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102 Commits

Author SHA1 Message Date
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 
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 
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 
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 
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 
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 
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 
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 
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() 
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 
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 
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 
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 
we need position and velocity to be working for plane and rover
 2015-04-14 09:57:45 +10:00