Tree: 064cc63512

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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Commit Graph

64 Commits (064cc63512ce971b175f82c7fe6e4142e1685b31)

Author	SHA1	Message	Date
Randy Mackay	a7569e3a61	AHRS_NavEKF: integrate INS use_accel	10 years ago
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.	10 years ago
Randy Mackay	9067abc037	AHRS_NavEKF: fix blended accel to use primary accel	10 years ago
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	10 years ago
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	10 years ago
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	10 years ago
Paul Riseborough	c2ac80cc63	AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors	10 years ago
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	10 years ago
Paul Riseborough	7f1749dc1c	AP_AHRS: Allow EKF to pull data from range finder object	10 years ago
Paul Riseborough	405862bd8f	AP_AHRS: Reduce time delay for EKF initialisation	10 years ago
Randy Mackay	c6f71ea2e0	AHRS: make get_error_rp and get_error_yaw const	10 years ago
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	10 years ago
Paul Riseborough	ff9917d338	AP_AHRS: Fix bug preventing EKF from initialising	10 years ago
Jonathan Challinger	dc5bdd5ad8	AP_AHRS: use filtered INS output to compute _accel_ef_blended	10 years ago
Paul Riseborough	d44cf14178	AP_AHRS : Publish EKF learned compass offsets	10 years ago
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	10 years ago
Randy Mackay	98efcd5f03	AHRS: always use EKF for copter	10 years ago
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	10 years ago
Andrew Tridgell	68f64fa11c	AP_AHRS: make the healthy() method const	10 years ago
priseborough	5b8265ad6f	AP_AHRS: Expand EKF speed limit public method to handle control limits	10 years ago
priseborough	83775554ea	AP_AHRS: Publish EKF ground speed limit	10 years ago
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	10 years ago
priseborough	44e1695d5a	AP_AHRS : Enable EKF start without GPS	10 years ago
priseborough	a4984a1e76	AP_AHRS : Add range finder health status to EKF optical flow data	10 years ago
priseborough	12b012a00e	AP_AHRS : temporary mods to test use of flow sensor internal gyro data	10 years ago
priseborough	7b76fc29fb	AP_AHRS : EKF optical flow fusion support preliminary changes	10 years ago
Jonathan Challinger	9261dfdefb	AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions	10 years ago
priseborough	2c07299c04	AP_AHRS : Add reset of EKF gyro bias states	10 years ago
Randy Mackay	dffcfb42bc	AHRS: add reset_gyro_drift method	10 years ago
Andrew Tridgell	270bac4472	AP_AHRS: make get_position() const ... This allows use from within AP_Mission	10 years ago
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	10 years ago
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	10 years ago
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.	11 years ago
priseborough	7cea7c6a18	AP_AHRS : add method to report if EKF is waiting to start	11 years ago
priseborough	7370e07c8d	AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS	11 years ago
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	11 years ago
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	11 years ago
Jonathan Challinger	966d66ef40	AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro	11 years ago
Andrew Tridgell	1a05c27bbb	AP_AHRS: added healthy() function ... this will be used to report when the AHRS subsystem becomes unhealthy	11 years ago
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>	11 years ago
Andrew Tridgell	27a3b5fb36	AP_AHRS: fixed wind reporting with EKF and no airspeed sensor ... the EKF does not estimate wind without an airspeed sensor	11 years ago
Andrew Tridgell	f07e4dee52	AP_AHRS: convert to new GPS API	11 years ago
Paul Riseborough	15a44571c2	AP_NavEKF : enable operation without a compass for planes	11 years ago
Jonathan Challinger	f321a5f241	AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS ... Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.	11 years ago
Paul Riseborough	9f3c19c03a	AP_AHRS : change initialisation requirements for EKF and use dynamic method	11 years ago
Andrew Tridgell	fad0b2b233	AP_AHRS: added get_correct_centrifugal() ... used by NavEKF to force static mode	11 years ago
Andrew Tridgell	be33a9634e	AP_AHRS: move using_EKF to .cpp to make it easier in gdb	11 years ago
Andrew Tridgell	801ceacaf2	AP_AHRS: re-run update_trig() after EKF AHRS update	11 years ago
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	11 years ago
Paul Riseborough	b4171853b1	AP_NavEKF: allow initialisation before GPS lock to aid indoor testing	11 years ago