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
4f9201a160
AP_AHRS: move parameters back into AP_AHRS.h
...
metadata collection kind of dies otherwise
4 years ago
d351b7c7dc
AP_AHRS: fix includes for moved files
4 years ago
b7d4166b28
AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.*
4 years ago
97b394a5ef
AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.*
4 years ago
8f1b98a0cb
AP_AHRS: Add accessor function for vibration affected status
...
AP_AHRS: fix rebase build error
4 years ago
a6a18fe193
AP_AHRS: punt to correct parent class when no index for getCorrectedDeltaVelocityNED
4 years ago
b450a96698
AP_AHRS: shuffle AP_AHRS classes
4 years ago
0d391533b0
AP_AHRS: remove ability to use DCM as AHRS
4 years ago
141e2aae91
AP_AHRS: pass NavEKF failures back up to callers
4 years ago
a92fc7845c
AP_AHRS: remove unused active_accel_instance
...
Not a great member function as only DCM updates this
4 years ago
b185d84dc5
AP_AHRS: remove unused _gps_delay variable
4 years ago
dc5656d34a
AP_AHRS: remove accessors only used internally
4 years ago
396a27b17e
AP_AHRS: add semaphore around set_origin
...
added semaphore around set_origin() to prevent thread racing
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
d2278fb525
AP_AHRS: NavEKF: make set_origin and get_origin WARN_IF_UNUSED as base class
4 years ago
Peter Barker
Andrew Tridgell
bugobliterator
Iampete1
Paul Riseborough
CallanDaniel
Pierre Kancir