f80ba734c8
AP_AHRS: removed use of "blended" accel values
...
calculate a single EF accel based on primary IMU
3 years ago
4139b7a548
AP_AHRS: rename OpticalFlow class to AP_OpticalFlow
...
Brings us in-line with other classes in ArduPilot.
Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
3 years ago
cfb391dc2c
AP_AHRS: stop using GCS_MAVLINK.h in header files
...
... by passing through a reference to a link object instead
3 years ago
24099f9a2d
AP_AHRS: include cleanups
3 years ago
819b25d918
AP_AHRS: remove duplicated words from comments
3 years ago
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
304b7df8c2
AP_AHRS: make the EKF accel bias accessible
...
needed for fixed wing yaw damper
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
3 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
3 years ago
1c08866342
AP_AHRS: add using_extnav_for_yaw
3 years ago
e7be608a4a
AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw
3 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
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
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
383807e334
AP_AHRS: move AOA state to private in frontend
...
AP_AHRS: make update_AOA_SSA non-virtual
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
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
d351b7c7dc
AP_AHRS: fix includes for moved files
4 years ago
97b394a5ef
AP_AHRS: rename AP_AHRS.* to AP_AHRS_Backend.*
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
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
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
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
e141578376
AP_AHRS: remove optical flow pointer from AP_AHRS
...
Nothing was ever using it.
4 years ago
28bbe4b776
AP_AHRS: remove unused AP_Beacon.h include
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
60d0b0f07c
AP_AHRS: add WARN_IF_UNUSED to some getters
4 years ago
62ff9a4d4b
AP_AHRS: move logging functions to AHRS
4 years ago
Andrew Tridgell
Peter Barker
murata
Joshua Henderson
Randy Mackay