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291 Commits

Author SHA1 Message Date
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
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
Randy Mackay 4452aa8448 AP_AHRS_DCM: compile error fix for low speed CPUs 
Also correct initialisatoin order to remove compiler warning
 2014-12-05 19:43:05 +09:00
Jonathan Challinger 9261dfdefb AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions 2014-12-05 19:40:08 +09:00
Jonathan Challinger 4975cefd84 AP_AHRS_DCM: update _accel_ef_blended 2014-12-05 19:40:06 +09:00
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
Andrew Tridgell 38c1b622f3 AP_AHRS: fixed example build on APM2 2014-11-28 17:59:18 +11:00
Andrew Tridgell 89cdae62b4 AP_AHRS: fixed example build 2014-11-28 10:40:52 +11:00
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 26de54c29a AP_AHRS: cope with 90 degree pitch in update_trig() 
this prevents a numerical error in Replay
 2014-10-25 11:21:04 +11:00
Andrew Tridgell f79ce92673 AP_AHRS: fixed example build 2014-10-24 12:10:40 +11:00
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 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
Andrew Tridgell 63c06ea2af AP_AHRS: fixed calls to DCM in parent class 
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().

This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.

The fix is to call the specific class versions of use_compass() and
reset()
 2014-10-15 10:12:50 +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
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
Randy Mackay a6de3283b6 AHRS_DCM: init members to resolve compiler warnings 2014-08-14 11:27:31 +09:00
Andrew Tridgell 0f5b65e40e AP_AHRS: fixed example build 2014-08-13 21:46:04 +10:00
Przemek Lekston ae4814a773 AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind 2014-08-07 12:34:30 +10:00
Andrew Tridgell 82d0666501 AP_AHRS: fixed example build 2014-07-25 17:54:04 +10:00
Andrew Tridgell 6a275372dd AP_AHRS: ensure get_position() fills in flags 2014-07-25 11:40:16 +10:00
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
Jonathan Challinger 966d66ef40 AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro 2014-07-13 21:34:44 +10:00
Jonathan Challinger 61987f6655 AP_AHRS: Fixed DCM get_gyro function 
Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
 2014-07-13 21:19:29 +10:00
Andrew Tridgell d70bee9249 AP_AHRS: fix for HAL_GPIO_* 2014-06-02 10:42:36 +10:00
Andrew Tridgell b3c1e515dc AP_AHRS: when no accel info available in buffer use current value 
this prevents an initialisation error, and is reasonable in flight too

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2014-05-15 22:19:54 +10:00
Andrew Tridgell 315290029a AP_AHRS: fixed check of accel sensor health 
we need to check health of each accelerometer separately
 2014-05-15 22:18:56 +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 4d24a86088 AP_AHRS: prevent a infinity value 2014-04-21 15:37:07 +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 35c111a63a AP_AHRS: fixed example build 2014-04-01 06:38:25 +11:00
Andrew Tridgell f07e4dee52 AP_AHRS: convert to new GPS API 2014-04-01 06:38:24 +11:00