265 Commits

Author	SHA1	Message	Date
Paul Riseborough	b4171853b1	AP_NavEKF: allow initialisation before GPS lock to aid indoor testing	2014-02-15 05:48:21 +11:00
Paul Riseborough	0599817aa9	AP_AHRS : EKF initialisation changed to use bootstrap method	2014-02-15 05:48:21 +11:00
Randy Mackay	9f130b40a0	AP_AHRS_NavEKF: override set_correct_centrifugal	2014-02-15 05:48:20 +11:00
Paul Riseborough	a87df0ad56	AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual	2014-02-15 05:48:20 +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
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	ada7d4fb98	AP_AHRS: use the right DCM matrix when EKF not enabled	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	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