9897bf6127
AP_AHRS: support locked access to AHRS data
7 years ago
1056e64419
AP_AHRS: added get_DCM_rotation_body_to_ned()
...
this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
7 years ago
4d944da530
AP_AHRS: add a singleton-getter cast into AP_AHRS_NavEKF
...
This will allow libraries which absolutely require the EKF to easily get
a cast copy of the singleton.
7 years ago
3cbb88ae20
AP_AHRS: split home-set and home-locked state
7 years ago
9793703a76
AP_AHRS: move Log_Write_Home_And_Origin into AP_AHRS
7 years ago
74be9f0bda
AP_AHRS: Add support for custom board orientations
7 years ago
355752ebb8
AP_AHRS: remove pointless initialisations
...
These are either in bss or new'd.
Saves ~130 bytes
7 years ago
2a274675f6
AP_AHRS: narrow enumeration to uint8_t to avoid narrowing-warnings
7 years ago
20412dc0db
AP_AHRS: accept external position estimates into AHRS
7 years ago
3a5807ae56
AP_AHRS: move home_status into AP_AHRS
...
Storing home in the AHRS object but not its state is clearly evil.
Fix that.
7 years ago
1dabcc473d
AP_AHRS: use ins singleton
7 years ago
024b29858d
AP_AHRS: use baro singleton
7 years ago
659ab06d3b
AP_AHRS: AP_AHRS gets a virtual get_hagl function, EKF marks it override
7 years ago
dc30197ca7
AP_AHRS: add AP::ahrs() singleton
7 years ago
0b5e3936fe
AP_AHRS: added earth to body 2D rotations
7 years ago
e15442355a
AP_AHRS: use GPS singleton
7 years ago
d89d496c8f
AP_AHRS: make getter const
7 years ago
8a4ab685c7
AP_AHRS: implement get_hgt_ctrl_limit on base class
...
If no limits are required false can be returned, so an trivial
implementation is possible
7 years ago
82cd320bd0
AP_AHRS: add get_origin method to parent
7 years ago
0ecb14361d
AP_AHRS: NFC spell in comments
7 years ago
770f697cfc
AP_AHRS: added set/get for flying state
...
this allows the vehicle code to set the likely flying state, which can
be used by EKF to trigger changes which should only happen when flying
(such as mag alignment)
8 years ago
0af9433c8e
AP_AHRS: add set_origin
8 years ago
5c080ce875
AP_AHRS: calculation and reporting of AOA and SSA
8 years ago
5758532326
AP_AHRS: make AHRS2 quaternion available
8 years ago
a11dca5229
AP_AHRS: added optional skip_ins_update to AHRS::update()
...
avoid the ins update if already done in copter fast_loop()
8 years ago
d3aca5544e
AP_AHRS: get_gyro_latest returns latest rates from IMU with drift correction
...
Pulling the gyro values from the IMU allows our rate controllers to run before the EKF
8 years ago
24647fb2b0
AP_AHRS: make get_relative_position_D_home pure virtual
...
Having a void function with a return parameter that isn't
filled in by the base class function seems like a bad idea
8 years ago
8c87868b5c
AP_AHRS: Add submarine vehicle class
8 years ago
c62c64d27b
AP_AHRS: added support for AP_AHRS_View
8 years ago
3274f1dbb1
AP_AHRS: Split all NED methods into a collection of NED relative to home vs origin
8 years ago
b4961971e0
AP_AHRS: add beacon object to ahrs
8 years ago
c615bac1cd
AP_AHRS: add getLastPosDownReset accessor
8 years ago
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
25a14fe0dc
AP_AHRS: add interface to retrieve corrected delta velocities in NED frame
8 years ago
e20687fbce
AP_AHRS: cache trim rotation
8 years ago
a03fa2d3cf
AP_AHRS: use exact matrix for trim rotations
8 years ago
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
5454f76702
AP_AHRS: Add separate interfaces for local horizontal and vertical position
9 years ago
a6cbc5d4a5
AP_AHRS: use EKF for groundspeed estimate if available
9 years ago
795080742e
AP_AHRS: added have_ekf_logging() API
9 years ago
e0153faa85
AP_AHRS: replace header guard with pragma once
9 years ago
cbf2309023
AP_AHRS: add get_mag_field_NED and get_mag_field_correction
9 years ago
f8b52c6a67
AP_AHRS: try to start EKF2 slightly before EKF2
...
this gives priority to EKF2 on memory
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
124937ab61
AP_AHRS: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
9 years ago
4e959ef6f9
AP_AHRS: constify getLastPosNorthEastReset
...
Also constify getLastVelNortEastReset
9 years ago
7c20577ee0
AP_AHRS: constify getLastYawResetAngle
9 years ago
Andrew Tridgell
Peter Barker
Jacob Walser
Peter Barker
khancyr
Randy Mackay
Dr.-Ing. Amilcar Do Carmo Lucas
Eugene Shamaev
Michael du Breuil
priseborough
murata
Mathieu OTHACEHE
Jonathan Challinger
floaledm
Lucas De Marchi
Julien BERAUD