aepko/Ardupilot2
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318 Commits

Author SHA1 Message Date
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
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