3cbb88ae20
AP_AHRS: split home-set and home-locked state
7 years ago
fdfa08c586
AP_AHRS: fix include order due to cyclic include
7 years ago
aae4ed2553
AP_AHRS_NavEKF: accept external position estimates into AHRS
7 years ago
1dabcc473d
AP_AHRS: use ins singleton
7 years ago
024b29858d
AP_AHRS: use baro singleton
7 years ago
659ab06d3b
AP_AHRS: AP_AHRS gets a virtual get_hagl function, EKF marks it override
7 years ago
e15442355a
AP_AHRS: use GPS singleton
7 years ago
d89d496c8f
AP_AHRS: make getter const
7 years ago
0ccaa5bcba
AP_AHRS: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
5eeed442c8
AP_AHRS: correct comment
7 years ago
8a4ab685c7
AP_AHRS: implement get_hgt_ctrl_limit on base class
...
If no limits are required false can be returned, so an trivial
implementation is possible
7 years ago
82cd320bd0
AP_AHRS: add get_origin method to parent
7 years ago
e2a9d9c001
AP_AHRS: add static create method
7 years ago
40fd1b346c
global: remove rangefinder from AP_AHRS_NavEKF
...
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.
For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer. Ideally these
should be moved to an init() method though, or use a get_instance().
7 years ago
0af9433c8e
AP_AHRS: add set_origin
8 years ago
5c080ce875
AP_AHRS: calculation and reporting of AOA and SSA
8 years ago
90cd46f4d7
AP_AHRS: simulate body frame odometry sensor
8 years ago
3b82f60b08
AP_AHRS: add interface for use of visual odometry data
8 years ago
5758532326
AP_AHRS: make AHRS2 quaternion available
8 years ago
a11dca5229
AP_AHRS: added optional skip_ins_update to AHRS::update()
...
avoid the ins update if already done in copter fast_loop()
8 years ago
e744460ff5
AP_AHRS: mark many functions as override
...
Also take the opportunity to remove void parameter
8 years ago
6ee4045878
AP_AHRS: mark new relative position functions override
8 years ago
3274f1dbb1
AP_AHRS: Split all NED methods into a collection of NED relative to home vs origin
8 years ago
93aa40a9e0
AP_AHRS: Fix EKF3 gyro bias reporting and improve code clarity
8 years ago
e2757c17c8
AP_AHRS_NavEKF: fix ekf variable naming and initialisation
8 years ago
8419045aea
Spell in comments
8 years ago
33a7c682a3
AP_AHRS: Add EKF3 and remove EKF1
8 years ago
ab05472e0e
AP_AHRS: added EKF3 for EKF experimentation
...
Conflicts:
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
8 years ago
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
8 years ago
772209b3f3
AP_AHRS: make posOffset a const reference
8 years ago
6069c37b19
AP_AHRS: add position offset to optical flow interface
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
25a14fe0dc
AP_AHRS: add interface to retrieve corrected delta velocities in NED frame
8 years ago
27e977289a
AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS
8 years ago
334db0a1a5
AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index()
9 years ago
c62fc336cb
AP_AHRS: use current EKF2 IMU core in gyro estimate
...
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate
This affects all multi-IMU systems using EKF2
9 years ago
d8cc2668cb
VRBRAIN / AP_AHRS_NavEKF: set AP_AHRS_WITH_EKF1 to 1 only for VR Brain 5.4
9 years ago
5454f76702
AP_AHRS: Add separate interfaces for local horizontal and vertical position
9 years ago
8486d4ab5e
AP_AHRS: disable EKF1 on all PX4v1 and PX4v2 boards
...
we're out of space in copter now too
9 years ago
2bf9aa94ad
AP_AHRS: Fix typos
9 years ago
795080742e
AP_AHRS: added have_ekf_logging() API
9 years ago
07060051cf
AP_AHRS: added API for forcing EKF to start
...
used by Replay to sync start times
9 years ago
6a5f1c0bec
AP_AHRS_NavEKF: reflect changes to getMagOffsets
9 years ago
18240107f0
AP_AHRS_NavEKF: add getGpsGlitchStatus
9 years ago
9db618c73c
AP_AHRS: disable EKF1 for plane
...
we are running too close to the 1MByte limit for pixhawk. This
recovers nearly 100kbyte of flash
9 years ago
e0153faa85
AP_AHRS: replace header guard with pragma once
9 years ago
d0b67ce007
AP_AHRS: allow for EKF without GPS on plane in VTOL modes
...
this allows for testing quadplanes indoors
9 years ago
cbf2309023
AP_AHRS: add get_mag_field_NED and get_mag_field_correction
9 years ago
a2999ece54
AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected
9 years ago
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
9 years ago
Peter Barker
Pierre Kancir
khancyr
Andrew Tridgell
Randy Mackay
Lucas De Marchi
Eugene Shamaev
priseborough
Michael du Breuil
Dr.-Ing. Amilcar Do Carmo Lucas
Mathieu OTHACEHE
Jonathan Challinger
floaledm
LukeMike
Ricardo de Almeida Gonzaga