Paul Riseborough
0722ebe8a0
AP_AHRS: Add EKF variance checks
2015-10-20 15:21:38 +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
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
13f72e5ba9
AP_AHRS: expose EKF2 for logging
2015-09-23 12:09:36 +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
ed25c85d21
AP_AHRS: added NavEKF2 to constructor
2015-09-23 11:56:42 +10:00
Andrew Tridgell
c18c6d894e
AP_AHRS: added prearm_failure_reason()
2015-09-08 15:50:22 +10:00
Gustavo Jose de Sousa
54d5277842
AP_AHRS: standardize inclusion of libaries headers
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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
Andrew Tridgell
04ba5fa0bd
AP_AHRS: pass EKF into constructor
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this makes it possible for var_info in vehicle code to be in text
segment
2015-06-01 16:16:24 +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
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
ee9c778834
AP_AHRS: added a get_NavEKF_const() function
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needed for AP_Mount_MAVLink
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
2015-02-03 09:49:16 +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
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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
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
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
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This allows use from within AP_Mission
2014-10-20 08:36:20 +11:00
Randy Mackay
85eee31510
AHRS: rename ekfNotStarted method to initialised
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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
Andrew Tridgell
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
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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
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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
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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
Andrew Tridgell
6fc5c12f1d
AP_AHRS: remove unused variable
2014-02-26 10:28:12 +11:00
Jonathan Challinger
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
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Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
2014-02-25 18:49:16 +11:00
Paul Riseborough
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
2014-02-23 19:50:34 +11:00
Andrew Tridgell
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
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used by NavEKF to force static mode
2014-02-19 10:28:14 +11:00
Andrew Tridgell
ee37bc3d27
AP_AHRS: ensure we have HAL_CPU_CLASS available
2014-02-16 17:57:09 +11:00
Andrew Tridgell
be33a9634e
AP_AHRS: move using_EKF to .cpp to make it easier in gdb
2014-02-15 09:25:40 +11:00
Andrew Tridgell
25ef0d5a7b
AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
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this avoids some linking issues, plus the functions are inaccurate
without EKF
2014-02-15 05:48:24 +11:00
Andrew Tridgell
f09ae0c2d0
AP_AHRS: expose get_NavEKF as non-const
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better than having two methods
2014-02-15 05:48:22 +11:00
Randy Mackay
f068d0ff7e
AP_AHRS_NavEKF: expose non-const EKF for tuning
2014-02-15 05:48:20 +11:00
Randy Mackay
9f130b40a0
AP_AHRS_NavEKF: override set_correct_centrifugal
2014-02-15 05:48:20 +11:00
Andrew Tridgell
a74fcc5a93
AP_AHRS: added set_ekf_use()
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
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AHRS now holds the home position
2014-02-15 05:29:47 +11:00
Andrew Tridgell
1e476e511a
AP_AHRS: pass baro into AP_AHRS
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first step in making AHRS handle altitude
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
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subclass of AP_AHRS_DCM, just a wrapper for now, will add EKF calls
next
2014-02-15 05:28:09 +11:00