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82 Commits

Author SHA1 Message Date
lthall 4072fcd99e Inav: use horizontal body frame for accel corrections 2014-06-21 14:58:59 +09:00
Ju1ien 28ce66f314 INav: clear historic z-axis position estimate when set_altitude called 2014-06-06 18:42:42 +09:00
Hug0 6b0d5f9770 AP_InertialNav: fix pos error degradation rate 
degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
 2014-05-08 23:09:39 +09:00
Randy Mackay 0e065e4894 AP_InertialNav: get_velocity_xy const 2014-04-21 21:59:38 +09:00
Randy Mackay 2ddc414f4d InertialNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:53 +09:00
Andrew Tridgell bc0c9ad6d5 AP_InertialNav: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell d04d33a02d AP_InertialNav: convert to new GPS API 2014-04-01 06:38:24 +11:00
Andrew Tridgell 271ba3a6bc AP_InertialNav: fixed example build 2014-03-24 12:03:47 +11:00
Andrew Tridgell ba8c4b86a0 AP_InertialNav: fixed example build 2014-03-19 12:14:08 +09:00
Randy Mackay ae59bef6d1 AC_INav: fix example sketch 2014-02-15 06:09:08 +11:00
Andrew Tridgell a88212eb7a AP_InertialNav: fixed EKF version for new AHRS API 2014-02-15 05:48:24 +11:00
Andrew Tridgell c995f994c5 AP_InertialNav: make some functions protected 2014-02-15 05:48:18 +11:00
Andrew Tridgell 47f541e143 AP_InertialNav: implement InertialNav in terms of AHRS when available 2014-02-15 05:48:16 +11:00
Andrew Tridgell 658110dd8c AP_InertialNav: added AP_InertialNav_NavEKF wrapper class 2014-02-15 05:48:15 +11:00
Andrew Tridgell 99097d80a1 AP_InertialNav: use AHRS home location 2014-02-15 05:48:15 +11:00
Andrew Tridgell cfc612b251 AP_InertialNav: use references to AHRS and baro 2014-02-15 05:29:45 +11:00
Andrew Tridgell 4671aaa367 AP_InertialNav: fixed example build 2013-12-17 11:51:37 +11:00
Randy Mackay dacca04b21 INav: record error_count when GPS msg is late 2013-11-21 17:02:02 +09:00
Randy Mackay a147eeb1e3 INav: degrade pos error slowly on loss of GPS 
When GPS message is late by 100ms or we are glitching, degrade the GPS
vs inertial nav position error to 10% over 2 seconds instead of
immediately setting it to zero.  This avoids jumpy position estimates
when the GPS misses an update
 2013-11-18 23:19:57 +09:00
Andrew Tridgell 55b7903456 AP_InertialNav: update for AHRS API changes 2013-11-04 21:21:42 +11:00
Jason Short 1c7d9f43c1 InertialNav: fix for get_velocity_xy 
forgot to sq
 2013-11-03 10:14:01 +09:00
Jason Short 2de6dbd3d8 InertialNav: added get_velocity_xy 2013-11-02 21:34:45 +09:00
Andrew Tridgell c5b36ef3d2 AP_InertialNav: fixed example build 2013-10-27 22:11:59 +11:00
Randy Mackay 4348a272bf AP_InertialNav: remove unused velocity fns 
remove get_longitude_velocity and get_latitude_velocity
 2013-10-27 13:41:55 +09:00
Randy Mackay 8fc16d5cdf AP_InertialNav: add comments, make ahrs const from neurocopter 
These fixes are provided by neurocopter but with my name because of
merge conflicts
_position and _velocity vectors added to save some floating point add
operations
unused reference to ins in constructor removed
 2013-10-27 13:41:50 +09:00
Randy Mackay e23135faa1 AP_InertialNav: bug fix for gps delay handling 2013-10-27 13:41:40 +09:00
Tobias cfaaf4b1e7 AP_InertialNav: rename AP_Buffer functions, fix delay handling bug 
The most recent value was used instead of the intended historical value
as indicated by the comment.
 2013-10-27 13:41:38 +09:00
Tobias 6c825eace2 AP_InertialNav: move variable definitions to elide unused default 
construction of objects (saves 106 bytes)
 2013-10-27 13:41:32 +09:00
Tobias c9f68fcd1b AP_InertialNav: remove unused AP_InertialSensor pointer 2013-10-27 13:39:10 +09:00
Tobias cbff58e2ed AP_InertialNav: add comments, rename incorrectly named member, 
initialize member, remove redundant assignment
adjustments to original commit by randy
 2013-10-27 13:39:08 +09:00
Andrew Tridgell 19ba07a3f9 AP_InertialNav: updates for new GPS API 2013-10-24 14:22:47 +11:00
Randy Mackay e5c5084e76 InertialNav: fix example sketch 2013-09-26 14:40:32 +09:00
Randy Mackay 262fcb301a InertialNav: rename set_current_position to set_home_position 2013-09-24 21:41:19 +09:00
Randy Mackay 81dd4f8b0c InertialNav: integrate GPS glitch detection 2013-09-24 21:41:13 +09:00
Andrew Tridgell e1aa6e3ff1 libraries: fixed examples for no flash_leds() callback 2013-09-19 18:38:28 +10:00
Andrew Tridgell c64950e4f5 AP_InertialNav: changed to AP_Vehicle.h 2013-09-13 11:45:10 +10:00
Andrew Tridgell a2902d4a0f AP_InertialNav: fixed example build 2013-08-30 13:01:38 +10:00
Andrew Tridgell 6b5ee80b70 AP_InertialNav: fix for new AP_Math API 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:24:06 +10:00
Andrew Tridgell 47450a9b40 AP_InertialNav: fixed example build 2013-07-15 14:10:40 +10:00
Andrew Tridgell 9da13f3775 AP_InertialNav: fixed indent-tabs-mode 2013-05-30 09:54:53 +10:00
Andrew Tridgell c3738ed344 AP_InertialNav: fixed example build 2013-05-08 16:45:21 +10:00
Randy Mackay 30faf87715 InertialNav: use AP_Math's longitude_scale 2013-05-05 14:32:25 +09:00
Randy Mackay c20eac7a70 AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants 2013-05-04 15:04:55 +09:00
Randy Mackay 8122a32114 InertialNav: reduce XY TC to 2.5 (was 3) 
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
 2013-04-30 12:52:28 +09:00
Andrew Tridgell 1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell 3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell 08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Andrew Tridgell 0a25d6220a AP_InertialNav: initialise _gps_last_time 
found with valgrind
 2013-04-17 23:02:13 +10:00
Andrew Tridgell b69481f74d AP_InertialNav: fixed build of example 2013-04-15 14:09:38 +10:00
Randy Mackay fc972e2d42 InertialNav: add get_velocity method 2013-04-14 10:38:23 +09:00