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Commit Graph

393 Commits (59a44008d7fe5959994d40261e88b90f9328363a)

Author	SHA1	Message	Date
Andrew Tridgell	ed0a56cc3c	AP_AHRS: cope with the changed semantics of airspeed.use()	10 years ago
Andrew Tridgell	d2c827aa4b	AP_AHRS: updates for new AP_Baro API	10 years ago
Andrew Tridgell	b499cd1b59	AP_AHRS: fixed examples build ... using a relative include works as the object is just passed through, not used, in this header	10 years ago
Andrew Tridgell	70c2aeca42	AP_AHRS: make optflow available via AHRS ... same pattern as compass and airspeed sensor	10 years ago
priseborough	5b8265ad6f	AP_AHRS: Expand EKF speed limit public method to handle control limits	10 years ago
priseborough	83775554ea	AP_AHRS: Publish EKF ground speed limit	10 years ago
priseborough	5532750a99	AP_AHRS: Add public method to inhibit GPS useage when using EKF ... This provides the calling vehicle software the abiity to request the EKF to not use GPS. An integer is returned that indicates the type of operation available: 0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed) 1 = request accepted, attitude, vertical velocity and position estimates available 2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available	10 years ago
priseborough	44e1695d5a	AP_AHRS : Enable EKF start without GPS	10 years ago
priseborough	a4984a1e76	AP_AHRS : Add range finder health status to EKF optical flow data	10 years ago
priseborough	12b012a00e	AP_AHRS : temporary mods to test use of flow sensor internal gyro data	10 years ago
priseborough	7b76fc29fb	AP_AHRS : EKF optical flow fusion support preliminary changes	10 years ago
Randy Mackay	4452aa8448	AP_AHRS_DCM: compile error fix for low speed CPUs ... Also correct initialisatoin order to remove compiler warning	10 years ago
Jonathan Challinger	9261dfdefb	AP_AHRS_NavEKF: overload get_accel_ef and get_accel_ef_blended functions	10 years ago
Jonathan Challinger	4975cefd84	AP_AHRS_DCM: update _accel_ef_blended	10 years ago
Jonathan Challinger	033ee3c900	AP_AHRS: Add get_accel_ef_blended function	10 years ago
Randy Mackay	9e731550fd	AHRS: default EKF on for copter	10 years ago
Andrew Tridgell	38c1b622f3	AP_AHRS: fixed example build on APM2	10 years ago
Andrew Tridgell	89cdae62b4	AP_AHRS: fixed example build	10 years ago
priseborough	2c07299c04	AP_AHRS : Add reset of EKF gyro bias states	10 years ago
Randy Mackay	dffcfb42bc	AHRS: add reset_gyro_drift method	10 years ago
Andrew Tridgell	26de54c29a	AP_AHRS: cope with 90 degree pitch in update_trig() ... this prevents a numerical error in Replay	10 years ago
Andrew Tridgell	f79ce92673	AP_AHRS: fixed example build	10 years ago
Randy Mackay	39c8535223	AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P	10 years ago
Andrew Tridgell	270bac4472	AP_AHRS: make get_position() const ... This allows use from within AP_Mission	10 years ago
Andrew Tridgell	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
Andrew Tridgell	eec5cd5add	AP_AHRS: restore DCM attitude before update() ... The DCM drift correction code uses the current attitude to calculate error values to update its gyro drift correction. If we were using EKF then without this patch the DCM code running as an alternative AHRS source would be using the EKF attitude for calculating the error value, leading to very bad gyro drift estimation	10 years ago
Andrew Tridgell	63c06ea2af	AP_AHRS: fixed calls to DCM in parent class ... use_compass() and reset() are common to AP_AHRS_DCM and AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we call use_compass() from within AP_AHRS_DCM we actually end up calling AP_AHRS_NavEKF::use_compass(). This has the effect of disabling the compass in DCM when EKF is active and EKF has decided not to use the compass. That means that the DCM yaw (and in fact the whole attitude) can get badly off while EKF is enabled, making DCM an ineffective fallback if EKF fails. The fix is to call the specific class versions of use_compass() and reset()	10 years ago
Andrew Tridgell	809b6cc855	AP_AHRS: added get_yaw_rate_earth() ... used to estimate course correction on takeoff	10 years ago
Randy Mackay	85eee31510	AHRS: rename ekfNotStarted method to initialised ... Also created default implementation in AP_AHRS class so AP_AHRS_DCM does not need to implement it.	11 years ago
priseborough	7cea7c6a18	AP_AHRS : add method to report if EKF is waiting to start	11 years ago
priseborough	7370e07c8d	AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS	11 years ago
Andrew Tridgell	e9a9e33280	AP_AHRS: use EKF use_compass() if EKF enabled ... this allows magfailed status to show on console via SYS_STATUS health bits	11 years ago
Randy Mackay	a6de3283b6	AHRS_DCM: init members to resolve compiler warnings	11 years ago
Andrew Tridgell	0f5b65e40e	AP_AHRS: fixed example build	11 years ago
Przemek Lekston	ae4814a773	AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind	11 years ago
Andrew Tridgell	82d0666501	AP_AHRS: fixed example build	11 years ago
Andrew Tridgell	6a275372dd	AP_AHRS: ensure get_position() fills in flags	11 years ago
Randy Mackay	d23b685023	AP_AHRS: add empty virtual destructor	11 years ago
Randy Mackay	1f2e38ed28	AHRS: initalise members to reduce compiler warnings	11 years ago
Andrew Tridgell	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
Jonathan Challinger	966d66ef40	AP_AHRS_NavEKF: use gyro drift states from EKF in get_gyro	11 years ago
Jonathan Challinger	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
Andrew Tridgell	d70bee9249	AP_AHRS: fix for HAL_GPIO_*	11 years ago
Andrew Tridgell	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
Andrew Tridgell	315290029a	AP_AHRS: fixed check of accel sensor health ... we need to check health of each accelerometer separately	11 years ago
Andrew Tridgell	1a05c27bbb	AP_AHRS: added healthy() function ... this will be used to report when the AHRS subsystem becomes unhealthy	11 years ago
Andrew Tridgell	c8c6e05a4a	AP_AHRS: added vehicle class to AHRS ... used by EKF to control use of get_fly_forward()	11 years ago
Andrew Tridgell	4d24a86088	AP_AHRS: prevent a infinity value	11 years ago
Andrew Tridgell	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
Andrew Tridgell	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