f80ba734c8
AP_AHRS: removed use of "blended" accel values
...
calculate a single EF accel based on primary IMU
3 years ago
924759510d
AP_AHRS: fixed use of filtered gyro with DCM active
...
we need to overwrite _omega with the filtered gyro value, so we get
both the low pass filter and the notch filters. Otherwise we will fly
with very high noise gyro data
this also fixes the accel_ef_blended to use the filtered accel. It is
not blended, and removing "_blended" from the API will be worthwhile
as a followup
3 years ago
c3d8f0fa45
AP_AHRS: added a getter function to get active source set once the ekf3 filter is started
3 years ago
4139b7a548
AP_AHRS: rename OpticalFlow class to AP_OpticalFlow
...
Brings us in-line with other classes in ArduPilot.
Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
3 years ago
cfb391dc2c
AP_AHRS: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
3 years ago
a5b373e912
AP_AHRS: modify AHRS type check for compass-less setups
3 years ago
d423f483a6
AP_AHRS: params always use set method
3 years ago
0ededd7c62
AP_AHRS: use wind from simulation if available with EKF type 10
3 years ago
aeb24d4978
AP_AHRS: remove method casting active EKF type for logging
...
logging is now done internally
3 years ago
4909866dd9
AP_AHRS: add prearm check that we are using configured AHRS type
3 years ago
b6a089f90e
AP_AHRS: Fixed body_to_earth
...
body_to_earth was not implemented consistently with earth_to_body.
Changed the order of operation to be consistent and rotate reference
frame correctly.
3 years ago
51a21679be
AP_AHRS: expand description of custom orientation parameters
3 years ago
dc0491a8ff
AP_AHRS_view: add rotate method to move from AHRS to AHRS view referance frames
3 years ago
5a1d4f3bf5
AP_AHRS: update rotation based on board_orient parameter
3 years ago
5a1a87cc60
AP_AHRS: fixed bug in blended EKF bias
...
The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
3 years ago
34a7503c1e
AP_AHRS: tidy includes
3 years ago
d621910a59
AP_AHRS: remove unneeded get_position wrapper
3 years ago
6c24a5ff37
AP_AHRS: add method to get view
3 years ago
04fdfea74a
AP_AHRS_View: add method to get pitch trim and note on rotation
3 years ago
7cc2382a78
AP_AHRS_DCM: NFC comment on check_matrix() normalization reset
3 years ago
c1c18331f9
AP_AHRS: remove instance id from EK2 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
3 years ago
b762aac6ce
AP_AHRS: remove instance id from EK3 external interface
...
Removes passing of instance id in interfaces where -1 was the only value
ever passed in
3 years ago
fd666dc4f1
AP_AHRS: subtract accel bias from correct ins accel instance
...
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
3 years ago
7ad9609fb7
AP_AHRS: split AP_HAL_SITL and HAL_SIM_ENABLED
3 years ago
4896f8a6d7
AP_AHRS: rename SITL backend to SIM
3 years ago
480cc3fa46
AP_AHRS: convert param to new custom rotation
3 years ago
1cc2e082e0
AP_AHRS: remove custom rotations
3 years ago
24099f9a2d
AP_AHRS: include cleanups
3 years ago
9229fb6f9d
AP_AHRS: add alias get_position to get_location
3 years ago
e56b6d2765
AP_AHRS: View: get_gyro_latest should include pitch trim.
3 years ago
f72024fc63
AP_AHRS: move logging of LogEvent::SET_HOME up
3 years ago
01ac314837
AP_AHRS: use EKF rejecting_airspeed flag
...
stop using airspeed sensor when EKF is rejecting the sensor
3 years ago
819b25d918
AP_AHRS: remove duplicated words from comments
3 years ago
bb1bd69172
AP_AHRS : remove duplicated words from comments
3 years ago
5528159f31
AP_AHRS: add WARN_IF_UNUSED to several methods
3 years ago
9126e14c9c
AP_AHRS: getOptFlowSample returns latest correct flow data for use in calibration
3 years ago
bd069cc5e9
AP_AHRS: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library
3 years ago
ff63b62b0c
AP_AHRS: rename AP_AHRS::get_position to get_location
3 years ago
a6099acd5c
AP_AHRS: return failure in pre_arm_check if unhealthy
3 years ago
8a6942a9df
AP_AHRS: add define AP_AIRSPEED_ENABLED
3 years ago
a31ff08f23
AP_AHRS: create and use AP_AHRS_SIM_ENABLED
3 years ago
efb04e7f30
AP_AHRS: add video stab log message
3 years ago
cee0503812
AP_Logger: add video stab log structure
3 years ago
9cace37b03
AHRS: RATE log: add missing ff terms
3 years ago
69f4b25f81
AP_AHRS: mark type column in ORGN as instance
3 years ago
304b7df8c2
AP_AHRS: make the EKF accel bias accessible
...
needed for fixed wing yaw damper
3 years ago
66d8be825f
AP_Logger: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
3 years ago
1dd34d87e7
AP_AHRS: move LogOriginType into AP_AHRS
...
only used to log the origins by the AHRS library
3 years ago
0141ec5be7
AP_AHRS: fixed switching airspeed sensor based on EKF3 affinity
...
we need to use the EKF selected airspeed sensor when the EKF is setup
to run a different sensor on each lane
3 years ago
01fb16b3b0
AP_AHRS: relax arming checks for inactive AHRS types
...
When using an EKF as ride-along we should not fail arming if it has
inconsistent yaw between its lanes. This is especially important when
using external yaw or GPS yaw with EKF3, where yaw is expected to be
bad with EKF2.
The check on DCM is based on the existance of an AHRS view. This is so
that tailsitters do not get arming failures due to the inability of
DCM to cope with being nose up
3 years ago
Andrew Tridgell
nrt
Peter Barker
Henry Wurzburg
Iampete1
Bailey K. Srimoungchanh
Joshua Henderson
murata
RuffaloVM
Randy Mackay