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
ff9917d338
AP_AHRS: Fix bug preventing EKF from initialising
10 years ago
dc5bdd5ad8
AP_AHRS: use filtered INS output to compute _accel_ef_blended
10 years ago
d44cf14178
AP_AHRS : Publish EKF learned compass offsets
10 years ago
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
98efcd5f03
AHRS: always use EKF for copter
10 years ago
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
68f64fa11c
AP_AHRS: make the healthy() method const
10 years ago
5b8265ad6f
AP_AHRS: Expand EKF speed limit public method to handle control limits
10 years ago
83775554ea
AP_AHRS: Publish EKF ground speed limit
10 years ago
5532750a99
AP_AHRS: Add public method to inhibit GPS useage when using EKF
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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
44e1695d5a
AP_AHRS : Enable EKF start without GPS
10 years ago
a4984a1e76
AP_AHRS : Add range finder health status to EKF optical flow data
10 years ago
12b012a00e
AP_AHRS : temporary mods to test use of flow sensor internal gyro data
10 years ago
7b76fc29fb
AP_AHRS : EKF optical flow fusion support preliminary changes
10 years ago
9261dfdefb
AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions
10 years ago
2c07299c04
AP_AHRS : Add reset of EKF gyro bias states
10 years ago
dffcfb42bc
AHRS: add reset_gyro_drift method
10 years ago
270bac4472
AP_AHRS: make get_position() const
...
This allows use from within AP_Mission
10 years ago
4ad643b233
AP_AHRS: use a common function for updating the CD values
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this ensures the wrapping of yaw is consistent between the 3 use cases
10 years ago
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
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
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
11 years ago
7370e07c8d
AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS
11 years ago
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
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
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this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
11 years ago
966d66ef40
AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro
11 years ago
1a05c27bbb
AP_AHRS: added healthy() function
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this will be used to report when the AHRS subsystem becomes unhealthy
11 years ago
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
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
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the EKF does not estimate wind without an airspeed sensor
11 years ago
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
15a44571c2
AP_NavEKF : enable operation without a compass for planes
11 years ago
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
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Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
11 years ago
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
11 years ago
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
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used by NavEKF to force static mode
11 years ago
be33a9634e
AP_AHRS: move using_EKF to .cpp to make it easier in gdb
11 years ago
801ceacaf2
AP_AHRS: re-run update_trig() after EKF AHRS update
11 years ago
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
b4171853b1
AP_NavEKF: allow initialisation before GPS lock to aid indoor testing
11 years ago
0599817aa9
AP_AHRS : EKF initialisation changed to use bootstrap method
11 years ago
9f130b40a0
AP_AHRS_NavEKF: override set_correct_centrifugal
11 years ago
a87df0ad56
AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual
11 years ago
ab08a5c7d6
AP_AHRS : altered NavEKF set home to reset position instead of reset filter
11 years ago
574946f0aa
AP_AHRS: start EKF 5 seconds after getting GPS lock
11 years ago
df271fbd59
AP_AHRS: fill in _dcm_matrix whenever EKF started
...
this ensures get_dcm_matrix() always returns valid data
11 years ago
ada7d4fb98
AP_AHRS: use the right DCM matrix when EKF not enabled
11 years ago
5d43a1d704
AP_AHRS: added inertial nav interfaces to AHRS
11 years ago
392995ef84
AP_AHRS: make AHRS handle altitude
...
AHRS now holds the home position
11 years ago
84c7b0d7fd
AP_AHRS: check for NavEKF health
11 years ago
b39a5062e9
AP_AHRS: use NavEKF for ground vector when available
11 years ago
Andrew Tridgell
Paul Riseborough
Jonathan Challinger
Randy Mackay
Andrew Tridgell