295cd9adba
AP_NavEKF: give a sensible error for no such file on replay
11 years ago
854f013146
AP_NavEKF : Fixes zero compass offsets on initialisation
11 years ago
cc4c443b32
SITL: simulate dual accel/gyro
11 years ago
e81d2e9584
AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash
11 years ago
736201689b
AP_NavEKF: only use the active accel from DCM if fly_forward is set
11 years ago
aaaae9a222
AP_AHRS: added get_fly_forward() method
...
will be used to detect a copter
11 years ago
62eff63267
AP_NavEKF : Increase the tuning range for magnetometer measurement noise
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
2c85a7ba56
AP_InertialSensor: expose get_primary_accel() for use in AHRS
11 years ago
cf148fa76c
AP_Compass: improved COMPASS_ORIENT and COMPASS_EXTERNAL for Pixhawk
11 years ago
a9e683dada
AP_NavEKF: use the accelerometer chosen by DCM for each step
11 years ago
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
...
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
...
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
78a1cac560
AP_NavEKF : Improved heading and magnetic field state initialisation
11 years ago
d83b382e59
AP_NavEKF : Fix variance constraint bug
...
Constraining variances to a minimum value of 1e-9 was causing problems
with gyro bias and angular accuracy in noisy GPS environments.
Because the constraint is applied after every covariance prediction
and correction, a lower value of 0 is more appropriate.
11 years ago
8b59e564ba
AP_NavEKF: improved replay timing
11 years ago
840f1b9a1e
AP_InertialSensor: make HIL timing more accurate
...
needed for 400Hz replay
11 years ago
66f238c0da
AP_NavEKF: support 400Hz replay from 50Hz logs
11 years ago
3fa2207a2d
AP_HAL: allow for microsecond resolution in scheduler->stop_clock()
...
this makes 400Hz in the replay code possible
11 years ago
6fc5c12f1d
AP_AHRS: remove unused variable
11 years ago
866e32f059
AP_Motors: removed unused variable
11 years ago
e410733682
DataFlash: added GPS2 logging
11 years ago
0115b9fa07
HAL_SITL: support a 2nd GPS
11 years ago
836f473db2
HAL_FLYMAPLE: no uartE
11 years ago
58d5454d65
HAL_Empty: no uartE
11 years ago
6c74ca58c3
HAL_AVR: no uartE
11 years ago
4cb61f1f08
AP_HAL: support uartE
11 years ago
bf2dd141e9
HAL_PX4: support uartE for 2nd GPS
11 years ago
63874dfffd
AP_NavEKF: set fix type in GPS replay
11 years ago
d7b2a09919
AP_GPS: added fix type to setHIL
11 years ago
09cce5d24e
AP_NavEKF: fixed replay with current copter logs
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
72a91ccbca
AP_NavEKF : Prevents aliasing triggering innovation consistency check failures
11 years ago
7a6f671659
AP_GPS: added have_vertical_velocity() function
...
for use by EKF
11 years ago
a273951f70
HAL_Linux: added missing Util.cpp
11 years ago
5db9a87d31
AP_NavEKF : fixed bug in velocity rate of change filter
...
This bug meant the velocity rate of change used to scale the GPS measurement variances was noisy and too small
11 years ago
01c84c3f47
AP_NavEKF : fixed bug in height limit range
11 years ago
36d619ec3a
AP_NavEKF : Changed default IMU bias process noise to use smallest value
11 years ago
89e0b48320
AP_NavEKF : Bug fix for height drift due to timer wrap-around
11 years ago
939a32a7bb
AP_NavEKF : Improved stability of Z accel bias
11 years ago
9f3c19c03a
AP_AHRS : change initialisation requirements for EKF and use dynamic method
11 years ago
6732d6c79b
AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL
11 years ago
5d7346b5c2
HAL_SITL: fixed build with new HIL INS API
11 years ago
ffbd655ba0
AP_NavEKF: support dual sensors in log replay, and fix flight altitude
11 years ago
707cc2b532
AP_NavEKF: allow log filename to be specified in replay
11 years ago
0e18079c47
AP_InertialSensor: allow HIL sensors to support multiple instances
...
this allows log replay to test both sets of sensors on a Pixhawk log
11 years ago
735c6449a1
AP_HAL: added support for commandline arguments
...
useful for log replay, specifying log file
11 years ago
4e56196655
AP_NavEKF: allow states to be accessed using names as well as a Vector22
11 years ago
009913ec60
AP_Math: make is_nan const for quaternion and add .zero() for vector2
11 years ago
33fe778cdd
InertialSensor_PX4: resolve compiler warning
11 years ago
Andrew Tridgell
Paul Riseborough
Jonathan Challinger
Randy Mackay