01fb16b3b0
AP_AHRS: relax arming checks for inactive AHRS types
...
When using an EKF as ride-along we should not fail arming if it has
inconsistent yaw between its lanes. This is especially important when
using external yaw or GPS yaw with EKF3, where yaw is expected to be
bad with EKF2.
The check on DCM is based on the existance of an AHRS view. This is so
that tailsitters do not get arming failures due to the inability of
DCM to cope with being nose up
3 years ago
bdf903b862
AP_AHRS: add accessor for GSF yaw estimator
3 years ago
e1dd0fd70d
AP_AHRS: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
3 years ago
44d56854be
AP_AHRS: make AP_AHRS_DCM an AP_AHRS backend
3 years ago
873097c030
AP_AHRS: Change orientation labels to march order of rotation
3 years ago
94b97313be
AP_AHRS: Add APM_BUILD_Heli
3 years ago
3715ce6d1a
AP_AHRS: allow setting of AHRS_TRIM_Z
3 years ago
3f043dd933
AP_AHRS: added get_view_rotation()
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
cc514af158
AP_AHRS: eliminate AP::ahrs().get_location
4 years ago
1c08866342
AP_AHRS: add using_extnav_for_yaw
4 years ago
e7be608a4a
AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw
4 years ago
0792caab83
AP_AHRS: factor out an update_notify_from_filter_status
4 years ago
ca6d214bb3
AP_AHRS: remove unused getGpsGlitchStatus method
4 years ago
9114d4fc86
AP_AHRS: make home-relative functions AHRS-frontend only
4 years ago
e8066aa993
AP_AHRS: constrain airspeed sensor airspeed using WIND_MAX
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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
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
1cfd9f57ce
AP_AHRS: move VehicleClass handling to AHRS frontend
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.... and renaming the enumeration while we're at it
4 years ago
29aed55a74
AP_AHRS: remove pointless zeroing of gyro_estimate vector
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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
107e647d00
AP_AHRS: correct compilation under SITL with no EKF3
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
4f9201a160
AP_AHRS: move parameters back into AP_AHRS.h
...
metadata collection kind of dies otherwise
4 years ago
b7d4166b28
AP_AHRS: rename AP_AHRS_NavEKF.* to AP_AHRS.*
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
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
ee0a373b60
AP_AHRS: remove HIL support
4 years ago
ab5d4da776
AP_AHRS: attitudes_consistent fix for roll-pitch difference calc
...
previously yaw difference would appear as roll, pitch differrences
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
fcba2a6e69
AP_AHRS: Remove unused methods
4 years ago
ea1884f491
AP_AHRS: remove separate calls to get delta-times for vel and ang
4 years ago
9b53d505ea
AP_AHRS: Handle airspeed estimation with have_inertial_nav() == false
4 years ago
aa49e92edc
AP_AHRS: Remove unused AP_AHRS_NavEKF::yaw_alignment_complete API
4 years ago
Andrew Tridgell
Andy Piper
Peter Barker
Hwurzburg
Gone4Dirt
Randy Mackay
bugobliterator
Iampete1
Paul Riseborough
CallanDaniel
murata