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
Randy Mackay
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
2016-11-24 19:57:53 +09:00
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
5ff78b8e47
AP_AHRS: fix rotation of acceleration into earth frame
2016-10-13 10:02:13 +11:00
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
Peter Barker
78fa23440c
AP_AHRS: remove use of uninitialised variable
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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
Andrew Tridgell
d17e3b17bf
AP_AHRS: special handling for flying fixed wing with no compass
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we need to accept EKF having no absolute position and velocity before
takeoff with no compass
2016-05-27 10:18:53 +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
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
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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
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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
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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
Jonathan Challinger
18240107f0
AP_AHRS_NavEKF: add getGpsGlitchStatus
2016-04-14 12:24:04 +09:00
Andrew Tridgell
9db618c73c
AP_AHRS: disable EKF1 for plane
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we are running too close to the 1MByte limit for pixhawk. This
recovers nearly 100kbyte of flash
2016-04-04 11:08:03 +10:00
Andrew Tridgell
d0b67ce007
AP_AHRS: allow for EKF without GPS on plane in VTOL modes
...
this allows for testing quadplanes indoors
2016-03-05 08:58:08 +11:00
Jonathan Challinger
cbf2309023
AP_AHRS: add get_mag_field_NED and get_mag_field_correction
2016-01-23 10:35:36 +09:00
Randy Mackay
f6b909d0a5
AHRS_NavEKF: resolve compiler warning re signed vs unsigned comparison
2016-01-07 12:31:47 +09:00
Andrew Tridgell
f8b52c6a67
AP_AHRS: try to start EKF2 slightly before EKF2
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this gives priority to EKF2 on memory
2016-01-07 08:34:32 +11:00
Jonathan Challinger
a2999ece54
AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected
2015-12-28 13:51:24 +09:00
Jonathan Challinger
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
2015-12-18 18:08:37 +11:00
Andrew Tridgell
1e8c391024
AP_AHRS: fixed float exception on start in SITL
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zero DCM matrix
2015-12-01 15:19:45 +11:00
Andrew Tridgell
b3e6129fd4
AP_AHRS: added EKF type 10 for SITL
...
this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
2015-11-22 17:30:28 +11:00
Andrew Tridgell
7b38f2185f
AP_AHRS: use the right DCM matrix for right EKF
...
this fixes a bug where the EKF2 DCM matrix would be used for
get_dcm_matrix() when EKF1 was active
2015-11-20 18:34:08 +11:00
Caio Marcelo de Oliveira Filho
4ea45b8df1
AP_AHRS_NavEKF: use millis/micros/panic functions
2015-11-20 12:28:53 +09:00
Paul Riseborough
803817821d
AP_AHRS: Support changes to EKF2 interfaces that specify the instance
...
An instance of -1 is specified which causes data for the primary instance to be returned.
2015-11-08 15:37:28 +11:00
Paul Riseborough
7ed36d8e65
AP_AHRS: Enable pre-flight GPS check status reporting for EKF2
2015-11-02 14:12:17 +11:00
Randy Mackay
4e959ef6f9
AP_AHRS: constify getLastPosNorthEastReset
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Also constify getLastVelNortEastReset
2015-10-30 12:24:13 +09:00
Randy Mackay
7c20577ee0
AP_AHRS: constify getLastYawResetAngle
2015-10-30 12:24:10 +09:00
Paul Riseborough
f67f6b01f4
AP_AHRS: Publish the EKF position and velocity reset deltas
2015-10-30 12:24:05 +09:00
Caio Marcelo de Oliveira Filho
9d2e3157fe
AP_AHRS: add a runtime flag for always using EKF
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The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:10 +11:00
Andrew Tridgell
eac91430a2
AP_AHRS: update _dcm_attitude() on reset()
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this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
2015-10-21 08:58:30 +11:00
Paul Riseborough
0722ebe8a0
AP_AHRS: Add EKF variance checks
2015-10-20 15:21:38 +11:00
Paul Riseborough
ae830b44c4
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
...
Updates arising from peer review.
2015-10-20 15:21:37 +11:00
Paul Riseborough
e8037f94ad
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
...
Updates arising from peer review
2015-10-20 15:21:37 +11:00
Paul Riseborough
58d57994f4
AP_AHRS: Rectify coding errors found during peer review
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Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
2015-10-20 15:21:36 +11:00
Paul Riseborough
e65ae51564
AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS
...
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
2015-10-20 15:21:36 +11:00
Andrew Tridgell
232fc8a64d
AP_AHRS: added send_ekf_status_report()
2015-09-29 10:58:54 +10:00
Randy Mackay
9f59b6f7b5
AP_AHRS: getLastYawResetAngle returns reset time
2015-09-24 16:57:41 +09:00
Paul Riseborough
f77bdd90fc
AP_AHRS: Update EKF2 data logging
2015-09-24 12:58:44 +10:00
Andrew Tridgell
dde8330077
AP_AHRS: rename using_EKF to active_EKF_type()
...
thanks to Randy for the suggestion
2015-09-23 17:53:44 +10:00
Andrew Tridgell
f9348887c5
AP_AHRS: added getLastYawResetAngle() and resetHeightDatum()
2015-09-23 17:46:51 +10:00
Andrew Tridgell
0677c2c80c
AP_AHRS: run astyle for formatting
2015-09-23 17:31:00 +10:00
Andrew Tridgell
7ba45444a2
AP_AHRS: added selection of EKF type using AHRS_EKF_TYPE
2015-09-23 11:57:18 +10:00
Andrew Tridgell
c18c6d894e
AP_AHRS: added prearm_failure_reason()
2015-09-08 15:50:22 +10:00
Randy Mackay
a7569e3a61
AHRS_NavEKF: integrate INS use_accel
2015-08-19 16:44:22 +09:00
Gustavo Jose de Sousa
54d5277842
AP_AHRS: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:28:42 +10:00
Randy Mackay
9067abc037
AHRS_NavEKF: fix blended accel to use primary accel
2015-08-01 17:19:45 +09:00
Andrew Tridgell
5514a9f690
AP_NavEKF: base EKF decisions on vehicle class
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using the vehicle class rather than the build macros allows this to
work correctly in replay
2015-05-19 15:21:22 +10:00
Andrew Tridgell
92daa15ccc
AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised
...
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
2015-05-19 15:21:21 +10:00
Andrew Tridgell
29f0561ce4
AP_AHRS: reject EKF for plane when we have GPS and aren't fusing
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plane users would prefer to use GPS in this case
2015-05-17 21:24:57 +10:00
Paul Riseborough
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
2015-05-13 16:11:13 +09:00
Andrew Tridgell
3529e02675
AP_AHRS: if we have 3 gyros then only use first two
...
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
2015-05-09 21:00:49 +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
Andrew Tridgell
d7249cc1e6
AP_AHRS: only use EKF for plane and rover if all data available
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we need position and velocity to be working for plane and rover
2015-04-14 09:57:45 +10:00
Paul Riseborough
ff9917d338
AP_AHRS: Fix bug preventing EKF from initialising
2015-04-10 11:07:42 +09:00
Jonathan Challinger
dc5bdd5ad8
AP_AHRS: use filtered INS output to compute _accel_ef_blended
2015-04-09 20:19:56 +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
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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
6781a8d329
AP_AHRS: fixed get_position for EKF to use correct relative altitude
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we need to use the EKF relative height plus the current AHRS home
2015-02-21 10:12:53 +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
44e1695d5a
AP_AHRS : Enable EKF start without GPS
2014-12-06 18:16:46 +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
priseborough
2c07299c04
AP_AHRS : Add reset of EKF gyro bias states
2014-10-29 15:32:18 +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
Andrew Tridgell
4ad643b233
AP_AHRS: use a common function for updating the CD values
...
this ensures the wrapping of yaw is consistent between the 3 use cases
2014-10-15 13:18:08 +11:00
Andrew Tridgell
eec5cd5add
AP_AHRS: restore DCM attitude before update()
...
The DCM drift correction code uses the current attitude to calculate
error values to update its gyro drift correction. If we were using EKF
then without this patch the DCM code running as an alternative AHRS
source would be using the EKF attitude for calculating the error
value, leading to very bad gyro drift estimation
2014-10-15 11:15:33 +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
priseborough
7370e07c8d
AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS
2014-10-01 12:55:29 +10:00
Andrew Tridgell
e9a9e33280
AP_AHRS: use EKF use_compass() if EKF enabled
...
this allows magfailed status to show on console via SYS_STATUS health
bits
2014-08-24 21:00:56 +10:00
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
Jonathan Challinger
966d66ef40
AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro
2014-07-13 21:34:44 +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
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2014-04-13 19:42:49 +10:00
Andrew Tridgell
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
...
the EKF does not estimate wind without an airspeed sensor
2014-04-10 06:49:23 +10:00
Andrew Tridgell
f07e4dee52
AP_AHRS: convert to new GPS API
2014-04-01 06:38:24 +11:00