772209b3f3
AP_AHRS: make posOffset a const reference
8 years ago
6069c37b19
AP_AHRS: add position offset to optical flow interface
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
25a14fe0dc
AP_AHRS: add interface to retrieve corrected delta velocities in NED frame
8 years ago
5ff78b8e47
AP_AHRS: fix rotation of acceleration into earth frame
8 years ago
334db0a1a5
AP_AHRS: added get_primary_accel_index() and get_primary_gyro_index()
9 years ago
c62fc336cb
AP_AHRS: use current EKF2 IMU core in gyro estimate
...
The EKF2 implementation uses one IMU per EKF2 core. When reporting the
gyro estimate, accel_ef estimate and gyro bias estimate we need to use
the values associated with the current IMU index being used by the
current EKF2 core. Otherwise we will have an inconsistency between the
gyro estimate and attitude estimate
This affects all multi-IMU systems using EKF2
9 years ago
bf1e0e1536
AP_AHRS: fixed EKF GPS arming check for fixed wing
...
when in a quadplane mode we set fly_forward to zero. We need to ensure
the GPS checks for EKF health are applied when doing arming checks, so
we use the checks always when disarmed
9 years ago
78fa23440c
AP_AHRS: remove use of uninitialised variable
...
clang told us:
../../libraries/AP_AHRS/AP_AHRS_NavEKF.cpp:695:35: fatal error: variable 'posD' is used uninitialized whenever '&&' condition is false [-Wsometimes-uninitialized]
9 years ago
01ce3e7f1e
AP_AHRS: fix documentation errors
9 years ago
5454f76702
AP_AHRS: Add separate interfaces for local horizontal and vertical position
9 years ago
e82468a529
AP_AHRS: avoid ifdef for AP_MODULE_SUPPORTED
9 years ago
36181b78de
AP_AHRS: fixed build for px4
9 years ago
15a01eefb1
AP_AHRS: added AHRS_update hook
9 years ago
2db2486b3a
AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10
9 years ago
d17e3b17bf
AP_AHRS: special handling for flying fixed wing with no compass
...
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
9 years ago
597ec61673
AP_AHRS: extend ekf fault status reporting coverage
9 years ago
2bf9aa94ad
AP_AHRS: Fix typos
9 years ago
73d3797a7e
AP_AHRS: finish implementing have_ekf_logging()
9 years ago
795080742e
AP_AHRS: added have_ekf_logging() API
9 years ago
07060051cf
AP_AHRS: added API for forcing EKF to start
...
used by Replay to sync start times
9 years ago
664ce5c16e
AP_AHRS: don't use disabled gyro in rate controllers
...
obey INS_USE* parameters in gyro estimate
9 years ago
4419b3c617
AHRS_NavEKF: fix get_position by using ekf origin
...
The EKF's getPosNED returns a vertical position relative to the EKF origin but previously this function was using it as if it was relative to ahrs's home
9 years ago
6a5f1c0bec
AP_AHRS_NavEKF: reflect changes to getMagOffsets
9 years ago
18240107f0
AP_AHRS_NavEKF: add getGpsGlitchStatus
9 years ago
9db618c73c
AP_AHRS: disable EKF1 for plane
...
we are running too close to the 1MByte limit for pixhawk. This
recovers nearly 100kbyte of flash
9 years ago
d0b67ce007
AP_AHRS: allow for EKF without GPS on plane in VTOL modes
...
this allows for testing quadplanes indoors
9 years ago
cbf2309023
AP_AHRS: add get_mag_field_NED and get_mag_field_correction
9 years ago
f6b909d0a5
AHRS_NavEKF: resolve compiler warning re signed vs unsigned comparison
9 years ago
f8b52c6a67
AP_AHRS: try to start EKF2 slightly before EKF2
...
this gives priority to EKF2 on memory
9 years ago
a2999ece54
AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected
9 years ago
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
9 years ago
1e8c391024
AP_AHRS: fixed float exception on start in SITL
...
zero DCM matrix
9 years ago
b3e6129fd4
AP_AHRS: added EKF type 10 for SITL
...
this bypasses all attitude and position estimators and uses the SITL
state directly. It can be used for when the SITL backend cannot
provide perfect sensor data
9 years ago
7b38f2185f
AP_AHRS: use the right DCM matrix for right EKF
...
this fixes a bug where the EKF2 DCM matrix would be used for
get_dcm_matrix() when EKF1 was active
9 years ago
4ea45b8df1
AP_AHRS_NavEKF: use millis/micros/panic functions
9 years ago
803817821d
AP_AHRS: Support changes to EKF2 interfaces that specify the instance
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An instance of -1 is specified which causes data for the primary instance to be returned.
9 years ago
7ed36d8e65
AP_AHRS: Enable pre-flight GPS check status reporting for EKF2
9 years ago
4e959ef6f9
AP_AHRS: constify getLastPosNorthEastReset
...
Also constify getLastVelNortEastReset
9 years ago
7c20577ee0
AP_AHRS: constify getLastYawResetAngle
9 years ago
f67f6b01f4
AP_AHRS: Publish the EKF position and velocity reset deltas
9 years ago
9d2e3157fe
AP_AHRS: add a runtime flag for always using EKF
...
The AHRS_EKF_USE_ALWAYS define is used to force EKF to be always
used. It is defined only for building ArduCopter. Change it to be a
runtime flag. Keep its default value still based on the original define,
once the Copter uses it the define will be removed.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
9 years ago
eac91430a2
AP_AHRS: update _dcm_attitude() on reset()
...
this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
9 years ago
0722ebe8a0
AP_AHRS: Add EKF variance checks
9 years ago
ae830b44c4
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
...
Updates arising from peer review.
9 years ago
e8037f94ad
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
...
Updates arising from peer review
9 years ago
58d57994f4
AP_AHRS: Rectify coding errors found during peer review
...
Fixes code that didn't take into account fall-through behaviour of C++ switch statements
Makes get_rigin furnction more generic allowing the consumer to decide what to do with an invalid origin
9 years ago
e65ae51564
AP_AHRS: Enable AP_InertialNav to access all EKF functions via AP_AHRS
...
This patch adds additional methods to the the AHRS library so that the AP_InertialNav library dow nto have to access the EKF directly. This enables Copter to fly using the EKF nominated by AHRS_EKF_TYPE.
It will also pave the way to elimination of the AP_InertialNav library.
9 years ago
232fc8a64d
AP_AHRS: added send_ekf_status_report()
10 years ago
9f59b6f7b5
AP_AHRS: getLastYawResetAngle returns reset time
10 years ago
Andrew Tridgell
priseborough
Mathieu OTHACEHE
Jonathan Challinger
Peter Barker
Ricardo de Almeida Gonzaga
Randy Mackay
Caio Marcelo de Oliveira Filho
Paul Riseborough