1f2e38ed28
AHRS: initalise members to reduce compiler warnings
11 years ago
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
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
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
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used by EKF to control use of get_fly_forward()
11 years ago
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
efd4058e8b
AHRS: interate move of p1 from Location to mission cmd
11 years ago
aaaae9a222
AP_AHRS: added get_fly_forward() method
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will be used to detect a copter
11 years ago
9a5ecc9541
AP_AHRS: use primary accel for accel_ef
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Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
11 years ago
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
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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.
11 years ago
3b1f9a4bbf
AP_AHRS: added get_armed() and set_armed() calls
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will be used by NavEKF to determine static mode
11 years ago
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
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used by NavEKF to force static mode
11 years ago
a021d0ca31
AHRS: fix compiler warning
11 years ago
25ef0d5a7b
AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
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this avoids some linking issues, plus the functions are inaccurate
without EKF
11 years ago
8f6fd86f69
AP_AHRS: make set_correct_centrifugal virtual
11 years ago
5d43a1d704
AP_AHRS: added inertial nav interfaces to AHRS
11 years ago
392995ef84
AP_AHRS: make AHRS handle altitude
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AHRS now holds the home position
11 years ago
1e476e511a
AP_AHRS: pass baro into AP_AHRS
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first step in making AHRS handle altitude
11 years ago
6e5077b60b
AP_AHRS: removed unused AP_AHRS_HIL
11 years ago
b39a5062e9
AP_AHRS: use NavEKF for ground vector when available
11 years ago
b6bc50051f
AP_AHRS: allow reporting of secondary AHRS solution
11 years ago
8c5cde4efd
AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1
11 years ago
7ac78ff991
AP_AHRS: create AP_AHRS_NavEKF class
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subclass of AP_AHRS_DCM, just a wrapper for now, will add EKF calls
next
11 years ago
c7533579ac
AP_AHRS: added get_airspeed() interface to AHRS
11 years ago
3dc6ea682c
AHRS: add update_trig
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Calculates helper trig values including cos_roll, cos_pitch
11 years ago
410d356979
AP_AHRS: make airspeed_estimate const
11 years ago
e5addf86c1
AP_AHRS: Added getters for compass and GPS.
11 years ago
6ed493b10f
AP_AHRS: added attitude_reset() method for HIL_SENSORS
11 years ago
02d6f012ce
AP_AHRS: added accel sum delay buffer to account for GPS lag
11 years ago
d31e557983
AP_AHRS: save memory and reduce pointer references
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use a refence for ins, and don't save gyro and accel between updates
11 years ago
d305dd5946
AP_AHRS: debounce the GPS/compass consistency test
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we will only consider the compass inconsistent with GPS if it is off
for more than 2 seconds
11 years ago
8306d74da0
AHRS: remove DMP as an ahrs
12 years ago
c044385fff
AP_AHRS: added groundspeed() method
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this gives ground speed in m/s from GPS
12 years ago
97b7130bb9
libraries: update license header to GPLv3
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we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
12 years ago
57d2dd814d
AP_AHRS: added get_position_lag() call
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provide position lag to libraries
12 years ago
0d36832b82
AP_AHRS: use const reference not pointers for locations
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this makes life easier for the new AP_Mission library
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
12 years ago
ec73fadc45
AP_AHRS: added true airspeed support in AHRS
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use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
12 years ago
b721bcc129
AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()
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these are not used any more
12 years ago
80e0f8044c
AP_AHRS: added airspeed_sensor_enabled() function
12 years ago
aaaa5247e3
AP_AHRS: make it possible to setup board orientation at runtime
12 years ago
14628990e6
AP_AHRS: make wind estimation configurable
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rover doesn't want it
12 years ago
c08c084191
AP_AHRS: added get_projected_position()
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this is used to project the position forward by the GPS lag
12 years ago
a17b85c661
AP_AHRS: use vectors for ground vector complimentary filter
12 years ago
ceda7d26b0
AHRS: add correct_centrifugal and flags structure
12 years ago
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
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if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
12 years ago
014c9376e7
AP_AHRS: use const references where possible
12 years ago
7ad293e270
AP_AHRS: made a few methods const
12 years ago
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
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this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
12 years ago
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
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Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
12 years ago
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
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these are very useful for navigation libraries
12 years ago
896fd52aa1
AP_AHRS: fixed functions that need to be virtual
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functions overridden in a child class need to be marked virtual, or
you get the parent class function
12 years ago
Randy Mackay
Andrew Tridgell
Michael Day
priseborough