54d5277842
AP_AHRS: standardize inclusion of libaries headers
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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
b61f7fa2f6
AP_AHRS: enable EKF by default on plane
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now we have arming checks enabled by default I think this is the best
choice
10 years ago
7a76f72bf5
AP_AHRS: added uptime_ms() interface
10 years ago
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
10 years ago
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
10 years ago
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
10 years ago
98efcd5f03
AHRS: always use EKF for copter
10 years ago
f92c711d14
AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use
10 years ago
180c85817d
AP_AHRS: remove armed state, use hal.util soft_armed state
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
b499cd1b59
AP_AHRS: fixed examples build
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using a relative include works as the object is just passed through,
not used, in this header
10 years ago
70c2aeca42
AP_AHRS: make optflow available via AHRS
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same pattern as compass and airspeed sensor
10 years ago
033ee3c900
AP_AHRS: Add get_accel_ef_blended function
10 years ago
9e731550fd
AHRS: default EKF on for copter
10 years ago
dffcfb42bc
AHRS: add reset_gyro_drift method
10 years ago
39c8535223
AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P
10 years ago
270bac4472
AP_AHRS: make get_position() const
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This allows use from within AP_Mission
10 years ago
4ad643b233
AP_AHRS: use a common function for updating the CD values
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this ensures the wrapping of yaw is consistent between the 3 use cases
10 years ago
809b6cc855
AP_AHRS: added get_yaw_rate_earth()
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used to estimate course correction on takeoff
10 years ago
85eee31510
AHRS: rename ekfNotStarted method to initialised
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Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
11 years ago
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
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
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this allows us to return a constant vector for the corrected gyro
estimate. Based on discussions with Jon Challinger
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
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
efd4058e8b
AHRS: interate move of p1 from Location to mission cmd
11 years ago
aaaae9a222
AP_AHRS: added get_fly_forward() method
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will be used to detect a copter
11 years ago
9a5ecc9541
AP_AHRS: use primary accel for accel_ef
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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
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
a021d0ca31
AHRS: fix compiler warning
11 years ago
25ef0d5a7b
AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
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this avoids some linking issues, plus the functions are inaccurate
without EKF
11 years ago
8f6fd86f69
AP_AHRS: make set_correct_centrifugal virtual
11 years ago
5d43a1d704
AP_AHRS: added inertial nav interfaces to AHRS
11 years ago
392995ef84
AP_AHRS: make AHRS handle altitude
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AHRS now holds the home position
11 years ago
1e476e511a
AP_AHRS: pass baro into AP_AHRS
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first step in making AHRS handle altitude
11 years ago
6e5077b60b
AP_AHRS: removed unused AP_AHRS_HIL
11 years ago
b39a5062e9
AP_AHRS: use NavEKF for ground vector when available
11 years ago
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
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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
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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
Gustavo Jose de Sousa
Andrew Tridgell
Paul Riseborough
Randy Mackay
Jonathan Challinger
Andrew Tridgell
Michael Day