a6de3283b6
AHRS_DCM: init members to resolve compiler warnings
11 years ago
0f5b65e40e
AP_AHRS: fixed example build
11 years ago
ae4814a773
AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind
11 years ago
82d0666501
AP_AHRS: fixed example build
11 years ago
6a275372dd
AP_AHRS: ensure get_position() fills in flags
11 years ago
d23b685023
AP_AHRS: add empty virtual destructor
11 years ago
1f2e38ed28
AHRS: initalise members to reduce compiler warnings
11 years ago
28fedba4d8
AP_AHRS: fixed gyro_bias sign, and pre-calculate gyro_estimate for EKF
...
this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
11 years ago
966d66ef40
AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro
11 years ago
61987f6655
AP_AHRS: Fixed DCM get_gyro function
...
Previously incorporated the attitude correction terms into the return. Now only returns the drift-corrected gyro.
11 years ago
d70bee9249
AP_AHRS: fix for HAL_GPIO_*
11 years ago
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
315290029a
AP_AHRS: fixed check of accel sensor health
...
we need to check health of each accelerometer separately
11 years ago
1a05c27bbb
AP_AHRS: added healthy() function
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this will be used to report when the AHRS subsystem becomes unhealthy
11 years ago
c8c6e05a4a
AP_AHRS: added vehicle class to AHRS
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used by EKF to control use of get_fly_forward()
11 years ago
4d24a86088
AP_AHRS: prevent a infinity value
11 years ago
b7350118a6
AP_AHRS: enable EKF wind estimate with no airspeed sensor
...
EKF can now estimate with IMU and GPS only
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
11 years ago
27a3b5fb36
AP_AHRS: fixed wind reporting with EKF and no airspeed sensor
...
the EKF does not estimate wind without an airspeed sensor
11 years ago
35c111a63a
AP_AHRS: fixed example build
11 years ago
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
afab8a9c5b
AP_AHRS: fixed example build
11 years ago
efd4058e8b
AHRS: interate move of p1 from Location to mission cmd
11 years ago
15a44571c2
AP_NavEKF : enable operation without a compass for planes
11 years ago
aaaae9a222
AP_AHRS: added get_fly_forward() method
...
will be used to detect a copter
11 years ago
9a5ecc9541
AP_AHRS: use primary accel for accel_ef
...
Logs from Randy show that the copter INav code can't handle the
accelerometer sensor changing.
11 years ago
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
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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
0b45d2bc06
AP_AHRS: removed the AHRS_GPS_DELAY parameter
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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
6fc5c12f1d
AP_AHRS: remove unused variable
11 years ago
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
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
11 years ago
b434c11215
AP_AHRS: removed empty file
11 years ago
3b1f9a4bbf
AP_AHRS: added get_armed() and set_armed() calls
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will be used by NavEKF to determine static mode
11 years ago
fad0b2b233
AP_AHRS: added get_correct_centrifugal()
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used by NavEKF to force static mode
11 years ago
ee37bc3d27
AP_AHRS: ensure we have HAL_CPU_CLASS available
11 years ago
a021d0ca31
AHRS: fix compiler warning
11 years ago
be33a9634e
AP_AHRS: move using_EKF to .cpp to make it easier in gdb
11 years ago
eedd88c2ec
AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM
11 years ago
5bdc564191
AP_AHRS: fix example sketch
11 years ago
801ceacaf2
AP_AHRS: re-run update_trig() after EKF AHRS update
11 years ago
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
c62ccce9d8
AP_AHRS: make estimate_wind() public
...
this avoids it linking into copter
11 years ago
f09ae0c2d0
AP_AHRS: expose get_NavEKF as non-const
...
better than having two methods
11 years ago
08267cea87
AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight
11 years ago
b4171853b1
AP_NavEKF: allow initialisation before GPS lock to aid indoor testing
11 years ago
0599817aa9
AP_AHRS : EKF initialisation changed to use bootstrap method
11 years ago
f068d0ff7e
AP_AHRS_NavEKF: expose non-const EKF for tuning
11 years ago
9f130b40a0
AP_AHRS_NavEKF: override set_correct_centrifugal
11 years ago
8f6fd86f69
AP_AHRS: make set_correct_centrifugal virtual
11 years ago
a87df0ad56
AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual
11 years ago
ab08a5c7d6
AP_AHRS : altered NavEKF set home to reset position instead of reset filter
11 years ago
Randy Mackay
Andrew Tridgell
Przemek Lekston
Jonathan Challinger
Paul Riseborough