b6bc50051f
AP_AHRS: allow reporting of secondary AHRS solution
11 years ago
8c5cde4efd
AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1
11 years ago
7ac78ff991
AP_AHRS: create AP_AHRS_NavEKF class
...
subclass of AP_AHRS_DCM, just a wrapper for now, will add EKF calls
next
11 years ago
c7533579ac
AP_AHRS: added get_airspeed() interface to AHRS
11 years ago
3dc6ea682c
AHRS: add update_trig
...
Calculates helper trig values including cos_roll, cos_pitch
11 years ago
410d356979
AP_AHRS: make airspeed_estimate const
11 years ago
e5addf86c1
AP_AHRS: Added getters for compass and GPS.
11 years ago
6ed493b10f
AP_AHRS: added attitude_reset() method for HIL_SENSORS
11 years ago
02d6f012ce
AP_AHRS: added accel sum delay buffer to account for GPS lag
11 years ago
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
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
8306d74da0
AHRS: remove DMP as an ahrs
12 years ago
c044385fff
AP_AHRS: added groundspeed() method
...
this gives ground speed in m/s from GPS
12 years ago
97b7130bb9
libraries: update license header to GPLv3
...
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
12 years ago
57d2dd814d
AP_AHRS: added get_position_lag() call
...
provide position lag to libraries
12 years ago
0d36832b82
AP_AHRS: use const reference not pointers for locations
...
this makes life easier for the new AP_Mission library
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
12 years ago
ec73fadc45
AP_AHRS: added true airspeed support in AHRS
...
use true airspeed for wind calculations, and allow other drivers to
ask for the current ratio
12 years ago
b721bcc129
AP_AHRS: removed get_roll_rate_earth() and get_pitch_rate_earth()
...
these are not used any more
12 years ago
80e0f8044c
AP_AHRS: added airspeed_sensor_enabled() function
12 years ago
aaaa5247e3
AP_AHRS: make it possible to setup board orientation at runtime
12 years ago
14628990e6
AP_AHRS: make wind estimation configurable
...
rover doesn't want it
12 years ago
c08c084191
AP_AHRS: added get_projected_position()
...
this is used to project the position forward by the GPS lag
12 years ago
a17b85c661
AP_AHRS: use vectors for ground vector complimentary filter
12 years ago
ceda7d26b0
AHRS: add correct_centrifugal and flags structure
12 years ago
943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
...
if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
12 years ago
014c9376e7
AP_AHRS: use const references where possible
12 years ago
7ad293e270
AP_AHRS: made a few methods const
12 years ago
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
...
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
12 years ago
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
...
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
12 years ago
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
...
these are very useful for navigation libraries
12 years ago
896fd52aa1
AP_AHRS: fixed functions that need to be virtual
...
functions overridden in a child class need to be marked virtual, or
you get the parent class function
12 years ago
8459da202c
AP_AHRS: prevents compass flyaways for plane and rover
...
this switches to the GPS for yaw if the compass has dragged us off by
more than 45 degrees from the GPS heading, and the wind speed is less
than 80% of the ground speed.
12 years ago
24044dc0c4
AHRS: add support for GPS fix type 2D
12 years ago
3321db8dde
AHRS: limit trim to 10 degrees
12 years ago
6119201307
AP_AHRS: ensure compass is non-NULL for set_board_orientation()
12 years ago
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
12 years ago
3ac3aeb1b1
AHRS: fixed build on ARM
12 years ago
583845cc17
ahrs fixup
12 years ago
1b0670e67c
AHRS: fixup for ARM compiler
12 years ago
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
12 years ago
1f7614929f
AP_AHRS: save trim to eeprom when set_trim is called
12 years ago
1c08f176ea
AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle
12 years ago
5c148153ac
AP_AHRS: updates for new AP_Param API
12 years ago
9bf69d4e0d
AP_AHRS: port to AP_HAL
12 years ago
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
12 years ago
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
12 years ago
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
13 years ago
fba1692d69
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
13 years ago
de28cc8b28
AHRS: added AHRS_WIND_MAX option
...
this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
13 years ago
2be785899b
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
13 years ago
Andrew Tridgell
Randy Mackay
Michael Day
priseborough
Pat Hickey