b416bc603e
AP_AHRS_DCM: adjust for location flags being moved out of union
6 years ago
09dde518df
AP_AHRS: fixed dead-reckoning groundspeed vector
...
this is essential for RTL in planes on GPS loss
6 years ago
4852562ec7
AP_AHRS: Suppress clearing non-trival type warning
6 years ago
e29dbbf158
AP_AHRS: notify and log home changes
6 years ago
de02cb9c8b
AP_AHRS: fixed synthetic airspeed to be along +ve X axis
...
this prevents us from thinking we have +ve airspeed when flying
backwards with no pitot tube
6 years ago
9897bf6127
AP_AHRS: support locked access to AHRS data
7 years ago
5b0b9ef962
AP_AHRS: don't do yaw correction in DCM while calibrating compass
...
this avoids applying bad compass yaw, and helps the compass
calibration code
7 years ago
3cbb88ae20
AP_AHRS: split home-set and home-locked state
7 years ago
1dabcc473d
AP_AHRS: use ins singleton
7 years ago
024b29858d
AP_AHRS: use baro singleton
7 years ago
e15442355a
AP_AHRS: use GPS singleton
7 years ago
2732226664
AP_AHRS: use direct assignation and correct some style
7 years ago
dae636b39e
AP_AHRS: correct some constcorrectness
7 years ago
1f9a3dd1bd
AP_AHRS: improved init attitdue in DCM
...
this tries harder to get a good IMU sample for the initial attitude
estimate. I have seen cases of bad IMU data on startup and this makes it
much less likely
7 years ago
fa5534502a
AP_AHRS: Update to match AP_GPS interface change
8 years ago
5c080ce875
AP_AHRS: calculation and reporting of AOA and SSA
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
4ed7fb154f
AP_AHRS: supply missing get_relative_position_D_home
...
Simply returns the baro altitude (like EKF does if it lacks
position)
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
a03fa2d3cf
AP_AHRS: use exact matrix for trim rotations
8 years ago
8fc494cfcd
AP_AHRS_DCM: changed estimate to use prev values for dir & vel
9 years ago
2bf9aa94ad
AP_AHRS: Fix typos
9 years ago
6d3b491c02
AP_Math: Replace is_equal with a type safe template function
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It makes sense to consider also other floating point types.
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
55e61538b3
AP_AHRS_DCM: use millis/micros/panic functions
9 years ago
da86e29c27
AP_AHRS: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
9 years ago
79d85f7e10
AP_AHRS: wait for up to 10 samples to get a valid accel vector
...
the initial accel vectors can be invalid
9 years ago
c35605fa04
AP_AHRS_DCM: align tilt during initialization
9 years ago
84f811fe76
AP_AHRS: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
9 years ago
06c0ad987e
AP_AHRS: fixed divide by zero in SITL
...
fixes issue#2875
10 years ago
0677c2c80c
AP_AHRS: run astyle for formatting
10 years ago
4b948f5bb1
AP_AHRS: make DCM use milligauss
10 years ago
7f46cc9059
AHRS_DCM: integrate INS use_accel
10 years ago
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
7e2e78c1af
AP_AHRS: protect against zero deltat in DCM
...
fixes issue #2657
10 years ago
9c776736c1
AP_AHRS: use delta_velocity and delta_angle in DCM
...
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
10 years ago
7a76f72bf5
AP_AHRS: added uptime_ms() interface
10 years ago
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
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
10 years ago
4d4a607b80
AP_AHRS: revert AP_Math class change
10 years ago
20f47417d5
AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
10 years ago
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
10 years ago
e28c555889
AHRS_DCM: fix compile warnings re float constants
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Also fix example sketch
10 years ago
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
10 years ago
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
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Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
10 years ago
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
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this makes them usable by multiple consumers, and allows use by EKF
10 years ago
585a105128
AP_AHRS: use compass->last_update_usec()
10 years ago
68f64fa11c
AP_AHRS: make the healthy() method const
10 years ago
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
10 years ago
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
10 years ago
Peter Barker
Andrew Tridgell
Michael du Breuil
khancyr
priseborough
Eugene Shamaev
Mathieu OTHACEHE
Jonathan Challinger
masierra
Ricardo de Almeida Gonzaga
dgrat
Caio Marcelo de Oliveira Filho
Lucas De Marchi
Gustavo Jose de Sousa
Staroselskii Georgii
Randy Mackay
Peter Barker
Tom Pittenger