0722ebe8a0
AP_AHRS: Add EKF variance checks
9 years ago
ae830b44c4
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review.
9 years ago
e8037f94ad
AP_AHRS: Make EKF2 PosDownDerivative interface follow coding conventions
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Updates arising from peer review
9 years ago
58d57994f4
AP_AHRS: Rectify coding errors found during peer review
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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
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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
84f811fe76
AP_AHRS: use compass get_{field,offsets}() functions
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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
9 years ago
232fc8a64d
AP_AHRS: added send_ekf_status_report()
9 years ago
9f59b6f7b5
AP_AHRS: getLastYawResetAngle returns reset time
10 years ago
06c0ad987e
AP_AHRS: fixed divide by zero in SITL
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fixes issue#2875
10 years ago
f77bdd90fc
AP_AHRS: Update EKF2 data logging
10 years ago
dde8330077
AP_AHRS: rename using_EKF to active_EKF_type()
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thanks to Randy for the suggestion
10 years ago
f9348887c5
AP_AHRS: added getLastYawResetAngle() and resetHeightDatum()
10 years ago
0677c2c80c
AP_AHRS: run astyle for formatting
10 years ago
13f72e5ba9
AP_AHRS: expose EKF2 for logging
10 years ago
7ba45444a2
AP_AHRS: added selection of EKF type using AHRS_EKF_TYPE
10 years ago
ed25c85d21
AP_AHRS: added NavEKF2 to constructor
10 years ago
b5e1ad89b3
AHRS: remove INS start style from example sketch
10 years ago
b2751d876c
AP_AHRS: Fixed spelling error in parameter desc.
10 years ago
4b948f5bb1
AP_AHRS: make DCM use milligauss
10 years ago
c18c6d894e
AP_AHRS: added prearm_failure_reason()
10 years ago
a7569e3a61
AHRS_NavEKF: integrate INS use_accel
10 years ago
7f46cc9059
AHRS_DCM: integrate INS use_accel
10 years ago
b43bddc0af
AP_AHRS: standardize inclusion of libaries headers
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
Paul Riseborough
Gustavo Jose de Sousa
Andrew Tridgell
Randy Mackay
Grant Morphett
Staroselskii Georgii
Lucas De Marchi
mirkix
Paul Riseborough
Peter Barker
Tom Pittenger