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
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
29d2eed9e4
Sub: view update does not take skip_ins_update
4 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
4 years ago
9114d4fc86
AP_AHRS: make home-relative functions AHRS-frontend only
4 years ago
e2722c8e12
AP_AHRS: move active_accel_instance into DCM private header section
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
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
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
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
a4d98a457b
AP_AHRS: move init of dcm state into variable declarations
4 years ago
d351b7c7dc
AP_AHRS: fix includes for moved files
4 years ago
b450a96698
AP_AHRS: shuffle AP_AHRS classes
4 years ago
ee0a373b60
AP_AHRS: remove HIL support
4 years ago
62932f884f
AP_AHRS: pre_arm_check may skip position checks
4 years ago
1d97416a51
AP_AHRS: replace prearm_healthy with pre_arm_check
...
Also removes prearm_failure_reason
4 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
4e12f16608
AP_AHRS: provide accessor for synthetic airspeed
5 years ago
b0b78e974b
AP_AHRS: add get_quaternion
5 years ago
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
5 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
2ffded4dd7
AP_AHRS: implement get_velocity_NED() for DCM
6 years ago
2ed1757353
AP_AHRS: Remove unused uptime
6 years ago
b202270d1a
AP_AHRS: minor format fixes
6 years ago
2e403bfd52
AP_AHRS: make setting of home boolean in preparation for sanity checks
6 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
355752ebb8
AP_AHRS: remove pointless initialisations
...
These are either in bss or new'd.
Saves ~130 bytes
7 years ago
1dabcc473d
AP_AHRS: use ins singleton
7 years ago
024b29858d
AP_AHRS: use baro singleton
7 years ago
e15442355a
AP_AHRS: use GPS singleton
7 years ago
d89d496c8f
AP_AHRS: make getter const
7 years ago
0ccaa5bcba
AP_AHRS: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
7 years ago
cd1ff7b86f
AP_AHRS: DCM: add static create method
7 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
e744460ff5
AP_AHRS: mark many functions as override
...
Also take the opportunity to remove void parameter
8 years ago
4ed7fb154f
AP_AHRS: supply missing get_relative_position_D_home
...
Simply returns the baro altitude (like EKF does if it lacks
position)
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
e0153faa85
AP_AHRS: replace header guard with pragma once
9 years ago
6682b27456
AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned
9 years ago
da86e29c27
AP_AHRS: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
9 years ago
0677c2c80c
AP_AHRS: run astyle for formatting
10 years ago
7a76f72bf5
AP_AHRS: added uptime_ms() interface
10 years ago
Peter Barker
Joshua Henderson
Andrew Tridgell
Randy Mackay
Harshit Kumar Sankhla
Peter Hall
Michael du Breuil
khancyr
Lucas De Marchi
Mathieu OTHACEHE
Jonathan Challinger