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
Andrew Tridgell
d31e557983
AP_AHRS: save memory and reduce pointer references
...
use a refence for ins, and don't save gyro and accel between updates
2013-11-04 21:21:37 +11:00
Andrew Tridgell
d305dd5946
AP_AHRS: debounce the GPS/compass consistency test
...
we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
2013-10-23 09:40:42 +11:00
Randy Mackay
8306d74da0
AHRS: remove DMP as an ahrs
2013-09-27 10:42:46 +09:00
Andrew Tridgell
c044385fff
AP_AHRS: added groundspeed() method
...
this gives ground speed in m/s from GPS
2013-09-09 18:04:41 +10:00
Andrew Tridgell
97b7130bb9
libraries: update license header to GPLv3
...
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
Andrew Tridgell
57d2dd814d
AP_AHRS: added get_position_lag() call
...
provide position lag to libraries
2013-08-13 12:07:35 +10:00
Andrew Tridgell
0d36832b82
AP_AHRS: use const reference not pointers for locations
...
this makes life easier for the new AP_Mission library
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:24:12 +10:00
Andrew Tridgell
ec73fadc45
AP_AHRS: added true airspeed support in AHRS
...
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
2013-07-22 12:50:01 +10:00
Andrew Tridgell
b721bcc129
AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()
...
these are not used any more
2013-07-13 21:45:58 +10:00
Andrew Tridgell
80e0f8044c
AP_AHRS: added airspeed_sensor_enabled() function
2013-07-04 16:56:57 +10:00
Andrew Tridgell
aaaa5247e3
AP_AHRS: make it possible to setup board orientation at runtime
2013-06-03 16:52:28 +10:00
Andrew Tridgell
14628990e6
AP_AHRS: make wind estimation configurable
...
rover doesn't want it
2013-05-24 11:21:42 +10:00
Andrew Tridgell
c08c084191
AP_AHRS: added get_projected_position()
...
this is used to project the position forward by the GPS lag
2013-05-17 08:32:21 +10:00
Andrew Tridgell
a17b85c661
AP_AHRS: use vectors for ground vector complimentary filter
2013-05-13 11:27:55 +10:00
Randy Mackay
ceda7d26b0
AHRS: add correct_centrifugal and flags structure
2013-05-06 15:32:06 +09:00
Andrew Tridgell
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
...
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
2013-05-05 12:48:01 +10:00
Andrew Tridgell
014c9376e7
AP_AHRS: use const references where possible
2013-04-22 13:26:49 +10:00
Andrew Tridgell
7ad293e270
AP_AHRS: made a few methods const
2013-04-20 13:52:36 +10:00
Andrew Tridgell
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
...
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
2013-04-15 10:52:31 +10:00
priseborough
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
...
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
2013-04-12 12:48:09 +10:00
Andrew Tridgell
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
...
these are very useful for navigation libraries
2013-04-12 12:48:08 +10:00
Andrew Tridgell
896fd52aa1
AP_AHRS: fixed functions that need to be virtual
...
functions overridden in a child class need to be marked virtual, or
you get the parent class function
2013-03-29 18:35:10 +11:00
Andrew Tridgell
8459da202c
AP_AHRS: prevents compass flyaways for plane and rover
...
this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
2013-03-29 13:48:25 +11:00
Randy Mackay
24044dc0c4
AHRS: add support for GPS fix type 2D
2013-03-27 11:41:43 +09:00
Randy Mackay
3321db8dde
AHRS: limit trim to 10 degrees
2013-02-19 18:50:57 +09:00
Andrew Tridgell
6119201307
AP_AHRS: ensure compass is non-NULL for set_board_orientation()
2013-01-17 17:23:34 +11:00
Andrew Tridgell
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
2013-01-13 17:32:48 +11:00
Andrew Tridgell
3ac3aeb1b1
AHRS: fixed build on ARM
2013-01-02 14:45:09 +11:00
Andrew Tridgell
583845cc17
ahrs fixup
2013-01-02 14:45:08 +11:00
Andrew Tridgell
1b0670e67c
AHRS: fixup for ARM compiler
2013-01-02 14:45:08 +11:00
rmackay9
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
2013-01-02 09:20:08 +11:00
rmackay9
1f7614929f
AP_AHRS: save trim to eeprom when set_trim is called
2013-01-02 09:12:17 +11:00
rmackay9
1c08f176ea
AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle
2013-01-02 09:11:25 +11:00
Andrew Tridgell
5c148153ac
AP_AHRS: updates for new AP_Param API
2012-12-20 14:51:38 +11:00
Pat Hickey
9bf69d4e0d
AP_AHRS: port to AP_HAL
2012-12-20 14:51:29 +11:00
Pat Hickey
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
rmackay9
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
2012-11-07 19:20:32 +09:00
rmackay9
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
2012-09-29 13:51:21 +09:00
Andrew Tridgell
fba1692d69
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
2012-09-12 14:42:04 +10:00
Andrew Tridgell
de28cc8b28
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
2012-09-08 11:37:07 +10:00
Andrew Tridgell
2be785899b
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
2012-08-25 17:49:26 +10:00
Andrew Tridgell
8b53f1272a
AHRS: new functions to support APM_Control library
2012-08-22 12:42:37 +10:00
uncrustify
af588679b9
uncrustify libraries/AP_AHRS/AP_AHRS.h
2012-08-21 19:19:51 -07:00
Andrew Tridgell
6d28b3519f
AHRS: removed AP_AHRS_Quaternion
...
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
2012-08-22 10:41:31 +10:00
Andrew Tridgell
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
2012-08-21 15:58:09 +10:00
Andrew Tridgell
ac72db8f00
AHRS: added set_fast_gains() method
...
this will be used by arducopter on the ground
2012-08-21 15:38:06 +10:00
Andrew Tridgell
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
...
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
2012-08-15 12:39:34 +10:00
Andrew Tridgell
48e275e22d
AHRS: avoid a compiler bug in quaternion code
...
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
2012-08-13 11:08:10 +10:00
Andrew Tridgell
779dacfd24
AHRS: added wind estimation code
...
this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
2012-08-11 22:06:03 +10:00
Andrew Tridgell
af4071894e
AHRS: added long-term dead-reckoning
...
this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
2012-08-11 12:00:31 +10:00
Andrew Tridgell
f95b06a880
AHRS: make airspeed sensor available to AHRS
...
this will be used for long term dead-reckoning
2012-08-11 08:57:32 +10:00
rmackay9
b844bb7919
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
2012-07-28 14:16:56 +09:00
Andrew Tridgell
58c4d458dc
AHRS: re-instate new DCM drift correction code
...
This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
2012-06-28 11:09:22 +10:00
Andrew Tridgell
fd241692d0
AHRS: revert to the old drift correction algorithm
...
we need to work out why Craigs quad flipped today before we enable
this new drift correction
2012-06-27 18:16:41 +10:00
Andrew Tridgell
3a41ad8e7c
AHRS: normalize the ge vector in drift correction, and use barometer
...
The normalisation ensures the error term scales uniformly with
different accelerations.
The barometer is used for vertical acceleration estimation
2012-06-27 16:01:50 +10:00
Andrew Tridgell
0f5c22bd8e
AHRS: implement Bills new drift correction algorithm
...
this is an initial implementation of this paper:
http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf
2012-06-27 16:01:49 +10:00
Andrew Tridgell
f27d85cb8d
DCM: drop the 'drop z' method
...
the 'drop z' method reduced the impact of noise on omegaI, but it also
made us more sensitive to errors in accelerometer calibration and
scaling, as demonstated by the logs from Gabor here:
http://diydrones.com/xn/detail/705844:Comment:834373
Simulation testing shows that the other noise suppression methods
applied in the DCM code, in particular the slope limiting on omegaI
the removal of the weighting and the upcoming use of a _omega_I_sum
buffer have reduced the impact of noise enough that we can now safely
include z in the acceleration calculation.
2012-04-23 12:13:24 +10:00
Andrew Tridgell
8e90aeea4e
AHRS: added AHRS_YAW_P parameter
...
this allows users to change the yaw gain in DCM
2012-04-16 20:55:13 +10:00
rmackay9
c96dfb2108
AP_AHRS - changed parameter order to remove compiler warning
2012-04-09 17:37:11 +09:00
Andrew Tridgell
9e6c18cca4
AHRS: added missing AP_AHRS.h
2012-03-19 17:35:20 +11:00