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802206baed
Commit Graph

124 Commits

Author SHA1 Message Date
Peter Barker
802206baed AP_AHRS: remove use of uninitialised value 2016-12-19 19:51:16 -08:00
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
Randy Mackay
c615bac1cd AP_AHRS: add getLastPosDownReset accessor 2016-11-24 19:57:53 +09:00
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
5ff78b8e47 AP_AHRS: fix rotation of acceleration into earth frame 2016-10-13 10:02:13 +11:00
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
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
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
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
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
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
Jonathan Challinger
cbf2309023 AP_AHRS: add get_mag_field_NED and get_mag_field_correction 2016-01-23 10:35:36 +09:00
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
Jonathan Challinger
a2999ece54 AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected 2015-12-28 13:51:24 +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
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
4ea45b8df1 AP_AHRS_NavEKF: use millis/micros/panic functions 2015-11-20 12:28:53 +09:00
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
Paul Riseborough
7ed36d8e65 AP_AHRS: Enable pre-flight GPS check status reporting for EKF2 2015-11-02 14:12:17 +11:00
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
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
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
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