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
e5e092d077
AP_AHRS: check EKF status for having horizontal position estimate
...
this will allow a fixed wing to fall back to DCM if the EKF stops
providing an absolute position while we have 3D GPS lock. The
using_gps flag is not enough, as lagged GPS data can lead to the EKF
stopping fusing when the data is behind the fusion time horizon. In
that case EKF3 gives using_gps=1 but sets horiz_pos_abs=0
5 years ago
37340b846d
AP_AHRS: correct includes
5 years ago
d0d7a46492
AP_AHRS: fixed SITL origin handling
...
we need to keep origin and home separate for AHRS_EKF_TYPE=10. This
caused issues with resets in RealFlight leading to the plane not
descending
5 years ago
d0a2198e00
AP_AHRS: expose EKF setTerrainHgtStable accessor
5 years ago
839e03f3e4
AP_AHRS: attitudes_consistent obeys always_use_EKF
5 years ago
8c0aed9c6c
AP_AHRS: remove use of Vector3 as function
5 years ago
cad9889656
AP_AHRS: send vision-speed-estimates to EKF3
5 years ago
c9e363d529
AP_AHRS: support VISION_SPEED_ESTIMATE
5 years ago
b2ad1caf75
AP_AHRS: writeBodyFrameOdom accepts delay
5 years ago
762e82d49d
AP_AHRS: writeExtNavData accepts delay
5 years ago
471372cc7f
AP_AHRS: Write external nav data to EKF3
5 years ago
36fd632a49
AP_AHRS: create and use INTERNAL_ERROR macro so we get line numbers
5 years ago
8caf7d5811
AP_AHRS: add set_alt_measurement_noise
...
These calls the EKF2 and EKF3's set_baro_alt_noise
5 years ago
2ae31f9d76
AP_AHRS: get_position obeys always_use_EKF
...
Co-Authored-By: WickedShell <Wicked.Shell.Scripts@gmail.com>
5 years ago
585c806618
AP_AHRS: add get_primary_core_index
5 years ago
a66479104d
AP_AHRS: fix failure to arm when not using compass for yaw
5 years ago
22c2ea7cbf
AP_AHRS: Add accessor function for EKF yaw reset request
...
AP_AHRS: Send yaw reset request to EKF2
5 years ago
9cf75bf22e
AP_AHRS: Enable EKF3 default airspeed to be set
...
AP_AHRS: Send default airspeed to EKF2
5 years ago
79afc70cdb
AP_AHRS: remove writeExtNavData sensOffset argument
...
EKF pulls this directly from AP_VisualOdom
5 years ago
5c399fce41
AP_AHRS: auto-switch to EK3/EK2 if selected option disabled
...
if we have an EKF backend selected and that backend doesn't exist then
auto-switch to the other backend.
This fixes MatekF405-Wing which has EKF2 disabled and was falling back
to DCM
5 years ago
83ad1c17a8
AP_AHRS: disable DCM yaw consistency check when using external yaw
...
when EKF3 is using an external (typically GPS) supplied yaw then we
don't expect DCM to have the right yaw so should not do the DCM yaw
consistency check
5 years ago
b0b78e974b
AP_AHRS: add get_quaternion
5 years ago
583b25e6aa
AP_AHRS: allow NavEKFs to be compiled out
5 years ago
14fce28e1b
AP_AHRS: move EKF objects in; this requires unconsting some methods
5 years ago
f6897632f8
AP_AHRS: move to airspeed_estimate with pointer
5 years ago
9997cbf203
AP_AHRS: make ekf_type return from enum class
...
Eliminate default cases and rely on compiler to enforce all cases
handled in switch statement. This will be important when we make EKF2
optional.
5 years ago
968d8cf7d9
AP_AHRS_NavEKF: canonicalise use of get_active_NavEKF result
...
Some places had a default case, many didn't.
5 years ago
7a5b8136ad
AP_AHRS_NavEKF: inform all running EKFs that takeoff or touchdown is expected
...
Several other methods in here poke both EKFs like this.
5 years ago
d3ede184cf
AP_AHRS: force the use of EKF for Copter and Sub
5 years ago
4a1247b9f7
AP_AHRS: add get_innovations
5 years ago
916de076ec
AP_AHRS: add method to check if ext nav is used for yaw
6 years ago
9732940220
AP_AHRS: navekf: add Log_Write access point
6 years ago
bf11746da5
AP_AHRS: allow EKF_TYPE==10 to send a good status report
...
Some GUIs, including DroneKit, will consider GPS locations invalid if the EKF status is not good
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
99316a191c
AP_AHRS: added check_lane_switch()
6 years ago
869a369cc0
AP_AHRS: support NMEA output
6 years ago
5e1f9068a1
AP_AHRS: ensure AHRS never uses an unhealthy gyro
6 years ago
0b16d7576f
AP_AHRS: use get_distance_NED
6 years ago
334b1622e1
AP_AHRS: Allow checking all EKF cores for health
6 years ago
6da820ac7b
AP_AHRS: use get_distance_NE instead of location_diff
6 years ago
dd8bfb0ad4
AP_AHRS: attitudes_consistent: no euler angles
6 years ago
b32ccbfb33
AP_AHRS: fix attitudes_consistent bug
6 years ago
2ffded4dd7
AP_AHRS: implement get_velocity_NED() for DCM
6 years ago
61a04bd898
AP_AHRS: fix bug in attitudes_consistent()
6 years ago
8c84fa5c64
AP_AHRS: apply AHRS trim in SITL
6 years ago
ba02894734
AP_AHRS: attitude pre-arm check skips yaw if no compass
...
Also provides better feedback on the axis and angular difference
6 years ago
f1a023c872
AP_AHRS: add attitudes_consistent pre-arm check
6 years ago
Andrew Tridgell
Harshit Kumar Sankhla
Peter Barker
Randy Mackay
chobits
priseborough
Paul Riseborough
Peter Hall
hoangthien94
Tom Pittenger
Michael du Breuil
Francisco Ferreira
Pierre Kancir
Mark Whitehorn