ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
10 years ago
9e731550fd
AHRS: default EKF on for copter
10 years ago
26de54c29a
AP_AHRS: cope with 90 degree pitch in update_trig()
...
this prevents a numerical error in Replay
10 years ago
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
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
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
392995ef84
AP_AHRS: make AHRS handle altitude
...
AHRS now holds the home position
11 years ago
8c5cde4efd
AP_AHRS: allow NavEKF to be enabled at runtime with AHRS_EKF_USE=1
11 years ago
3dc6ea682c
AHRS: add update_trig
...
Calculates helper trig values including cos_roll, cos_pitch
11 years ago
f2c2811ef3
AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters
11 years ago
a96840e194
AP_AHRS: changed default GPS lag to 1 sample
...
this is based on detailed logs from a LEA-6H and NEO-7N
11 years ago
410d356979
AP_AHRS: make airspeed_estimate const
11 years ago
56bcda7252
AP_AHRS: lower default roll and yaw drift correction speed
...
the gyros sustain accuracy over much longer time periods than
previously expected
11 years ago
02d6f012ce
AP_AHRS: added accel sum delay buffer to account for GPS lag
11 years ago
c56017d8f1
AP_AHRS: added in new orientations
12 years ago
587fb58720
AP_AHRS: fixed license text
...
APM is under GPL, not LGPL
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
7860d06b91
AHRS: typo fix for ORIENTATION param description
12 years ago
279f6d00f0
AP_AHRS: changes for GPS field changes
12 years ago
ded31582de
AP_AHRS: add Roll90Yaw90 to parameter description
...
Thanks to Rainer Walther for spotting this
12 years ago
14628990e6
AP_AHRS: make wind estimation configurable
...
rover doesn't want it
12 years ago
b27ddf0f63
AP_AHRS: add parameter descriptions
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
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
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
12 years ago
014c9376e7
AP_AHRS: use const references where possible
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
87b0fb05ce
AHRS: changed default RP and YAW gain to 0.3
...
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag
Note that this doesn't affect copters, as they override to 0.1
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
05ecb8d8fa
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
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
...
these are very useful for navigation libraries
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
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
f644a356c9
AP_AHRS: document more rotation combinations
12 years ago
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
12 years ago
9e5861ccaf
AP_AHRS: small fix to parameter comments
12 years ago
77331f6538
AP_AHRS: another attempt at updating the TRIM parameter descriptions
12 years ago
e6c10f4f0b
AP_ARHS: add description to AHRS_TRIM parameters
12 years ago
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
12 years ago
e282554035
AHRS: removed some debug code
12 years ago
5840ded767
AHRS: removed constrain() defines
12 years ago
9bf69d4e0d
AP_AHRS: port to AP_HAL
12 years ago
24317e721b
AC_PID, AP_AHRS: added descriptions to some parameters
12 years ago
1dad9e4e94
AHRS: improved some more doc strings
12 years ago
eb1d5c2c68
AHRS: improved docs for AHRS_GPS_USE
...
some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
12 years ago
Andrew Tridgell
Randy Mackay
Andrew Tridgell
Paul Riseborough
James Bielman
Pat Hickey