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
|
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
|
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
|
9ef71a9dec
|
AP_NavEKF: added healthy() API
|
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 |
|
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
|
ea0f9392ef
|
AP_NavEKF: don't report altitude yet, and removed debug code
|
2014-02-15 05:29:45 +11:00 |
|
Andrew Tridgell
|
a1aebc0c15
|
GCS_MAVLink: update from upstream
|
2014-02-15 05:29:23 +11:00 |
|
Andrew Tridgell
|
0e10554dc0
|
GCS_MAVLink: rename EKF message to AHRS2
|
2014-02-15 05:28:10 +11:00 |
|
Andrew Tridgell
|
33673c954d
|
AP_NavEKF: implemented getRotationBodyToNED()
|
2014-02-15 05:28:10 +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
|
2c86a490ed
|
AP_NavEKF: make it possible for NavEKF to be a AHRS member
ready for AHRS integration
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
6f31961fb5
|
AP_NavEKF: Added height rate adaptive wind speed process noise
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
de884dabab
|
AP_NavEKF: brought some tuning parameters out to header
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
3ee5ef852b
|
AP_NavEKF : improved On Ground check
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
8bc14d09b2
|
AP_NavEKF : remove onGround airspeed detect bug
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
a507fa7570
|
AP_NavEKF : remove debug code
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
2f95685bfc
|
Plane : EKF data logging fixes
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
6b9733c013
|
AP_NavEKF : Additional flash logging
|
2014-02-15 05:28:09 +11:00 |
|
Paul Riseborough
|
c28e89e4b7
|
AP_NavEKF: bug fixes for height fusion and covariance initialisation
|
2014-02-15 05:28:08 +11:00 |
|
Paul Riseborough
|
aed6c79135
|
AP_NavEKF: Added gyro bias variance scale for on-ground
|
2014-02-15 05:28:08 +11:00 |
|
Paul Riseborough
|
cb42e1e490
|
AP_NavEKF: Added public function to get NED position
|
2014-02-15 05:28:08 +11:00 |
|
Paul Riseborough
|
2c567cd721
|
AP_NavEKF: Added tuning parameter for onGround yaw gyro variance
|
2014-02-15 05:28:08 +11:00 |
|
Paul Riseborough
|
9515f6c745
|
AP_NavEKF: Cleaned up on-ground state and covariance update logic
|
2014-02-15 05:28:08 +11:00 |
|
Andrew Tridgell
|
9c5647eef3
|
AP_NavEKF: stop log for gdb friendly playback
|
2014-02-15 05:28:08 +11:00 |
|
Andrew Tridgell
|
117b77460e
|
HAL_Linux: added stop_clock hack!
|
2014-02-15 05:28:08 +11:00 |
|
Andrew Tridgell
|
4adf6000f3
|
AP_NavEKF: only build on fast CPUs
|
2014-02-15 05:28:08 +11:00 |
|
Paul Riseborough
|
1647ba9bd0
|
AP_NavEKF: Reduced heading drift on ground
|
2014-02-15 05:28:08 +11:00 |
|
Paul Riseborough
|
63d8b1bb0b
|
AP_NavEKF: Scheduler Improvements
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
df42dd691c
|
AP_NavEKF: added perf counters on PX4
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
3d6cb9eade
|
AP_NavEKF: use float arrays when not doing bounds checking
g++ is doing a lousy job of inlining VectorN, so avoid it when we
don't need bounds checking for production code
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
c7533579ac
|
AP_AHRS: added get_airspeed() interface to AHRS
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
010250a966
|
AP_NavEKF: use quaternion normalize and cleanup sqrt calls
|
2014-02-15 05:28:07 +11:00 |
|
Paul Riseborough
|
406fb31a57
|
AP_NavEKF: Load levelling scheduler - first attempt
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
68283b7aa1
|
GCS_MAVLink: new ekf header
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
163cfd839d
|
AP_NavEKF: enable airspeed and fix getLLH()
|
2014-02-15 05:28:07 +11:00 |
|
Andrew Tridgell
|
b4153c4d32
|
GCS_MAVLink: added EKF message for debugging
|
2014-02-15 05:27:54 +11:00 |
|
Andrew Tridgell
|
4771a4fc77
|
AP_NavEKF: use radians values from AHRS directly
|
2014-02-15 05:27:53 +11:00 |
|
Paul Riseborough
|
6b798d2821
|
AP_NavEKF: first working GPS + Mag fusion
|
2014-02-15 05:27:53 +11:00 |
|
Paul Riseborough
|
bccadb6e25
|
AP_NavEKF: first working GPS fusion
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
90cd04def3
|
AP_NavEKF: fixed build for non-Linux
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
0b71618f4f
|
AP_NavEKF: use vectorN to make indexes safe
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
e972acbc9f
|
AP_NavEKF: removed delay callback
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
8f16647a0c
|
AP_NavEKF: added write_flot valgrind functions
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
a8ddd51355
|
AP_NavEKF: added pause to gnuplot scripts
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
4298625daf
|
AP_NavEKF: added convenient plotting scripts
|
2014-02-15 05:27:53 +11:00 |
|
Paul Riseborough
|
fca1090694
|
AP_NavEKF: debug updates
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
95f51123d7
|
AP_NavEKF: added plot.dat output
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
050b0fb9f1
|
AP_NavEKF: fixed compass declination, baro cal and time shift
now runs much faster
|
2014-02-15 05:27:53 +11:00 |
|
Andrew Tridgell
|
776cedf368
|
AP_NavEKF: try running EKF on log data
|
2014-02-15 05:27:52 +11:00 |
|
Andrew Tridgell
|
ffce1f64cc
|
AP_NavEKF: added euler angle functions
|
2014-02-15 05:27:52 +11:00 |
|
Andrew Tridgell
|
977ad4bbf6
|
AP_NavEKF: added dataflash log reader
this gives log playback into HIL
|
2014-02-15 05:27:52 +11:00 |
|
Andrew Tridgell
|
f3dfde2025
|
AP_NavEKF: initial test sketch for NavEKF
|
2014-02-15 05:27:52 +11:00 |
|
Paul Riseborough
|
361bb5b18f
|
AP_NavEKF: Updated comments in header file
|
2014-02-15 05:27:52 +11:00 |
|
Paul Riseborough
|
00df068967
|
AP_NavEKF: Explicitly defined numerical constants as single precision using f suffix
|
2014-02-15 05:27:52 +11:00 |
|
Andrew Tridgell
|
eb505eef91
|
AP_NavEKF: fixed build for APM environment
|
2014-02-15 05:27:52 +11:00 |
|
Paul Riseborough
|
0dd5463e77
|
AP_NavEKF : Changed file and variable names
|
2014-02-15 05:27:52 +11:00 |
|
Paul Riseborough
|
1e993d2ef5
|
AP_NavEKF: Added constructor for measurements
|
2014-02-15 05:27:52 +11:00 |
|
Paul Riseborough
|
4a7f81e50a
|
AP_NavEKF: Corrected height update timeout error
|
2014-02-15 05:27:51 +11:00 |
|
Paul Riseborough
|
0f3ebb8e31
|
AP_NavEKF: Updated measurement fusion control
|
2014-02-15 05:27:51 +11:00 |
|
Paul Riseborough
|
c557bd7df5
|
AP_NavEKF: Updated GPS input processing
|
2014-02-15 05:27:51 +11:00 |
|
Paul Riseborough
|
1d4b040c67
|
AP_NavEKF: Inertial Navigation Code - 24 State EKF
initial version converted from matlab
|
2014-02-15 05:27:51 +11:00 |
|
Andrew Tridgell
|
03cc777991
|
AP_Airspeed: added last_update_ms() interface
|
2014-02-15 05:27:51 +11:00 |
|
Andrew Tridgell
|
e7cf07dfb7
|
DataFlash: added Columns column to FMT
|
2014-02-15 05:27:51 +11:00 |
|
Andrew Tridgell
|
1e0f3f5398
|
AP_Math: make to_euler() const
|
2014-02-15 05:27:51 +11:00 |
|
Andrew Tridgell
|
90c41981ac
|
AP_Math: added quaternion normalization
|
2014-02-15 05:27:51 +11:00 |
|
Randy Mackay
|
9e31f0b985
|
AC_WPNav: use PosControl accessor
Saves 2bytes of RAM
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
78c12eaebf
|
AC_PosControl: get_pos_xy_kP accessor method
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
8d6eb1eceb
|
MotorsMatrix: motor_to_channel_map moved to progmem
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
134289af38
|
TradHeli: motor_to_channel_map moved to progmem
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
1bee56877c
|
CoaxCopter: motor_to_channel_map moved to progmem
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
3fad8e3630
|
SingleCopter: motor_to_channel_map moved to progmem
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
0edf039155
|
AP_MotorsTri: motor_to_channel_map moved to progmem
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
96d433c63e
|
AP_Motors: motor_to_channel_map moved to progmem
|
2014-02-15 05:27:50 +11:00 |
|
Randy Mackay
|
8baf5ebf4a
|
AC_AttControlHeli: use motor accessors to set roll, pitch, yaw, thr
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
f216cffb77
|
AC_AttControl: use motor accessors to set roll, pitch, yaw, thr
Saves 8bytes of RAM
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
415e48de19
|
TriCopter: use refs for all RC_Channels
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
01d30271d8
|
SingleCopter: use refs for all RC_Channels
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
18d3907928
|
TradHeli: use refs for all RC_Channels
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
cf1d6854b9
|
AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
2f4fe3e192
|
AP_Motors: accessors to set roll, pitch, yaw, throttle
This saves 16bytes of RAM and slightly reduces the dependence upon the
RC_Channel class as the interface.
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
98224db1e4
|
AC_AttControl: Leaonard's rate feedforward
Also saves 24bytes of RAM
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
2c6470f87b
|
AP_MotorsMatrix: remove unused _num_motors
Saves 1 byte of RAM
|
2014-02-15 05:27:49 +11:00 |
|
Randy Mackay
|
32a0992985
|
MatrixMotors: motor_out array made local
|
2014-02-15 05:27:48 +11:00 |
|
Randy Mackay
|
2f3fc3a3ce
|
Single: remove use of motor_out array
Also allow fins to move when throttle at zero
|
2014-02-15 05:27:48 +11:00 |
|
Randy Mackay
|
a036009524
|
AP_MotorsTri: motor_out array made local
|
2014-02-15 05:27:48 +11:00 |
|
Randy Mackay
|
83321b8786
|
AP_Motors: remove motor_out array
Saves 16bytes of RAM
|
2014-02-15 05:27:48 +11:00 |
|
Randy Mackay
|
5f89e9e746
|
AC_AttControl: bug fix to yaw rate limit
|
2014-02-15 05:27:48 +11:00 |
|
Randy Mackay
|
d76180d605
|
AC_AttControl: use trig values from ahrs
|
2014-02-15 05:27:48 +11:00 |
|
Randy Mackay
|
8b8d6a8e01
|
AC_PosControl: use trig values from ahrs
|
2014-02-15 05:27:48 +11:00 |
|