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
...
used by Replay to sync start times
9 years ago
664ce5c16e
AP_AHRS: don't use disabled gyro in rate controllers
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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
e0153faa85
AP_AHRS: replace header guard with pragma once
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
0ccd2de12b
AP_AHRS: fix use of undefined macro
...
../../libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp:63:5: warning: "WITH_GPS" is not defined [-Wundef]
#if WITH_GPS
^
g_gps was not even declared so remove it.
9 years ago
cbf2309023
AP_AHRS: add get_mag_field_NED and get_mag_field_correction
9 years ago
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
...
It helps to distinguish between things from waf and things from ardupilotwaf.
9 years ago
3d22490397
waf: examples: use methods from bld instead of ardupilotwaf
9 years ago
d281067bcc
waf: make example binaries be placed in 'examples' dir
...
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
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
ea823a818c
AP_AHRS: enable EKF2 by default in AHRS
9 years ago
5cb7331095
AP_AHRS: fix example build
9 years ago
a2999ece54
AP_AHRS_NavEKF: add setTakeoffExpected, setTouchdownExpected
9 years ago
a096703b06
Global: don't link with AP_Progmem
...
AP_Progmem is not used anymore.
9 years ago
6a5c5969fa
AP_AHRS: fixed example build
9 years ago
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
9 years ago
924a94633d
AP_AHRS: Fix build
...
Due to interdependancy between optical flow and AHRS, it is not possible
to include full class definition which rely on each other
9 years ago
2b26a2eebe
AP_AHRS: remove unused AP_ADC_AnalogSource
9 years ago
6e7b73610d
waf: add waf support
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
3a17c858e3
AP_AHRS: use millis/micros/panic functions
9 years ago
floaledm
Andrew Tridgell
LukeMike
Peter Barker
priseborough
masierra
Ricardo de Almeida Gonzaga
dgrat
Randy Mackay
Jonathan Challinger
Lucas De Marchi
Gustavo Jose de Sousa
Julien BERAUD
Caio Marcelo de Oliveira Filho