Andrew Tridgell
04ba5fa0bd
AP_AHRS: pass EKF into constructor
...
this makes it possible for var_info in vehicle code to be in text
segment
2015-06-01 16:16:24 +10:00
Paul Riseborough
7f1749dc1c
AP_AHRS: Allow EKF to pull data from range finder object
2015-04-24 10:56:58 +09:00
Paul Riseborough
405862bd8f
AP_AHRS: Reduce time delay for EKF initialisation
2015-04-23 20:35:52 +09:00
Randy Mackay
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
2015-04-21 22:42:17 +09:00
Paul Riseborough
d44cf14178
AP_AHRS : Publish EKF learned compass offsets
2015-04-03 15:24:47 -07:00
Andrew Tridgell
8ba043e593
AP_AHRS: fixed EKF startup bug
...
This fixes the EKF for when GPS lock takes more than 10 seconds
fixes issue #2010
2015-03-28 10:52:22 -07:00
Randy Mackay
98efcd5f03
AHRS: always use EKF for copter
2015-03-19 15:15:51 +09:00
Andrew Tridgell
ee9c778834
AP_AHRS: added a get_NavEKF_const() function
...
needed for AP_Mount_MAVLink
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2015-02-03 09:49:16 +11:00
Andrew Tridgell
68f64fa11c
AP_AHRS: make the healthy() method const
2015-02-01 14:13:52 +11:00
priseborough
5b8265ad6f
AP_AHRS: Expand EKF speed limit public method to handle control limits
2014-12-06 18:16:50 +11:00
priseborough
83775554ea
AP_AHRS: Publish EKF ground speed limit
2014-12-06 18:16:50 +11:00
priseborough
5532750a99
AP_AHRS: Add public method to inhibit GPS useage when using EKF
...
This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
2014-12-06 18:16:49 +11:00
priseborough
a4984a1e76
AP_AHRS : Add range finder health status to EKF optical flow data
2014-12-06 18:16:44 +11:00
priseborough
12b012a00e
AP_AHRS : temporary mods to test use of flow sensor internal gyro data
2014-12-06 18:16:44 +11:00
priseborough
7b76fc29fb
AP_AHRS : EKF optical flow fusion support preliminary changes
2014-12-06 18:16:44 +11:00
Jonathan Challinger
9261dfdefb
AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions
2014-12-05 19:40:08 +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
...
This allows use from within AP_Mission
2014-10-20 08:36:20 +11:00
Randy Mackay
85eee31510
AHRS: rename ekfNotStarted method to initialised
...
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
Andrew Tridgell
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
...
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
Andrew Tridgell
1a05c27bbb
AP_AHRS: added healthy() function
...
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
...
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
6fc5c12f1d
AP_AHRS: remove unused variable
2014-02-26 10:28:12 +11:00
Jonathan Challinger
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
...
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
Paul Riseborough
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
2014-02-23 19:50:34 +11:00
Andrew Tridgell
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
...
used by NavEKF to force static mode
2014-02-19 10:28:14 +11:00
Andrew Tridgell
ee37bc3d27
AP_AHRS: ensure we have HAL_CPU_CLASS available
2014-02-16 17:57:09 +11:00
Andrew Tridgell
be33a9634e
AP_AHRS: move using_EKF to .cpp to make it easier in gdb
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
...
this avoids some linking issues, plus the functions are inaccurate
without EKF
2014-02-15 05:48:24 +11:00
Andrew Tridgell
f09ae0c2d0
AP_AHRS: expose get_NavEKF as non-const
...
better than having two methods
2014-02-15 05:48:22 +11:00
Randy Mackay
f068d0ff7e
AP_AHRS_NavEKF: expose non-const EKF for tuning
2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0
AP_AHRS_NavEKF: override set_correct_centrifugal
2014-02-15 05:48:20 +11:00
Andrew Tridgell
a74fcc5a93
AP_AHRS: added set_ekf_use()
2014-02-15 05:48:17 +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
...
AHRS now holds the home position
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
84c7b0d7fd
AP_AHRS: check for NavEKF health
2014-02-15 05:29:46 +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
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
