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
d89d496c8f
AP_AHRS: make getter const
7 years ago
7a6ab4ac44
AP_AHRS: fixed a bug with startup ordering of SITL
...
this fixes a crash that can happen with SITL
7 years ago
89e12163cd
AP_AHRS: correct comment
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
97b6ca218b
AP_AHRS: send ekf status reports even when EKF inactive
8 years ago
d6845a911a
AP_AHRS: fix get_relative_position_NE_home calcalation
8 years ago
1ddf38869a
AP_AHRS: set AP_Notify gps_glitching flag
8 years ago
a3483d0d34
AP_AHRS: Update for compatibility with EKF interface change
8 years ago
3e130273a9
AP_AHRS: do not fallback to DCM if EKF can provide relative position
8 years ago
6354ca7096
AP_AHRS: Set the new gps_fusion notify flag
...
Uses EKF filter state to set the new gps_fusion notify flag. This allows
the GCS and notify devices to specifically be notified if the GPS is or
is not usable.
8 years ago
b6568b1c7e
AP_AHRS: support set_origin and get_origin for EKF 10
8 years ago
d9223165c7
AP_AHRS: fixed get_accel_ef_blended() for SITL EKF 10
8 years ago
28030dd85c
AP_AHRS: use SIM_ODOM_ENABLE to enable visual odom in SITL
8 years ago
e78f55ef9b
AP_AHRS: change order of EK2/EK3 update
...
if EK3 is our primary estimator when we want to run the EK3 update
first, so it gets time priority for inter-EKF scheduling.
8 years ago
0af9433c8e
AP_AHRS: add set_origin
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
33d0fa3e82
AP_AHRS: Fix an index out of bounds
...
Coverity 137817, getPrimaryCoreIMUIndex() can return -1, which is then invalid to pass to get_delta_velocity_dt
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
d3aca5544e
AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction
...
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
8 years ago
c62c64d27b
AP_AHRS: added support for AP_AHRS_View
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
33a84624c6
AP_AHRS: use const reference
...
save a bit of stack and CPU
8 years ago
d2afa1cac8
AP_AHRS_NavEKF: Push gyro bias for optical flow
...
Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
8 years ago
09c969477f
AP_AHRS: fixed fallback to DCM for get_position
...
this fixes dead-reckoning on fixed wing on GPS loss, and fallback to
DCM on loss of EKF position in fixed wing
This was broken by the EKF3 merge
8 years ago
7a5ee29b6e
AP_AHRS: fixed a build warning
8 years ago
ad518f0cc7
AP_AHRS: fixed EKF type 10 EKF nav scaler return
8 years ago
4c320373eb
AP_AHRS: Change indentation.
...
AP_AHRS: Delete inserted message "no break"
8 years ago
22fd2025de
AP_AHRS: fixed EKF type 10
8 years ago
802206baed
AP_AHRS: remove use of uninitialised value
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
5ff78b8e47
AP_AHRS: fix rotation of acceleration into earth frame
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
bf1e0e1536
AP_AHRS: fixed EKF GPS arming check for fixed wing
...
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
9 years ago
78fa23440c
AP_AHRS: remove use of uninitialised variable
...
clang told us:
../../libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:695:35: fatal error: variable 'posD' is used uninitialized whenever '&&' condition is false [-Wsometimes-uninitialized]
9 years ago
01ce3e7f1e
AP_AHRS: fix documentation errors
9 years ago
5454f76702
AP_AHRS: Add separate interfaces for local horizontal and vertical position
9 years ago
Peter Barker
khancyr
Andrew Tridgell
Lucas De Marchi
chobits
Randy Mackay
priseborough
Matt
Michael du Breuil
Julien Beraud
murata
Mathieu OTHACEHE
Jonathan Challinger