bdf903b862
AP_AHRS: add accessor for GSF yaw estimator
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
873097c030
AP_AHRS: Change orientation labels to march order of rotation
3 years ago
94b97313be
AP_AHRS: Add APM_BUILD_Heli
3 years ago
3715ce6d1a
AP_AHRS: allow setting of AHRS_TRIM_Z
3 years ago
3f043dd933
AP_AHRS: added get_view_rotation()
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
cc514af158
AP_AHRS: eliminate AP::ahrs().get_location
3 years ago
1c08866342
AP_AHRS: add using_extnav_for_yaw
3 years ago
e7be608a4a
AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw
3 years ago
0792caab83
AP_AHRS: factor out an update_notify_from_filter_status
3 years ago
ca6d214bb3
AP_AHRS: remove unused getGpsGlitchStatus method
3 years ago
9114d4fc86
AP_AHRS: make home-relative functions AHRS-frontend only
4 years ago
e8066aa993
AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX
...
fixes regression from d1d790019c
4 years ago
a933652950
AP_AHRS: return perfect airspeed estimate for EKF-type 10
...
... rather than the EKF3 estimate
4 years ago
e2722c8e12
AP_AHRS: move active_accel_instance into DCM private header section
4 years ago
d6c7c59199
AP_AHRS: remove custom_rotation matrix to frontend
...
Only one of these per vehicle
4 years ago
645a5302d0
AP_AHRS: move DCM parameters into DCM header
4 years ago
74709c6292
AP_AHRS: move groundspeed vector up to AP_AHRS_DCM
...
The other estimators all have their own implementation of this
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
1cfd9f57ce
AP_AHRS: move VehicleClass handling to AHRS frontend
...
.... and renaming the enumeration while we're at it
4 years ago
29aed55a74
AP_AHRS: remove pointless zeroing of gyro_estimate vector
...
This value is assigned to in the following "if" block in both the for
and against cases, and isn't used to determine the new value.
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
62b6350af1
AP_AHRS: use typename SIM instead of SITL as it conflicts with namespace name
4 years ago
114d7b22f4
AP_AHRS: change class name from SITL::SITL to SITL::SIM
4 years ago
107e647d00
AP_AHRS: correct compilation under SITL with no EKF3
4 years ago
5dab362286
AP_AHRS: mark log messages as streaming
4 years ago
383807e334
AP_AHRS: move AOA state to private in frontend
...
AP_AHRS: make update_AOA_SSA non-virtual
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
9cceb2d5c1
AP_AHRS: update orientation param values
4 years ago
f557d41145
AP_AHRS: rotate quaternions into vehicle body frame
...
DCM was having it both ways depending on whether it was
primary/secondary.
These are mostly uses for reporting, in which case you would expect the
quaternion to match the eulers.
4 years ago
5160b4f6ca
AP_AHRS: move AP_NMEA_Output to AHRS frontend
4 years ago
88d49effe7
AP_AHRS: move variable init into variable declaration
4 years ago
15e5831002
AP_AHRS: remove unused get_expected_mag_field method
...
there's get_mag_field_NED on AP_AHRS....
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
a4d98a457b
AP_AHRS: move init of dcm state into variable declarations
4 years ago
Andrew Tridgell
Andy Piper
Peter Barker
Hwurzburg
Gone4Dirt
Josh Henderson
Randy Mackay
bugobliterator
Iampete1