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61 Commits

Author SHA1 Message Date
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 
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 
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
Randy Mackay 8306d74da0 AHRS: remove DMP as an ahrs 2013-09-27 10:42:46 +09:00
Andrew Tridgell c044385fff AP_AHRS: added groundspeed() method 
this gives ground speed in m/s from GPS
 2013-09-09 18:04:41 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
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 57d2dd814d AP_AHRS: added get_position_lag() call 
provide position lag to libraries
 2013-08-13 12:07:35 +10:00
Andrew Tridgell 0d36832b82 AP_AHRS: use const reference not pointers for locations 
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
Andrew Tridgell ec73fadc45 AP_AHRS: added true airspeed support in AHRS 
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
 2013-07-22 12:50:01 +10:00
Andrew Tridgell b721bcc129 AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth() 
these are not used any more
 2013-07-13 21:45:58 +10:00
Andrew Tridgell 80e0f8044c AP_AHRS: added airspeed_sensor_enabled() function 2013-07-04 16:56:57 +10:00
Andrew Tridgell aaaa5247e3 AP_AHRS: make it possible to setup board orientation at runtime 2013-06-03 16:52:28 +10:00
Andrew Tridgell 14628990e6 AP_AHRS: make wind estimation configurable 
rover doesn't want it
 2013-05-24 11:21:42 +10:00
Andrew Tridgell c08c084191 AP_AHRS: added get_projected_position() 
this is used to project the position forward by the GPS lag
 2013-05-17 08:32:21 +10:00
Andrew Tridgell a17b85c661 AP_AHRS: use vectors for ground vector complimentary filter 2013-05-13 11:27:55 +10:00
Randy Mackay ceda7d26b0 AHRS: add correct_centrifugal and flags structure 2013-05-06 15:32:06 +09:00
Andrew Tridgell 943a1d8c8d AP_AHRS: added AHRS_GPS_MINSATS option 
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
 2013-05-05 12:48:01 +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 a4d25f5a82 AHRS: removed AHRS_BARO_USE option 
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
 2013-04-15 10:52:31 +10:00
priseborough b63d0969b7 AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector 
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
 2013-04-12 12:48:09 +10:00
Andrew Tridgell ee81b0f729 AP_AHRS: added wind_correct_bearing() and groundspeed_vector() 
these are very useful for navigation libraries
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 896fd52aa1 AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-03-29 18:35:10 +11:00
Andrew Tridgell 8459da202c AP_AHRS: prevents compass flyaways for plane and rover 
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
Randy Mackay 24044dc0c4 AHRS: add support for GPS fix type 2D 2013-03-27 11:41:43 +09:00
Randy Mackay 3321db8dde AHRS: limit trim to 10 degrees 2013-02-19 18:50:57 +09:00
Andrew Tridgell 6119201307 AP_AHRS: ensure compass is non-NULL for set_board_orientation() 2013-01-17 17:23:34 +11:00
Andrew Tridgell 848fc3e32d AP_AHRS: added AHRS_ORIENTATION parameter 2013-01-13 17:32:48 +11:00
Andrew Tridgell 3ac3aeb1b1 AHRS: fixed build on ARM 2013-01-02 14:45:09 +11:00
Andrew Tridgell 583845cc17 ahrs fixup 2013-01-02 14:45:08 +11:00
Andrew Tridgell 1b0670e67c AHRS: fixup for ARM compiler 2013-01-02 14:45:08 +11:00
rmackay9 bd0e018ca0 ArduCopter: restore auto-trim method but now use AHRS.add_trim 2013-01-02 09:20:08 +11:00
rmackay9 1f7614929f AP_AHRS: save trim to eeprom when set_trim is called 2013-01-02 09:12:17 +11:00
rmackay9 1c08f176ea AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle 2013-01-02 09:11:25 +11:00
Andrew Tridgell 5c148153ac AP_AHRS: updates for new AP_Param API 2012-12-20 14:51:38 +11:00
Pat Hickey 9bf69d4e0d AP_AHRS: port to AP_HAL 2012-12-20 14:51:29 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
rmackay9 83ae8e47be AP_AHRS: replace IMU with INS and add roll and pitch trim 2012-11-07 19:20:32 +09:00
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
Andrew Tridgell fba1692d69 AHRS: added AHRS_BARO_USE parameter 
allow disabling of the use of the barometer for vertical acceleration
compensation
 2012-09-12 14:42:04 +10:00
Andrew Tridgell de28cc8b28 AHRS: added AHRS_WIND_MAX option 
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
 2012-09-08 11:37:07 +10:00
Andrew Tridgell 2be785899b AHRS: added airspeed_estimate() function 
this allows the APM code to use an airspeed estimate for navigation
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 8b53f1272a AHRS: new functions to support APM_Control library 2012-08-22 12:42:37 +10:00
uncrustify af588679b9 uncrustify libraries/AP_AHRS/AP_AHRS.h 2012-08-21 19:19:51 -07:00
Andrew Tridgell 6d28b3519f AHRS: removed AP_AHRS_Quaternion 
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
 2012-08-22 10:41:31 +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 ac72db8f00 AHRS: added set_fast_gains() method 
this will be used by arducopter on the ground
 2012-08-21 15:38:06 +10:00
Andrew Tridgell 9b4b7997b6 AHRS: added ahrs.yaw_initialised() 
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 
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 779dacfd24 AHRS: added wind estimation code 
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