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Commit Graph

110 Commits

Author SHA1 Message Date
Andrew Tridgell
b61f7fa2f6 AP_AHRS: enable EKF by default on plane 
now we have arming checks enabled by default I think this is the best
choice
 2015-05-23 17:17:44 +10:00
Andrew Tridgell
7a76f72bf5 AP_AHRS: added uptime_ms() interface 2015-05-20 15:22:14 +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
6bfca648b9 AP_AHRS: raise DCM P gains when disarmed for first 20 seconds 2015-04-28 14:07:39 +10:00
Randy Mackay
c6f71ea2e0 AHRS: make get_error_rp and get_error_yaw const 2015-04-21 22:42:17 +09:00
Randy Mackay
98efcd5f03 AHRS: always use EKF for copter 2015-03-19 15:15:51 +09:00
Jonathan Challinger
f92c711d14 AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use 2015-03-16 09:14:03 +11:00
Jonathan Challinger
180c85817d AP_AHRS: remove armed state, use hal.util soft_armed state 2015-02-11 20:25:11 +11:00
Andrew Tridgell
68f64fa11c AP_AHRS: make the healthy() method const 2015-02-01 14:13:52 +11:00
Andrew Tridgell
ed0a56cc3c AP_AHRS: cope with the changed semantics of airspeed.use() 2015-01-20 11:27:58 +11:00
Andrew Tridgell
b499cd1b59 AP_AHRS: fixed examples build 
using a relative include works as the object is just passed through,
not used, in this header
 2015-01-05 07:04:27 +11:00
Andrew Tridgell
70c2aeca42 AP_AHRS: make optflow available via AHRS 
same pattern as compass and airspeed sensor
 2015-01-03 14:16:34 +11:00
Jonathan Challinger
033ee3c900 AP_AHRS: Add get_accel_ef_blended function 2014-12-05 19:40:04 +09:00
Randy Mackay
9e731550fd AHRS: default EKF on for copter 2014-12-01 17:29:39 +09:00
Randy Mackay
dffcfb42bc AHRS: add reset_gyro_drift method 2014-10-28 20:25:33 +09:00
Randy Mackay
39c8535223 AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P 2014-10-21 21:41:41 +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
809b6cc855 AP_AHRS: added get_yaw_rate_earth() 
used to estimate course correction on takeoff
 2014-10-07 07:17:46 +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
Randy Mackay
d23b685023 AP_AHRS: add empty virtual destructor 2014-07-16 14:56:54 +09:00
Randy Mackay
1f2e38ed28 AHRS: initalise members to reduce compiler warnings 2014-07-16 14:38:26 +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
Randy Mackay
efd4058e8b AHRS: interate move of p1 from Location to mission cmd 2014-03-19 12:10:51 +09:00
Andrew Tridgell
aaaae9a222 AP_AHRS: added get_fly_forward() method 
will be used to detect a copter
 2014-02-27 17:39:49 +11:00
Andrew Tridgell
9a5ecc9541 AP_AHRS: use primary accel for accel_ef 
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
 2014-02-27 16:28:37 +11:00
Andrew Tridgell
b53496d470 AP_AHRS: choose the best accelerometer at each drift correction step 
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
 2014-02-27 09:41:28 +11:00
Andrew Tridgell
3b1f9a4bbf AP_AHRS: added get_armed() and set_armed() calls 
will be used by NavEKF to determine static mode
 2014-02-19 10:52:24 +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
Randy Mackay
a021d0ca31 AHRS: fix compiler warning 2014-02-16 13:35:37 +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
Randy Mackay
8f6fd86f69 AP_AHRS: make set_correct_centrifugal virtual 2014-02-15 05:48:20 +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
6e5077b60b AP_AHRS: removed unused AP_AHRS_HIL 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
Andrew Tridgell
c7533579ac AP_AHRS: added get_airspeed() interface to AHRS 2014-02-15 05:28:07 +11:00
Randy Mackay
3dc6ea682c AHRS: add update_trig 
Calculates helper trig values including cos_roll, cos_pitch
 2014-02-08 18:16:39 +09:00
Andrew Tridgell
410d356979 AP_AHRS: make airspeed_estimate const 2013-12-29 18:39:01 +11:00
Michael Day
e5addf86c1 AP_AHRS: Added getters for compass and GPS. 2013-12-11 17:29:14 +11:00
Andrew Tridgell
6ed493b10f AP_AHRS: added attitude_reset() method for HIL_SENSORS 2013-11-23 18:50:56 +11:00
Andrew Tridgell
02d6f012ce AP_AHRS: added accel sum delay buffer to account for GPS lag 2013-11-04 21:21:42 +11:00