Paul Riseborough
|
f9aae1b90b
|
AP_NavEKF: fixed bug in variance constraint code
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
735c9684da
|
AP_NavEKF: removed error in constructor comments
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
8f999fe787
|
AP_NavEKF: Misc tuning adjustments for Plane testing
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
c87a5aaf34
|
AP_NavEKF: added PositionReset public function to fix pre-arm loss of solution
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
fec4fd463c
|
AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler
|
2014-02-15 05:48:19 +11:00 |
|
Paul Riseborough
|
619fffec3e
|
AP_NavEKF: added static mode for pre-arm and bench testing
|
2014-02-15 05:48:18 +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 |
|
Paul Riseborough
|
d0831c708d
|
AP_NavEKF : Added position and height reset public method
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
1b1f9e41ab
|
AP_NavEKF: improved playback initialisation
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
d9ef45234b
|
AP_NavEKF: useful plotting function
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
0816642436
|
AP_NavEKF: handle intertial nav
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
77c6e3206a
|
AP_NavEKF: some debug code
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
2cd781997f
|
AP_Baro: changed HIL driver to use floats and better handle starup
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
c995f994c5
|
AP_InertialNav: make some functions protected
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
c33da7b3a2
|
AP_NavEKF: fixed log playback for copter
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
78ff078988
|
HAL_Linux: fixed stopped clock delay
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
9b53db66cb
|
AP_NavEKF: tweak parameters based on randys copter log
|
2014-02-15 05:48:18 +11:00 |
|
Andrew Tridgell
|
9e3bf685c2
|
SITL: use sinf() and cosf()
for some strange reason the double precision functions can crash
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
bb0eed5c14
|
SITL: prevent initialisation error
|
2014-02-15 05:48:17 +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
|
4c42f53636
|
AP_NavEKF: use INS delta_time
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
5193ce90dc
|
AP_NavEKF: copter specific dtIMUAvg
|
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
|
38ac8d404a
|
SITL: fixed PX4 build
|
2014-02-15 05:48:17 +11:00 |
|
Andrew Tridgell
|
fba0891617
|
SITL: fixed SIM df altitude
|
2014-02-15 05:48:17 +11:00 |
|
Paul Riseborough
|
8b1d056e07
|
AP_NavEKF: updated timeout for GPS retry and reduced onGround gyro bias noise multiplier
|
2014-02-15 05:48:16 +11:00 |
|
Paul Riseborough
|
7e026d41df
|
AP_NavEKF: explicitly zeroed covariance matrix priro to setting initial values
|
2014-02-15 05:48:16 +11:00 |
|
Paul Riseborough
|
6e6e3d923e
|
AP_NavEKF: improved covariance matrix numerical stability protection
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
45177df354
|
DataFlash: moved EKF logging to common code
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
9aea781248
|
GCS_MAVLink: moved send_ahrs2 to common code
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
66dbaa6657
|
AP_NavEKF: make health() API const
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
47f541e143
|
AP_InertialNav: implement InertialNav in terms of AHRS when available
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
5d43a1d704
|
AP_AHRS: added inertial nav interfaces to AHRS
|
2014-02-15 05:48:16 +11:00 |
|
Andrew Tridgell
|
658110dd8c
|
AP_InertialNav: added AP_InertialNav_NavEKF wrapper class
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
99097d80a1
|
AP_InertialNav: use AHRS home location
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
c493d980d8
|
AP_NavEKF: fixed check for airspeed sensor available
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
2dbfed19b8
|
AP_NavEKF: fixed airspeed estimate check
|
2014-02-15 05:48:15 +11:00 |
|
Paul Riseborough
|
e69eea3086
|
AP_NavEKF: Bug fix in covariance error correction
|
2014-02-15 05:48:15 +11:00 |
|
Paul Riseborough
|
43dc9bc055
|
AP_NavEKF: Added improved covariance matrix error fix
|
2014-02-15 05:48:15 +11:00 |
|
Paul Riseborough
|
4a56ea84b5
|
AP_NavEKF: Removed accel bias states
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
093481786e
|
AP_NavEKF: added SIM state to playback tool
|
2014-02-15 05:48:15 +11:00 |
|
Andrew Tridgell
|
fcd9041e62
|
SITL: added dataflash logging
|
2014-02-15 05:48:14 +11:00 |
|
Andrew Tridgell
|
d0a25b53f2
|
DataFlash: added logging of AHRS2
|
2014-02-15 05:48:09 +11:00 |
|
Andrew Tridgell
|
5578552574
|
AP_NavEKF: fixed example for new API
|
2014-02-15 05:29:48 +11:00 |
|
Andrew Tridgell
|
2acf1e7ce5
|
AP_NavEKF: allow filter to run as single or double precision
useful for checking if there are numerical precision issues
|
2014-02-15 05:29:48 +11:00 |
|
Paul Riseborough
|
efd444b02e
|
AP_NavEKF: covariance protection (not enabled) and tuning changes for stability
|
2014-02-15 05:29:48 +11:00 |
|
Paul Riseborough
|
be9f276f45
|
AP_NavEKF: fixed compass offset sign error
|
2014-02-15 05:29:48 +11:00 |
|
Andrew Tridgell
|
ee774f69d0
|
AP_NavEKF: fixed some time handling bugs
use get_delta_time() and removed broken time wrap code
|
2014-02-15 05:29:48 +11:00 |
|
Andrew Tridgell
|
b1c5f23bbd
|
AP_InertialSensor: make get_delta_time() const
allows use from AP_NavEKF
|
2014-02-15 05:29:47 +11:00 |
|
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 |
|