 +11:00
Lucas De Marchi
ae53920e5b build: don't build examples with old build system 
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file.  Having the makefiles
there is misleading since people try to build and realize the build is
broken.
 2016-10-11 13:03:08 +11:00
Andy Little
0d113b265c Examples: fix examples for px4 
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
 2016-10-04 12:50:47 -03:00
floaledm
27e977289a AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS 2016-09-27 09:20:32 -07:00
Andrew Tridgell
334db0a1a5 AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index() 2016-09-05 12:56:36 +10:00
Andrew Tridgell
c62fc336cb AP_AHRS: use current EKF2 IMU core in gyro estimate 
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate

This affects all multi-IMU systems using EKF2
 2016-09-05 12:54:53 +10:00
Andrew Tridgell
bf1e0e1536 AP_AHRS: fixed EKF GPS arming check for fixed wing 
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
 2016-09-02 11:12:19 +10:00
LukeMike
d8cc2668cb VRBRAIN / AP_AHRS_NavEKF: set AP_AHRS_WITH_EKF1 to 1 only for VR Brain 5.4 2016-08-07 20:31:51 +10:00
Peter Barker
78fa23440c AP_AHRS: remove use of uninitialised variable 
clang told us:

../../libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:695:35: fatal error: variable 'posD' is used uninitialized whenever '&&' condition is false [-Wsometimes-uninitialized]
 2016-07-20 00:06:49 -03:00
priseborough
01ce3e7f1e AP_AHRS: fix documentation errors 2016-07-19 12:16:49 +10:00
priseborough
5454f76702 AP_AHRS: Add separate interfaces for local horizontal and vertical position 2016-07-19 12:16:49 +10:00
Andrew Tridgell
e82468a529 AP_AHRS: avoid ifdef for AP_MODULE_SUPPORTED 2016-07-14 13:39:47 +10:00
Andrew Tridgell
36181b78de AP_AHRS: fixed build for px4 2016-07-14 13:39:46 +10:00
Andrew Tridgell
15a01eefb1 AP_AHRS: added AHRS_update hook 2016-07-14 13:39:46 +10:00
Andrew Tridgell
2db2486b3a AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10 2016-06-19 22:02:25 +10:00
masierra
8fc494cfcd AP_AHRS_DCM: changed estimate to use prev values for dir & vel 2016-06-06 15:26:51 -07:00
Andrew Tridgell
a6cbc5d4a5 AP_AHRS: use EKF for groundspeed estimate if available 2016-05-31 15:56:25 +10:00
Andrew Tridgell
d17e3b17bf AP_AHRS: special handling for flying fixed wing with no compass 
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
 2016-05-27 10:18:53 +10:00
Andrew Tridgell
8486d4ab5e AP_AHRS: disable EKF1 on all PX4v1 and PX4v2 boards 
we're out of space in copter now too
 2016-05-21 15:25:18 +10:00
Paul Riseborough
597ec61673 AP_AHRS: extend ekf fault status reporting coverage 2016-05-21 15:13:50 +10:00
Ricardo de Almeida Gonzaga
2bf9aa94ad AP_AHRS: Fix typos 2016-05-13 19:20:06 -03:00
dgrat
6d3b491c02 AP_Math: Replace is_equal with a type safe template function 
It makes sense to consider also other floating point types.
 2016-05-10 11:41:26 -03:00
dgrat
41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Andrew Tridgell
73d3797a7e AP_AHRS: finish implementing have_ekf_logging() 2016-05-07 18:27:20 +10:00
Andrew Tridgell
795080742e AP_AHRS: added have_ekf_logging() API 2016-05-07 18:27:19 +10:00
Andrew Tridgell
07060051cf AP_AHRS: added API for forcing EKF to start 
used by Replay to sync start times
 2016-05-07 18:27:18 +10:00
Andrew Tridgell
664ce5c16e AP_AHRS: don't use disabled gyro in rate controllers 
obey INS_USE* parameters in gyro estimate
 2016-05-01 22:16:06 +10:00
Randy Mackay
4419b3c617 AHRS_NavEKF: fix get_position by using ekf origin 
The EKF's getPosNED returns a vertical position relative to the EKF origin but previously this function was using it as if it was relative to ahrs's home
 2016-04-21 11:23:07 +10:00
Jonathan Challinger
6a5f1c0bec AP_AHRS_NavEKF: reflect changes to getMagOffsets 2016-04-21 09:53:03 +10:00
Jonathan Challinger
18240107f0 AP_AHRS_NavEKF: add getGpsGlitchStatus 2016-04-14 12:24:04 +09:00
Andrew Tridgell
9db618c73c AP_AHRS: disable EKF1 for plane 
we are running too close to the 1MByte limit for pixhawk. This
recovers nearly 100kbyte of flash
 2016-04-04 11:08:03 +10:00
Lucas De Marchi
e0153faa85 AP_AHRS: replace header guard with pragma once 2016-03-16 18:40:40 +11:00
Andrew Tridgell
d0b67ce007 AP_AHRS: allow for EKF without GPS on plane in VTOL modes 
this allows for testing quadplanes indoors
 2016-03-05 08:58:08 +11:00
Lucas De Marchi
0ccd2de12b AP_AHRS: fix use of undefined macro 
../../libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp:63:5: warning: "WITH_GPS" is not defined [-Wundef]
 #if WITH_GPS
     ^

g_gps was not even declared so remove it.
 2016-02-19 12:35:20 -02:00
Jonathan Challinger
cbf2309023 AP_AHRS: add get_mag_field_NED and get_mag_field_correction 2016-01-23 10:35:36 +09:00
Gustavo Jose de Sousa
c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Randy Mackay
f6b909d0a5 AHRS_NavEKF: resolve compiler warning re signed vs unsigned comparison 2016-01-07 12:31:47 +09:00
Andrew Tridgell
f8b52c6a67 AP_AHRS: try to start EKF2 slightly before EKF2 
this gives priority to EKF2 on memory
 2016-01-07 08:34:32 +11:00
Andrew Tridgell
ea823a818c AP_AHRS: enable EKF2 by default in AHRS 2016-01-05 16:42:01 +11:00
Jonathan Challinger
5cb7331095 AP_AHRS: fix example build 2015-12-29 10:46:35 -08:00
Jonathan Challinger
a2999ece54 AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected 2015-12-28 13:51:24 +09:00
Lucas De Marchi
a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Andrew Tridgell
6a5c5969fa AP_AHRS: fixed example build 2015-12-27 14:57:32 +09:00
Jonathan Challinger
6682b27456 AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned 2015-12-18 18:08:37 +11:00
Julien BERAUD
924a94633d AP_AHRS: Fix build 
Due to interdependancy between optical flow and AHRS, it is not possible
to include full class definition which rely on each other
 2015-12-18 17:56:06 +11:00
Lucas De Marchi
2b26a2eebe AP_AHRS: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:42 +11:00
Caio Marcelo de Oliveira Filho
6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Andrew Tridgell
1e8c391024 AP_AHRS: fixed float exception on start in SITL 
zero DCM matrix
 2015-12-01 15:19:45 +11:00
Andrew Tridgell
b3e6129fd4 AP_AHRS: added EKF type 10 for SITL 
this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
 2015-11-22 17:30:28 +11:00
Andrew Tridgell
7b38f2185f AP_AHRS: use the right DCM matrix for right EKF 
this fixes a bug where the EKF2 DCM matrix would be used for
get_dcm_matrix() when EKF1 was active
 2015-11-20 18:34:08 +11:00
Caio Marcelo de Oliveira Filho
3a17c858e3 AP_AHRS: use millis/micros/panic functions 2015-11-20 12:29:00 +09:00
Caio Marcelo de Oliveira Filho
4ea45b8df1 AP_AHRS_NavEKF: use millis/micros/panic functions 2015-11-20 12:28:53 +09:00
Caio Marcelo de Oliveira Filho
55e61538b3 AP_AHRS_DCM: use millis/micros/panic functions 2015-11-20 12:28:45 +09:00
Andrew Tridgell
8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Paul Riseborough
803817821d AP_AHRS: Support changes to EKF2 interfaces that specify the instance 
An instance of -1 is specified which causes data for the primary instance to be returned.
 2015-11-08 15:37:28 +11:00
Lucas De Marchi
dd784189a1 AP_AHRS: remove comment about avr-libc 2015-11-04 12:14:16 +11:00
Lucas De Marchi
da86e29c27 AP_AHRS: remove check for AVR CPUs 
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
Lucas De Marchi
124937ab61 AP_AHRS: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:11 +11:00
Paul Riseborough
7ed36d8e65 AP_AHRS: Enable pre-flight GPS check status reporting for EKF2 2015-11-02 14:12:17 +11:00
Lucas De Marchi
20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
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
Lucas De Marchi
2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Randy Mackay
4e959ef6f9 AP_AHRS: constify getLastPosNorthEastReset 
Also constify getLastVelNortEastReset
 2015-10-30 12:24:13 +09:00
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
f7c73fbb13 AP_AHRS: remove AHRS_EKF_USE_ALWAYS define 
This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
 2015-10-21 11:01:11 +11:00
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
Caio Marcelo de Oliveira Filho
e87db31149 AP_AHRS: remove unused define 
AHRS_EKF_USE_DEFAULT is not used since commit
7ba45444a2 "AP_AHRS: added selection of
EKF type using AHRS_EKF_TYPE".
 2015-10-21 11:01:10 +11:00
Caio Marcelo de Oliveira Filho
9b73fcb6f8 AP_AHRS: remove unnecessary includes in the example 2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Andrew Tridgell
79d85f7e10 AP_AHRS: wait for up to 10 samples to get a valid accel vector 
the initial accel vectors can be invalid
 2015-10-21 09:09:11 +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
Jonathan Challinger
c35605fa04 AP_AHRS_DCM: align tilt during initialization 2015-10-21 08:34:02 +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
Gustavo Jose de Sousa
84f811fe76 AP_AHRS: use compass get_{field,offsets}() functions 
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
 2015-10-15 19:56:00 +09:00
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
Andrew Tridgell
06c0ad987e AP_AHRS: fixed divide by zero in SITL 
fixes issue#2875
 2015-09-24 16:49:22 +10:00
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
13f72e5ba9 AP_AHRS: expose EKF2 for logging 2015-09-23 12:09:36 +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
ed25c85d21 AP_AHRS: added NavEKF2 to constructor 2015-09-23 11:56:42 +10:00
Randy Mackay
b5e1ad89b3 AHRS: remove INS start style from example sketch 2015-09-21 17:06:23 +09:00
Grant Morphett
b2751d876c AP_AHRS: Fixed spelling error in parameter desc. 2015-09-16 09:33:30 +09:00
Staroselskii Georgii
4b948f5bb1 AP_AHRS: make DCM use milligauss 2015-09-09 10:38:16 +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
Randy Mackay
7f46cc9059 AHRS_DCM: integrate INS use_accel 2015-08-19 16:44:19 +09:00
Lucas De Marchi
b43bddc0af AP_AHRS: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:51 +10:00
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
7e2e78c1af AP_AHRS: protect against zero deltat in DCM 
fixes issue #2657
 2015-08-05 15:21:00 +10:00
Randy Mackay
9067abc037 AHRS_NavEKF: fix blended accel to use primary accel 2015-08-01 17:19:45 +09:00
Andrew Tridgell
9c776736c1 AP_AHRS: use delta_velocity and delta_angle in DCM 
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
 2015-07-30 11:04:31 +10:00
mirkix
d169fea9ec AP_AHRS: Add Linux support for example 2015-06-18 08:59:16 +10:00
Andrew Tridgell
edab50ab5a AP_AHRS: convert example from .pde to .cpp 2015-06-01 16:58:10 +10:00
Andrew Tridgell
04ba5fa0bd AP_AHRS: pass EKF into constructor 
this makes it possible for var_info in vehicle code to be in text
segment
 2015-06-01 16:16:24 +10:00
Andrew Tridgell
00ca493860 AP_AHRS: prevent a floating exception in update_trig 2015-05-27 22:10:39 +10:00
Andrew Tridgell
b61f7fa2f6 AP_AHRS: enable EKF by default on plane 
now we have arming checks enabled by default I think this is the best
choice
 2015-05-23 17:17:44 +10:00
Andrew Tridgell
7a76f72bf5 AP_AHRS: added uptime_ms() interface 2015-05-20 15:22:14 +10:00
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
Randy Mackay
3390d9932e AP_AHRS: fix example sketch 2015-05-09 12:23:05 +09:00
Peter Barker
463270e0ee AP_AHRS: avoid FPE when we don't have a compass reading 2015-05-05 15:02:35 +10:00
Andrew Tridgell
4d4a607b80 AP_AHRS: revert AP_Math class change 2015-05-05 13:27:05 +10:00
Tom Pittenger
20f47417d5 AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:55 +10:00
Andrew Tridgell
e597575747 AP_AHRS: fix for HAL_SITL rename 2015-05-05 09:45:54 +10:00
Andrew Tridgell
6bfca648b9 AP_AHRS: raise DCM P gains when disarmed for first 20 seconds 2015-04-28 14:07:39 +10:00
Tom Pittenger
e28c555889 AHRS_DCM: fix compile warnings re float constants 
Also fix example sketch
 2015-04-24 12:26:08 +09:00
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
Paul Riseborough
5184bca87f AP_AHRS: Prevent DCM reporting good tilt error when inverted 2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a AP_AHRS: Reduce time constant on filtering of DCM error reporting 
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
 2015-04-23 20:35:35 +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
c6f71ea2e0 AHRS: make get_error_rp and get_error_yaw const 2015-04-21 22:42:17 +09:00
Andrew Tridgell
a0969905ce AP_AHRS: make get_error_rp() and get_error_yaw() const 
this makes them usable by multiple consumers, and allows use by EKF
 2015-04-21 21:42:17 +10:00
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
Randy Mackay
7f25938834 AHRS: fix example sketch 2015-03-16 20:29:19 +09:00
Jonathan Challinger
f92c711d14 AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use 2015-03-16 09:14:03 +11:00
Andrew Tridgell
585a105128 AP_AHRS: use compass->last_update_usec() 2015-03-14 12:31:50 +11:00
Andrew Tridgell
b488d6de00 AP_AHRS: fix for new compass API 2015-03-13 18:46:17 +11:00
Andrew Tridgell
031c81beee AP_AHRS: removed call to 1D accel cal 2015-03-12 12:50:29 +11:00
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
Jonathan Challinger
180c85817d AP_AHRS: remove armed state, use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
mirkix
49d81a9c99 AP_AHRS: fix apm1 oilpan support 2015-02-11 18:22:39 +11:00
Randy Mackay
b66a1135d9 AHRS: fix example sketch compile error 2015-02-03 15:57:11 +09:00
Andrew Tridgell
ee9c778834 AP_AHRS: added a get_NavEKF_const() function 
needed for AP_Mount_MAVLink

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell
68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Randy Mackay
d8664d15d6 AHRS: fix example sketch 2015-01-28 17:15:35 +09:00
Andrew Tridgell
ed0a56cc3c AP_AHRS: cope with the changed semantics of airspeed.use() 2015-01-20 11:27:58 +11:00
Andrew Tridgell
d2c827aa4b AP_AHRS: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell
b499cd1b59 AP_AHRS: fixed examples build 
using a relative include works as the object is just passed through,
not used, in this header
 2015-01-05 07:04:27 +11:00
Andrew Tridgell
70c2aeca42 AP_AHRS: make optflow available via AHRS 
same pattern as compass and airspeed sensor
 2015-01-03 14:16:34 +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
Randy Mackay
4452aa8448 AP_AHRS_DCM: compile error fix for low speed CPUs 
Also correct initialisatoin order to remove compiler warning
 2014-12-05 19:43:05 +09:00
Jonathan Challinger
9261dfdefb AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions 2014-12-05 19:40:08 +09:00
Jonathan Challinger
4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
Jonathan Challinger
033ee3c900 AP_AHRS: Add get_accel_ef_blended function 2014-12-05 19:40:04 +09:00
Randy Mackay
9e731550fd AHRS: default EKF on for copter 2014-12-01 17:29:39 +09:00
Andrew Tridgell
38c1b622f3 AP_AHRS: fixed example build on APM2 2014-11-28 17:59:18 +11:00
Andrew Tridgell
89cdae62b4 AP_AHRS: fixed example build 2014-11-28 10:40:52 +11:00
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
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
f79ce92673 AP_AHRS: fixed example build 2014-10-24 12:10:40 +11:00
Randy Mackay
39c8535223 AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P 2014-10-21 21:41:41 +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
Andrew Tridgell
63c06ea2af AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 10:12:50 +11:00
Andrew Tridgell
809b6cc855 AP_AHRS: added get_yaw_rate_earth() 
used to estimate course correction on takeoff
 2014-10-07 07:17:46 +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
Randy Mackay
a6de3283b6 AHRS_DCM: init members to resolve compiler warnings 2014-08-14 11:27:31 +09:00
Andrew Tridgell
0f5b65e40e AP_AHRS: fixed example build 2014-08-13 21:46:04 +10:00
Przemek Lekston
ae4814a773 AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind 2014-08-07 12:34:30 +10:00
Andrew Tridgell
82d0666501 AP_AHRS: fixed example build 2014-07-25 17:54:04 +10:00
Andrew Tridgell
6a275372dd AP_AHRS: ensure get_position() fills in flags 2014-07-25 11:40:16 +10:00
Randy Mackay
d23b685023 AP_AHRS: add empty virtual destructor 2014-07-16 14:56:54 +09:00
Randy Mackay
1f2e38ed28 AHRS: initalise members to reduce compiler warnings 2014-07-16 14:38:26 +09:00
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
Jonathan Challinger
61987f6655 AP_AHRS: Fixed DCM get_gyro function 
Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
 2014-07-13 21:19:29 +10:00
Andrew Tridgell
d70bee9249 AP_AHRS: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell
b3c1e515dc AP_AHRS: when no accel info available in buffer use current value 
this prevents an initialisation error, and is reasonable in flight too

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 22:19:54 +10:00
Andrew Tridgell
315290029a AP_AHRS: fixed check of accel sensor health 
we need to check health of each accelerometer separately
 2014-05-15 22:18:56 +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
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
4d24a86088 AP_AHRS: prevent a infinity value 2014-04-21 15:37:07 +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
35c111a63a AP_AHRS: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell
f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell
afab8a9c5b AP_AHRS: fixed example build 2014-03-19 12:14:02 +09:00
Randy Mackay
efd4058e8b AHRS: interate move of p1 from Location to mission cmd 2014-03-19 12:10:51 +09:00
Paul Riseborough
15a44571c2 AP_NavEKF : enable operation without a compass for planes 2014-03-09 20:01:45 +11:00
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
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
6fc5c12f1d AP_AHRS: remove unused variable 2014-02-26 10:28:12 +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
b434c11215 AP_AHRS: removed empty file 2014-02-19 22:00:25 +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
Andrew Tridgell
ee37bc3d27 AP_AHRS: ensure we have HAL_CPU_CLASS available 2014-02-16 17:57:09 +11:00
Randy Mackay
a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +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
eedd88c2ec AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM 2014-02-15 09:25:40 +11:00
Randy Mackay
5bdc564191 AP_AHRS: fix example sketch 2014-02-15 06:09:08 +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
Andrew Tridgell
c62ccce9d8 AP_AHRS: make estimate_wind() public 
this avoids it linking into copter
 2014-02-15 05:48:24 +11:00
Andrew Tridgell
f09ae0c2d0 AP_AHRS: expose get_NavEKF as non-const 
better than having two methods
 2014-02-15 05:48:22 +11:00
Paul Riseborough
08267cea87 AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight 2014-02-15 05:48:22 +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
f068d0ff7e AP_AHRS_NavEKF: expose non-const EKF for tuning 2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0 AP_AHRS_NavEKF: override set_correct_centrifugal 2014-02-15 05:48:20 +11:00
Randy Mackay
8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 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
a74fcc5a93 AP_AHRS: added set_ekf_use() 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
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
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
Andrew Tridgell
c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +11:00
Randy Mackay
98d667c916 AHRS_HIL: call update_trig 2014-02-08 18:16:44 +09:00
Randy Mackay
6946d68318 AHRS_DCM: call update_trig 2014-02-08 18:16:42 +09:00
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
Michael Day
e5addf86c1 AP_AHRS: Added getters for compass and GPS. 2013-12-11 17:29:14 +11:00
Andrew Tridgell
baa4ecc2ea APA_AHRS: update for compass API change 2013-12-09 17:34:07 +11:00
Andrew Tridgell
b248cc0868 AP_AHRS: fixed a build warning 2013-11-23 21:44:56 +11:00