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
4aa33bec49
AP_AHRS: Remove AP_GPS.h from AP_AHRS.h
6 years ago
670015b30e
AP_AHRS: added const for PersistentData
6 years ago
74e56ab8cc
AP_AHRS: use new persistent_data interface
6 years ago
f7026b854e
AP_AHRS: added save/restore of attitude in backup registers
6 years ago
b8605c9ee6
AP_AHRS: save/restore home to backup registers
...
restore on watchdog reset
# Conflicts:
# libraries/AP_AHRS/AP_AHRS_DCM.cpp
6 years ago
54bc960ca3
AP_AHRS: move check_latlng to Location
6 years ago
701c5dd4c0
AP_AHRS: move location_update to Location and rename to offset_bearing
6 years ago
a577223ac6
AP_AHRS: rename dataflash to logger
6 years ago
2ffded4dd7
AP_AHRS: implement get_velocity_NED() for DCM
6 years ago
2ed1757353
AP_AHRS: Remove unused uptime
6 years ago
3889c91974
AP_AHRS: use enum class for AltFrame enumeration
6 years ago
44ab1cf14b
AP_AHRS: replace location_offset() and get_distance() function calls with Location object member function calls
...
This allows removing duplicated code
6 years ago
6fd687e861
AP_AHRS: retry sending home/origin if it fails
6 years ago
3959780999
AP_AHRS: ensure home is always stored in ALT_FRAME_ABSOLUTE
6 years ago
ab9c084179
AP_AHRS: add sanity checks for home location being set
6 years ago
2e403bfd52
AP_AHRS: make setting of home boolean in preparation for sanity checks
6 years ago
b416bc603e
AP_AHRS_DCM: adjust for location flags being moved out of union
6 years ago
Peter Barker
Andrew Tridgell
CallanDaniel
Randy Mackay
Harshit Kumar Sankhla
Peter Hall
Michael du Breuil
Pierre Kancir
Tom Pittenger
Dr.-Ing. Amilcar do Carmo Lucas