7f46cc9059
AHRS_DCM: integrate INS use_accel
10 years ago
b43bddc0af
AP_AHRS: standardize inclusion of libaries headers
...
Do the missing header changes due to changing the code before the pr
getting accepted.
10 years ago
54d5277842
AP_AHRS: standardize inclusion of libaries headers
...
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
7e2e78c1af
AP_AHRS: protect against zero deltat in DCM
...
fixes issue #2657
10 years ago
9067abc037
AHRS_NavEKF: fix blended accel to use primary accel
10 years ago
9c776736c1
AP_AHRS: use delta_velocity and delta_angle in DCM
...
this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
10 years ago
d169fea9ec
AP_AHRS: Add Linux support for example
10 years ago
edab50ab5a
AP_AHRS: convert example from .pde to .cpp
10 years ago
04ba5fa0bd
AP_AHRS: pass EKF into constructor
...
this makes it possible for var_info in vehicle code to be in text
segment
10 years ago
00ca493860
AP_AHRS: prevent a floating exception in update_trig
10 years ago
b61f7fa2f6
AP_AHRS: enable EKF by default on plane
...
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
5514a9f690
AP_NavEKF: base EKF decisions on vehicle class
...
using the vehicle class rather than the build macros allows this to
work correctly in replay
10 years ago
92daa15ccc
AP_AHRS: on plane and rover make AHRS unhealthy when EKF not initialised
...
planes and rovers need full absolute position from the EKF if the EKF
is going to be used. We don't want users to arm without full
capabilities
10 years ago
29f0561ce4
AP_AHRS: reject EKF for plane when we have GPS and aren't fusing
...
plane users would prefer to use GPS in this case
10 years ago
c2ac80cc63
AP_AHRS: Prevent copter from switching to DCM unless EKF has severe errors
10 years ago
3529e02675
AP_AHRS: if we have 3 gyros then only use first two
...
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
10 years ago
3390d9932e
AP_AHRS: fix example sketch
10 years ago
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
10 years ago
4d4a607b80
AP_AHRS: revert AP_Math class change
10 years ago
20f47417d5
AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
10 years ago
e597575747
AP_AHRS: fix for HAL_SITL rename
10 years ago
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
10 years ago
e28c555889
AHRS_DCM: fix compile warnings re float constants
...
Also fix example sketch
10 years ago
7f1749dc1c
AP_AHRS: Allow EKF to pull data from range finder object
10 years ago
405862bd8f
AP_AHRS: Reduce time delay for EKF initialisation
10 years ago
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
10 years ago
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
...
Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
10 years ago
6e30093924
AP_AHRS: correct sanity checks on update_trig
10 years ago
6a6ccb4f32
AP_AHRS: add sanity checks
10 years ago
c6f71ea2e0
AHRS: make get_error_rp and get_error_yaw const
10 years ago
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
...
this makes them usable by multiple consumers, and allows use by EKF
10 years ago
d7249cc1e6
AP_AHRS: only use EKF for plane and rover if all data available
...
we need position and velocity to be working for plane and rover
10 years ago
ff9917d338
AP_AHRS: Fix bug preventing EKF from initialising
10 years ago
dc5bdd5ad8
AP_AHRS: use filtered INS output to compute _accel_ef_blended
10 years ago
d44cf14178
AP_AHRS : Publish EKF learned compass offsets
10 years ago
8ba043e593
AP_AHRS: fixed EKF startup bug
...
This fixes the EKF for when GPS lock takes more than 10 seconds
fixes issue #2010
10 years ago
98efcd5f03
AHRS: always use EKF for copter
10 years ago
7f25938834
AHRS: fix example sketch
10 years ago
f92c711d14
AP_AHRS: define AP_AHRS_TYPE to be the type of AHRS in use
10 years ago
585a105128
AP_AHRS: use compass->last_update_usec()
10 years ago
b488d6de00
AP_AHRS: fix for new compass API
10 years ago
031c81beee
AP_AHRS: removed call to 1D accel cal
10 years ago
6781a8d329
AP_AHRS: fixed get_position for EKF to use correct relative altitude
...
we need to use the EKF relative height plus the current AHRS home
10 years ago
180c85817d
AP_AHRS: remove armed state, use hal.util soft_armed state
10 years ago
49d81a9c99
AP_AHRS: fix apm1 oilpan support
10 years ago
b66a1135d9
AHRS: fix example sketch compile error
10 years ago
ee9c778834
AP_AHRS: added a get_NavEKF_const() function
...
needed for AP_Mount_MAVLink
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
10 years ago
68f64fa11c
AP_AHRS: make the healthy() method const
10 years ago
d8664d15d6
AHRS: fix example sketch
10 years ago
Randy Mackay
Lucas De Marchi
Gustavo Jose de Sousa
Andrew Tridgell
mirkix
Paul Riseborough
Peter Barker
Tom Pittenger
Jonathan Challinger