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Commit Graph

75 Commits (a8983d075fee1d41e5af96abb00c4e2693e6a65c)

Author	SHA1	Message	Date
Lucas De Marchi	da86e29c27	AP_AHRS: remove check for AVR CPUs ... Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be removed on separate commits.	9 years ago
Andrew Tridgell	0677c2c80c	AP_AHRS: run astyle for formatting	10 years ago
Andrew Tridgell	7a76f72bf5	AP_AHRS: added uptime_ms() interface	10 years ago
Andrew Tridgell	6bfca648b9	AP_AHRS: raise DCM P gains when disarmed for first 20 seconds	10 years ago
Tom Pittenger	e28c555889	AHRS_DCM: fix compile warnings re float constants ... Also fix example sketch	10 years ago
Andrew Tridgell	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
Andrew Tridgell	68f64fa11c	AP_AHRS: make the healthy() method const	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	4975cefd84	AP_AHRS_DCM: update _accel_ef_blended	10 years ago
Randy Mackay	dffcfb42bc	AHRS: add reset_gyro_drift method	10 years ago
Andrew Tridgell	270bac4472	AP_AHRS: make get_position() const ... This allows use from within AP_Mission	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
Randy Mackay	a6de3283b6	AHRS_DCM: init members to resolve 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	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	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	f07e4dee52	AP_AHRS: convert to new GPS API	11 years ago
Andrew Tridgell	b53496d470	AP_AHRS: choose the best accelerometer at each drift correction step ... this greatly reduces the impact of aliasing on accelerometers by choosing the accelerometer that produces the smallest error term in DCM. The difference can be quite dramatic on the Pixhawk.	11 years ago
Andrew Tridgell	0b45d2bc06	AP_AHRS: removed the AHRS_GPS_DELAY parameter ... the best value has turned out to be 1, and tweaking it has not turned out to be useful, so this simplifies the code in preparation for adding the anti-aliasing handling with multiple accelerometers	11 years ago
Jonathan Challinger	f321a5f241	AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS ... Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.	11 years ago
Andrew Tridgell	eedd88c2ec	AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM	11 years ago
Andrew Tridgell	25ef0d5a7b	AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF ... this avoids some linking issues, plus the functions are inaccurate without EKF	11 years ago
Andrew Tridgell	c62ccce9d8	AP_AHRS: make estimate_wind() public ... this avoids it linking into copter	11 years ago
Paul Riseborough	08267cea87	AP_AHRS: Scheduling for yaw gain to reduce atitude errors in turning flight	11 years ago
Andrew Tridgell	5d43a1d704	AP_AHRS: added inertial nav interfaces to AHRS	11 years ago
Andrew Tridgell	392995ef84	AP_AHRS: make AHRS handle altitude ... AHRS now holds the home position	11 years ago
Andrew Tridgell	1e476e511a	AP_AHRS: pass baro into AP_AHRS ... first step in making AHRS handle altitude	11 years ago
Paul Riseborough	f2c2811ef3	AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters	11 years ago
Andrew Tridgell	6ed493b10f	AP_AHRS: added attitude_reset() method for HIL_SENSORS	11 years ago
Andrew Tridgell	02d6f012ce	AP_AHRS: added accel sum delay buffer to account for GPS lag	11 years ago
Andrew Tridgell	d31e557983	AP_AHRS: save memory and reduce pointer references ... use a refence for ins, and don't save gyro and accel between updates	11 years ago
Andrew Tridgell	d305dd5946	AP_AHRS: debounce the GPS/compass consistency test ... we will only consider the compass inconsistent with GPS if it is off for more than 2 seconds	11 years ago
Andrew Tridgell	97b7130bb9	libraries: update license header to GPLv3 ... we switched to GPLv3 a long time ago, but neglected to update the per-file license headers	12 years ago
Andrew Tridgell	0d36832b82	AP_AHRS: use const reference not pointers for locations ... this makes life easier for the new AP_Mission library Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>	12 years ago
tobias	1bf135b36f	AP_AHRS: make some more functions const	12 years ago
Andrew Tridgell	7d42a0562d	AP_AHRS: cope better with large GPS yaw changes ... this should cope better with bungee launches when using only GPS for yaw.	12 years ago
Andrew Tridgell	38fc0e61c6	AP_AHRS: optimise yaw drift correction ... use new vector2 cross product, and factor out the z component of a dcm mul_transpose() to reduce the number of floating point operations for a yaw drift correction cycle	12 years ago
Randy Mackay	ee2daf25b6	AHRS: perf improvement by caching declination vector	12 years ago
Andrew Tridgell	014c9376e7	AP_AHRS: use const references where possible	12 years ago
Andrew Tridgell	7ad293e270	AP_AHRS: made a few methods const	12 years ago
Andrew Tridgell	8459da202c	AP_AHRS: prevents compass flyaways for plane and rover ... this switches to the GPS for yaw if the compass has dragged us off by more than 45 degrees from the GPS heading, and the wind speed is less than 80% of the ground speed.	12 years ago
Pat Hickey	9bf69d4e0d	AP_AHRS: port to AP_HAL	12 years ago
rmackay9	83ae8e47be	AP_AHRS: replace IMU with INS and add roll and pitch trim	12 years ago
Andrew Tridgell	2be785899b	AHRS: added airspeed_estimate() function ... this allows the APM code to use an airspeed estimate for navigation	13 years ago
uncrustify	bc80148c75	uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h	13 years ago
Andrew Tridgell	2985de279f	AHRS: fixed duplicate gps_use variable in DCM	13 years ago
Andrew Tridgell	134cd51d17	AHRS: moved var_info[] into top level AP_AHRS class	13 years ago
Andrew Tridgell	9b4b7997b6	AHRS: added ahrs.yaw_initialised() ... this allows the high level code to know if the AHRS driver has a reliable yaw estimate	13 years ago