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127 Commits

Author SHA1 Message Date
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Lucas De Marchi 79837c343f AP_InertialNav: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Tom Pittenger c0a6a94936 AP_IntertialNav: ensure we work on valid updated data 2016-03-02 10:53:07 +09:00
Yang Liu f0f3986f46 AP_InertialNav: Typo correction in comment 2015-12-19 10:11:35 +09:00
Paul Riseborough f63c32531c AP_InertialNav: Address peer review comments 
The decision to set the origin to zero has been moved out of the AHRS library and into the inertial nav library as this is consumer specific.
 2015-10-20 15:21:36 +11:00
Paul Riseborough 24c0309e85 AP_InertialNav: Enable flight using EKF2 
All EKF functions are accessed via the AHRS library enabling AHRS_EKF_TYPE to determine which EKF is being used by the control loops
 2015-10-20 15:21:36 +11:00
Paul Riseborough f062ed4180 AP_InertialNav: Add output method for rate of change of vertical position 2015-10-20 15:21:36 +11:00
Lucas De Marchi c007720fb7 AP_HAL_InertialNav: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Gustavo Jose de Sousa 669ccd439e AP_InertialNav: 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 16:28:43 +10:00
Peter Barker 0028910428 AP_InertialNav: take reference to variable we are trying to update 
There are no callers to this function.  Perhaps it should be removed?
 2015-07-10 18:56:20 +10:00
Randy Mackay ba94a993f5 AP_InertialNav: get_hgt_ctrl_limit only modifies limit on success 2015-04-24 10:58:00 +09:00
Paul Riseborough 51624149e1 AP_InertialNav: Add function to return EKF height control limit 2015-04-24 10:57:58 +09:00
Paul Riseborough cab171b580 AP_InertialNav: Add method to return EKF height above ground estimate 
AP_InertialNav: Add validity flag to height above ground estimate
 2015-04-10 11:07:27 +09:00
Randy Mackay 558018d839 InertialNav: add get_location method 2015-04-09 10:56:57 +09:00
Randy Mackay 4461952534 InertialNav: remove GPS glitch protection and baro reference 2015-03-13 16:40:39 +09:00
Randy Mackay 9012c538fb InertialNav: remove example sketch 2015-03-13 16:40:35 +09:00
Randy Mackay a76d970cc6 InertialNav_EKF: remove fall back to complementary filter 2015-03-13 16:40:33 +09:00
Randy Mackay 7221070533 InertialNav: make parent virtual 2015-03-13 16:40:31 +09:00
Randy Mackay c54b5b9af9 InertialNav: remove baro glitch protection 2015-03-13 16:40:25 +09:00
Randy Mackay 8e75c9580c InertialNav: get_origin returns zero when no origin 
If the EKF has not yet set the origin return location of all zeros
instead of uninitialised location
 2015-02-15 11:17:37 +09:00
mirkix 98b78e61c2 AP_InertialNav: fix apm1 oilpan support 2015-02-11 18:22:42 +11:00
Andrew Tridgell d5e129457e AP_InertialNav: fixed example builds 2015-02-09 13:09:02 +11:00
Randy Mackay 112f6a1854 AP_InertialNav: add comments 
No functional change
 2015-02-03 12:05:24 +09:00
Jonathan Challinger c95e7b2282 AP_InertialNav: add get_origin function 2015-02-03 11:38:21 +09:00
Randy Mackay 51cb7185f2 InertialNav: fix example sketch 2015-01-28 17:15:27 +09:00
Randy Mackay f35efc56e0 InertialNav_EKF: get_filter_status replaces position_ok 2015-01-22 14:39:37 +09:00
Randy Mackay 5d80481723 InertialNav: get_filter_status replaces position_ok 
altitude_ok also replaced.
 2015-01-22 14:39:35 +09:00
Andrew Tridgell cd7fbddcce AP_InertialNav: updates for new AP_Baro API 2015-01-09 11:50:56 +11:00
Andrew Tridgell 006185f08a AP_InertialNav: fixed example build 2014-10-24 12:10:40 +11:00
Randy Mackay 0e11189c35 AP_InertialNav: add comments 2014-10-20 11:12:54 +09:00
Jonathan Challinger 5e381280dc AP_InertialNav: update properly if home position moves 2014-10-20 10:59:50 +09:00
Randy Mackay 023b2c0d6b AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled 2014-10-09 16:43:24 +09:00
Andrew Tridgell 7b02d326f6 AP_InertialNav: fixed use of _ahrs.get_relative_position_NED() with EKF disabled 
this prevents a floating point error caused by using an uninitialised
vector3 when switching between DCM and EKF control in AP_InertialNav

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-10-09 18:30:20 +11:00
Randy Mackay 102b71cde3 InertialNav: add credit to Tony Lambregts 2014-08-31 13:23:03 +09:00
Andrew Tridgell f0f25eb1d7 AP_InertialNav: fixed example build 2014-08-13 21:48:35 +10:00
Randy Mackay 009f42b2e1 InertialNav: do not reset velocity after glitch clears 2014-08-04 11:31:46 +09:00
Randy Mackay 538372c02c InertialNav: remove accessor to set time_constants 2014-08-01 15:14:43 +09:00
Randy Mackay 2951fb50e9 InertialNav: fix example sketch 2014-07-29 11:51:49 +09:00
Randy Mackay 4db4471f49 INav_EKF: accept baro_glitch in constructor 
Required so it can create an InertialNav object
 2014-07-28 22:16:19 +09:00
Randy Mackay 322f527c4f InertialNav: skip baro updates when glitching 
Also resets inertial nav alt estimate once glitch clears
 2014-07-28 22:16:19 +09:00
Andrew Tridgell c1650eed7a AP_InertialNav: fixed example build 2014-07-25 17:54:37 +10:00
Randy Mackay 6f60ce3d6e Inav_EKF: init member and remove hal reference to reduce compiler warnings 2014-07-16 14:40:39 +09:00
Randy Mackay e27ff75a71 AP_InertialNav: remove virtual qualifier from error_count 2014-07-16 14:38:50 +09:00
Randy Mackay 9e2cd93b2d AP_InertialNav: init members to reduce compiler warnings 2014-07-16 14:38:46 +09:00
Randy Mackay 1e888e5c34 AP_InertialNav: append f to floating point constants 
Reduces some compiler warnings
 2014-07-16 14:38:43 +09:00
lthall 4072fcd99e Inav: use horizontal body frame for accel corrections 2014-06-21 14:58:59 +09:00
Ju1ien 28ce66f314 INav: clear historic z-axis position estimate when set_altitude called 2014-06-06 18:42:42 +09:00
Hug0 6b0d5f9770 AP_InertialNav: fix pos error degradation rate 
degrate position_error to 10% over 2 seconds (assumes 5hz update rate)
must be *0.7943 instead of 0.7934
 2014-05-08 23:09:39 +09:00
Randy Mackay 0e065e4894 AP_InertialNav: get_velocity_xy const 2014-04-21 21:59:38 +09:00
Randy Mackay 2ddc414f4d InertialNav: replace safe_sqrt with pythagorous2 2014-04-01 20:43:53 +09:00