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
10 years ago
6e30093924
AP_AHRS: correct sanity checks on update_trig
10 years ago
6a6ccb4f32
AP_AHRS: add sanity checks
10 years ago
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
10 years ago
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
...
this makes them usable by multiple consumers, and allows use by EKF
10 years ago
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
7f25938834
AHRS: fix example sketch
10 years ago
f92c711d14
AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use
10 years ago
585a105128
AP_AHRS: use compass->last_update_usec()
10 years ago
b488d6de00
AP_AHRS: fix for new compass API
10 years ago
031c81beee
AP_AHRS: removed call to 1D accel cal
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
180c85817d
AP_AHRS: remove armed state, use hal.util soft_armed state
10 years ago
49d81a9c99
AP_AHRS: fix apm1 oilpan support
10 years ago
b66a1135d9
AHRS: fix example sketch compile error
10 years ago
ee9c778834
AP_AHRS: added a get_NavEKF_const() function
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needed for AP_Mount_MAVLink
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
10 years ago
68f64fa11c
AP_AHRS: make the healthy() method const
10 years ago
d8664d15d6
AHRS: fix example sketch
10 years ago
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
10 years ago
d2c827aa4b
AP_AHRS: updates for new AP_Baro API
10 years ago
b499cd1b59
AP_AHRS: fixed examples build
...
using a relative include works as the object is just passed through,
not used, in this header
10 years ago
70c2aeca42
AP_AHRS: make optflow available via AHRS
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same pattern as compass and airspeed sensor
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
4452aa8448
AP_AHRS_DCM: compile error fix for low speed CPUs
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Also correct initialisatoin order to remove compiler warning
10 years ago
9261dfdefb
AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions
10 years ago
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
10 years ago
033ee3c900
AP_AHRS: Add get_accel_ef_blended function
10 years ago
9e731550fd
AHRS: default EKF on for copter
10 years ago
38c1b622f3
AP_AHRS: fixed example build on APM2
10 years ago
89cdae62b4
AP_AHRS: fixed example build
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
26de54c29a
AP_AHRS: cope with 90 degree pitch in update_trig()
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this prevents a numerical error in Replay
10 years ago
f79ce92673
AP_AHRS: fixed example build
10 years ago
39c8535223
AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P
10 years ago
270bac4472
AP_AHRS: make get_position() const
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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()
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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
63c06ea2af
AP_AHRS: fixed calls to DCM in parent class
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use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().
This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.
The fix is to call the specific class versions of use_compass() and
reset()
10 years ago
Paul Riseborough
Randy Mackay
Jonathan Challinger
Andrew Tridgell
mirkix
Andrew Tridgell