Tree: 7e2c822499

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

93 Commits (7e2c82249943dce43302f3a9bb0594e897f04497)

Author	SHA1	Message	Date
Jonathan Challinger	cbf2309023	AP_AHRS: add get_mag_field_NED and get_mag_field_correction	9 years ago
Randy Mackay	f6b909d0a5	AHRS_NavEKF: resolve compiler warning re signed vs unsigned comparison	9 years ago
Andrew Tridgell	f8b52c6a67	AP_AHRS: try to start EKF2 slightly before EKF2 ... this gives priority to EKF2 on memory	9 years ago
Jonathan Challinger	a2999ece54	AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected	9 years ago
Jonathan Challinger	6682b27456	AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned	9 years ago
Andrew Tridgell	1e8c391024	AP_AHRS: fixed float exception on start in SITL ... zero DCM matrix	9 years ago
Andrew Tridgell	b3e6129fd4	AP_AHRS: added EKF type 10 for SITL ... this bypasses all attitude and position estimators and uses the SITL state directly. It can be used for when the SITL backend cannot provide perfect sensor data	9 years ago
Andrew Tridgell	7b38f2185f	AP_AHRS: use the right DCM matrix for right EKF ... this fixes a bug where the EKF2 DCM matrix would be used for get_dcm_matrix() when EKF1 was active	9 years ago
Caio Marcelo de Oliveira Filho	4ea45b8df1	AP_AHRS_NavEKF: use millis/micros/panic functions	9 years ago
Paul Riseborough	803817821d	AP_AHRS: Support changes to EKF2 interfaces that specify the instance ... An instance of -1 is specified which causes data for the primary instance to be returned.	9 years ago
Paul Riseborough	7ed36d8e65	AP_AHRS: Enable pre-flight GPS check status reporting for EKF2	9 years ago
Randy Mackay	4e959ef6f9	AP_AHRS: constify getLastPosNorthEastReset ... Also constify getLastVelNortEastReset	9 years ago
Randy Mackay	7c20577ee0	AP_AHRS: constify getLastYawResetAngle	9 years ago
Paul Riseborough	f67f6b01f4	AP_AHRS: Publish the EKF position and velocity reset deltas	9 years ago
Caio Marcelo de Oliveira Filho	9d2e3157fe	AP_AHRS: add a runtime flag for always using EKF ... The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always used. It is defined only for building ArduCopter. Change it to be a runtime flag. Keep its default value still based on the original define, once the Copter uses it the define will be removed. The motivation is to move vehicle specifc code out of the general libraries. This patch shouldn't change behavior.	9 years ago
Andrew Tridgell	eac91430a2	AP_AHRS: update _dcm_attitude() on reset() ... this prevents the roll/pitch being overwritten by the AHRS_NavEKF update code on next update	9 years ago
Paul Riseborough	0722ebe8a0	AP_AHRS: Add EKF variance checks	9 years ago
Paul Riseborough	ae830b44c4	AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions ... Updates arising from peer review.	9 years ago
Paul Riseborough	e8037f94ad	AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions ... Updates arising from peer review	9 years ago
Paul Riseborough	58d57994f4	AP_AHRS: Rectify coding errors found during peer review ... Fixes code that didn't take into account fall-through behaviour of C++ switch statements Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin	9 years ago
Paul Riseborough	e65ae51564	AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS ... This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE. It will also pave the way to elimination of the AP_InertialNav library.	9 years ago
Andrew Tridgell	232fc8a64d	AP_AHRS: added send_ekf_status_report()	10 years ago
Randy Mackay	9f59b6f7b5	AP_AHRS: getLastYawResetAngle returns reset time	10 years ago
Paul Riseborough	f77bdd90fc	AP_AHRS: Update EKF2 data logging	10 years ago
Andrew Tridgell	dde8330077	AP_AHRS: rename using_EKF to active_EKF_type() ... thanks to Randy for the suggestion	10 years ago
Andrew Tridgell	f9348887c5	AP_AHRS: added getLastYawResetAngle() and resetHeightDatum()	10 years ago
Andrew Tridgell	0677c2c80c	AP_AHRS: run astyle for formatting	10 years ago
Andrew Tridgell	7ba45444a2	AP_AHRS: added selection of EKF type using AHRS_EKF_TYPE	10 years ago
Andrew Tridgell	c18c6d894e	AP_AHRS: added prearm_failure_reason()	10 years ago
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