33a84624c6
AP_AHRS: use const reference
...
save a bit of stack and CPU
8 years ago
d2afa1cac8
AP_AHRS_NavEKF: Push gyro bias for optical flow
...
Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
8 years ago
09c969477f
AP_AHRS: fixed fallback to DCM for get_position
...
this fixes dead-reckoning on fixed wing on GPS loss, and fallback to
DCM on loss of EKF position in fixed wing
This was broken by the EKF3 merge
8 years ago
d2431dafd0
AP_AHRS: fix description
8 years ago
8419045aea
Spell in comments
8 years ago
7a5ee29b6e
AP_AHRS: fixed a build warning
8 years ago
ad518f0cc7
AP_AHRS: fixed EKF type 10 EKF nav scaler return
8 years ago
4c320373eb
AP_AHRS: Change indentation.
...
AP_AHRS: Delete inserted message "no break"
8 years ago
22fd2025de
AP_AHRS: fixed EKF type 10
8 years ago
802206baed
AP_AHRS: remove use of uninitialised value
8 years ago
0870e02584
AP_AHRS: fixed example build
8 years ago
33a7c682a3
AP_AHRS: Add EKF3 and remove EKF1
8 years ago
ab05472e0e
AP_AHRS: added EKF3 for EKF experimentation
...
Conflicts:
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
8 years ago
efd0f0b832
modify NavEKF2 for AHRS Test
8 years ago
b4961971e0
AP_AHRS: add beacon object to ahrs
8 years ago
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
8 years ago
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
8 years ago
9a8d3d6e7c
AP_AHRS: add missing parameter metadata
8 years ago
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
e20687fbce
AP_AHRS: cache trim rotation
8 years ago
5ff78b8e47
AP_AHRS: fix rotation of acceleration into earth frame
8 years ago
a03fa2d3cf
AP_AHRS: use exact matrix for trim rotations
8 years ago
ae53920e5b
build: don't build examples with old build system
...
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file. Having the makefiles
there is misleading since people try to build and realize the build is
broken.
8 years ago
0d113b265c
Examples: fix examples for px4
...
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
8 years ago
27e977289a
AP_AHRS: add the get_variances method found in AP_AHRS_NavEKF to AP_AHRS
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
d8cc2668cb
VRBRAIN / AP_AHRS_NavEKF: set AP_AHRS_WITH_EKF1 to 1 only for VR Brain 5.4
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
8fc494cfcd
AP_AHRS_DCM: changed estimate to use prev values for dir & vel
9 years ago
a6cbc5d4a5
AP_AHRS: use EKF for groundspeed estimate if available
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
8486d4ab5e
AP_AHRS: disable EKF1 on all PX4v1 and PX4v2 boards
...
we're out of space in copter now too
9 years ago
597ec61673
AP_AHRS: extend ekf fault status reporting coverage
9 years ago
2bf9aa94ad
AP_AHRS: Fix typos
9 years ago
6d3b491c02
AP_Math: Replace is_equal with a type safe template function
...
It makes sense to consider also other floating point types.
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
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
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used by Replay to sync start times
9 years ago
Andrew Tridgell
Julien Beraud
mirkix
Dr.-Ing. Amilcar Do Carmo Lucas
murata
Peter Barker
priseborough
jinchengde@gmail.com
Randy Mackay
Mathieu OTHACEHE
Jonathan Challinger
Lucas De Marchi
Andy Little
floaledm
LukeMike
masierra
Ricardo de Almeida Gonzaga
dgrat