Lucas De Marchi
da86e29c27
AP_AHRS: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
Lucas De Marchi
124937ab61
AP_AHRS: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:11 +11:00
Paul Riseborough
7ed36d8e65
AP_AHRS: Enable pre-flight GPS check status reporting for EKF2
2015-11-02 14:12:17 +11:00
Lucas De Marchi
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
...
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi
2c38e31c93
Remove use of PSTR
...
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
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
f7c73fbb13
AP_AHRS: remove AHRS_EKF_USE_ALWAYS define
...
This option now is passed when instantiating the code in ArduCopter, so
selecting the default value at compile time is not necessary anymore.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:11 +11:00
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
Caio Marcelo de Oliveira Filho
e87db31149
AP_AHRS: remove unused define
...
AHRS_EKF_USE_DEFAULT is not used since commit
7ba45444a2
"AP_AHRS: added selection of
EKF type using AHRS_EKF_TYPE".
2015-10-21 11:01:10 +11:00
Caio Marcelo de Oliveira Filho
9b73fcb6f8
AP_AHRS: remove unnecessary includes in the example
2015-10-21 09:16:11 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c
build: compile only the HAL files needed by the board
...
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
...
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Andrew Tridgell
79d85f7e10
AP_AHRS: wait for up to 10 samples to get a valid accel vector
...
the initial accel vectors can be invalid
2015-10-21 09:09:11 +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
Jonathan Challinger
c35605fa04
AP_AHRS_DCM: align tilt during initialization
2015-10-21 08:34:02 +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
Gustavo Jose de Sousa
84f811fe76
AP_AHRS: use compass get_{field,offsets}() functions
...
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:00 +09:00
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
06c0ad987e
AP_AHRS: fixed divide by zero in SITL
...
fixes issue#2875
2015-09-24 16:49:22 +10:00
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
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
Randy Mackay
b5e1ad89b3
AHRS: remove INS start style from example sketch
2015-09-21 17:06:23 +09:00
Grant Morphett
b2751d876c
AP_AHRS: Fixed spelling error in parameter desc.
2015-09-16 09:33:30 +09:00
Staroselskii Georgii
4b948f5bb1
AP_AHRS: make DCM use milligauss
2015-09-09 10:38:16 +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
Randy Mackay
7f46cc9059
AHRS_DCM: integrate INS use_accel
2015-08-19 16:44:19 +09:00
Lucas De Marchi
b43bddc0af
AP_AHRS: standardize inclusion of libaries headers
...
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:51 +10:00
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
Andrew Tridgell
7e2e78c1af
AP_AHRS: protect against zero deltat in DCM
...
fixes issue #2657
2015-08-05 15:21:00 +10:00
Randy Mackay
9067abc037
AHRS_NavEKF: fix blended accel to use primary accel
2015-08-01 17:19:45 +09:00
Andrew Tridgell
9c776736c1
AP_AHRS: use delta_velocity and delta_angle in DCM
...
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
2015-07-30 11:04:31 +10:00
mirkix
d169fea9ec
AP_AHRS: Add Linux support for example
2015-06-18 08:59:16 +10:00
Andrew Tridgell
edab50ab5a
AP_AHRS: convert example from .pde to .cpp
2015-06-01 16:58:10 +10:00
Andrew Tridgell
04ba5fa0bd
AP_AHRS: pass EKF into constructor
...
this makes it possible for var_info in vehicle code to be in text
segment
2015-06-01 16:16:24 +10:00
Andrew Tridgell
00ca493860
AP_AHRS: prevent a floating exception in update_trig
2015-05-27 22:10:39 +10:00
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
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
Randy Mackay
3390d9932e
AP_AHRS: fix example sketch
2015-05-09 12:23:05 +09:00
Peter Barker
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
2015-05-05 15:02:35 +10:00
Andrew Tridgell
4d4a607b80
AP_AHRS: revert AP_Math class change
2015-05-05 13:27:05 +10:00
Tom Pittenger
20f47417d5
AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
2015-05-05 13:26:55 +10:00
Andrew Tridgell
e597575747
AP_AHRS: fix for HAL_SITL rename
2015-05-05 09:45:54 +10:00
Andrew Tridgell
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
2015-04-28 14:07:39 +10:00
Tom Pittenger
e28c555889
AHRS_DCM: fix compile warnings re float constants
...
Also fix example sketch
2015-04-24 12:26:08 +09:00
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
Paul Riseborough
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
2015-04-23 20:35:39 +09:00
Paul Riseborough
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
...
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
2015-04-23 20:35:35 +09:00
Randy Mackay
6e30093924
AP_AHRS: correct sanity checks on update_trig
2015-04-23 09:45:43 +09:00
Jonathan Challinger
6a6ccb4f32
AP_AHRS: add sanity checks
2015-04-22 21:50:51 +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
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
...
this makes them usable by multiple consumers, and allows use by EKF
2015-04-21 21:42:17 +10:00
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
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
...
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
Randy Mackay
7f25938834
AHRS: fix example sketch
2015-03-16 20:29:19 +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
Andrew Tridgell
585a105128
AP_AHRS: use compass->last_update_usec()
2015-03-14 12:31:50 +11:00
Andrew Tridgell
b488d6de00
AP_AHRS: fix for new compass API
2015-03-13 18:46:17 +11:00
Andrew Tridgell
031c81beee
AP_AHRS: removed call to 1D accel cal
2015-03-12 12:50:29 +11:00
Andrew Tridgell
6781a8d329
AP_AHRS: fixed get_position for EKF to use correct relative altitude
...
we need to use the EKF relative height plus the current AHRS home
2015-02-21 10:12:53 +11:00
Jonathan Challinger
180c85817d
AP_AHRS: remove armed state, use hal.util soft_armed state
2015-02-11 20:25:11 +11:00
mirkix
49d81a9c99
AP_AHRS: fix apm1 oilpan support
2015-02-11 18:22:39 +11:00
Randy Mackay
b66a1135d9
AHRS: fix example sketch compile error
2015-02-03 15:57:11 +09:00
Andrew Tridgell
ee9c778834
AP_AHRS: added a get_NavEKF_const() function
...
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
Randy Mackay
d8664d15d6
AHRS: fix example sketch
2015-01-28 17:15:35 +09:00
Andrew Tridgell
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
2015-01-20 11:27:58 +11:00
Andrew Tridgell
d2c827aa4b
AP_AHRS: updates for new AP_Baro API
2015-01-09 11:50:56 +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
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