Tree: b5849b356e

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

179 Commits (b5849b356e3c50169ca5f2c6896ef8dc8cc066d3)

Author	SHA1	Message	Date
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
Peter Barker	463270e0ee	AP_AHRS: avoid FPE when we don't have a compass reading	10 years ago
Andrew Tridgell	4d4a607b80	AP_AHRS: revert AP_Math class change	10 years ago
Tom Pittenger	20f47417d5	AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles	10 years ago
Andrew Tridgell	6bfca648b9	AP_AHRS: raise DCM P gains when disarmed for first 20 seconds	10 years ago
Tom Pittenger	e28c555889	AHRS_DCM: fix compile warnings re float constants ... Also fix example sketch	10 years ago
Paul Riseborough	5184bca87f	AP_AHRS: Prevent DCM reporting good tilt error when inverted	10 years ago
Paul Riseborough	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
Andrew Tridgell	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
Andrew Tridgell	585a105128	AP_AHRS: use compass->last_update_usec()	10 years ago
Andrew Tridgell	68f64fa11c	AP_AHRS: make the healthy() method const	10 years ago
Andrew Tridgell	ed0a56cc3c	AP_AHRS: cope with the changed semantics of airspeed.use()	10 years ago
Jonathan Challinger	4975cefd84	AP_AHRS_DCM: update _accel_ef_blended	10 years ago
Randy Mackay	dffcfb42bc	AHRS: add reset_gyro_drift method	10 years ago
Randy Mackay	39c8535223	AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P	10 years ago
Andrew Tridgell	270bac4472	AP_AHRS: make get_position() const ... This allows use from within AP_Mission	10 years ago
Andrew Tridgell	4ad643b233	AP_AHRS: use a common function for updating the CD values ... this ensures the wrapping of yaw is consistent between the 3 use cases	10 years ago
Andrew Tridgell	63c06ea2af	AP_AHRS: fixed calls to DCM in parent class ... 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
Randy Mackay	85eee31510	AHRS: rename ekfNotStarted method to initialised ... Also created default implementation in AP_AHRS class so AP_AHRS_DCM does not need to implement it.	11 years ago
priseborough	7cea7c6a18	AP_AHRS : add method to report if EKF is waiting to start	11 years ago
Przemek Lekston	ae4814a773	AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind	11 years ago
Andrew Tridgell	6a275372dd	AP_AHRS: ensure get_position() fills in flags	11 years ago
Andrew Tridgell	b3c1e515dc	AP_AHRS: when no accel info available in buffer use current value ... this prevents an initialisation error, and is reasonable in flight too Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>	11 years ago
Andrew Tridgell	315290029a	AP_AHRS: fixed check of accel sensor health ... we need to check health of each accelerometer separately	11 years ago
Andrew Tridgell	1a05c27bbb	AP_AHRS: added healthy() function ... this will be used to report when the AHRS subsystem becomes unhealthy	11 years ago
Andrew Tridgell	4d24a86088	AP_AHRS: prevent a infinity value	11 years ago
Andrew Tridgell	f07e4dee52	AP_AHRS: convert to new GPS API	11 years ago
Andrew Tridgell	b53496d470	AP_AHRS: choose the best accelerometer at each drift correction step ... 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
Andrew Tridgell	0b45d2bc06	AP_AHRS: removed the AHRS_GPS_DELAY parameter ... the best value has turned out to be 1, and tweaking it has not turned out to be useful, so this simplifies the code in preparation for adding the anti-aliasing handling with multiple accelerometers	11 years ago
Jonathan Challinger	f321a5f241	AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS ... Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.	11 years ago
Andrew Tridgell	eedd88c2ec	AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM	11 years ago
Andrew Tridgell	25ef0d5a7b	AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF ... this avoids some linking issues, plus the functions are inaccurate without EKF	11 years ago
Andrew Tridgell	c62ccce9d8	AP_AHRS: make estimate_wind() public ... this avoids it linking into copter	11 years ago
Paul Riseborough	08267cea87	AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight	11 years ago
Andrew Tridgell	5d43a1d704	AP_AHRS: added inertial nav interfaces to AHRS	11 years ago
Andrew Tridgell	392995ef84	AP_AHRS: make AHRS handle altitude ... AHRS now holds the home position	11 years ago
Randy Mackay	6946d68318	AHRS_DCM: call update_trig	11 years ago
Paul Riseborough	f2c2811ef3	AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters	11 years ago
Andrew Tridgell	baa4ecc2ea	APA_AHRS: update for compass API change	11 years ago
Andrew Tridgell	b248cc0868	AP_AHRS: fixed a build warning	11 years ago
Andrew Tridgell	6ed493b10f	AP_AHRS: added attitude_reset() method for HIL_SENSORS	11 years ago
Andrew Tridgell	4f871c87f1	AP_AHRS: detect and try to cope with bad accels	11 years ago
Andrew Tridgell	02d6f012ce	AP_AHRS: added accel sum delay buffer to account for GPS lag	11 years ago
Andrew Tridgell	d31e557983	AP_AHRS: save memory and reduce pointer references ... use a refence for ins, and don't save gyro and accel between updates	11 years ago
Andrew Tridgell	cb52b6f367	AP_AHRS: removed limit on normalisation of accel reference vectors ... this could lead to a bias in the accel drift correction	11 years ago
Andrew Tridgell	31eaaada62	AP_AHRS: removed vertical G limit on GPS velocity correction ... this limit could lead to a bias in the accel drift correction, and is frequenctly exceeded	11 years ago
Andrew Tridgell	a7931b1581	AP_AHRS: fixed wrapping bug in GPS based heading error ... this bug could cause the GPS based yaw to use an expensive reset far too often	11 years ago
Andrew Tridgell	17b27a47de	AP_AHRS: prevent GPS yaw resets on compass errors ... when we switch from compass heading to GPS heading we don't want to trigger a sudden GPS yaw reset	11 years ago
Andrew Tridgell	d305dd5946	AP_AHRS: debounce the GPS/compass consistency test ... we will only consider the compass inconsistent with GPS if it is off for more than 2 seconds	11 years ago
Andrew Tridgell	587fb58720	AP_AHRS: fixed license text ... APM is under GPL, not LGPL	12 years ago