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461 Commits

Author SHA1 Message Date
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