Andrew Tridgell
68f64fa11c
AP_AHRS: make the healthy() method const
2015-02-01 14:13:52 +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
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
2014-12-05 19:40:06 +09:00
Randy Mackay
dffcfb42bc
AHRS: add reset_gyro_drift method
2014-10-28 20:25:33 +09:00
Andrew Tridgell
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
Randy Mackay
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
priseborough
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
2014-10-02 14:38:29 +09:00
Randy Mackay
a6de3283b6
AHRS_DCM: init members to resolve compiler warnings
2014-08-14 11:27:31 +09:00
Andrew Tridgell
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
Jonathan Challinger
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
f07e4dee52
AP_AHRS: convert to new GPS API
2014-04-01 06:38:24 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Jonathan Challinger
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
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
Andrew Tridgell
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
Andrew Tridgell
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
Paul Riseborough
08267cea87
AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight
2014-02-15 05:48:22 +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
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AHRS now holds the home position
2014-02-15 05:29:47 +11:00
Andrew Tridgell
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
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
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
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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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
tobias
1bf135b36f
AP_AHRS: make some more functions const
2013-07-08 12:07:50 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Randy Mackay
ee2daf25b6
AHRS: perf improvement by caching declination vector
2013-05-05 12:58:43 +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
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
Pat Hickey
9bf69d4e0d
AP_AHRS: port to AP_HAL
2012-12-20 14:51:29 +11:00
rmackay9
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
Andrew Tridgell
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
uncrustify
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
2012-08-21 19:19:51 -07:00
Andrew Tridgell
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
2012-08-21 20:17:03 +10:00
Andrew Tridgell
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
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
Jason Short
52b2aacf28
AHRS DCM: FOrmatting
2012-08-09 16:59:43 -07:00
Andrew Tridgell
898a5af692
AP_Param: update AHRS for new constructor syntax
2012-08-08 12:11:57 +10:00