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
cfb391dc2c
AP_AHRS: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
3 years ago
d423f483a6
AP_AHRS: params always use set method
3 years ago
7cc2382a78
AP_AHRS_DCM: NFC comment on check_matrix() normalization reset
3 years ago
24099f9a2d
AP_AHRS: include cleanups
3 years ago
f72024fc63
AP_AHRS: move logging of LogEvent::SET_HOME up
3 years ago
ff63b62b0c
AP_AHRS: rename AP_AHRS::get_position to get_location
3 years ago
8a6942a9df
AP_AHRS: add define AP_AIRSPEED_ENABLED
3 years ago
e1dd0fd70d
AP_AHRS: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
3 years ago
43e83f18be
AP_AHRS: do not send EKF_STATUS_REPORT from DCM
...
This means that even if you configure DCM as your primary you won't get
its status.
Given the status was currently garbage, this isn't necessarily a bad
thing at the moment.
3 years ago
2f69dcc085
AP_AHRS: cache some trig results for yaw in DCM backend
3 years ago
44d56854be
AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend
3 years ago
94b97313be
AP_AHRS: Add APM_BUILD_Heli
3 years ago
38ead58df2
AP_AHRS: use vector.xy().length() instead of norm(x,y)
3 years ago
29d2eed9e4
Sub: view update does not take skip_ins_update
3 years ago
9dbd9d1e06
AP_AHRS: call INS update in AP_AHRS::update w/o holding data sem
...
We shouldn't be holding the data semaphore while waiting for the samples
- lots of things might be unnecessarily blocked
DCM's update function doesn't need to take the semaphore as it is
already taken by AP_AHRS
3 years ago
9114d4fc86
AP_AHRS: make home-relative functions AHRS-frontend only
4 years ago
8169910866
AP_AHRS: move frontend parameters up / DCM parameters down
4 years ago
53e7436525
AP_AHRS: allow for fallback to DCM in quadplanes
...
this adds the necessary functions to allow for flying a quadplane on
DCM as an emergency fallback. It sets the NavGainScalar to 0.5 to
reduce the VTOL controller gains to allow planes to cope with the
higher lag of DCM
4 years ago
5d49d29c27
AP_AHRS: move wind-estimation-enabled state to frontend
4 years ago
8daa0a099c
AP_AHRS: rename yaw_initialised access method to dcm_yaw_initialised
...
This is what it really means.
Also put the relevant state within the DCM object
4 years ago
608608f32f
AP_AHRS: internalise application of correct_centrifugal
...
This is a DCM-only option but that's not clear with the interface.
Internalise the variable and base it off build type.
4 years ago
73bad9fd2d
AP_AHRS: move fly_forward flag to front end
...
This same flag is requested by the DAL so AN_NavEKF2 and AP_NavEKF3 can
use it in their estimates - so AP_AHRS_DCM accessing it via the same
mechanism is not out-of-shape
4 years ago
e9c56a2b0a
AP_AHRS: move takeoff/touchdown flags to frontend
4 years ago
ecd488b3c3
AP_AHRS: move trim-related functionality to front end
4 years ago
7f4a4a99d6
AP_AHRS: move home and origin methods to frontend
4 years ago
d131cf01d3
AP_AHRS: use compass reference rather than pointer
4 years ago
ca58aa9c5f
AP_AHRS: stop using AHRS as conduit for Compass pointer
4 years ago
e4bceb2417
AP_AHRS: move AOA/SSA to AP_AHRS, don't recalc on fetch
4 years ago
5b372dae06
AP_AHRS: stop storing gyro drift rate as variable
...
This is constant and is just folded into whereever it is used.
4 years ago
cd3ac639fe
AP_AHRS: added AHRS_GPS_USE=2 for no baro
...
this allows DCM to use the GPS instead of the baro for height
4 years ago
76f5db93dc
AP_AHRS: add semaphore around set_home()
...
added semaphore around set_home() to avoid thread racing
4 years ago
ee0a373b60
AP_AHRS: remove HIL support
4 years ago
9eeec61cec
AP_AHRS: new APIs for takeoff/touchdown expected
...
timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL
4 years ago
ea1884f491
AP_AHRS: remove separate calls to get delta-times for vel and ang
4 years ago
62932f884f
AP_AHRS: pre_arm_check may skip position checks
4 years ago
358069df24
AP_AHRS: use ground_course in preference to ground_course_cd
4 years ago
55cb3e8ef0
AP_AHRS: get airspeed sensor from singleton not AHRS object
4 years ago
dab091a801
AP_AHRS: cope with INS_MAX_INSTANCES below 3
4 years ago
9d45669a58
AP_AHRS: reuse ins object for multiple calls, simplify delta_t variable
4 years ago
1d97416a51
AP_AHRS: replace prearm_healthy with pre_arm_check
...
Also removes prearm_failure_reason
4 years ago
a4e7c72635
AP_AHRS: removed duplicate implementation of airspeed_estimate()
5 years ago
b5b3298f0a
AP_AHRS: get airspeed estimate from non-primary instances too
...
with multiple airspeed sensors and airspeed affinity in EKF3,
it is possible to have switched over to a lane not using the
primary airspeed sensor, so AHRS should know which airspeed
sensor to use, i.e, the one being used by the primary lane.
5 years ago
e55057ad5d
AP_AHRS_DCM: limit measured airspeed according to WIND_MAX
5 years ago
b0b78e974b
AP_AHRS: add get_quaternion
5 years ago
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
5 years ago
fb38db6640
AP_AHRS: resolve compile warning in AP_AHRS_DCM::use_compass
6 years ago
3dd7e7e83a
AP_AHRS: only use enabled IMUs in DCM
...
honor the INS_USE parameters for DCM
6 years ago
1226eb825a
AP_AHRS: Reduce scope of AP_Baro.h
6 years ago
Andrew Tridgell
Peter Barker
Iampete1
Joshua Henderson
Andy Piper
Gone4Dirt
CallanDaniel
Randy Mackay
Harshit Kumar Sankhla
Peter Hall
Michael du Breuil